Three-dimensional storage robot

Abstract

The embodiment of the utility model discloses a three-dimensional storage robot. The three-dimensional storage robot comprises two jacking connecting rods, a jacking supporting plate and four weighing modules. The two jacking connecting rods are horizontally arranged at an interval; the jacking supporting plate is arranged on the two jacking connecting rods, the two jacking connecting rods synchronously ascend, and the two jacking connecting rods move to drive the jacking supporting plate to ascend; the four weighing modules are arranged at the four corners of the jacking supporting plate correspondingly, and the weighing modules are located between the jacking connecting rods and the jacking supporting plate. According to the three-dimensional storage robot provided by the embodiment of the utility model, the four weighing modules are arranged between the jacking connecting rod and the jacking supporting plate, so that the weight of goods can be measured.

Description

Technical Field

[0001] This utility model relates to the field of robotics technology, and in particular to a three-dimensional warehousing robot. Background Technology

[0002] In today's rapidly developing warehousing and logistics industry, with the continuous increase in the volume of stored goods and the ever-increasing demands for logistics efficiency, automated warehousing equipment is widely used. Automated storage robots (AS / RS) are primarily used in large, modern warehousing centers, which typically have multi-layer racking structures to fully utilize space for goods storage. The robots operate on specific tracks, moving along these tracks using their mother-and-child wheel structure.

[0003] Despite the significant achievements of automated storage and retrieval systems (AS / RS) in the warehousing and logistics field, several technical challenges remain, specifically the accurate acquisition of cargo weight and related risk control. Current AS / RS robot technology generally lacks a weighing structure for handling goods. This means that during handling operations, the robot cannot accurately determine the actual weight of the goods being transported. For example, when encountering overloaded cargo, the robot, unaware of the true weight, will operate according to conventional handling methods. This can lead to a shift in the robot's center of gravity due to excessive weight, potentially causing the robot to tilt or even tip over, severely damaging the cargo and endangering nearby personnel. Furthermore, prolonged handling of overloaded cargo puts excessive stress and wear on the robot's mechanical components, such as the lifting mechanism's linkages, pallets, and the drive mechanism's wheels, accelerating their wear and significantly shortening the robot's lifespan. Utility Model Content

[0004] Therefore, it is necessary to propose a three-dimensional warehousing robot to address the above problems.

[0005] A three-dimensional warehousing robot includes: two lifting links horizontally spaced apart; a lifting plate mounted on the two lifting links, the two lifting links moving synchronously upwards, the movement of the two lifting links driving the lifting plate upwards; and four weighing modules respectively located at the four corners of the lifting plate, the weighing modules situated between the lifting links and the lifting plate.

[0006] According to one embodiment of the present invention, the weighing module includes: a weighing sensor and a support column that abuts against the strain zone on the weighing sensor, wherein the weighing sensor and the support column are respectively disposed on the lifting connecting rod and the lifting support plate.

[0007] In some embodiments, the weighing module further includes: a connecting block disposed on the upper surface of the lifting link, and a support column disposed on the upper surface of the connecting block.

[0008] According to one embodiment of the present invention, the lifting support plate is provided with a weight-reducing through hole in the middle.

[0009] According to one embodiment of the present invention, the three-dimensional storage robot further includes: a frame plate and two lifting and reversing drive devices disposed on the frame plate, the lifting and reversing drive devices being connected to the lifting link, and the lifting and reversing drive devices driving the lifting link to move upward.

[0010] In some embodiments, the automated storage and retrieval robot further includes: sub-rail wheels disposed on the frame plate.

[0011] In some embodiments, the automated storage and retrieval robot further includes: a main track wheel, which is mounted on the lifting link.

[0012] In some embodiments, the lifting reversing drive device includes a lifting reversing drive motor, a reducer, a lifting reversing gearbox, and a crank assembly. The lifting reversing drive motor is connected to the lifting reversing gearbox via the reducer. The two parallel output shafts of the lifting reversing gearbox are connected to the crank assembly, and the end of the crank assembly is connected to the lifting connecting rod.

[0013] In some embodiments, the lifting reversing gearbox is fixed at both ends inside the frame plate.

[0014] In some embodiments, an elastic buffer is provided between the weighing sensor and the support column of the weighing module.

[0015] The present invention has the following beneficial effects:

[0016] The automated storage and retrieval robot according to this utility model embodiment accurately measures the weight of goods by setting weighing modules between the lifting linkage and the lifting pallet. Four weighing modules are set and distributed at the four corners of the lifting pallet. Because goods are placed in various positions, the multi-directional weighing modules can provide comprehensive coverage, ensuring the accuracy of the measurement data. This avoids damage to mechanical components due to overload, extends the robot's lifespan, reduces maintenance costs, ensures the safety of goods and personnel, and also monitors the force balance of the lifting pallet, enhancing structural stability. The weighing sensors and support columns in the weighing modules are respectively set on the lifting linkage and the lifting pallet. If the load cell is on the lifting linkage and the support column is on the lifting platform, the upward movement of the lifting linkage drives the load cell upward, allowing it to connect with the support column. The lifting linkage, in its lifted state, supports the lifting platform, enabling accurate measurement of the weight of the goods on it. Alternatively, if the load cell is on the lifting platform and the support column is on the lifting linkage, the upward movement of the lifting linkage drives the support column upward, allowing it to connect with the load cell. The lifting linkage, in its lifted state, supports the lifting platform, thus transmitting force and triggering a signal to achieve weighing. The load cell's lead wire can be fixed to the lifting linkage to ensure stability during upward movement. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] in:

[0019] Figure 1 This is a structural schematic diagram of the three-dimensional warehousing robot according to the first embodiment of the present invention from one perspective;

[0020] Figure 2 This is a structural schematic diagram of the three-dimensional warehousing robot according to the first embodiment of the present utility model from another perspective;

[0021] Figure 3 yes Figure 2 Enlarged view of the structure at point A in the middle;

[0022] Figure 4 Assembly diagram of the lifting linkage and connecting block;

[0023] Figure 5 This is a schematic diagram of the assembly of the lifting platform and the weighing sensor;

[0024] Figure 6This is a structural schematic diagram of the three-dimensional warehousing robot according to the second embodiment of the present utility model from another perspective;

[0025] Figure 7 yes Figure 6 Enlarged view of the structure at point B;

[0026] Figure 8 This is an assembly diagram of the lifting linkage and the weighing sensor;

[0027] Figure 9 This is a schematic diagram of the assembly of the lifting support plate and the support column.

[0028] Figure label:

[0029] Lifting link 10,

[0030] Lifting support plate 20, weight reduction through hole 201,

[0031] Weighing module 30, weighing sensor 301, support column 302, connecting block 303.

[0032] Frame plate 40,

[0033] Lifting and reversing drive device 50,

[0034] Sub-rail travel wheel 60, main rail travel wheel 61. Detailed Implementation

[0035] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0036] like Figures 1-9As shown, this utility model provides a three-dimensional warehousing robot, mainly used in large indoor warehouses with a dedicated track network inside. The robot moves stably on the track using a parent-child track wheel structure. The parent track wheel runs along the parent track, providing the main support and propulsion, while the child track wheels assist the parent track wheel, ensuring the robot's flexibility and accuracy on the track during turning or fine adjustments. In this scenario, the robot's two lifting links 10, lifting pallet 20, and four weighing modules 30 work together. When a handling task is assigned, the robot travels along the track to the designated goods storage location. The two lifting links 10 rise synchronously, causing the lifting pallet 20 to rise and contact the goods. At this time, the weighing modules 30 at the four corners start working, accurately measuring the weight of the goods, determining whether overload is possible, and feeding back the data. Subsequently, the robot adjusts its handling posture based on the goods weight information, safely and efficiently moving the goods to the target shelf or shipping area.

[0037] like Figures 1 to 3 As shown, a three-dimensional warehousing robot includes: two lifting links 10, a lifting pallet 20, and four weighing modules 30. The two lifting links 10 are horizontally spaced apart. The lifting pallet 20 is mounted on the two lifting links 10, and the two lifting links 10 move upwards synchronously, driving the lifting pallet 20 to rise. The four weighing modules 30 are respectively located at the four corners of the lifting pallet 20, situated between the lifting links 10 and the lifting pallet 20.

[0038] The lifting links 10, with two links 10, are designed to be horizontally spaced. This horizontal spacing enhances the overall structural stability during operation and prevents center of gravity shift. Specifically, the two horizontally spaced lifting links 10 form a stable support structure. During the lifting process of the lifting pallet 20 carrying goods, this spacing ensures more even force distribution, preventing structural deformation or imbalance caused by excessive force at a single point. It better withstands the weight of the goods above and the dynamic forces during lifting, ensuring smooth operation of the entire robot when handling goods.

[0039] The synchronized upward movement of the two lifting links 10 allows the weighing module to contact the lifting links, further lifting the links into a raised state. This ensures that the lifting pallet 20 remains horizontal in the raised state, accurately connecting with the shelf and transporting goods. This synchronized upward structural design effectively supports the lifting pallet 20.

[0040] Weighing modules 30, with four modules positioned at the four corners, are used to detect the weight of goods placed on the lifting pallet 20 from multiple angles, ensuring the accuracy of weight detection. Because the goods are placed in different positions on the pallet, single-point weighing is insufficient to accurately obtain the overall weight of the goods. The four corner weighing modules 30 cover different areas, and through comprehensive analysis of the measurement data from the four modules, the actual weight of the goods can be determined more comprehensively and accurately. This solves the problem of inaccurate weight acquisition in existing technologies and avoids overloading caused by inaccurate weight information.

[0041] The weighing module 30 is located between the lifting link 10 and the lifting pallet 20. To ensure contact between the lifting module and the lifting link, the lifting link is in a lifted state, enabling balanced force monitoring. Specifically, the lifting link's upward movement brings it into contact with the lifting module, thus supporting the lifting pallet and monitoring the force at various corners of the lifting pallet 20 when carrying goods. When goods are unevenly placed, the weights measured by different weighing modules 30 will differ. This prompts the robot to adjust its lifting action or handling posture to ensure balanced force on the lifting pallet 20, preventing damage to the lifting pallet 20 or affecting the robot's operational stability due to excessive localized force. For example, if the weighing module 30 at a certain corner shows a significantly higher weight, the robot can appropriately adjust the lifting speed or force of the lifting link 10 on that side to restore the lifting pallet 20 to a balanced force state, extending the equipment's lifespan and ensuring safe operation.

[0042] Positioning the weighing module 30 between the lifting link 10 and the lifting pallet 20 makes the entire structure more compact. Specifically, on the one hand, it doesn't occupy excessive external space, allowing the robot to move and operate more flexibly in the warehouse environment; on the other hand, this compact layout enables rapid signal transmission and collaborative operation between the weighing module 30, the lifting link 10, and the lifting pallet 20. Because the distance between them is relatively short, the data transmission delay is smaller, allowing for more timely adjustments to the robot's handling operations based on the weighing results, thus improving the overall efficiency of the robot system.

[0043] According to the embodiment of the present utility model, the three-dimensional warehousing robot has four weighing modules 30 located at the four corners of the lifting pallet 20, and the lifting pallet 20 is located on the lifting link 10. With this design, the weighing modules 30 are located between the lifting link 10 and the lifting pallet 20. When the lifting link 10 moves upward, the weighing modules come into contact with the lifting link, so that the lifting link 10 is in a lifting state, thereby realizing the accurate measurement of the weight of the goods on the lifting pallet 20.

[0044] According to one embodiment of the present invention, such as Figure 2 and Figure 3 As shown, the weighing module 30 includes a weighing sensor 301 and a support column 302 that abuts against the strain zone on the weighing sensor 301. The weighing sensor 301 and the support column 302 are respectively mounted on the lifting link 10 and the lifting support plate 20. That is, the weighing sensor 301 can be mounted on either the lifting link 10 or the lifting support plate 20. The support column 302 can also be mounted on either the lifting link 10 or the lifting support plate 20.

[0045] Specifically, as shown in the figure Figures 6-7 As shown, when the lifting linkage 10 moves upward, if the weighing sensor 301 is installed on the lifting linkage 10 (e.g., ... Figure 8 As shown), the support column 302 is mounted on the lifting support plate 20 (as shown). Figure 9 As shown, the lifting linkage moves upward, causing the load cell 10 to move upward, so that the strain zone of the load cell 10 comes into contact with the support column 302 on the lifting plate 20. At this time, the force is transmitted and contact is made, thus supporting the lifting plate and measuring the weight of the goods.

[0046] Conversely, if the load cell 301 is installed on the lifting support plate 20 (e.g.) Figure 5 As shown), the support column 302 is mounted on the lifting connecting rod 10 (as shown). Figure 4 As shown, the lifting linkage 10 moves upward, driving the support column 302 to move upward, so that the support column 302 comes into contact with the strain zone of the weighing sensor 301. At this time, the force is transmitted and contact is made, so as to support the lifting pallet and complete the measurement of the weight of the goods on the lifting pallet 20.

[0047] Since the load cell 301 is fixed to the lifting rod 10, its lead wire can be fixed relative to the lifting rod 10. When the lifting rod 10 moves upward, the lead wire can maintain a relatively stable state, avoiding damage caused by possible shaking or friction during the movement. This protects the lead wire, ensures the stability and reliability of the connection between the load cell 301 and external equipment, and thus guarantees the normal operation of the entire weighing system.

[0048] In some embodiments, to avoid stress concentration caused by the support column 302 acting directly on the lifting link 10, the weighing module 30 further includes: a connecting block 303, which is disposed on the upper surface of the lifting link 10, and the support column 302 is disposed on the upper surface of the connecting block 303 (e.g., Figure 4 (As shown).

[0049] Specifically, the connecting block 303 is set to increase the force transmission area, so that the force on the support column 302 can be more evenly distributed to the lifting link 10, preventing the lifting link 10 from deforming or being damaged due to excessive local force, thereby ensuring the stable transmission of force during the weighing process, improving the weighing accuracy, and ensuring that the warehouse robot can accurately obtain the weight information of the goods.

[0050] According to one embodiment of the present invention, in order to achieve a lightweight structure while ensuring that the lifting support plate 20 has sufficient support strength and operational stability, a weight-reducing through hole 201 is provided in the middle of the lifting support plate 20 (e.g., ...). Figure 5 (As shown).

[0051] According to one embodiment of this utility model, in order to provide a stable and efficient power transmission and conversion mechanism to precisely control the rising action of the lifting pallet 20, adapt to different height storage needs, and ensure smooth lifting of goods, the automated storage and retrieval system (AS / RS) robot also includes: a frame plate 40 and two lifting reversing drive devices 50 disposed on the frame plate 40. The lifting reversing drive devices 50 are connected to the lifting connecting rod 10, and drive the lifting connecting rod 10 to rise (e.g., ...). Figure 1 (As shown).

[0052] Specifically, to ensure the stable installation of the lifting and reversing drive unit 50 and guarantee its stability during operation, two lifting and reversing drive units 50 are mounted on the frame plate 40, thereby reducing errors and malfunction risks caused by vibration or displacement. The design of two lifting and reversing drive units 50 allows for a more balanced power distribution, better handling unbalanced loads caused by goods of varying weights and volumes compared to a single lifting and reversing drive unit 50. When driving the lifting linkage 10 upwards, its speed, stroke, and start / stop positions can be precisely controlled, enabling the lifting pallet 20 to accurately reach the designated height, facilitating the storage and retrieval of goods and improving the automation and operational precision of warehousing operations.

[0053] In some embodiments, to achieve flexible movement and precise positioning of the automated storage and retrieval system (AS / RS) robot on sub-tracks and improve the coverage of the operating range, the AS / RS robot further includes: sub-track wheels 60, mounted on the frame plate 40 (e.g., ...). Figures 2-3 (As shown).

[0054] Specifically, the movement of the automated storage and retrieval system (AS / RS) robot on the sub-tracks works in coordination with components such as the lifting linkage 10 and the lifting pallet 20. After the lifting linkage 10 completes the lifting action of the goods, the sub-track wheels 60 can quickly transport the goods along the sub-tracks to the designated storage location, improving the efficiency of goods transfer within the storage space.

[0055] In some embodiments, the automated storage and retrieval robot further includes: a main track wheel 61, the main track wheel 61 being disposed on the lifting link 10 (e.g., ...). Figures 2-3 (As shown). This design aims to enable the robot to move flexibly within a multi-layered track system consisting of main rails and sub-rails, enhancing its adaptability to different operating paths and storage locations in an automated warehousing environment, and further improving the comprehensiveness and efficiency of warehousing operations.

[0056] Specifically, the main track wheels 61 are mounted on the lifting linkage 10 and cooperate with the secondary track wheels 60. When the lifting linkage 10 is at different heights, the main track wheels 61 can run on the corresponding main track, enabling the robot to operate across different areas and levels. For example, when storing or retrieving goods on high-rise shelves, the lifting linkage 10 rises to a designated height, and the main track wheels 61 can quickly move horizontally on the main track, accurately transporting the goods to the target column position. Then, combined with the movement of the secondary track wheels 60 on the secondary track, the goods are precisely placed in specific storage locations. The use of a multi-level track system also makes the layout of warehouse space more rational and compact, improving space utilization, reducing the construction cost of warehouse facilities, and reducing the risk of shaking and collision of goods during transportation due to the improved accuracy and stability of movement, ensuring the integrity of goods and the safety of warehousing operations.

[0057] In some embodiments, to precisely control the upward movement of the lifting connecting rod 10, so as to achieve accurate positioning of the lifting pallet 20, the lifting reversing drive device includes a lifting reversing drive motor, a reducer, a lifting reversing gearbox, and a crank assembly. The lifting reversing drive motor is connected to the lifting reversing gearbox via the reducer. The two parallel output shafts of the lifting reversing gearbox are connected to the crank assembly, and the end of the crank assembly is connected to the lifting connecting rod.

[0058] The lifting reversing drive device 50 structure (including the connection and cooperation of the lifting reversing drive motor, reducer, lifting reversing gearbox, and crank assembly) enables more stable and precise control of the lifting linkage. This structure allows for precise adjustment of power output, resulting in smoother and more accurate upward movement of the lifting linkage. Consequently, during the storage and retrieval of goods, it ensures better alignment with the shelving, preventing goods from slipping or colliding, thus improving the accuracy of storage and retrieval, and ultimately enhancing the automation level and operational precision of warehouse operations.

[0059] In some embodiments, to ensure the stability of the lifting and reversing drive device 50 during operation and to reduce errors and malfunction risks caused by vibration or displacement, the lifting and reversing gearbox is fixed at both ends inside the frame plate.

[0060] Specifically, fixing the lifting reversing gearbox to both ends inside the frame plate makes the lifting reversing drive device more stable during operation. This reduces errors and malfunctions caused by vibration or displacement, ensuring stable operation of the entire drive unit. Consequently, the upward movement of the lifting linkage becomes more reliable, further improving the accuracy of goods storage and retrieval, as well as the automation level and operational precision of warehousing operations.

[0061] In summary, the lifting reversing drive device 50 mainly consists of a lifting reversing drive motor, a reducer, a lifting reversing gearbox, and a crank assembly. The lifting reversing drive motor is connected to the lifting reversing gearbox via the reducer. The lifting reversing gearbox is fixed at both ends inside the frame plate 40 and has two parallel output shafts. The output shafts are connected to the crank assembly, and the end of the crank assembly is connected to the lifting connecting rod 10. Under the action of the lifting reversing drive motor, the two output shafts of the lifting reversing gearbox rotate in opposite directions, driving the crank assembly to rotate, and then driving the lifting connecting rod 10 to move upward.

[0062] In some embodiments, an elastic buffer is provided between the weighing sensor 301 and the support column 302 in the weighing module 30 to buffer the impact force between them, protect the weighing sensor 301, and improve weighing accuracy and stability.

[0063] Specifically, an elastic buffer is provided between the weighing sensor 301 and the support column 302 to absorb the impact force generated during the placement or handling of goods, prevent the weighing sensor 301 from being damaged by a large impact or affecting the measurement accuracy, extend the service life of the weighing module 30, and ensure accurate acquisition of the weight information of the goods.

[0064] It should be noted that, in the accompanying drawings of this utility model, some structural components or parts, such as the lifting and reversing drive motor, reducer, lifting and reversing gearbox, and crank assembly, are not explicitly labeled, but those skilled in the art can understand their specific structure and connection relationships based on the textual description and overall technical solution in the specification. The existence and function of these components do not affect the understanding and implementation of the technical solution of this utility model. Similarly, although the elastic buffer is not specifically labeled in the drawings, its position and function in the weighing module can be clearly understood by those skilled in the art based on the description in the specification, and its existence does not affect the understanding and implementation of the technical solution of this utility model.

[0065] The above-disclosed embodiments are merely preferred embodiments of the present utility model and should not be construed as limiting the scope of the present utility model. Therefore, any equivalent variations made in accordance with the claims of the present utility model shall still fall within the scope of the present utility model.

Claims

1. A three-dimensional warehousing robot, characterized in that, include: Two lifting links are arranged horizontally at intervals; A lifting support plate is provided on two lifting links. The two lifting links move upward synchronously, and the movement of the two lifting links drives the lifting support plate to move upward. Four weighing modules are respectively located at the four corners of the lifting plate, and the weighing modules are located between the lifting connecting rod and the lifting plate.

2. The automated storage and retrieval system robot according to claim 1, characterized in that, The weighing module includes a weighing sensor and a support column that abuts against the strain zone on the weighing sensor. The weighing sensor and the support column are respectively disposed on the lifting connecting rod and the lifting support plate.

3. The automated storage and retrieval system robot according to claim 2, characterized in that, The weighing module further includes: a connecting block, which is disposed on the upper surface of the lifting connecting rod, and the support column is disposed on the upper surface of the connecting block.

4. The automated storage and retrieval system robot according to claim 1, characterized in that, The lifting support plate has a weight-reducing through hole in the middle.

5. The automated storage and retrieval system robot according to claim 1, characterized in that, Also includes: The frame plate and two lifting and reversing drive devices are mounted on the frame plate. The lifting and reversing drive devices are connected to the lifting connecting rod and drive the lifting connecting rod to move upward.

6. The automated storage and retrieval system robot according to claim 5, characterized in that, Also includes: The sub-rail traveling wheels are mounted on the frame plate.

7. The automated storage and retrieval system robot according to claim 5, characterized in that, Also includes: The main rail traveling wheel is mounted on the lifting connecting rod.

8. The automated storage and retrieval system robot according to claim 5, characterized in that, The lifting and reversing drive device includes a lifting and reversing drive motor, a reducer, a lifting and reversing gearbox, and a crank assembly. The lifting and reversing drive motor is connected to the lifting and reversing gearbox via the reducer. The two parallel output shafts of the lifting and reversing gearbox are connected to the crank assembly. The end of the crank assembly is connected to the lifting connecting rod.

9. The automated storage and retrieval system robot according to claim 8, characterized in that, The lifting and reversing gearbox is fixed at both ends inside the frame plate.

10. The automated storage and retrieval system robot according to claim 2, characterized in that, An elastic buffer is provided between the weighing sensor and the support column of the weighing module.

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