A warehouse logistics carrying robot

Abstract

This utility model discloses a warehouse logistics handling robot, including a robot chassis assembly, two lifting assemblies, two pallet assemblies, four steering wheel assemblies, and an electrical control box. The robot chassis serves as the load-bearing body, with the two lifting assemblies respectively located on both sides of the chassis assembly. The four steering wheel assemblies are respectively located at the four corners of the chassis assembly. The two pallet assemblies are located on both sides of the chassis assembly and connected to the chassis assembly through the two lifting assemblies. The electrical control box is located at the front center of the chassis assembly. This utility model fully considers the actual working conditions of warehouse logistics scenarios and designs a warehouse logistics handling robot to replace manual logistics handling, thereby reducing workload and improving operational efficiency.

Description

Technical Field

[0001] This utility model relates to the field of intelligent robot technology, and in particular to a warehouse logistics handling robot. Background Technology

[0002] In recent years, the demand for flexible logistics in industries such as e-commerce and automobile manufacturing has continued to rise, and enterprises urgently need low-cost, highly adaptable intelligent handling solutions. To address the needs of enterprises for warehousing and logistics handling, a warehousing and logistics handling robot has been designed to replace manual handling, thereby reducing workload and improving operational efficiency.

[0003] Traditional warehouse logistics handling robots mostly use Mecanum wheel drive systems. Although they support omnidirectional movement, they have drawbacks such as complex structure, strict requirements for ground flatness, high energy consumption, and easy wear and tear. They are difficult to cope with the dynamic needs of warehouse logistics scenarios, such as frequent shelf adjustments and human-machine mixed operations. Utility Model Content

[0004] To address the aforementioned technical problems, the purpose of this utility model is to provide a force feedback dual-arm collaborative robot, the specific technical solution of which is as follows:

[0005] A warehouse logistics handling robot includes a robot chassis assembly, a lifting assembly, a pallet assembly, a steering wheel assembly, and an electrical control box;

[0006] The robot chassis assembly serves as the load-bearing body, and the lifting assembly and steering wheel assembly are located inside the robot chassis assembly;

[0007] The tray assembly is disposed on top of the robot chassis assembly and the lifting assembly, and is connected to the robot chassis assembly through the lifting assembly;

[0008] The lifting assembly and steering wheel assembly are housed within the chassis assembly;

[0009] The electrical control box is fixed to the middle of the front end of the robot chassis assembly.

[0010] The preferred embodiment of the warehouse logistics handling robot is that it has no fewer than two lifting components, no fewer than two pallet components, and no fewer than four steering wheel components.

[0011] The preferred embodiment of the warehouse logistics handling robot is that the robot chassis assembly includes a chassis support, a lower chassis cover plate, a upper chassis cover plate, an optical axis, an optical axis support, a servo motor fixing ring, a side plate, a stepper motor, and a stepper motor support.

[0012] The lower chassis cover and the upper chassis cover are respectively fixed to the upper and lower sides of the chassis bracket;

[0013] The optical axis is fixed to both sides inside the chassis bracket by an optical axis bracket;

[0014] The servo motor fixing rings are respectively located on the front and rear sides of the lower cover plate and the upper cover plate of the chassis;

[0015] The side plate is fixed to the outside of the chassis support;

[0016] The stepper motor is connected to the chassis bracket via a stepper motor bracket.

[0017] The preferred embodiment of the warehouse logistics handling robot is that the lifting component includes a lifting component bracket, a guide rail, a slider, an electric push rod fixing frame, a sliding plate a, a wedge block a, and an electric push rod;

[0018] The guide rail is fixed to the lifting component bracket;

[0019] The bottom of the electric actuator mounting bracket is equipped with a slider, which is slidably mounted on the guide rail.

[0020] The two ends of the electric actuator are fixed on the electric actuator mounting bracket and connected to the lifting component bracket through the cooperation of the guide rail and the slider;

[0021] The wedge block a is fixed to the top of the electric actuator mounting bracket, and a sliding plate a is provided at the top of the wedge block a.

[0022] A preferred embodiment of the warehouse logistics handling robot is that the pallet assembly includes a pallet support, a pallet plate, a linear bearing, a sliding plate b, and a wedge block b.

[0023] The tray is fixed to the top of the tray support with screws;

[0024] The linear bearing is fixed to the bottom of the support plate by studs;

[0025] The wedge-shaped blocks b are symmetrically arranged on both sides inside the tray support by screws, and a sliding piece b is provided at the top of the wedge-shaped blocks b.

[0026] A preferred embodiment of the warehouse logistics handling robot is that the steering wheel assembly includes a wheel body, a motor bracket, a DC geared motor, a synchronous belt, a stepped shaft, a steering wheel bracket, and a steering gear.

[0027] The wheel body is fixed on the stepped axle;

[0028] The stepped shaft and motor bracket are fixed on the steering wheel bracket;

[0029] The DC geared motor is fixed on the motor bracket and is connected to the stepped shaft drive via a synchronous belt.

[0030] In a preferred embodiment of the warehouse logistics handling robot, four steering wheel assemblies are fixed inside the robot chassis assembly.

[0031] Each steering wheel assembly is independently mounted to the servo mounting ring using hexagonal screws;

[0032] The stepper motor is connected to the steering gear of the steering wheel assembly via a synchronous belt, driving the steering wheel assembly to rotate around the Z-axis.

[0033] In a preferred embodiment of the warehouse logistics handling robot, two lifting components are fixed inside the robot chassis assembly.

[0034] Two lifting components are symmetrically installed along the X-axis at the middle positions on the left and right sides of the chassis component;

[0035] The lifting component bracket is fixedly connected to the chassis bracket via corner brackets.

[0036] In a preferred embodiment of the warehouse logistics handling robot, the wedge block a of the lifting component and the wedge block b of the pallet component are slidably engaged by slide plates a and b.

[0037] The horizontal thrust of the electric actuator is converted into the vertical thrust of the tray assembly through the inclined surfaces of wedge block a and wedge block b.

[0038] The optical axis of the chassis assembly slides with the linear bearing of the tray assembly, restricting the tray assembly to move only in the vertical direction.

[0039] In a preferred embodiment of the warehouse logistics handling robot, the electrical control box has a built-in power supply and controller for controlling the movement of the steering wheel assembly, the steering of the stepper motor, and the lifting and lowering of the electric push rod.

[0040] The working principle of a warehouse logistics handling robot: During operation, the warehouse logistics handling robot can move back and forth under the drive of the steering wheel assembly. The stepper motor of the chassis assembly drives the steering wheel assembly to rotate through the synchronous belt drive, thereby realizing the steering of the warehouse logistics handling robot.

[0041] When a warehouse logistics handling robot moves under the shelf during operation, the lifting component activates the electric push rod. The electric push rod converts the horizontal thrust of the electric push rod into a vertical thrust in space through the wedge block of the lifting component and the pallet component. At this time, the connection between the optical axis of the chassis component and the linear bearing of the pallet component realizes the limitation of the pallet component, retaining only one vertical degree of freedom in space, so that the pallet component can be lifted. The final effect is that the pallet component lifts the shelf through the lifting component. Beneficial effects

[0042] Compared with existing technologies, this utility model integrates a steering wheel mechanism and a wedge-shaped lifting device, overcoming the limitations of traditional logistics carts in terms of flexibility and load-bearing capacity. It adopts a four-steering wheel independent drive scheme, achieving steering control and omnidirectional movement through precision synchronous belt transmission. The innovative use of a wedge-shaped lifting mechanism solves the technical challenge of lifting large loads in confined spaces. It provides SMEs with a cost-effective logistics automation solution, demonstrating significant economic benefits and application value. Attached Figure Description

[0043] Figure 1 This is a schematic diagram of the structure of a warehouse logistics handling robot;

[0044] Figure 2 A schematic diagram of the chassis component structure with one side of the chassis cover removed;

[0045] Figure 3 A schematic diagram of the lifting component structure;

[0046] Figure 4 This is a schematic diagram of the bottom structure of the tray assembly;

[0047] Figure 5 This is a schematic diagram of the steering wheel assembly structure;

[0048] Figure 6 This is a schematic diagram illustrating the movement method of a warehouse logistics handling robot.

[0049] Figure 7 This is a schematic diagram of a lifting method for a warehouse logistics handling robot.

[0050] Among them: 100-robot chassis assembly, 101-chassis bracket, 102-lower chassis cover plate, 103-upper chassis cover plate, 104-optical axis, 105-optical axis bracket, 106-servo motor fixing ring, 107-side plate, 108-stepper motor, 109-stepper motor bracket, 200-lifting assembly, 201-lifting assembly bracket, 202-guide rail, 203-slider, 204-electric actuator fixing bracket, 205-slider plate. a, 206-Wedge block a, 207-Electric actuator, 300-Pattern assembly, 301-Pattern bracket, 302-Pattern plate, 303-Linear bearing, 304-Sliding plate b, 305-Wedge block b, 400-Steering wheel assembly, 401-Wheel body, 402-Motor bracket, 403-DC geared motor, 404-Synchronous belt, 405-Stepped shaft, 406-Steering wheel bracket, 407-Steering gear, 500-Electrical control box. Detailed Implementation

[0051] The embodiments of this utility model are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this utility model, and should not be construed as limiting this utility model.

[0052] like Figure 1-7 As shown, a warehouse logistics handling robot includes a robot chassis assembly 100, a lifting assembly 200, a pallet assembly 300, a steering wheel assembly 400, and an electrical control box 500.

[0053] The robot chassis assembly 100 is a carrier, and the lifting assembly 200 and the steering wheel assembly 400 are disposed inside the robot chassis assembly 100.

[0054] The tray assembly 300 is disposed on top of the robot chassis assembly 100 and the lifting assembly 200, and is connected to the robot chassis assembly 100 through the lifting assembly 200;

[0055] The lifting assembly and the 200 steering wheel assembly 400 are housed within the chassis assembly 100;

[0056] The electrical control box 500 is fixed to the middle of the front end of the robot chassis assembly 100.

[0057] The number of lifting components 200 shall be no less than two, the number of pallet components 300 shall be no less than two, and the number of steering wheel components 400 shall be no less than four.

[0058] The robot chassis assembly 100 includes a chassis bracket 101, a lower chassis cover plate 102, an upper chassis cover plate 103, an optical axis 104, an optical axis bracket 105, a servo motor fixing ring 106, a side plate 107, a stepper motor 108, and a stepper motor bracket 109.

[0059] The lower chassis cover plate 102 and the upper chassis cover plate 103 are respectively fixed to the upper and lower sides of the chassis bracket 101 to protect the internal components of the chassis.

[0060] No fewer than eight optical axes 104 are fixed to the inside sides of the chassis bracket 101 by no fewer than sixteen optical axis brackets 105, in order to limit the position of the tray assembly 300;

[0061] The servo motor fixing ring 106 is respectively disposed on the front and rear sides of the chassis lower cover plate 102 and chassis upper cover plate 103, and is used to fix the servo wheel assembly 400.

[0062] The side plate 107 is fixed to the outside of the chassis bracket 101;

[0063] The stepper motor 108 is connected to the chassis bracket 101 via the stepper motor bracket 109; the robot's steering is achieved by driving the steering wheel assembly 400 through the stepper motor 108.

[0064] The lifting assembly 200 includes a lifting assembly bracket 201, a guide rail 202, a slider 203, an electric actuator fixing frame 204, a sliding plate a205, a wedge block a206, and an electric actuator 207;

[0065] The guide rail 202 is fixed to the lifting component bracket 201;

[0066] The bottom of the electric actuator fixing frame 204 is equipped with a slider 203, and the slider 203 is slidably disposed on the guide rail 202;

[0067] The electric actuator 207 is fixed at both ends on the electric actuator fixing frame 204, and is connected to the lifting component bracket 201 through the cooperation of the guide rail 202 and the slider 203;

[0068] The wedge block a206 is fixed to the top of the electric actuator mounting bracket 204, and a sliding plate a205 is provided at the top of the wedge block a206.

[0069] The pallet assembly 300 includes a pallet support 301, a pallet plate 302, a linear bearing 303, a sliding plate b304, and a wedge block b305;

[0070] The pallet 302 is fixed to the top of the pallet bracket 301 by screws and is used to carry logistics goods;

[0071] The linear bearing 303 is fixed to the bottom of the tray 302 by studs; it is used to connect with the optical axis 104 of the chassis assembly 100 to fix the tray assembly 300 and limit its position.

[0072] The wedge-shaped blocks b305 are symmetrically arranged on both sides inside the tray support 301 by screws, and the top of the wedge-shaped blocks b305 is provided with a sliding piece b304.

[0073] The steering wheel assembly 400 includes a wheel body 401, a motor bracket 402, a DC geared motor 403, a synchronous belt 404, a stepped shaft 405, a steering wheel bracket 406, and a steering gear 407.

[0074] The wheel body 401 is fixed on the stepped shaft 405;

[0075] The stepped shaft 405 and the motor bracket 402 are fixed on the steering wheel bracket 406;

[0076] The DC geared motor 403 is fixed on the motor bracket 402 and is connected to the stepped shaft 405 via a synchronous belt 404.

[0077] The DC geared motor 403 is used to drive the wheels 401 to achieve the forward and backward movement of the robot.

[0078] In a preferred embodiment of the warehouse logistics handling robot, four steering wheel assemblies 400 are fixed inside the robot chassis assembly 100.

[0079] Each steering wheel assembly 400 is independently mounted on the servo mounting ring 106 by a hexagonal screw;

[0080] The stepper motor 108 is connected to the steering gear 407 of the steering wheel assembly 400 via a synchronous belt, driving the steering wheel assembly 400 to rotate around the Z-axis.

[0081] The robot chassis assembly 100 has two lifting components 200 fixed inside;

[0082] Two lifting components 200 are symmetrically installed along the X-axis at the middle position on the left and right sides of the chassis component 100;

[0083] The lifting component bracket 201 is fixedly connected to the chassis bracket 101 via corner brackets.

[0084] The wedge block a206 of the lifting assembly 200 and the wedge block b305 of the tray assembly 300 are slidably engaged by the sliders a205 and b304.

[0085] The horizontal thrust of the electric actuator 207 is converted into the vertical thrust of the tray assembly 300 through the inclined surfaces of wedge block a206 and wedge block b305.

[0086] The optical axis 104 of the chassis assembly 100 is slidably engaged with the linear bearing 303 of the tray assembly 300, restricting the tray assembly 300 to move only in the vertical direction.

[0087] The electrical control box 500 has a built-in power supply and controller, which are used to control the movement of the steering wheel assembly 400, the steering of the stepper motor 108, and the lifting and lowering of the electric push rod 207.

[0088] A method of moving warehouse logistics handling robots, such as Figure 6 A stepper motor 108 drives the steering wheel assembly 400 via a synchronous belt connected to the steering gear 407, causing the steering wheel assembly 400 to rotate 270° around the Z-axis, thus achieving steering for a warehouse logistics handling robot. Within the steering wheel assembly 400, a DC geared motor 403 is connected and drives the stepped shaft 405 via a synchronous belt 404. When the DC geared motor 403 rotates, it drives the wheel 401 to rotate around the Y-axis, thus achieving forward and backward movement for the warehouse logistics handling robot. In summary, the interaction of the four steering wheel assemblies enables various complex movements such as rotation in place, lateral movement, and herringbone motion, meeting the needs of diverse operational scenarios.

[0089] A lifting method for warehouse logistics handling robots, such as Figure 7 When the present invention moves under the shelf during operation, the lifting component 200 activates the electric push rod 207. The electric push rod 207 converts the thrust along the Y-axis into the thrust along the Z-axis through the lifting component 200 and the wedge block 305 of the pallet component 300, so that the pallet component is lifted. The final effect is that the pallet component lifts the shelf through the lifting component.

[0090] The robot of this utility model has a width of 716mm, a body height of 72mm, and a middle groove width of 104mm, which perfectly fits the size of a standard wooden pallet. In the initial position, the upper surface of the pallet is 110mm from the ground, and the lower surface of the chassis is 8mm from the ground.

[0091] Four steering wheel assemblies are installed at the four corners of the robot, spaced 410mm apart horizontally and 702mm apart front to back. The lifting height is about 5cm, and the load capacity is 500KG.

[0092] Unless otherwise stated, if any of the technical solutions disclosed in this utility model discloses a numerical range, then the disclosed numerical range is a preferred numerical range. Any person skilled in the art should understand that the preferred numerical range is merely one among many feasible numerical values ​​that has a more obvious or representative technical effect. Because there are many numerical values, it is impossible to list them all. Therefore, this utility model discloses only some numerical values ​​to illustrate the technical solutions of this utility model. Furthermore, the numerical values ​​listed above should not constitute a limitation on the scope of protection of this utility model.

[0093] Meanwhile, if the present invention discloses or relates to mutually fixedly connected parts or structural components, then unless otherwise stated, the fixed connection can be understood as: a detachable fixed connection, or a non-detachable fixed connection. Of course, mutually fixed connections can also be replaced by an integral structure.

[0094] Furthermore, unless otherwise stated, the terms used to indicate positional relationships or shapes in any of the technical solutions disclosed in this utility model have the meaning of being similar to, analogous to, or close to such a state or shape. Any component provided by this utility model can be assembled from multiple individual components, or it can be a single component manufactured using a one-piece molding process.

Claims

1. A warehouse logistics handling robot, characterized in that: Includes robot chassis assembly (100), lifting assembly (200), pallet assembly (300), steering wheel assembly (400) and electrical control box (500). The robot chassis assembly (100) is a carrier, and the lifting assembly (200) and the steering wheel assembly (400) are disposed inside the robot chassis assembly (100); The pallet assembly (300) is disposed on top of the robot chassis assembly (100) and the lifting assembly (200), and is connected to the robot chassis assembly (100) through the lifting assembly (200); The lifting assembly and the steering wheel assembly (400) are located within the chassis assembly (100); The electrical control box (500) is fixed to the middle of the front end of the robot chassis assembly (100).

2. The warehouse logistics handling robot according to claim 1, characterized in that: The lifting assembly (200) shall be no less than two, the pallet assembly (300) shall be no less than two, and the steering wheel assembly (400) shall be no less than four.

3. A warehouse logistics handling robot according to claim 1, characterized in that: The robot chassis assembly (100) includes a chassis bracket (101), a lower chassis cover plate (102), an upper chassis cover plate (103), an optical axis (104), an optical axis bracket (105), a servo motor fixing ring (106), a side plate (107), a stepper motor (108), and a stepper motor bracket (109). The lower chassis cover plate (102) and the upper chassis cover plate (103) are respectively fixed to the upper and lower sides of the chassis bracket (101); The optical axis (104) is fixed to both sides inside the chassis bracket (101) by the optical axis bracket (105); The servo mounting ring (106) is respectively disposed on the front and rear sides of the lower chassis cover plate (102) and the upper chassis cover plate (103); The side plate (107) is fixed to the outside of the chassis bracket (101); The stepper motor (108) is connected to the chassis bracket (101) via a stepper motor bracket (109).

4. A warehouse logistics handling robot according to claim 1, characterized in that: The lifting assembly (200) includes a lifting assembly bracket (201), a guide rail (202), a slider (203), an electric actuator fixing bracket (204), a sliding plate a (205), a wedge block a (206), and an electric actuator (207). The guide rail (202) is fixed to the lifting component bracket (201); The bottom of the electric actuator fixing bracket (204) is equipped with a slider (203), and the slider (203) is slidably mounted on the guide rail (202); The electric actuator (207) is fixed at both ends on the electric actuator mounting bracket (204) and connected to the lifting component bracket (201) through the cooperation of the guide rail (202) and the slider (203); The wedge block a (206) is fixed to the top of the electric actuator bracket (204), and a slider a (205) is provided at the top of the wedge block a (206).

5. A warehouse logistics handling robot according to claim 1, characterized in that, The pallet assembly (300) includes a pallet support (301), a pallet plate (302), a linear bearing (303), a slide plate b (304), and a wedge block b (305). The tray (302) is fixed to the top of the tray bracket (301) by screws; The linear bearing (303) is fixed to the bottom of the support plate (302) by studs; The wedge block b (305) is symmetrically arranged on both sides inside the tray support (301) by screws, and a sliding piece b (304) is provided at the top of the wedge block b (305).

6. A warehouse logistics handling robot according to claim 1, characterized in that, The steering wheel assembly (400) includes a wheel body (401), a motor bracket (402), a DC geared motor (403), a synchronous belt (404), a stepped shaft (405), a steering wheel bracket (406), and a steering gear (407). The wheel body (401) is fixed on the stepped axle (405); The stepped shaft (405) and the motor bracket (402) are fixed on the steering wheel bracket (406); The DC geared motor (403) is fixed on the motor bracket (402) and is connected to the stepped shaft (405) via a synchronous belt (404).

7. A warehouse logistics handling robot according to claim 3, characterized in that: The robot chassis assembly (100) has four steering wheel assemblies (400) fixed inside. Each steering wheel assembly (400) is independently mounted on the servo mounting ring (106) by hexagonal screws; The stepper motor (108) is connected to the steering gear (407) of the steering wheel assembly (400) via a synchronous belt, driving the steering wheel assembly (400) to rotate around the Z-axis.

8. A warehouse logistics handling robot according to claim 4, characterized in that: The robot chassis assembly (100) has two lifting components (200) fixed inside. Two lifting components (200) are symmetrically installed along the X-axis at the middle positions on the left and right sides of the chassis component (100); The lifting component bracket (201) is fixedly connected to the chassis bracket (101) via corner brackets.

9. A warehouse logistics handling robot according to claim 8, characterized in that: The wedge block a (206) of the lifting assembly (200) and the wedge block b (305) of the tray assembly (300) are slidably engaged by the sliders a (205) and b (304). The horizontal thrust of the electric actuator (207) is converted into the vertical thrust of the pallet assembly (300) through the inclined surfaces of wedge block a (206) and wedge block b (305); The optical axis (104) of the chassis assembly (100) is slidably engaged with the linear bearing (303) of the pallet assembly (300), restricting the pallet assembly (300) to move only in the vertical direction.

10. A warehouse logistics handling robot according to claim 1, characterized in that: The electrical control box (500) has a built-in power supply and controller for controlling the movement of the steering wheel assembly (400), the steering of the stepper motor (108), and the lifting and lowering of the electric push rod (207).

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