Warehouse goods righting mechanism

Abstract

The utility model provides a warehouse goods righting mechanism which comprises a righting arm, a second-stage righting adjusting mechanism and a third-stage righting adjusting mechanism, the second-stage righting adjusting mechanism is arranged on a second-stage portal frame and is in transmission connection with the upper end of the righting arm, and the third-stage righting adjusting mechanism is arranged on a third-stage portal frame assembly and is in transmission connection with the lower end of the righting arm. And the second-stage righting adjusting mechanism and the third-stage righting adjusting mechanism act and drive the righting arm to incline towards the stacked goods in the height direction. Under the cooperation of the second-stage righting adjusting mechanism, the third-stage righting adjusting mechanism and the righting arm, a connecting rod structure is formed at the position of the righting arm, the righting arm can be driven to act by respectively adjusting the rotation angle of the second-stage transmission shaft and the rotation angle of the third-stage transmission shaft, an inclined state is formed relative to stacked goods, and therefore the goods can be effectively righting. Therefore, the goods which are stacked obliquely can be pushed and righting, and the righting operation is convenient, rapid, reasonable and reliable.

Description

TECHNICAL FIELD

[0001] The utility model relates to warehouse conveying technical field especially relates to a warehouse goods righting mechanism. BACKGROUND

[0002] The truss robot is a kind of full-automatic industrial equipment, which adjusts workpiece position or realizes trajectory movement of workpiece in space stereoscopic position.In the truss robot, rotating forks can be arranged at the end of the moving body, and the rotating forks are used to clamp and grab goods, and the goods are transported and distributed by walking along the truss to realize the transfer and distribution of the goods.The stacking truss robot is widely used in manufacturing, logistics and warehousing and other industries.In the manufacturing industry, such as food, beverage, medicine, chemical industry and other industries, the truss stacking manipulator can be used for packaging, boxing and stacking of products.In the field of logistics and warehousing, the truss stacking manipulator is used for the handling, stacking and storage of goods.In addition, it can also be applied to the construction, building materials, metallurgy and other industries to handle and stack raw materials and finished products.

[0003] In this type of truss robot, it usually includes a truss system, a driving system, a grabbing mechanism and a control structure.The truss system is built into a frame structure by profile steel frame, etc., and the driving system and the grabbing mechanism are arranged on the truss system.The grabbing mechanism usually includes two groups of door frame structures arranged in opposite directions, and the door frame structure on each side can be arranged as a multi-level structure from top to bottom according to actual needs, and the rotating forks are arranged at the bottom of the lowest level of the door frame.The driving system provides telescopic driving power for the multi-level door frame of the grabbing mechanism and drives the rotating forks to rotate, and also provides power for the walking operation of the grabbing mechanism along the truss system.The control structure provides control operation for the connection and driving of each system, effectively receives operation instructions, processes feedback information of each component of the robot, so that each component of the robot cooperates to complete the movement and grabbing and stacking operation.

[0004] During the stacking and stacking of goods, when the ground is uneven, the stacked and stacked goods may cause the goods to tilt as a whole, the stacking to be inclined, and even the risk of collapse.Meanwhile, during the grabbing and stacking process, there is also an operation error, which will cause the goods to tilt during the stacking and stacking, and the stacking position will be incorrect, and the cumulative error may be further aggravated by repeated stacking and stacking, so as to cause the stacked goods to be too inclined.

[0005] In view of the problem of stacking inclination, it is necessary to further improve the structure of the existing door frame structure, so that it can not only meet the telescopic grabbing operation demand, but also can right the stacked goods, so as to facilitate the smooth grabbing and transfer of goods. UTILITY MODEL CONTENTS

[0006] The utility model wants to solve the technical problem: in order to overcome the prior art, the utility model provides a warehousing goods righting mechanism, can be inclined to the goods of the inclined stacking and rectify righting, facilitate the subsequent grabbing transfer operation.

[0007] The utility model adopts the technical scheme that a warehousing goods righting mechanism is arranged on the portal structure of the stacking truss robot, the portal structure includes a plurality of stages of portal structures connected in sequence from top to bottom, the lowest portal structure is a three-stage portal structure, the upper portion of the three-stage portal structure is a two-stage portal structure, the two-stage portal structure includes two-stage linear rails arranged symmetrically in the vertical direction, and the three-stage portal structure includes three-stage portal structure assemblies arranged symmetrically in the vertical direction, the two-stage linear rails are provided with sliding blocks, and the sliding blocks on the two-stage linear rails on each side are fixed to the corresponding three-stage portal structure assemblies.

[0008] In the above scheme, the righting arm is designed on the basis of the existing portal structure, and the cooperation of the two-stage adjusting mechanism and the three-stage righting adjusting mechanism with the righting arm enables the righting arm to swing relative to the portal structure, thereby forming an inclined state relative to the goods, so that the goods stacked in an inclined manner are righted.

[0009] Further, the two-stage righting adjusting mechanism includes a two-stage connecting plate, the two-stage connecting plate is fixed between the two-stage linear rails, the two-stage connecting plate is provided with a two-stage transmission shaft and a two-stage power device for driving the two-stage transmission shaft to rotate, the two-stage transmission shaft is fixed with a two-stage rocker arm, the other end of the two-stage rocker arm is rotatably connected with a two-stage roller through a two-stage rocker arm shaft, the two-stage roller is limited in the righting arm in the horizontal direction and is in rolling friction cooperation with the righting arm in the height direction, when the three-stage portal structure moves relative to the intermediate-stage, the righting arm moves up and down relative to the two-stage connecting plate.

[0010] Further, the two-stage power device includes a two-stage motor and a two-stage speed reducer, the output end of the two-stage motor is in transmission connection with the two-stage speed reducer, and the two-stage transmission shaft is in transmission connection with the output end of the two-stage speed reducer and is controlled to rotate by the two-stage speed reducer.

[0011] Preferably, the righting arm is a vertical profile structure, the profile structure has a long slot in the vertical direction, the secondary rocker arm extends into the profile structure through the long slot, and the secondary roller is arranged to roll in the profile structure and roll with the inner wall of the profile structure. The righting arm of the profile structure does not cause the righting arm to be stuck in the height direction when the lower door frame moves relative to the middle door frame, and the righting arm provides position limiting for the secondary roller during the righting operation, so that the rolling friction position of the righting arm and the secondary roller can be adjusted in the horizontal direction, facilitating cooperation with the lower tertiary righting adjusting mechanism to form an inclined state to the stacked goods.

[0012] Further, in order to provide limiting guide for the righting arm in the height direction during the extension and retraction of the tertiary door frame relative to the secondary door frame, the secondary connecting plate is fixed with a side guide bracket in the vertical direction on the two sides of the righting arm, the side guide bracket is rotatably connected with a side guide wheel, and the two sides of the righting arm profile structure are respectively rollingly and frictionally connected with the side guide wheels.

[0013] Further, the tertiary righting adjusting mechanism comprises a tertiary power device and a tertiary transmission shaft, the tertiary transmission shaft is in transmission connection with the tertiary power device and is controlled to rotate by the tertiary power device, the tertiary transmission shaft is fixed with a tertiary rocker arm, and the other end of the tertiary rocker arm is hingedly connected with the lower end of the righting arm through a tertiary rocker arm shaft. In the height direction, the tertiary transmission shaft is limitedly arranged on the lower door frame assembly and can rotate relative to the lower door frame assembly. When the tertiary transmission shaft rotates, the tertiary rocker arm rotates, and the lower end of the righting arm hingedly connected with the other end of the tertiary rocker arm swings relative to the tertiary door frame assembly under the driving of the tertiary rocker arm hinging shaft, cooperates with the upper secondary righting adjusting mechanism, the righting arm forms an inclination relative to the stacked goods, and the overall righting action to the goods is realized.

[0014] Preferably, the tertiary power device comprises a tertiary motor and a tertiary speed reducer, the output end of the tertiary motor is in transmission connection with the tertiary speed reducer, and the tertiary transmission shaft is in transmission connection with the output end of the tertiary speed reducer and is controlled to rotate by the tertiary speed reducer.

[0015] The warehouse goods righting mechanism has the advantages that the structure design is reasonable, the connecting rod structure is formed at the position of the righting arm under the cooperation of the secondary righting adjusting mechanism, the tertiary righting adjusting mechanism and the righting arm, the rotating angles of the secondary transmission shaft and the tertiary transmission shaft can be adjusted respectively, so that the righting arm is driven to move and form an inclination state relative to the stacked goods, the stacked and inclined goods can be pushed and righted, the righting operation is convenient and fast, and the structure is reasonable and reliable. BRIEF DESCRIPTION OF DRAWINGS

[0016] The utility model is further illustrated below in combination with the drawings and examples.

[0017] Figure 1 The utility model is a structural schematic diagram.

[0018] Figure 2 The utility model is a partial front view.

[0019] Figure 3 The utility model is Figure 2 The utility model is a sectional view of A-A.

[0020] Figure 4 The utility model is Figure 2 The utility model is a sectional view of B-B.

[0021] Figure 5 The utility model is a schematic diagram of the position of the secondary righting adjusting mechanism.

[0022] Figure 6 The utility model is a schematic diagram of the position of the tertiary righting adjusting mechanism (part of the panel structure is not shown).

[0023] Fig. 1, secondary linear rail 2, secondary connecting plate 3, righting arm 4, tertiary gantry assembly 5, panel structure 6, secondary rocker arm 7, secondary roller 8, long slot 9, side guide wheel 10, side guide bracket 11, secondary transmission shaft 12, secondary speed reducer 13, secondary motor 14, tertiary motor 15, tertiary speed reducer 16, tertiary transmission shaft 17, tertiary rocker arm 18, tertiary rocker arm shaft. DETAILED DESCRIPTION

[0024] The utility model will be further explained in detail in combination with the drawings. These drawings are all simplified schematic diagrams, and only illustrate the basic structure of the utility model in a schematic manner, therefore, it only shows the structure related to the utility model, and the direction and reference (such as up, down, left, right, etc.) can be only used to help the description of the features in the drawings. Therefore, the following specific embodiments are not used in the restrictive sense, and the range of the claimed subject matter is only limited by the appended claims and their equivalents.

[0025] Example one:

[0026] As Figures 1 to 6The warehouse goods righting mechanism shown is an embodiment one of the utility model. The warehouse goods righting mechanism is arranged on the portal structure of the stacking truss robot. In the stacking truss robot, usually, two groups of portal structures are arranged in pairs. Each group of portal structures comprises a primary portal, a secondary portal and a tertiary portal which are sequentially guided and connected from top to bottom. In the embodiment, the secondary portal is correspondingly described as a secondary portal, and the tertiary portal is correspondingly described as a tertiary portal. The secondary portal comprises a pair of secondary linear rails 1 which are symmetrically arranged in the vertical direction, and the tertiary portal comprises a pair of tertiary portal assemblies 4 which are symmetrically arranged in the vertical direction. A sliding block is arranged on each secondary linear rail 1, and the sliding block on each secondary linear rail 1 is fixed to the corresponding tertiary portal assembly 4.

[0027] The warehouse goods righting mechanism of the embodiment one comprises two righting arms 3, a secondary righting adjusting mechanism and a tertiary righting adjusting mechanism. The secondary righting adjusting mechanism has a secondary transmission shaft 11. The tertiary righting adjusting mechanism has a tertiary transmission shaft 16. The upper end of the same righting arm 3 is driven by the end of the same secondary transmission shaft, and the lower end is driven by the end of the same tertiary transmission shaft 16. The secondary righting adjusting mechanism and the tertiary righting adjusting mechanism drive the righting arm 3 to tilt in the height direction to the stacked goods, so as to realize the overall righting operation of the tilted goods.

[0028] Specifically, as shown in Figure 3 and Figure 5 The secondary righting adjusting mechanism is arranged on the secondary linear rail 1 and is in transmission connection with the upper end of the righting arm 3. The secondary righting adjusting mechanism comprises a secondary connecting plate 2, a secondary transmission shaft 11 and a secondary power device. The secondary connecting plate 2 is fixed between the secondary linear rails 1, and the secondary transmission shaft 11 and the secondary power device are arranged on the secondary connecting plate 2. The secondary power device comprises a secondary motor 13 and a secondary speed reducer 12, and the output end of the secondary motor 13 is in transmission connection with the secondary speed reducer 12. The secondary transmission shaft 11 is rotatably arranged on the secondary connecting plate 2 through a rod support, and the secondary transmission shaft 11 is in transmission connection with the output end of the secondary speed reducer 12 and is controlled to rotate by the secondary speed reducer 12.

[0029] The secondary transmission shaft 11 is fixed with a secondary rocker arm 6 at both ends. The other end of each secondary rocker arm 6 is rotatably connected with a secondary roller 7 through a secondary rocker arm 6 shaft. The secondary roller 7 is limitingly arranged in the corresponding righting arm 3 in the horizontal direction, and is in rolling frictional connection with the righting arm 3 in the height direction.

[0030] In the embodiment, the righting arm 3 is a vertical profile structure, the profile structure is generally a C-shaped radial cross section, and a long slot 8 is formed in the profile structure at the opening position of the C-shaped profile. The secondary rocker arm 6 extends into the profile structure through the long slot 8, and the secondary roller 7 is arranged in rolling contact with the inner wall of the profile structure. The righting arm 3 of the profile structure rolls with the secondary roller 7 during the movement of the lower door frame relative to the middle door frame, and the secondary roller 7 rolls along the inner cavity of the profile structure, so that the righting arm 3 is not stuck in the height direction. During the righting operation, the secondary roller 7 cooperates with the inner wall of the profile structure of the righting arm 3, and when the secondary roller 7 moves in the horizontal direction, the righting arm 3 is driven to move in the horizontal direction synchronously, so that the righting arm 3 and the secondary roller 7 can be adjusted in position in the horizontal direction, which is convenient for cooperation with the lower tertiary righting adjusting mechanism to form an inclined state to the stacked goods.

[0031] As shown in Figure 6 The tertiary righting adjusting mechanism is arranged on the tertiary door frame assembly 4 and is in transmission connection with the lower end of the righting arm 3. The tertiary righting adjusting mechanism includes a tertiary power device and a tertiary transmission shaft 16. The tertiary transmission shaft 16 is rotatably arranged between the one or two side panel structures 5 of the tertiary door frame assembly 4 through a rotating shaft support. The tertiary power device is also fixedly installed on the corresponding panel structure 5. The tertiary power device includes a tertiary motor 14 and a tertiary speed reducer 15, and the output end of the tertiary motor 14 is in transmission connection with the tertiary speed reducer 15. The tertiary transmission shaft 16 is in transmission connection with the output end of the tertiary speed reducer 15 and is controlled to rotate by the tertiary speed reducer 15. The two ends of the tertiary transmission shaft 16 are similar to the two ends of the secondary transmission shaft 11, and the two ends are also respectively fixed with a tertiary rocker arm 17. The other end of each side of the tertiary rocker arm 17 is hingedly connected with the lower end of a righting arm 3 through a tertiary rocker arm shaft 18. When the tertiary transmission shaft 16 rotates, the tertiary rocker arm 17 rotates, and the lower end of the righting arm 3 hingedly connected with the other end of the tertiary rocker arm 17 swings relative to the tertiary door frame assembly under the driving of the tertiary rocker arm shaft 18.

[0032] In operation, firstly, the tertiary door frame assembly has an extension and retraction action relative to the secondary door frame assembly. During the extension and retraction action, the lower end of the righting arm 3 is driven by the tertiary door frame assembly. The secondary connecting plate 2 is fixed on the secondary door frame assembly, and during the extension and retraction action, the upper end of the righting arm 3 moves up and down relative to the secondary connecting plate 2 under the limiting of the long slot 8 and the secondary rocker arm 6.

[0033] When the entire goods need to be righted, the secondary transmission shaft 11, the secondary rocker arm 6, the righting arm 3, the tertiary rocker arm 17, and the tertiary transmission shaft 16 form a linkage structure. The upper end of the righting arm 3 is driven to move in the horizontal direction by controlling the secondary righting adjusting mechanism, and the lower end of the righting arm 3 is driven to move in the horizontal direction by controlling the tertiary righting adjusting mechanism.

[0034] When the secondary rocker arm 6 and the tertiary rocker arm 17 are driven to rotate counterclockwise upward along the corresponding transmission shaft, the righting arm 3 is synchronously moved upward, and if the rotation amplitude of the secondary rocker arm 6 and the tertiary rocker arm 17 is adjusted, the righting arm 3 is tilted under the action of the connecting rod structure, and if the rotation amplitude of the secondary rocker arm 6 is small and the rotation amplitude of the tertiary rocker arm 17 is large, the upper end of the righting arm 3 is tilted towards the goods, and the goods at the top can be tilted and righted.

[0035] The warehouse goods righting mechanism is designed to form a connecting rod structure by the secondary rocker arm 6, the righting arm 3 and the tertiary rocker arm 17, the positions of the secondary rocker arm 6 and the tertiary rocker arm 17 are adjusted by the rotation of the secondary transmission shaft 11 and the tertiary transmission shaft 16, the connecting rod structure drives the righting arm 3 to tilt, and the goods in the stacked state are tilted, so that the tilted goods can be pushed and righted. The righting operation is integrated on the portal structure of the palletizing truss robot, and the goods can be righted before and after the goods are transported according to the action of the palletizing truss robot, the goods are tilted, the righting process is convenient and fast, and the structure is reasonable and reliable.

[0036] Embodiment Two

[0037] As shown in Figure 1 , Figure 2 and Figure 3 , the warehouse goods righting mechanism is an embodiment two of the utility model. The embodiment two further limits and guides the movement of the righting arm 3 in the height direction at the position of the secondary connecting plate 2 based on the embodiment one.

[0038] Specifically, the secondary connecting plate 2 is fixed with a side guide bracket 10 on each side of the righting arm 3 in the vertical direction, the side guide bracket 10 is rotatably connected with a side guide wheel 9, and the righting arm 3 profile structure is in rolling friction cooperation with the side guide wheel 9 on each side. By using the design of the side guide wheel 9, the movement of the righting arm 3 relative to the intermediate portal is limited and guided in the vertical direction during the relative movement of the intermediate portal and the lower portal.

[0039] On the one hand, the side guide brackets 10 on both sides of the righting arm 3 form a track for the upward and downward movement of the righting arm 3, and the main position of the movement is provided. On the other hand, the track is provided with rolling contact guiding operation on both sides by the side guide wheel 9.

[0040] It needs to be clear that the overall inclination caused by the stacking of goods is not too large, and the goods will directly collapse laterally when the inclination is too large. Therefore, for the present embodiment, the inclination angle that needs to be righted is actually small. For the righting arm 3, the righting arm 3 needs to be pushed out in the horizontal direction relative to the secondary connecting plate 2 to adjust the amplitude, which is a small gap.

[0041] Therefore, in actual design, the thickness of the profile structure of the righting arm 3, the protruding thickness of the side guide bracket 10 and the side guide wheel 9 relative to the secondary connecting plate 2 need to be reasonably designed, and the sum of the thickness of the righting arm 3 profile and the adjustment amplitude in the horizontal direction needs to be ensured, which will not exceed the distance between the outermost end of the side guide wheel 9 and the secondary connecting plate 2, that is, when the upper end of the righting arm 3 is inclined to the goods at the maximum angle, it will not be out of the guiding of the side guide wheel 9.

[0042] Based on the above ideal embodiment according to the present application, through the above description, relevant personnel can make various changes and modifications without deviating from the technical idea of the present application. The technical scope of the present application is not limited to the content in the specification, and the technical scope must be determined according to the scope of the claims.

Claims

1. A warehouse cargo righting mechanism arranged on a portal structure of a palletizing gantry robot, the portal structure comprising a plurality of levels of portal structures connected in sequence from top to bottom, wherein the lowest level of portal structure is a third level of portal structure, and the third level of portal structure is above a second level of portal structure, the second level of portal structure comprising a second level of linear rail (1) arranged symmetrically in the vertical direction, and the third level of portal structure comprising a third level of portal structure assembly (4) arranged symmetrically in the vertical direction, wherein a sliding block is arranged to slide on the second level of linear rail (1), and the sliding block on each side of the second level of linear rail (1) is fixed to the corresponding third level of portal structure assembly (4) on the same side, characterized in that: The device comprises a righting arm (3), a secondary righting adjusting mechanism and a tertiary righting adjusting mechanism, the secondary righting adjusting mechanism is arranged on the secondary linear rail (1) and is in transmission connection with the upper end of the righting arm (3), and the tertiary righting adjusting mechanism is arranged on the tertiary gantry assembly (4) and is in transmission connection with the lower end of the righting arm (3); the secondary righting adjusting mechanism and the tertiary righting adjusting mechanism act and drive the righting arm (3) to incline to the stacked goods in the height direction.

2. The stored goods righting mechanism of claim 1, wherein: The secondary righting adjusting mechanism comprises a secondary connecting plate (2), the secondary connecting plate (2) is fixed between the secondary linear rails (1), the secondary connecting plate (2) is provided with a secondary transmission shaft (11) and a secondary power device for driving the secondary transmission shaft (11) to rotate; the secondary transmission shaft (11) is fixed with a secondary rocker arm (6), the other end of the secondary rocker arm (6) is rotatably connected with a secondary roller (7) through a secondary rocker arm shaft (6), the secondary roller (7) is arranged in the righting arm (3) in the horizontal direction and is in rolling frictional cooperation with the righting arm (3) in the height direction, when the tertiary gantry assembly moves relative to the intermediate extension, the righting arm (3) moves up and down relative to the secondary connecting plate (2).

3. The warehouse cargo righting mechanism of claim 2, wherein: The secondary power device comprises a secondary motor (13) and a secondary speed reducer (12), the output end of the secondary motor (13) is in transmission connection with the secondary speed reducer (12), and the secondary transmission shaft (11) is in transmission connection with the output end of the secondary speed reducer (12) and is controlled to rotate by the secondary speed reducer (12).

4. The stored goods centralizing mechanism according to claim 2, characterized by: The righting arm (3) is a profile structure arranged vertically, the profile structure has a long slot (8) in the vertical direction, the secondary rocker arm (6) extends into the profile structure through the long slot (8), and the secondary roller (7) is arranged in rolling cooperation with the inner wall of the profile structure.

5. The warehouse cargo centering mechanism of claim 4, wherein: The secondary connecting plate (2) is fixed with a side guide bracket (10) on each side of the righting arm (3) in the vertical direction, the side guide bracket (10) is rotatably connected with a side guide wheel (9), and the profile structure of the righting arm (3) is in rolling frictional cooperation with the side guide wheel (9) on each side.

6. The bulk cargo centering mechanism of claim 1 wherein: The tertiary righting adjusting mechanism comprises a tertiary power device and a tertiary transmission shaft (16), the tertiary transmission shaft (16) is in transmission connection with the tertiary power device and is controlled to rotate by the tertiary power device, the tertiary transmission shaft (16) is fixed with a tertiary rocker arm (17), and the other end of the tertiary rocker arm (17) is hingedly connected with the lower end of the righting arm (3) through a tertiary rocker arm shaft (18).

7. The stored goods centralizing mechanism of claim 6, wherein: The tertiary power device comprises a tertiary motor (14) and a tertiary speed reducer (15), the output end of the tertiary motor (14) is in transmission connection with the tertiary speed reducer (15), and the tertiary transmission shaft (16) is in transmission connection with the output end of the tertiary speed reducer (15) and is controlled to rotate by the tertiary speed reducer (15).

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