A lightweight shelving robot

Abstract

This utility model discloses a lightweight shelving robot, relating to the field of warehousing equipment technology. It includes two uprights, with a loading platform installed between the two uprights. Each upright integrates a cable tray, and a walking mechanism is installed on the side of each upright. The walking mechanism is used to move in conjunction with a track on the shelving. An inclined shock absorber connects the walking mechanism to the upright. This utility model facilitates cable routing, achieves a lightweight structure, and provides good shock absorption.

Description

Technical Field

[0001] This utility model relates to the field of warehousing equipment technology, specifically to a lightweight shelving robot. Background Technology

[0002] The statements herein provide only background information related to this invention and do not necessarily constitute prior art.

[0003] Shelf robots are commonly used in warehousing and logistics scenarios, capable of moving autonomously between shelves to complete tasks such as handling, picking, and organizing goods. For example, Chinese Patent (Publication No. CN221317797U, Publication Date 2024.07.12) discloses a dual-column shelf robot, including two columns, each equipped with a walking mechanism, and at least one crossbeam between the two columns. One end of the crossbeam is hinged to one column, and the other end is hinged to the other column. A damping limiting mechanism is provided between the end of the at least one crossbeam and the column on the same side. Chinese Patent (Publication No. CN117585346A, Publication Date 2024.02.23) discloses a collaborative shelf robot, including a first loading and unloading component and a second loading and unloading component used in conjunction. Both the first and second loading and unloading components include columns, a lifting mechanism, and a loading and unloading mechanism. The columns are connected to the loading and unloading mechanism through the lifting mechanism; the columns are equipped with a shelf walking mechanism.

[0004] While the above solutions can all achieve loading and unloading of goods on the shelves, they require additional cable management boxes for wiring, and the numerous cables are easily affected by other components, leading to messy wiring. In addition, the equipment has redundant design and a large overall weight, which affects the flexibility of the equipment. Utility Model Content

[0005] In view of the shortcomings of the existing technology, the purpose of this utility model is to provide a lightweight shelving robot that facilitates cable routing, achieves lightweight structure, and has good shock absorption effect.

[0006] To achieve the above objectives, this utility model is implemented through the following technical solution:

[0007] An embodiment of this utility model provides a lightweight shelving robot, including two uprights, a loading platform installed between the two uprights, cable trays integrated in the uprights, a walking mechanism installed on the side of the uprights, the walking mechanism being used to cooperate with the walking track set on the shelf, and an inclined shock absorber connected between the walking mechanism and the uprights.

[0008] As a further implementation, the cable tray is located on the outside of the column and extends for a set length along the height of the column.

[0009] As a further implementation, the column is provided with a cavity that extends through the column along its height.

[0010] As a further implementation, the walking mechanism and the shock absorber are connected to the column via the same fastener.

[0011] As a further implementation, the fastener is attached to the outside of the column.

[0012] As a further implementation, the walking mechanism includes a walking wheel, a mounting base, and a drive motor. The drive motor is located on one side of the mounting base, the walking wheel is located on the other side of the mounting base, and the walking wheel is connected to the drive motor.

[0013] The mounting base and the fixing member are hinged to form the first hinge point.

[0014] As a further implementation, one end of the shock absorber is hinged to the mounting base to form a second hinge point, and the other end is fixedly connected to the fixing member.

[0015] As a further implementation, the shock absorber is installed perpendicular to the line connecting the first hinge point and the second hinge point.

[0016] As a further implementation, a lifting motor is installed on the top of the column, and the lifting motor is equipped with an absolute encoder, which is used to obtain the lifting position.

[0017] The beneficial effects of the above-described embodiments of this utility model are as follows:

[0018] (1) The column of this utility model has a cavity inside and a weight reduction design, which makes the robot lighter, reduces energy consumption and makes it more flexible; at the same time, it integrates a wiring channel, so that the load-bearing capacity of the column will not be affected by removing the ribs and reducing the wall thickness, and facilitates wiring.

[0019] (2) The shock absorber of this utility model is installed on the upper side of the walking mechanism in an inclined state, and the shock absorber and the walking mechanism are connected to the column through the same fixing part, which can save too many connecting parts, further reduce weight, and improve the shock absorption effect.

[0020] (3) The lifting motor of this utility model is equipped with an absolute encoder. Compared with the prior art, which arranges multiple limit switches in the height direction, it can save the wiring of the limit switches and avoid too many lines. Attached Figure Description

[0021] The accompanying drawings, which form part of this specification, are used to provide a further understanding of this utility model. The illustrative embodiments of this utility model and their descriptions are used to explain this utility model and do not constitute an improper limitation of this utility model.

[0022] Figure 1 This is a schematic diagram of the lightweight shelving robot structure according to one or more embodiments of the present utility model;

[0023] Figure 2 This is a schematic diagram of the column structure of one or more embodiments of the present utility model;

[0024] Figure 3 This is a cross-sectional view of a column according to one or more embodiments of the present utility model;

[0025] Figure 4 Schematic diagram of the installation of the shock absorber and the walking mechanism according to one or more embodiments of this utility model. Figure 1 ;

[0026] Figure 5 Schematic diagram of the installation of the shock absorber and the walking mechanism according to one or more embodiments of this utility model. Figure 2 ;

[0027] Among them, 1. upright, 2. crossbeam, 3. lifting motor, 4. loading platform, 5. traveling wheel, 6. mounting base, 7. fastener, 8. shock absorber, 9. cable tray, 10. cavity, 11. first hinge point, 12. second hinge point, 13. drive motor, 14. ear plate, 15. shelf guide rail. Detailed Implementation

[0028] It should be noted that the following detailed description is illustrative and intended to provide further explanation of the present invention. Unless otherwise specified, all technical and scientific terms used in this invention have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains.

[0029] Example 1:

[0030] Due to the problems of messy wiring and heavy weight of existing shelf robots, this embodiment provides a lightweight shelf robot. The lightweight design is achieved by optimizing the robot's frame structure. Figure 1 As shown, the lightweight shelving robot in this embodiment mainly includes a column 1, a beam 2, a loading platform 4, a walking mechanism, a lifting mechanism, and a shock absorber 8. The column 1 has been designed to reduce weight and integrates a cable tray 9, so that no additional cable box is needed while ensuring structural strength. The arrangement of the shock absorber 8 has been adjusted to enhance the shock absorption effect.

[0031] Specifically, such as Figure 1As shown, the lightweight shelving robot in this embodiment includes two uprights 1, with the top and bottom of the two uprights 1 connected by crossbeams 2, forming a rectangular frame. A loading platform 4 is provided between the two uprights 1, and the loading platform 4 can rise or fall along the height direction (longitudinal) of the uprights 1 through a lifting mechanism. Each upright 1 corresponds to a set of lifting mechanisms, which include a lifting motor 3 and a transmission mechanism. The lifting mechanism is installed at the top of the upright 1 and connected to the loading platform 4 through the transmission mechanism. The transmission mechanism can be implemented using a belt drive, sprocket drive, or other structures.

[0032] In this embodiment, the lifting motor 3 is equipped with an absolute encoder. The working principle of the absolute encoder is based on the cooperation of a grating disk and a photoelectric detection device. The photoelectric detection device converts the read encoded information into electrical signals and outputs digital signals through a signal processing circuit. These signals can directly reflect the absolute position of the grating disk without the need for counting to determine the position; therefore, the absolute encoder can accurately obtain the lifting position. Since the absolute encoder is built into the lifting motor 3, compared with the existing technology that arranges multiple limit switches in the height direction, the wiring of the limit switches can be eliminated, avoiding excessive wiring.

[0033] In this embodiment, the column 1 integrates a cable tray 9, and the structure of the column 1 is optimized to facilitate cable routing while achieving weight reduction. For example... Figure 2 and Figure 3 As shown, a cavity 10 is provided inside the column 1, extending through the column 1 along its height. Compared to traditional column structures, this embodiment removes the rib plate in the middle of the column 1, achieving a weight reduction effect. Simultaneously, to further reduce weight, the wall thickness of the column 1 is reduced; the specific reduction in wall thickness is obtained through stress analysis. After removing the rib plate, to achieve the best weight reduction effect, the cavity 10 has a reduced diameter section. This section connects the two cavities of the original column into a single cavity 10, forming a smooth transition.

[0034] according to Figure 3 As shown, the cable tray 9 is positioned longitudinally along the column 1, and the cable tray 9 shares a sidewall with the cavity 10. By providing the cable tray 9, the longitudinal dimension of the column 1 is increased, ensuring that the load-bearing capacity of the column 1 is not affected by the removal of the ribs or the reduction of the wall thickness. When the column 1 is installed, the cable tray 9 is located on the outer side, facilitating cable routing.

[0035] The cable tray 9 extends a certain length along the height of the column 1. It can be the same height as the column 1 or shorter than the column 1. The wall thickness of the cable tray 9 is no greater than the wall thickness of the cavity 10, so that the column 1 will not be added with excessive weight.

[0036] like Figure 1As shown, the column 1 is equipped with a traveling mechanism, which cooperates with the shelf guide rail 15 on the shelf to travel along the aisle. Multiple sets of shelf guide rail 15 can be installed on the shelf, and multiple sets of traveling mechanisms are correspondingly installed on the column 1; the traveling mechanism is equipped with a shock absorber 8.

[0037] In existing shelving robots, the shock absorber 8 is installed vertically, resulting in poor shock absorption; furthermore, the connection between the walking mechanism, the shock absorber 8, and the upright 1 involves numerous connecting parts, making the structure relatively complex. This embodiment changes the arrangement of the shock absorber 8 and the walking mechanism, such as... Figure 4 and Figure 5 As shown, the shock absorber 8 is located on the upper side of the traveling mechanism and is installed at an angle.

[0038] Specifically, the walking mechanism includes a walking wheel 5, a mounting base 6, and a drive motor 13. The walking wheel 5 is connected to the drive motor 13, and the drive motor 13 can drive the walking wheel 5 to rotate. The drive motor 13 is fixed to one side of the mounting base 6, and the walking wheel 5 is located on the other side of the mounting base 6. The shock absorber 8 and the mounting base 6 are connected to the column 1 through the same fastener 7, which reduces the number of connecting parts.

[0039] The fastener 7 has a U-shaped cross-section and is positioned outside the routing groove, thus not affecting normal wiring. The side of the mounting base 6 is hinged to the lower side of the fastener 7, forming the first hinge point 11. One end of the shock absorber 8 is hinged to the top of the mounting base 6, forming the second hinge point 12. The other end of the shock absorber 8 is connected to the top of the fastener 7. To ensure that the installation angle of the shock absorber 8 meets the requirements, an inclined ear plate 14 is provided on the top of the fastener 7.

[0040] In this embodiment, the shock absorber 8 is positioned perpendicular to the line connecting the first hinge point 11 and the second hinge point 12, and forms a triangular structure with the fixing member 7, which can achieve a good shock absorption effect and make the structure more stable.

[0041] This embodiment has made structural improvements to the main body of the robot frame, especially the support column 1, which has not only been weight-reduced but also integrated with the wiring trough 9, making the wiring layout more standardized; the lifting motor 3 has a built-in absolute encoder, eliminating multiple limit switches and corresponding wiring, simplifying the wiring layout; the arrangement of the shock absorber 8 has been changed, effectively improving the shock absorption effect; through the above arrangements, the weight of the shelf robot is reduced, the operating energy consumption is reduced, and it is more flexible.

[0042] The above description is merely a preferred embodiment of this utility model and is not intended to limit the utility model. Various modifications and variations can be made to this utility model by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this utility model should be included within the protection scope of this utility model.

Claims

1. A lightweight shelving robot, comprising two uprights, with a loading platform installed between the two uprights, characterized in that, The upright has a cable tray integrated with it. A traveling mechanism is installed on the side of the upright. The traveling mechanism is used to travel in conjunction with the traveling rails set on the shelf. An inclined shock absorber is connected between the traveling mechanism and the upright.

2. The lightweight shelving robot according to claim 1, characterized in that, The cable tray is located on the outside of the column and extends for a set length along the height of the column.

3. A lightweight shelving robot according to claim 1 or 2, characterized in that, The column has a cavity inside, and the cavity extends through the column along the height direction.

4. A lightweight shelving robot according to claim 1, characterized in that, The walking mechanism and the shock absorber are connected to the column via the same fastener.

5. A lightweight shelving robot according to claim 4, characterized in that, The fastener is attached to the outside of the column.

6. A lightweight shelving robot according to claim 4 or 5, characterized in that, The walking mechanism includes a walking wheel, a mounting base, and a drive motor. The drive motor is located on one side of the mounting base, and the walking wheel is located on the other side of the mounting base. The walking wheel is connected to the drive motor. The mounting base and the fixing member are hinged to form the first hinge point.

7. A lightweight shelving robot according to claim 6, characterized in that, One end of the shock absorber is hinged to the mounting base to form a second hinge point, and the other end is fixedly connected to the fixing component.

8. A lightweight shelving robot according to claim 7, characterized in that, The installation direction of the shock absorber is perpendicular to the line connecting the first hinge point and the second hinge point.

9. A lightweight shelving robot according to claim 1, characterized in that, A lifting motor is installed on the top of the column. The lifting motor is equipped with an absolute encoder, which is used to obtain the lifting position.

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