Carrying robot supporting device

Abstract

The utility model relates to the technical field of goods storing and taking devices, and particularly discloses a carrying robot supporting device which comprises a goods taking assembly and two sets of anti-shaking assemblies. The goods taking assembly is arranged on the material box frame in a lifting mode. The two sets of anti-shaking assemblies are arranged on the two sides of the goods taking assembly correspondingly. The anti-shake assembly comprises: a support arm; the supporting arm is arranged on the goods taking assembly in a sliding mode and used for abutting against a supporting piece located outside the goods taking assembly. According to the scheme, in the process that the goods taking assembly ascends and descends to the proper position along the material box frame to store and take goods, the supporting plates located on the two sides of the goods taking assembly can stretch out towards the two ends to abut against the supporting pieces correspondingly, and therefore the stability of the goods taking assembly is improved, and the situation that the material box topples over in the goods storing and taking process is avoided.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of goods storage and retrieval devices, and in particular to a carrying robot supporting device. BACKGROUND

[0002] A carrying robot is a transport tool for carrying goods, which has a transport system with autonomous navigation, autonomous obstacle avoidance and intelligent charging, and can simultaneously transport multiple goods, achieving efficient stacking and storage in the transport system.

[0003] A container transport unit (CTU) is a type of carrying robot, which can pass through longitudinal space, fully utilize the high-density advantage of box storage, and realize instant scheduling and monitoring with various automated devices, pick and carry multiple containers from the rack area, and then deliver the required containers to the operator, achieving fast and efficient inventory turnover.

[0004] In practical applications, the carrying robot usually needs to take and place containers from high shelves (such as 10 meters) and carry multiple containers, so the transport vehicle body of the carrying robot is a longitudinal structure with a height higher than or equal to the height of the shelf; when the container taking and placing speed is fast, the transport vehicle body will shake, and there is a risk of container tipping over. CONTENT OF THE INVENTION

[0005] Therefore, the purpose of the present application is to provide a carrying robot supporting device to solve the problem of the risk of container tipping over during the storage and retrieval of the existing carrying robot.

[0006] To achieve the above technical purpose, the present application provides a carrying robot supporting device, comprising: a container taking assembly and two groups of anti-shaking assemblies.

[0007] The container taking assembly is arranged on the container rack in a liftable manner.

[0008] The two groups of anti-shaking assemblies are arranged on the two sides of the container taking assembly, respectively.

[0009] The anti-shaking assembly comprises a supporting arm.

[0010] The supporting arm is slidably arranged on the container taking assembly and used for abutting against a supporting member outside the container taking assembly.

[0011] Further, the container taking assembly comprises a carrying mechanism and a connecting box.

[0012] The carrying mechanism is arranged on the container rack in a liftable manner and used for transporting goods between the container rack and a shelf.

[0013] The connecting box is arranged on the carrying mechanism.

[0014] The support arm is slidably arranged on the connecting box.

[0015] Further, two groups of the support arms are arranged on two sides of the connecting box along a first direction.

[0016] The first direction is perpendicular to the direction of goods in and out of the material box frame.

[0017] Further, the anti-shake assembly comprises a driving motor, a lead screw and a sliding block.

[0018] The driving motor is arranged on the connecting box.

[0019] The lead screw is rotatably arranged on the connecting box and is in transmission connection with the output end of the driving motor.

[0020] The sliding block is sleeved on the lead screw.

[0021] The support arm is connected with the sliding block.

[0022] Further, the anti-shake assembly comprises a contact switch.

[0023] The contact switch is arranged on the connecting box and is in electrical connection with the driving motor.

[0024] The contact switch is used for sensing the sliding stroke of the support arm.

[0025] Further, the elastic member is arranged at one end of the support arm close to the driving motor, and / or the elastic member is arranged at one end of the sliding block close to the driving motor.

[0026] When the support arm slides to the position where the elastic member abuts against the contact switch, the contact switch sends a signal indicating that the support arm is in place.

[0027] Further, the carrying mechanism is rotatably arranged on the connecting box along a horizontal direction.

[0028] Further, an extension member is connected to the end of the support arm away from the goods taking assembly.

[0029] Further, a vertical rod is connected to the end of the support arm away from the goods taking assembly.

[0030] The vertical rod is telescopically arranged along a vertical direction.

[0031] Further, a friction pad is connected to the bottom end of the vertical rod.

[0032] From the above technical solution can be seen, the application provides a kind of carrying robot support device, comprising: taking goods component and two groups of anti-shaking components;The taking goods component is liftable on material box frame;Two groups of the anti-shaking component are respectively arranged at the two sides of the taking goods component;The anti-shaking component includes: support arm;The support arm is slidably arranged on the taking goods component, for abutting the support piece located outside the taking goods component.

[0033] In the scheme, in the process of taking goods component along material box frame and lifting to suitable position to access goods, the support plate located at the two sides of taking goods component can be respectively extended to the end to abut the support piece, so as to improve the stability of taking goods component, avoid the situation that material box falls in the process of accessing goods. BRIEF DESCRIPTION OF DRAWINGS

[0034] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed to be used in the embodiments or prior art description will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present application, and those skilled in the art can also obtain other drawings according to these drawings without creating any creative labor.

[0035] Figure 1 A kind of carrying robot support device provided in the embodiment of the present application is applied to the structural schematic diagram of material box frame;

[0036] Figure 2 The schematic diagram of anti-shaking component and connecting box of a kind of carrying robot support device provided in the embodiment of the present application;

[0037] Figure 3 The internal schematic diagram of connecting box of a kind of carrying robot support device provided in the embodiment of the present application;

[0038] Figure 4 The internal partial enlarged view of connecting box of a kind of carrying robot support device provided in the embodiment of the present application;

[0039] Figure 5 The internal schematic diagram of connecting box of a kind of carrying robot support device provided in another embodiment of the present application;

[0040] In the figure: 10, taking goods component;11, carrying mechanism;12, connecting box;20, anti-shaking component;21, support arm;22, extension piece;23, driving motor;24, screw;25, sliding block;26, contact switch;27, elastic member;28, vertical rod;29, friction pad;30, material box frame;

[0041] X-axis direction: first direction;Y-axis direction: the direction of goods in and out of material box frame;Z-axis direction: vertical direction. DETAILED DESCRIPTION

[0042] The technical solutions of the embodiments of the present application will be described clearly and completely below with reference to the drawings. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of the present application.

[0043] In the description of the embodiments of the present application, it should be noted that the orientations or positional relationships indicated by the terms “center”, “upper”, “lower”, “left”, “right”, “vertical”, “horizontal”, “inner”, “outer” and the like are based on the orientations or positional relationships shown in the drawings, and are only for the convenience of describing the embodiments of the present application and simplifying the description, and therefore cannot be understood as indicating or implying that the devices or elements indicated must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the embodiments of the present application. In addition, the terms “first”, “second”, “third” are only for the purpose of description, and cannot be understood as indicating or implying relative importance.

[0044] In the description of the embodiments of the present application, it should be noted that unless otherwise explicitly specified and limited, the terms “mounting”, “connection”, “connecting” should be understood in a broad sense, for example, can be fixed connection, or replaceable connection, or integral connection, can be mechanical connection, or electrical connection, can be direct connection, or indirect connection through an intermediate medium, or internal communication of two elements. For those skilled in the art, the specific meaning of the above terms in the embodiments of the present application can be understood according to the specific circumstances.

[0045] Please refer to Figure 1 The supporting device of the carrying robot provided in the embodiments of the present application comprises a goods taking assembly 10 and two groups of anti-shaking assemblies 20.

[0046] The goods taking assembly 10 is arranged on the magazine rack 30 in a liftable manner. The magazine rack 30 can serve as a storage rack for goods, and comprises a plurality of storage cavities arranged in sequence in the vertical direction. The goods taking assembly 10 can be lifted along the magazine rack 30 to a position aligned with the storage cavities, and then transfer the goods on the goods rack to the magazine rack 30 or transfer the goods on the magazine rack 30 to the goods rack. The goods can be a magazine.

[0047] The two groups of anti-shaking assemblies 20 are arranged on the two sides of the goods taking assembly 10, respectively. The number of each group of anti-shaking assemblies 20 can be one or more. The anti-shaking assembly 20 comprises a support arm 21, and the support arm 21 is slidably arranged on the goods taking assembly 10.

[0048] In the embodiment, the support arm 21 can slide on the picking assembly 10 to adjust the distance between the end of the support arm 21 and the picking assembly 10. When the picking assembly 10 moves to a high position of the bin rack 30 to access the goods, the support arm 21 can slide out to the both sides of the picking assembly 10 to abut against the support located outside the picking assembly 10. The support can be, for example, a shelf, a wall, etc. located on both sides of the bin rack 30.

[0049] By arranging the anti-shaking assembly 20 on both sides of the picking assembly 10, support force can be provided to both sides of the picking assembly 10 to ensure the stability of the picking assembly 10 during the access of the goods and avoid the bin from falling.

[0050] In a more specific embodiment, please refer to Figure 1 and Figure 2 , the picking assembly 10 comprises a carrying mechanism 11 and a connecting box 12.

[0051] The carrying mechanism 11 is arranged on the bin rack 30 in a liftable manner and is used to transfer the goods between the bin rack 30 and the shelf. The carrying mechanism 11 can be provided with a retractable hooking claw to hook the goods and pull the goods to the carrying mechanism 11, and push the goods from the carrying mechanism 11 to the bin rack 30 or the shelf. The hooking claw can be used in the prior art, which will not be described in detail in the embodiment.

[0052] The connecting box 12 is arranged on the carrying mechanism 11, and the support arm 21 is slidably arranged on the connecting box 12. That is, in the embodiment, the connecting box 12 serves as the support structure of the anti-shaking assembly 20. Two sets of anti-shaking assemblies 20 can be arranged in different connecting boxes 12 or in the same connecting box 12.

[0053] In the embodiment, the connecting box 12 and the carrying mechanism 11 are arranged separately, so that when the carrying mechanism 11 uses the hooking claw and other carrying technologies in the prior art, the connecting box 12 can be directly assembled on the carrying mechanism 11. That is, the connecting box 12 provided in the embodiment can be directly applied to the existing bin carrying mechanism together with the anti-shaking assembly 20, which can reduce the modification of the existing bin CTU.

[0054] Optionally, the carrying mechanism 11 is rotatably arranged on the connecting box 12 in a horizontal direction. When the carrying mechanism 11 carries the goods, it can rotate on the connecting box 12 to adjust the opening direction of the carrying mechanism 11, so as to facilitate the carrying of the goods. During the rotation of the carrying mechanism 11, the connecting box 12 and the anti-shaking assembly 20 remain fixed to provide stable support for the carrying mechanism 11.

[0055] As an implementation, the connecting box 12 and the carrying mechanism 11 can also be integrally arranged. That is, the anti-shake assembly 20 is directly arranged on the carrying mechanism 11.

[0056] In an embodiment, two groups of support arms 21 are arranged on both sides of the connecting box 12 along a first direction; the first direction is perpendicular to the goods in-out direction of the box rack 30.

[0057] Please refer to Figure 1 , the goods in-out direction of the box rack 30 is the Y-axis direction in Figure 1 ; the first direction is the X-axis direction in Figure 1 ; and the Z-axis direction in Figure 1 is the vertical direction.

[0058] In application, when the box rack 30 performs goods storage and retrieval, the goods in-out direction thereof is generally perpendicular to the goods in-out direction of the goods shelf. Therefore, in the embodiment, by arranging two groups of support arms 21 capable of sliding and extending along the X-axis direction, the support effect of the two groups of support arms 21 abutting against the two sides of the goods shelf or the wall can be ensured.

[0059] In actual application, the sliding of the support arm 21 on the connecting box 12 can be controlled by an electric drive. The electric drive can be, for example, a pneumatic cylinder, a linear motor, etc.

[0060] In an embodiment, the electric drive can be a motor. Specifically, please refer to Figure 3 and Figure 4 , the anti-shake assembly 20 comprises a driving motor 23, a lead screw 24 and a sliding block 25; the driving motor 23 is arranged on the connecting box 12; the lead screw 24 is rotatably arranged on the connecting box 12 and is in transmission connection with the output end of the driving motor 23; the sliding block 25 is engaged with the lead screw 24; and the support arm 21 is connected with the sliding block 25.

[0061] The transmission connection of the lead screw 24 with the output end of the driving motor 23 can be fixed connection or can be through a gear, a rack or other transmission structure. Specifically, when the driving motor 23 is started, the lead screw 24 can be driven to rotate.

[0062] When the driving motor 23 is started, the lead screw 24 starts to rotate, thereby driving the sliding block 25 and the support arm 21 to slide. Therefore, in the embodiment, the support arm 21 can be extended out of or retracted into the connecting box 12 by the forward and reverse rotation of the driving motor 23.

[0063] Optionally, the anti-shake assembly 20 comprises a contact switch 26; the contact switch 26 is arranged on the connecting box 12 and electrically connected with the driving motor 23; the contact switch 26 is used for sensing the sliding stroke of the support arm 21. The contact switch 26 can sense the sliding stroke of the support arm 21 by contacting the support arm 21. For example, a plurality of contact switches 26 can be arranged in the connecting box 12; when the support arm 21 slides to contact different contact switches 26, the contact switch 26 contacting the support arm 21 can send a contact signal to the driving motor 23 or a controller electrically connected with the driving motor 23, so that the controller obtains the sliding stroke of the support arm 21 and controls the start and stop of the driving motor 23.

[0064] In a further improved embodiment, the elastic member 27 is arranged at one end of the support arm 21 close to the driving motor 23, and / or the elastic member 27 is arranged at one end of the sliding block 25 close to the driving motor 23; when the support arm 21 slides to abut the elastic member 27 against the contact switch 26, the contact switch 26 sends an in-place signal.

[0065] The elastic member 27 can be a spring. The elastic member 27 can reduce the impact force of the support arm 21 or the sliding block 25 on the contact switch 26. In this embodiment, the elastic member 27 is arranged at one end of the support arm 21 and / or the sliding block 25 close to the driving motor 23; correspondingly, the contact switch 26 is arranged between the sliding block 25 and the driving motor 23, and / or arranged between the support arm 21 and the driving motor 23, so that the contact switch 26 can sense the formation of the retraction process of the support arm 21 and avoid excessive sliding of the support arm 21.

[0066] In one embodiment, please refer to Figure 2 The end of the support arm 21 away from the goods taking assembly 10 is connected with an extension member 22.

[0067] The end of the support arm 21 away from the goods taking assembly 10 is also the outer end of the support arm 21. In application, the extension member 22 can increase the contact area of the outer end of the support arm 21 and improve the support force when the support arm 21 abuts against the support member.

[0068] Optionally, the extension member 22 and the support arm 21 form an L shape.

[0069] In another embodiment, please refer to Figure 5 The end of the support arm 21 away from the goods taking assembly 10 is connected with a vertical rod 28; the vertical rod 28 is arranged in a telescopic manner along the vertical direction.

[0070] Specifically, the support arm 21 can slide in the horizontal direction by itself; the vertical rod 28 can slide in the vertical direction. Thus, when the horizontal direction of the support arm 21 cannot abut against the support, for example, the horizontal direction of the support arm 21 is just the hollow area of the shelf, the vertical rod 28 can extend in the vertical direction to abut against the support, ensuring the support effect on the goods taking assembly 10.

[0071] Optionally, the bottom end of the vertical rod 28 is connected with a friction pad 29, which can improve the friction when the vertical rod 28 abuts against the support.

[0072] The above is the preferred embodiment of the present application and is not intended to limit the present application. Although the present application is described in detail with reference to the examples, those skilled in the art can still modify the technical solutions recorded in the foregoing examples or make equivalent replacements for some of the technical features, but any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A support device for a transport robot, characterized in that, The application relates to a goods taking device. The goods taking device (10) is arranged on the material box frame (30) in a liftable manner. Two groups of the anti-shaking devices (20) are arranged on the two sides of the goods taking device (10) respectively. The support arm (21) is slidably arranged on the goods taking device (10) and used for abutting against a support member located outside the goods taking device (10). The end of the support arm (21) away from the goods taking device (10) is connected with a vertical rod (28). The vertical rod (28) is arranged in a telescopic manner along the vertical direction, so that the vertical rod (28) can be stretched along the vertical direction to abut against the support member. The goods taking device (10) comprises a carrying mechanism (11) and a connecting box body (12). The carrying mechanism (11) is arranged on the material box frame (30) in a liftable manner and is used for transferring goods between the material box frame (30) and a goods shelf.

2. The handling robot support apparatus according to claim 1, characterized in that, The connecting box body (12) is arranged on the carrying mechanism (11). The support arm (21) is slidably arranged on the connecting box body (12). Two groups of the support arms (21) are arranged on the two sides of the connecting box body (12) along a first direction respectively. The first direction is perpendicular to the goods in-out direction of the material box frame (30).

3. The handling robot support arrangement according to claim 2, characterized in that, The anti-shaking device (20) comprises a driving motor (23), a lead screw (24) and a sliding block (25). The driving motor (23) is arranged on the connecting box body (12).

4. The handling robot support apparatus according to claim 2, characterized in that, The lead screw (24) is rotatably arranged on the connecting box body (12) and is in transmission connection with the output end of the driving motor (23). The sliding block (25) is sleeved on the lead screw (24). The support arm (21) is connected with the sliding block (25). The anti-shaking device (20) comprises a contact switch (26). The contact switch (26) is arranged on the connecting box body (12) and is electrically connected with the driving motor (23).

5. The handling robot support apparatus according to claim 4, characterized in that, The contact switch (26) is used for sensing the sliding stroke of the support arm (21). An elastic member (27) is further arranged. The elastic member (27) is arranged at one end of the support arm (21) close to the driving motor (23) and / or the elastic member (27) is arranged at one end of the sliding block (25) close to the driving motor (23).

6. The handling robot support apparatus according to claim 5, characterized in that, When the support arm (21) slides to abut against the contact switch (26) of the elastic member (27), the contact switch (26) sends a signal that the support arm (21) is in position. The carrying mechanism (11) is rotatably arranged on the connecting box body (12) along a horizontal direction. The end of the support arm (21) away from the goods taking device (10) is connected with an extension member (22).

7. The handling robot support apparatus according to claim 2, characterized by The bottom end of the vertical rod (28) is connected with a friction pad (29).

8. The handling robot support apparatus according to claim 1, characterized by, ​ 9. The handling robot support apparatus according to claim 1, characterized by, ​

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