A multi-tiered shelving warehouse robot

Abstract

The utility model relates to the technical field of warehousing robot, especially a kind of multi-layer shelf warehousing robot, it utilizes shelf crossbeam to climb multi-layer shelf, realizes goods layer by layer handling, and good versatility;Including chassis and bearing base, bearing base is detachably installed on chassis;Still include two columns one, two hook components one, two columns two, crossbar and two hook components two, two columns one are vertically installed at the front end both sides of bearing base respectively, hook component one is installed on the front side wall of two columns one, two columns two are respectively liftable and are installed in two columns one, the upper end of two columns two is connected respectively with the both ends of crossbar, two hook components two are symmetrically installed on the front side wall of crossbar, hook component one and hook component two are used to the crossbeam of shelf for disengaging hooking.

Description

Technical Field

[0001] This utility model relates to the technical field of warehouse robots, and in particular to a multi-layer rack warehouse robot. Background Technology

[0002] Warehouse robots are robots used in indoor environments such as logistics warehouses and production warehouses for operations such as handling, sorting, and picking of goods in and out of the warehouse. Chinese invention patent CN219949341U discloses a warehousing robot and warehousing system. The warehousing robot includes: a movable base for driving the robot to move on a support surface; a handling device for retrieving or placing objects from a target location on a shelf unit; and a climbing component, including a climbing module and a climbing drive device. The climbing module includes a vertical frame and a first synchronous belt. The vertical frame is mounted on the movable base, and the first synchronous belt is mounted on the vertical frame and can rotate relative to it. The climbing drive device drives the first synchronous belt to rotate. The first synchronous belt has multiple protrusions spaced along its outer periphery. The protrusions can abut against the shelf unit, thereby driving the warehousing robot to rise and fall as the first synchronous belt rotates along the height direction of the shelf unit. This solves the problem of misalignment that easily occurs when the sprocket or gear meshes with the chain or rack during the climbing docking of the warehousing robot and the shelf.

[0003] However, the climbing module of the aforementioned multi-layer rack warehouse robot needs to have slots on the uprights of the rack that match the protrusions, and the width of the climbing module needs to be compatible with the width of the uprights of the rack, so its versatility is poor. Utility Model Content

[0004] To solve the above-mentioned technical problems, this utility model provides a multi-layer rack warehouse robot that utilizes rack beams to climb multi-layer racks, enabling the layer-by-layer transport of goods, and has good versatility.

[0005] This utility model discloses a multi-layer rack storage robot, comprising a chassis and a support base, the support base being detachably mounted on the chassis; it also includes two uprights, two hook assemblies, two uprights, a crossbar, and two hook assemblies. The two uprights are vertically mounted on both sides of the front end of the support base, with hook assemblies mounted on the front sidewalls of each upright. The two uprights are vertically mounted within the two uprights, with the ends of the crossbar connected to the upper ends of the two uprights. The two hook assemblies are symmetrically mounted on the front sidewalls of the crossbar. Hook assemblies one and two are used for detachably hooking onto the crossbeams of the rack. During operation, the two uprights retract into the two uprights, goods are placed on the support base, and the chassis carries the support base to the front of the designated rack, aligning the two hook assemblies one with the crossbeams of the second layer. The two uprights extend from the two uprights, hooking the crossbeams of the third layer. The two uprights extend outwards from the two uprights, hooking the crossbeams of the third layer. The first upright retracts, raising the two uprights and the support base one shelf level. This allows the two hook components to hook onto the beams of the third shelf level, while the two hook components detach from the beams. The two uprights then extend from the two uprights, hooking onto the beams of the fourth shelf level. This process is repeated, raising the support base layer by layer until it aligns with the designated shelf location. Goods are then moved along the support base to the designated location. The reverse operation of hook components, uprights, and hook components 1 and 2 lowers the support base back onto the chassis, preparing it for the next goods handling operation. Compared to existing technologies, this method utilizes the alternating hook components 1 and 2 hooking and detaching from the shelf beams, along with the lifting module consisting of the two liftable uprights, to raise and lower the support base. This enables goods handling across multiple shelf levels without requiring matching uprights or a width that aligns with the width of the shelf and the lifting module, offering excellent versatility.

[0006] Preferably, hook assembly one includes a mounting frame, a hook plate, and a driver one. The mounting frame is mounted on the front side wall of column one. The inner end of the hook plate is rotatably mounted on the mounting frame via a rotating shaft. Driver one is mounted on the mounting frame, and the output shaft of driver one is connected to the rotating shaft of the hook plate. Hook assembly two has the same structure as hook assembly one. The power supply and controller for driving driver one are installed inside the bearing base. Driver one drives the rotating shaft to rotate the hook plate. When the outer end of the hook plate extends out of the front of column one, it can hook onto the crossbeam of the shelf. When the outer end of the hook plate rotates to the inner side of column one, the outer end of the hook plate disengages from the crossbeam of the shelf. The structure is simple and practical.

[0007] Preferably, it also includes two tooth conditions, two second actuators, and two first drive teeth. The two tooth conditions are vertically mounted on the side walls of the two hook assemblies. The two second actuators are mounted on the two first columns via brackets. The two first drive teeth are rotatably mounted on the two first columns. The output shafts of the two second actuators are respectively connected to the two first drive teeth, and the two first drive teeth mesh with the two tooth conditions. The tooth conditions and first drive teeth can be rack and pinion pairs, or tooth conditions and first drive teeth can be worm rack and worm pairs. The second actuator drives the first drive teeth to rotate, and the first drive teeth mesh with the tooth conditions to drive the hook assembly to rise or fall along the hook assembly, providing stable driving. When the tooth conditions and first drive teeth are worm rack and worm pairs, they also have a self-locking function, making them highly practical.

[0008] Preferably, it also includes two toothed conditions, two sliding sleeves, two actuators, and two drive teeth. The toothed conditions are vertically mounted on the side walls of both uprights. The two sliding sleeves are respectively mounted on the front sides of the support base. The two uprights are slidably inserted into the two sliding sleeves. The two actuators are respectively mounted on the two sliding sleeves. The two drive teeth are rotatably mounted on the two uprights. The output shafts of the two actuators are respectively connected to the two drive teeth, and the two drive teeth mesh with the two toothed conditions. The two actuators synchronously drive the two drive teeth to rotate, causing them to mesh with the two toothed conditions, thereby driving the two uprights to rise and fall synchronously along the two sliding sleeves. This adjusts the relative height between the support base and the two uprights, adapting to different heights of the second-layer shelving and improving versatility.

[0009] Preferably, it also includes two stabilizing wheels, which are respectively installed on the front side of the two sliding sleeves; as the load-bearing base climbs up the shelf layer by layer, at least one of the two stabilizing wheels rolls into contact with the shelf upright, thereby providing auxiliary support to the lower end of the upright and preventing the load-bearing base from tilting and overturning, causing the goods to fall.

[0010] Preferably, it also includes a positioning block, which is installed on the chassis and positions the support base; the positioning block limits and locks the corners of the support base, thereby making the support base more stable and accurate on the chassis.

[0011] Preferably, the device also includes a push plate, a lead screw, a lead screw nut, and a driver four. The push plate is slidably mounted on the support base, the lead screw is rotatably mounted inside the support base, the lead screw nut is connected to the lead screw drive, and the lead screw nut is mounted on the push plate. The driver four is mounted on the support base, and the output shaft of the driver four is connected to the lead screw drive. When the support base is aligned with the designated shelf location, the driver four drives the lead screw to rotate, and the lead screw drives the push plate to move along the support base through the lead screw nut, so that the push plate pushes the goods to the shelf location to realize loading. The push plate is also equipped with forks to facilitate picking up goods from the shelf location.

[0012] Compared with the prior art, the beneficial effects of this utility model are as follows: the climbing module, which consists of hook assembly one and hook assembly two working alternately to hook and detach from the shelf beam and two liftable uprights, drives the load-bearing base to rise and fall, thereby realizing the handling of goods on multi-layer shelves. It does not require matching shelf uprights, nor does it require the width of the shelf to be adapted to the climbing module, thus having good versatility. Attached Figure Description

[0013] Figure 1 This is a schematic diagram of the structure of this utility model;

[0014] Figure 2 This is a front view structural diagram of the present invention;

[0015] Figure 3 This is a schematic diagram of the isometric structure of this utility model;

[0016] Figure 4 This is a structural diagram showing the chassis and load-bearing base in their separated state.

[0017] Figure 5 This is a structural diagram showing the relative height of the support base and the column when they are adjusted.

[0018] Figure 6 This is a structural diagram showing the disassembled state of components such as column one, hook assembly one, column two, crossbar, and hook assembly two.

[0019] The following components are labeled in the attached diagram: 1. Chassis; 2. Support base; 3. Column 1; 4. Hook assembly 1; 5. Column 2; 6. Crossbar; 7. Hook assembly 2; 8. Mounting bracket; 9. Hook plate; 10. Driver 1; 11. Gear condition; 12. Driver 2; 13. Drive gear 1; 14. Gear condition 2; 15. Sliding sleeve; 16. Driver 3; 17. Drive gear 2; 18. Stabilizing wheel; 19. Positioning block; 20. Push plate; 21. Lead screw; 22. Lead screw nut; 23. Driver 4. Detailed Implementation

[0020] To facilitate understanding of this utility model, a more complete description will be given below with reference to the accompanying drawings. This utility model can be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided to make the disclosure of this utility model more thorough and complete. Example 1

[0021] like Figures 1 to 6As shown, a multi-layer racking storage robot includes a chassis 1 and a support base 2, the support base 2 being detachably mounted on the chassis 1; it also includes two uprights 3, two hook assemblies 4, two uprights 5, a crossbar 6, and two hook assemblies 7. The two uprights 3 are vertically mounted on both sides of the front end of the support base 2, and hook assemblies 4 are mounted on the front sidewalls of both uprights 3. The two uprights 5 are vertically mounted in the two uprights 3, and the two ends of the crossbar 6 are connected to the upper ends of the two uprights 5. The two hook assemblies 7 are symmetrically mounted on the front sidewalls of the crossbar 6. Hook assemblies 4 and 7 are used for detachably hooking onto the crossbeams of the racking; it also includes two... The system includes a tooth condition 14, two sliding sleeves 15, two actuators 16, and two drive teeth 17. The tooth condition 14 is vertically mounted on the side wall of each of the two columns 13. The two sliding sleeves 15 are respectively mounted on the front sides of the support base 2. The two columns 13 are respectively slidably inserted into the two sliding sleeves 15. The two actuators 16 are respectively mounted on the two sliding sleeves 15. The two drive teeth 17 are respectively rotatably mounted on the two columns 25. The output shafts of the two actuators 16 are respectively connected to the two drive teeth 17. The two drive teeth 17 are respectively meshed with the two tooth condition 14. The system also includes two stabilizing wheels 18, which are respectively mounted on the front side of the two sliding sleeves 15.

[0022] Two drive motors 16 synchronously drive two drive teeth 17 to rotate, so that the two drive teeth 17 mesh with the two tooth conditions 14 respectively, thereby driving the two uprights 3 to rise and fall synchronously along the two sliding sleeves 15, thereby adjusting the relative height between the support base 2 and the two uprights 3 to adapt to the second layer of shelves at different heights.

[0023] During operation, the two uprights 25 retract into the two uprights 13 respectively. Goods are placed on the support base 2. The chassis 1 carries the support base 2 to the front of the designated shelf, aligning the two hook assemblies 14 with the second-layer beam hooks. The two uprights 25 extend from the two uprights 13, hooking the two hook assemblies 27 onto the third-layer beam hooks. The two uprights 25 retract into the two uprights 13, raising the two uprights 13 and the support base 2 one shelf level, causing the two hook assemblies 14 to hook onto the third-layer beam, and disengaging the two hook assemblies 27 from the third-layer beam. The two uprights 25 then extend from the two uprights 13 again, hooking the two hook assemblies 27 onto the fourth-layer beam. This process is repeated, raising the support base 2 layer by layer until the support base is fully loaded. The base 2 is aligned with the designated shelf location. As the base 2 climbs along the shelf layer by layer, at least one of the two stabilizing wheels 18 rolls into contact with the shelf uprights, thus providing auxiliary support to the lower end of the uprights 3 and moving the goods along the base 2 to the designated shelf location. The reverse operation of the hook assembly 4, uprights 5, and hook assembly 7 causes the base 2 to gradually descend back onto the chassis 1 to prepare for the next goods handling. Compared with the prior art, the climbing module, which consists of the alternating hook assembly 4 and hook assembly 7 hooking and detaching from the shelf beams and the two liftable uprights 5, drives the base 2 to rise and fall, realizing the handling of goods on multi-layer shelves. It does not require matching shelf uprights, nor does it require the shelf to be compatible with the width of the climbing module, thus having good versatility. Example 2

[0024] like Figure 1 , Figure 2 , Figure 3 , Figure 5 and Figure 6 As shown, based on Embodiment 1, hook assembly 14 includes a mounting frame 8, a hook plate 9, and a driver 10. The mounting frame 8 is mounted on the front side wall of the column 13. The inner end of the hook plate 9 is rotatably mounted on the mounting frame 8 via a rotating shaft. The driver 10 is mounted on the mounting frame 8. The output shaft of the driver 10 is connected to the rotating shaft of the hook plate 9. Hook assembly 27 has the same structure as hook assembly 14. It also includes two tooth conditions 11, two drivers 2 12, and two driving teeth 13. The two tooth conditions 11 are respectively vertically mounted on the side walls of the two hook assemblies 14. The two drivers 2 12 are respectively mounted on the two columns 13 via brackets. The two driving teeth 13 are respectively rotatably mounted on the two columns 13. The output shafts of the two drivers 2 12 are respectively connected to the two driving teeth 13. The two driving teeth 13 are respectively engaged with the two tooth conditions 11.

[0025] The base 2 houses the power supply and controller for the drive actuator 10. The drive actuator 10 drives the rotating shaft to rotate the hook plate 9. When the outer end of the hook plate 9 extends outward from the front of the upright 3, it can hook onto the crossbeam of the shelf. When the outer end of the hook plate 9 rotates to the inside of the upright 3, the outer end of the hook plate 9 disengages from the crossbeam of the shelf. The structure is simple and practical. The gear condition 11 and the drive gear 13 can be a rack and pinion, or the gear condition 11 and the drive gear 13 can be a worm gear and worm pair. The drive actuator 12 drives the drive gear 13 to rotate. The drive gear 13 meshes with the gear condition 11 to drive the hook assembly 4 to rise or fall along the hook assembly 4. The drive is stable. When the gear condition 11 and the drive gear 13 are a worm gear and worm pair, they also have a self-locking function, which is practical. Example 3

[0026] like Figure 1 , Figure 3 , Figure 4 and Figure 5 As shown, based on Embodiment 1, it also includes a push plate 20, a lead screw 21, a lead screw nut 22, and a driver 23. The push plate 20 is slidably mounted on the support base 2, the lead screw 21 is rotatably mounted inside the support base 2, the lead screw nut 22 is connected to the lead screw 21 in a transmission manner, the lead screw nut 22 is mounted on the push plate 20, and the driver 23 is mounted on the support base 2. The output shaft of the driver 23 is connected to the lead screw 21 in a transmission manner. When the support base 2 is aligned with the designated shelf location, the driver 23 drives the lead screw 21 to rotate. The lead screw 21 drives the push plate 20 to move along the support base 2 through the lead screw nut 22, so that the push plate 20 pushes the goods toward the shelf location to realize loading. The push plate 20 is also equipped with forks to facilitate picking up goods from the shelf location.

[0027] like Figures 1 to 6As shown, this utility model discloses a multi-layer shelving storage robot. During operation, goods are first placed on the support base 2. The chassis 1 carries the support base 2 to the front of the designated shelf. Two actuators 16 synchronously drive two drive teeth 17 to rotate, causing the two drive teeth 17 to mesh with two tooth conditions 14, thereby driving two uprights 3 to rise and fall synchronously along two sliding sleeves 15. This adjusts the relative height between the support base 2 and the two uprights 3, aligning the two hook assemblies 14 with the second-layer crossbeam hooks. Then, two uprights 25 extend from the two uprights 3, causing the two hook assemblies 27 to hook the third-layer crossbeam hooks. The two uprights 25 then retract into the two uprights 3, moving the two uprights 3 and the support base 2 towards... Raise one shelf level so that two hook components 1 4 hook onto the crossbeam of the third shelf level, and disengage two hook components 2 7 from the crossbeam of the third shelf level. Then, extend two uprights 2 5 from the two uprights 1 3 so that two hook components 2 7 hook onto the crossbeam of the fourth shelf level. Repeat the above operation to raise the support base 2 layer by layer until the support base 2 is aligned with the designated shelf location. The actuator 4 23 drives the lead screw 21 to rotate. The lead screw 21 drives the push plate 20 to move along the support base 2 through the lead screw nut 22, so that the push plate 20 pushes the goods toward the shelf location. Finally, reverse the operation of hook components 1 4, uprights 2 5 and hook components 2 7 so that the support base 2 gradually descends onto the chassis 1 to reset, preparing for the next goods handling.

[0028] The main functions achieved by this utility model are:

[0029] 1. The climbing module, which consists of the alternating hook assembly 4 and hook assembly 7 hooking and detaching from the shelf beam and the two liftable uprights 5, drives the load-bearing base 2 to rise and fall, realizing the handling of goods on multi-layer shelves. It does not require matching shelf uprights, nor does it require the width of the shelf to be adapted to the climbing module, and has good versatility.

[0030] 2. The relative height between the support base 2 and the two uprights 3 can be adjusted to accommodate second-layer shelves of different heights, thus improving versatility;

[0031] 3. The push plate 20 is also equipped with forks, which can push the goods to the shelf location to realize loading and facilitate the retrieval of goods from the shelf location.

[0032] This utility model discloses a multi-layer rack storage robot. Its installation, connection, or setting methods are all common mechanical methods, and any method that can achieve its beneficial effects can be implemented. The chassis 1, bearing base 2, column one 3, hook assembly one 4, column two 5, hook assembly two 7, mounting frame 8, hook plate 9, driver one 10, gear condition 11, driver two 12, drive gear one 13, gear condition two 14, sliding sleeve 15, driver three 16, drive gear two 17, stabilizing wheel 18, lead screw 21, lead screw nut 22, and driver four 23 of this utility model are commercially available. Technical personnel in this industry only need to install and operate it according to the accompanying instruction manual, without requiring any creative work from those skilled in the art.

[0033] All technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0034] The above description is only a preferred embodiment of the present utility model. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the technical principles of the present utility model, and these improvements and modifications should also be considered within the protection scope of the present utility model.

Claims

1. A multi-layer racking storage robot, comprising a chassis (1) and a support base (2), wherein the support base (2) is detachably mounted on the chassis (1); characterized in that, It also includes two uprights (3), two hook assemblies (4), two uprights (5), a crossbar (6) and two hook assemblies (7). The two uprights (3) are vertically installed on the front sides of the support base (2). Hook assemblies (4) are installed on the front side walls of the two uprights (3). The two uprights (5) are installed in the two uprights (3) in a height-adjustable manner. The two ends of the crossbar (6) are connected to the upper ends of the two uprights (5). The two hook assemblies (7) are symmetrically installed on the front side walls of the crossbar (6). Hook assemblies (4) and hook assemblies (7) are used to detachably hook the crossbeams of the shelf.

2. The multi-layer racking warehouse robot as described in claim 1, characterized in that, Hook assembly one (4) includes a mounting bracket (8), a hook plate (9) and a driver one (10). The mounting bracket (8) is mounted on the front side wall of the column one (3). The inner end of the hook plate (9) is rotatably mounted on the mounting bracket (8) via a rotating shaft. The driver one (10) is mounted on the mounting bracket (8). The output shaft of the driver one (10) is connected to the rotating shaft of the hook plate (9) via a transmission connection. Hook assembly two (7) has the same structure as hook assembly one (4).

3. A multi-layer racking warehouse robot as described in claim 1, characterized in that, It also includes two tooth conditions (11), two second drivers (12) and two first driving teeth (13). The two tooth conditions (11) are vertically mounted on the side walls of the two hook assemblies (4). The two second drivers (12) are mounted on the two first columns (3) through brackets. The two first driving teeth (13) are rotatably mounted on the two first columns (3). The output shafts of the two second drivers (12) are connected to the two first driving teeth (13) respectively. The two first driving teeth (13) mesh with the two tooth conditions (11) respectively.

4. A multi-layer racking warehouse robot as described in claim 1, characterized in that, It also includes two tooth condition two (14), two sliding sleeves (15), two driver three (16) and two drive tooth two (17). The tooth condition two (14) is vertically installed on the side wall of the two columns one (3). The two sliding sleeves (15) are respectively installed on the front two sides of the bearing base (2). The two columns one (3) are respectively slidably inserted into the two sliding sleeves (15). The two driver three (16) are respectively installed on the two sliding sleeves (15). The two drive tooth two (17) are respectively rotatably installed on the two columns two (5). The output shafts of the two driver three (16) are respectively connected to the two drive tooth two (17) for transmission. The two drive tooth two (17) are respectively meshed with the two tooth condition two (14).

5. A multi-layer rack warehouse robot as described in claim 4, characterized in that, It also includes two stabilizing wheels (18), which are respectively installed on the front side of the two sliding sleeves (15).

6. A multi-layer racking warehouse robot as described in claim 1, characterized in that, It also includes a positioning block (19), which is installed on the chassis (1) and positions the support base (2).

7. A multi-layer racking warehouse robot as described in claim 1, characterized in that, It also includes a push plate (20), a lead screw (21), a lead screw nut (22), and a driver four (23). The push plate (20) is slidably mounted on the bearing base (2), the lead screw (21) is rotatably mounted inside the bearing base (2), the lead screw nut (22) is connected to the lead screw (21) in a transmission connection, the lead screw nut (22) is mounted on the push plate (20), and the driver four (23) is mounted on the bearing base (2). The output shaft of the driver four (23) is connected to the lead screw (21) in a transmission connection.

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