Roadway robot capable of independently grabbing goods on top layer
By designing a liftable secondary gantry and a gripper structure in the tunnel robot, the problem of gripping top-level goods was solved, and effective gripping was achieved under height-restricted conditions.
Patent Information
- Application Number
- CN202520332286.7
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-02-27
- Publication Date
- 2026-01-06
- Estimated Expiration
- 2035-02-27
AI Technical Summary
Existing aisle robots struggle to effectively grab goods from the top floor due to warehouse height limitations.
A design was created that includes a primary gantry and a liftable secondary gantry. The gripper is mounted at the bottom of the secondary gantry. The gripper is lifted by a servo-driven geared motor that drives a gear meshing rack. The gripper is further raised by an electric cylinder and a rocker seat structure.
After the secondary gantry retracts into the primary gantry, the grab can continue to rise to the top of the secondary gantry to meet the need to grab top-level goods under height-restricted conditions.
Smart Images
Figure CN223763236U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the field of robotics technology, and in particular to a tunnel robot capable of independently grasping goods on the top floor. Background Technology
[0002] With the continuous development of intelligent technology, more and more warehouse cargo handling is being carried out using aisle robots. These robots shuttle back and forth along guide tracks in the aisles of automated warehouses, storing goods located at the aisle entrances into storage locations, or retrieving goods from storage locations according to instructions and transporting them to the aisle entrances.
[0003] To adapt to warehouses of different heights, the gripping part of the aisle robot usually adopts a telescopic structure composed of a primary and a secondary gantry. The gripper for picking up goods is installed at the lower end of the secondary gantry and moves up and down along the primary gantry as the secondary gantry rises and falls.
[0004] However, in practical applications, since goods are generally stacked in multiple layers, the space above the top layer of goods is relatively small due to the height restrictions of the warehouse. Conventional aisle robot grippers are fixed at the bottom of the secondary gantry, and it is difficult to effectively grasp the top layer of goods by relying solely on the lifting gripper of the secondary gantry. Utility Model Content
[0005] The technical problem to be solved by this utility model is: in order to overcome the shortcomings of the prior art, this utility model provides a lane robot that can independently grab top-level goods, so as to meet the needs of grabbing top-level goods under height-restricted conditions.
[0006] The technical solution adopted by this utility model to solve its technical problem is: a lane robot capable of independently grabbing top-level goods, including a primary gantry and a secondary gantry that can be lifted and lowered within the primary gantry. A hand gripper mounting plate is provided between the bottom of the secondary gantry, and a pair of grippers for grabbing goods are provided on the hand gripper mounting plate at intervals. Lifting plates are fixed at both ends of the hand gripper mounting plate, and the lifting plates slide in cooperation with the inner side of the secondary gantry. A rack is installed on the inner side of the secondary gantry, and a servo reduction motor is installed on the inner side of the lifting plate. A gear is installed on the output shaft of the servo reduction motor that meshes with the rack to realize the lifting and lowering movement of the hand grippers.
[0007] Specifically, the outer side of the secondary gantry is fixed with a first slide rail, the inner side of the primary gantry is equipped with a first slider that slides with the first slide rail, and the upper end of the primary gantry is equipped with an electric cylinder that pulls the secondary gantry to move up and down.
[0008] Furthermore, a connecting plate is fixed between the inner sides of the secondary gantry, and a swinging seat that can swing is installed in the middle of the connecting plate. A floating bushing connected to the piston rod of the electric cylinder is provided on the upper end face of the swinging seat.
[0009] Furthermore, a rotating base is fixed on the gripper mounting plate, and a servo motor that drives the gripper to extend or retract is mounted on the upper surface of the rotating base.
[0010] Furthermore, a second slide rail is fixed to the inner side of the secondary gantry, and a second slider that slides in cooperation with the second slide rail is fixed to the lifting plate.
[0011] The beneficial effects of this utility model are: based on the secondary gantry first rising and retracting into the primary gantry, the grab continues to rise to the top position of the secondary gantry, thus further increasing the grab height of the grab and meeting the requirements for grabbing top-level goods under height-limited conditions. Attached Figure Description
[0012] The present invention will be further described below with reference to the accompanying drawings and embodiments.
[0013] Figure 1 This is a schematic diagram of the state of the secondary gantry when it is fully retracted, as described in this utility model.
[0014] Figure 2 This is a partial structural schematic diagram of the present invention viewed from the rear side.
[0015] Figure 3 This is a schematic diagram of the state of the secondary gantry as described in this utility model when it is not retracted.
[0016] Figure 4 This is a schematic diagram of the hand gripper in its fully retracted state as described in this utility model.
[0017] Figure 5 yes Figure 4 A magnified structural diagram of point A in the middle.
[0018] In the diagram: 1. Primary gantry, 2. Secondary gantry, 3. Hand gripper mounting plate, 4. Hand gripper, 5. Lifting plate, 6. Rack, 7. Servo geared motor, 8. Gear, 9. First slide rail, 10. First slider, 11. Electric cylinder, 12. Connecting plate, 13. Swing seat, 14. Floating bushing, 15. Rotary seat, 16. Servo motor, 17. Second slide rail, 18. Second slider, 19. Crossbeam frame, 20. Support seat, 21. Support shaft. Detailed Implementation
[0019] The present invention will now be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic diagrams, illustrating only the basic structure of the present invention, and therefore only show the components relevant to the present invention.
[0020] like Figure 1 , Figure 2 , Figure 5As shown, a lane robot capable of individually grabbing top-level goods includes gantry bodies that are spaced apart and used in pairs to grab goods. Each gantry body includes a primary gantry 1, a secondary gantry 2, and a gripper 4.
[0021] The secondary gantry 2 is fixed with a first slide rail 9 on its outer side. The first slide rail 10 is installed on the inner side of the primary gantry 1 at intervals, and is slidably engaged with the first slide rail 9. A connecting plate 12 is fixed between the inner sides of the upper part of the secondary gantry 2. A support seat 20 is fixed in the middle of the connecting plate 12. A support shaft 21 is provided between the outer plate of the support seat 20 and the connecting plate 12. A rocker seat 13 that can swing around the center of the support shaft 21 is rotatably installed on the support shaft 21. Two floating bushings 14 are installed at intervals on the upper end face of the rocker seat 13 through locking nuts. A crossbeam frame 19 is fixed between the top ends of the primary gantry 1. Two electric cylinders 11 are installed at intervals on the crossbeam frame 19. The piston rod of each electric cylinder 11 is connected to the corresponding floating bushing 14. Through the action of the electric cylinder 11, the secondary gantry 2 is pulled to move up and down within the primary gantry 1.
[0022] The bottom of the secondary gantry 2 is provided with a hand gripping mounting plate 3. Two rotating seats 15 are fixed on the hand gripping mounting plate 3, which are arranged left and right apart. A rotary shaft is rotatably mounted in the rotating seat 15 through bearing support. A servo motor 16 is mounted on the upper surface of the rotating seat 15. The upper end of the rotary shaft is connected to the motor shaft of the servo motor 16. The hand gripping 4 is installed at the lower end of the rotary shaft. Under the drive of the servo motor 16, the hand gripping 4 extends or retracts to the outer side of the hand gripping mounting plate 3.
[0023] Lifting plates 5 are fixed at both ends of the gripper mounting plate 3. A second slide rail 17 is fixed on the inner side of the secondary gantry 2. A second slider 18 that slides with the second slide rail 17 is fixed on the lifting plate 5. A rack 6 is installed on the inner side of the secondary gantry 2 next to the second slide rail 17. A servo reduction motor 7 is installed on the inner side of the lifting plate 5. The output shaft of the servo reduction motor 7 passes through the through hole on the lifting plate 5. A gear 8 that meshes with the rack 6 is installed on the shaft end of the output shaft of the servo reduction motor 7. The lifting plate 5 is driven to rise and fall by the gear 8 meshing with the rack 6, thereby causing the gripper 4 to move up and down to the upper end of the secondary gantry 2.
[0024] like Figure 3 The diagram shows the state of the secondary gantry 2 when it is not retracted, at which time the grabber 4 can grab the goods at the bottom. Figure 1 The diagram shows the state where the electric cylinder 11 pulls the secondary mast 2 fully retracted into the primary mast 1. At this time, the grabber 4 can grab the goods in the middle layer; if you want to grab the goods in the top layer alone, such as Figure 4As shown, after the secondary gantry 2 is fully retracted into the primary gantry 1, the servo reduction motor 7 drives the gear 8 to mesh with the rack 6 for transmission, and the lifting plate 5 moves upward along the second slide rail 17 until the grab 4 is raised to the top of the secondary gantry 2, so that the top layer of goods can be grabbed.
[0025] In this type of tunnel robot, the secondary gantry 2 first rises and retracts into the primary gantry 1 during use, and the gripper 4 can continue to rise to the upper end of the secondary gantry 2. This further increases the gripping height of the gripper 4, making it easier to grip the top layer of goods.
[0026] Based on the above-described preferred embodiments of this utility model, and through the foregoing description, those skilled in the art can make various changes and modifications without departing from the technical concept of this utility model. The technical scope of this utility model is not limited to the contents of the specification, but must be determined according to the scope of the claims.
Claims
1. A lane robot capable of individually picking up top-layer goods, comprising a first gantry (1) and a second gantry (2) which is arranged to be liftable in the first gantry (1), characterized in that: The secondary gantry (2) bottom is provided with a hand grab mounting plate (3), a pair of hand grabs (4) for grabbing goods are provided on the hand grab mounting plate (3), lifting plates (5) are respectively fixed at both ends of the hand grab mounting plate (3), the lifting plates (5) are in sliding fit with the inner side surfaces of the secondary gantry (2); a rack (6) is mounted on the inner side surface of the secondary gantry (2), a servo reduction motor (7) is mounted on the inner side surface of the lifting plate (5), a gear (8) in meshing transmission with the rack (6) is mounted on the output shaft of the servo reduction motor (7), so that the hand grab (4) realizes lifting movement.
2. The aisle robot capable of individually grasping top-level goods of claim 1, characterized by: The outer side surface of the secondary gantry (2) is fixed with a first sliding rail (9), a first sliding block (10) in sliding fit with the first sliding rail (9) is mounted on the inner side surface of the primary gantry (1), an electric cylinder (11) for pulling the secondary gantry (2) to realize lifting movement is mounted on the upper end of the primary gantry (1).
3. The aisle robot capable of individually grasping top-level goods of claim 2, characterized in that: The inner side surfaces of the secondary gantry (2) are fixedly connected with a connecting plate (12), a swing seat (13) capable of swinging is mounted on the middle part of the connecting plate (12), a floating shaft sleeve (14) connected with the piston rod of the electric cylinder (11) is arranged on the upper end surface of the swing seat (13).
4. The aisle robot capable of individually grasping top-level items of claim 1, wherein: The hand grab mounting plate (3) is fixed with a rotating seat (15), a servo motor (16) for driving the hand grab (4) to extend or retract is mounted on the upper end surface of the rotating seat (15).
5. The aisle robot capable of individually grasping top-level items of claim 1, wherein: The inner side surface of the secondary gantry (2) is fixed with a second sliding rail (17), a second sliding block (18) in sliding fit with the second sliding rail (17) is fixed on the lifting plate (5).