Bin handling robot and warehousing system

Abstract

The utility model discloses a kind of material box carrying robot and warehousing system, material box carrying robot includes mobile chassis and portal, mobile chassis includes mounting bracket and drive assembly, portal is carried on mounting bracket, drive assembly is fixedly connected on mounting bracket and is used to drive mobile chassis to move on ground, portal and mounting bracket are also respectively provided with the first guide and the second guide of mutual cooperation, the first guide and the second guide cooperation constitute guide mechanism, the guide direction of guide mechanism is portal height direction, to make portal can be moved up and down along the height direction of portal relative to mounting bracket, buffering component is arranged between portal and mobile chassis, buffering component is used to exert damping force to portal under the condition that portal moves up and down along height direction relative to mounting bracket. By setting buffering component between mobile chassis and portal, enough buffer force is formed between portal and mobile chassis, improve the adaptability of mobile chassis to ground, reduce noise.

Description

Technical Field

[0001] This application relates to the field of warehousing technology, and in particular to a bin handling robot and warehousing system. Background Technology

[0002] A bin-handling robot is used to move materials or bins in a warehousing system, and typically includes a bin-picking and placing mechanism, a gantry, and a drive mechanism. A bin-handling robot can be positioned on a rack track, with its drive mechanism propelling the robot horizontally along the rack track and the bin-picking and placing mechanism moving vertically along the gantry.

[0003] In related technologies, the gantry of this type of bin-handling robot is mounted on and fixedly connected to a mobile chassis. When the bin-handling robot moves along the shelf track, its mobile chassis is supported by drive wheels and travels on the ground. On uneven ground, due to the large overall weight of the bin-handling robot, the mobile chassis will vibrate and generate noise as it moves on uneven surfaces. Utility Model Content

[0004] This application aims to address one of the technical problems in related technologies to a certain extent. To this end, this application provides a bin-handling robot and warehousing system that can improve the adaptability of the mobile chassis to the ground and reduce noise.

[0005] To achieve the above objectives, this application adopts the following technical solution: a bin handling robot for moving and transporting bins along guide rails on a shelf, comprising a mobile chassis and a gantry. The mobile chassis includes a mounting bracket and a drive assembly. The gantry is supported on the mounting bracket. The drive assembly is fixedly connected to the mounting bracket and is used to drive the mobile chassis to move on the ground. The drive assembly includes a drive motor and drive wheels. The mounting bracket and the gantry are respectively fixedly connected with a first guide member and a second guide member that cooperate with each other. The first guide member and the second guide member cooperate to form a guide mechanism. The guide direction of the guide mechanism is the height direction of the gantry, so that the gantry can move up and down relative to the mounting bracket along the height direction of the gantry. A damping assembly is provided between the gantry and the mobile chassis. The damping assembly is used to apply a damping force to the gantry when the gantry moves up and down relative to the mounting bracket along the height direction.

[0006] In this technical solution, a guide mechanism is installed on the mobile chassis and the gantry to form a movable connection between the mobile chassis and the gantry that allows relative movement along the height direction of the gantry; a vibration damping component is installed between the gantry and the mobile chassis to absorb the mutual impact between the gantry and the mobile chassis when the ground is uneven, so that sufficient buffering force is formed between the gantry and the mobile chassis, improving the adaptability of the mobile chassis to the ground and reducing noise.

[0007] Preferably, the vibration damping assembly includes a first vibration damping mechanism, the first vibration damping mechanism includes a plurality of first damping elements, the gantry includes a column, and the first damping elements are used to apply damping force to the column.

[0008] Preferably, the first damping component includes a guide shaft, a linear bearing, and a first damping spring. One of the guide shaft and the linear bearing is fixedly connected to the column, and the other is fixedly connected to the mounting bracket. The linear bearing is sleeved on the guide shaft and moves along the guide shaft. The first damping spring is sleeved on the outside of the guide shaft and the linear bearing.

[0009] Preferably, the vibration damping assembly further includes a second vibration damping mechanism, which includes a plurality of second damping elements. The gantry also includes a plurality of crossbeams connected between the columns, including a first crossbeam located at the bottom. The second damping elements are used to apply damping force to the first crossbeam.

[0010] Preferably, the second damping component includes a second damping spring and a limiting block. The limiting block includes a base and a limiting post. The limiting post is disposed on the base, and the second damping spring is sleeved on the outside of the limiting post and fixedly connected to the base.

[0011] Preferably, there are two limiting blocks, which are symmetrically arranged at both ends of the second damping spring.

[0012] Preferably, the gantry is provided with a material box picking and placing mechanism, which is used to pick up and place material boxes and can move up and down along the height direction of the gantry while carrying material boxes.

[0013] Preferably, the second damping mechanism includes two second damping elements symmetrically arranged on both sides of the drive wheel, and the two second damping elements are connected between the first crossbeam and the mounting bracket.

[0014] Preferably, one of the first guide member and the second guide member is configured as a linear slide rail, and the other is configured as a slider, wherein the slider slides on the linear slide rail.

[0015] Furthermore, to achieve the above objectives, this application also provides a warehousing system, including shelves and a bin-handling robot. The shelves are equipped with guide rails, and the bin-handling robot is slidably connected to the guide rails and moves horizontally along them. The bin-handling robot is capable of storing and retrieving bins or materials from the shelves, and the bin-handling robot is configured as described in any of the above technical solutions. The beneficial effects of the warehousing system provided by this application are similar to the reasoning process for the beneficial effects of the aforementioned bin-handling robot, and will not be repeated here.

[0016] These features and advantages of this application will be disclosed in detail in the following specific embodiments and accompanying drawings. The best embodiments or means of this application will be shown in detail in conjunction with the accompanying drawings, but are not intended to limit the technical solutions of this application. In addition, each of these features, elements and components appearing in the following text and drawings is multiple and is labeled with different symbols or numbers for convenience, but all represent parts with the same or similar structure or function. Attached Figure Description

[0017] The following description, in conjunction with the accompanying drawings, further illustrates this application:

[0018] Figure 1 This is a structural schematic diagram of the bin handling robot of this application;

[0019] Figure 2 for Figure 1 A structural diagram from another perspective;

[0020] Figure 3 This is a schematic diagram of the structure of a mobile chassis according to this application;

[0021] Figure 4 This is a schematic diagram of another mobile chassis according to this application;

[0022] Figure 5 This is a schematic diagram of the structure of the limiting block in this application.

[0023] Among them, 100 is a mobile chassis; 110 is a mounting bracket; 111 is a first guide component; 120 is a drive assembly; 130 is a vibration damping assembly; 131 is a first vibration damping mechanism; 132 is a second vibration damping mechanism; 1322 is a limiting block; 13221 is a base; 13222 is a limiting post; 200 is a gantry; 210 is a column; 211 is a second guide component; and 220 is a first crossbeam. Detailed Implementation

[0024] The embodiments of this application 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 are intended to explain this application and should not be construed as limiting it.

[0025] The terms "an embodiment," "example," or "example" used in this specification refer to a particular feature, structure, or characteristic described in connection with the embodiment itself that may be included in at least one embodiment disclosed in this application. The phrase "in an embodiment" appearing in various places throughout the specification does not necessarily refer to the same embodiment.

[0026] like Figures 1 to 4As shown, this embodiment proposes a bin-handling robot for moving and transporting bins along guide rails on a shelf. It includes a mobile chassis 100 and a gantry 200. The mobile chassis 100 includes a mounting bracket 110 and a drive assembly 120. The gantry 200 is supported on the mounting bracket 110. The drive assembly 120 is fixedly connected to the mounting bracket 110 and used to drive the mobile chassis 100 to move on the ground. The drive assembly 120 includes a drive motor and drive wheels. The drive motor drives the drive wheels to rotate. The mounting bracket 110 and the gantry 200 are respectively fixedly connected to mutually cooperating first guide members 111 and second guide members 211. The first guide members 111 and second guide members 211 cooperate to form a guiding mechanism. The guiding direction of the guiding mechanism is the height direction of the gantry 200, so that the gantry... The frame 200 is movable up and down relative to the mounting bracket 110 along the height direction of the gantry 200. A damping component 130 is provided between the gantry 200 and the movable chassis 100. The damping component 130 is used to apply a damping force to the gantry 200 when the gantry 200 moves up and down relative to the mounting bracket 110 along the height direction. In a vibration system, the magnitude of the damping force is proportional to the velocity of the mass, and the direction of the damping force is opposite to the direction of the mass's velocity. Therefore, in this embodiment, the direction of the damping force applied by the damping component 130 to the gantry 200 is always opposite to the direction of the gantry 200's velocity relative to the movable chassis 100. That is, when the gantry 200 moves downward relative to the movable chassis 100, the direction of the damping force is upward, and when the gantry 200 moves upward relative to the movable chassis 100, the direction of the damping force is downward.

[0027] In this technical solution, a guide mechanism is provided on the mobile chassis 100 and the gantry 200 to form a movable connection between the mobile chassis 100 and the gantry 200 that allows relative movement along the height direction of the gantry 200; a vibration damping component 130 is provided between the gantry 200 and the mobile chassis 100 to absorb the mutual impact between the gantry 200 and the mobile chassis 100 when the ground is uneven, so that sufficient buffering force is formed between the gantry 200 and the mobile chassis 100, improving the adaptability of the mobile chassis 100 to the ground and reducing noise.

[0028] Specifically, such as Figure 2 , 3 As shown, a first guide member 111 is fixedly connected to the mounting bracket 110, and a second guide member 211 is fixedly connected to the bottom of the gantry 200. A guide protrusion is formed on the first guide member 111, and a guide groove is formed on the second guide member 211. The guide protrusion slides in the guide groove, and the guiding direction of the guide groove is consistent with the height direction of the gantry, so that the gantry 200 can move up and down relative to the mounting bracket 110 along the height direction of the gantry 200.

[0029] In some embodiments, such as Figure 3 As shown, the vibration damping component 130 includes a first vibration damping mechanism 131, which includes a plurality of first vibration damping elements.

[0030] Specifically, such as Figure 3 As shown, the first damping component includes a guide shaft, a linear bearing, and a first damping spring. One of the guide shaft and the linear bearing is fixedly connected to the column 210, and the other is fixedly connected to the mounting bracket 110. The linear bearing is sleeved on the guide shaft and moves along the guide shaft. The first damping spring is sleeved on the outside of the guide shaft and the linear bearing. The inner surface of the linear bearing and the outer surface of the guide shaft are in contact with each other by sliding friction or rolling friction. By fixing the movable chassis 100 to the linear bearing and the gantry 200 to the guide shaft, or by fixing the movable chassis 100 to the guide shaft and the gantry 200 to the linear bearing, the gantry 200 and the movable chassis 100 can move relative to the guiding direction of the guide shaft. In this embodiment, the guiding direction of the guide shaft is consistent with the height direction of the gantry 200. A first damping spring is also sleeved on the outside of the guide shaft and the linear bearing. When the linear bearing moves along the height direction of the gantry 200 on the guide shaft, the first damping spring is a compression spring to provide damping force to attenuate the vibration of the gantry 200 and the mobile chassis 100 caused by the impact of uneven ground on the mobile chassis 100 and the gantry 200, thereby improving the stability of the bin handling robot during movement and reducing the vibration noise of the mobile chassis 100 and the gantry 200.

[0031] In some embodiments, such as Figure 4 As shown, the vibration damping assembly 130 also includes a second vibration damping mechanism 132, which includes a plurality of second vibration damping elements.

[0032] Specifically, such as Figure 4 , 5As shown, the second damping component includes a second damping spring and a limiting block 1322. The limiting block 1322 includes a base 13221 and a limiting post 13222. The limiting post 13222 is disposed on the base 13221. The second damping spring is sleeved on the outside of the limiting post 13222 and fixedly connected to the base 13221. The second damping spring works in conjunction with the first damping spring to dampen vibrations caused by ground impacts. The limiting block 1322 limits the compression deformation of the first and second damping springs, preventing them from being over-compressed and damaged. The limiting block 1322 is an elastic limiting block made of rubber, plastic, or polyurethane polymer materials, used to limit the deformation of the first and second damping springs while also buffering the impact force between the moving chassis 100 and the gantry 200. In some embodiments, the limiting block 1322 is fixedly connected to the movable chassis 100, one end of the second damping spring is fixedly connected to the gantry 200, and the other end is fixedly connected to the base 13221. The limiting post 13222 is sleeved inside the second damping spring and extends to the gantry 200. When the second damping spring is compressed to the limiting position, the limiting block 1322 abuts against the movable chassis 100 and the gantry 200 to prevent the second damping spring from being over-compressed and damaged, and to prevent rigid collision between the gantry 200 and the movable chassis 100.

[0033] In some embodiments, such as Figure 5 As shown, there are two limiting blocks 1322, which are symmetrically arranged at both ends of the second damping spring. A limiting block 1322 is fixedly connected to each end of the second damping spring. The two limiting blocks 1322 are symmetrically arranged with respect to the second damping spring. The limiting posts 13222 of both limiting blocks 1322 are located inside the second damping spring. When the second damping spring is compressed to the limiting position, the limiting posts 13222 of the two limiting blocks 1322 abut against each other to limit the compressed deformation of the second damping spring from exceeding its maximum deformable deformation, preventing damage to the second damping spring. Furthermore, the abutment of the two limiting posts 13222 is a flexible collision, preventing a rigid collision between the gantry 200 and the movable chassis 100.

[0034] In some embodiments, such as Figure 1 As shown, the gantry 200 includes two columns 210 and several crossbeams connected between the two columns 210. The first damping mechanism 131 includes two first damping elements symmetrically arranged on both sides of the drive wheel. The two first damping elements are respectively connected between the two columns 210 and the mounting bracket 110. The first damping elements connected between the columns 210 and the mounting bracket 110 can better apply damping force to the moving chassis 100 and the gantry 200 to attenuate vibrations caused by road impacts.

[0035] In some embodiments, the gantry 200 includes two uprights 210 and a plurality of crossbeams connected between the two uprights 210. Each crossbeam includes a first crossbeam 220 connected to the bottom of the two uprights 210. The second damping mechanism 132 includes two second damping elements symmetrically arranged on both sides of the drive wheel, connected between the first crossbeam 220 and the mounting bracket 110. By providing the first crossbeam 220 at the bottom of the gantry 200 and placing the second damping mechanism 132 between the first crossbeam 220 and the mounting bracket 110, the second damping elements can apply damping force to the gantry 200 to attenuate the vibration amplitude of the gantry 200, enabling the gantry 200 to quickly stabilize and eliminate noise.

[0036] In the above embodiments, the rigidity of the first damping spring is less than that of the second damping spring, and the length of the first damping spring is greater than that of the second damping spring. By using two damping springs with different rigidities and lengths together, the impact force generated by uneven ground can be better buffered, and the beneficial effects of vibration reduction and noise reduction can be better achieved.

[0037] In some embodiments, such as Figure 1 As shown, one of the first guide member 111 and the second guide member 211 is configured as a linear slide rail, and the other is configured as a slider. The slider slides on the linear slide rail. For example, the first guide member 111 is configured as a linear slide rail, and the second guide member 211 is configured as a slider. The slider slides within the linear slide rail. The guiding direction of the linear slide rail is the height direction of the gantry 200. The first guide member 111, the second guide member 211, and the first damping mechanism 131 jointly restrict the movement direction of the gantry 200 relative to the mobile chassis 100, improving the stability of the guide and preventing the gantry 200 from deviating when moving up and down along the height direction, thus ensuring the stable operation of the bin handling robot.

[0038] In some embodiments, the gantry 200 is further provided with a bin picking and placing mechanism, which is used to pick up, place and transport bins, and the bin picking and placing mechanism can move up and down along the height direction of the gantry 200.

[0039] Furthermore, this embodiment also provides a warehousing system, including shelves and a bin-handling robot. The shelves are equipped with guide rails, and the bin-handling robot is slidably connected to the guide rails and moves horizontally along them. The bin-handling robot is capable of storing and retrieving bins or materials from the shelves, and is configured as described in any of the above embodiments. The mast 200 of the bin-handling robot is equipped with a bin-picking and placing mechanism, which is capable of removing bins from the shelves or placing bins into the shelves.

[0040] In summary, the bin handling robot and warehousing system of this embodiment attenuates the impact force of the ground on the bin handling robot by setting the first damping mechanism 131 and the second damping mechanism 132, thereby improving the adaptability of the mobile chassis 100 to the ground, reducing the vibration amplitude of the bin handling robot, and reducing noise.

[0041] The above are merely specific embodiments of this application, but the scope of protection of this application is not limited thereto. Those skilled in the art should understand that this application includes, but is not limited to, the contents described in the accompanying drawings and the specific embodiments above. Any modifications that do not depart from the functional and structural principles of this application will be included within the scope of the claims.

Claims

1. A bin-handling robot for moving and transporting bins along guide rails on a shelf, comprising a mobile chassis (100) and a gantry (200), the mobile chassis (100) including a mounting bracket (110) and a drive assembly (120), the gantry (200) being supported on the mounting bracket (110), characterized in that, The drive assembly (120) is fixedly connected to the mounting bracket (110) and is used to drive the mobile chassis (100) to move on the ground. The drive assembly (120) includes a drive motor and drive wheels. The mounting bracket (110) and the gantry (200) are respectively fixedly connected with a first guide member (111) and a second guide member (211) that cooperate with each other. The first guide member (111) and the second guide member (211) cooperate to form a guide mechanism. The guide direction of the guide mechanism is the height direction of the gantry (200) so that the gantry (200) can move up and down relative to the mounting bracket (110) along the height direction of the gantry (200). A damping assembly (130) is provided between the gantry (200) and the mobile chassis (100), the damping assembly (130) being used to apply a damping force to the gantry (200) when the gantry (200) moves up and down relative to the mounting bracket (110) in the height direction.

2. The bin handling robot according to claim 1, characterized in that, The vibration damping assembly (130) includes a first vibration damping mechanism (131), the first vibration damping mechanism (131) includes a plurality of first damping elements, the gantry includes a column (210), and the first damping elements are used to apply damping force to the column (210).

3. The bin handling robot according to claim 2, characterized in that, The first damping component includes a guide shaft, a linear bearing, and a first damping component. One of the guide shaft and the linear bearing is fixedly connected to the column (210), and the other is fixedly connected to the mounting bracket (110). The linear bearing is sleeved on the guide shaft and moves along the guide shaft. The first damping component is sleeved on the outside of the guide shaft and the linear bearing.

4. The bin handling robot according to claim 2, characterized in that, The damping assembly (130) further includes a second damping mechanism (132), which includes a plurality of second damping elements. The gantry also includes a plurality of crossbeams connected between the columns (210), among which a first crossbeam (220) is located at the bottom. The second damping elements are used to apply damping force to the first crossbeam (220).

5. The bin handling robot according to claim 4, characterized in that, The second damping component includes a second damping spring and a limiting block (1322). The limiting block (1322) includes a base (13221) and a limiting post (13222). The limiting post (13222) is disposed on the base (13221). The second damping spring is sleeved on the outside of the limiting post (13222) and fixedly connected to the base (13221).

6. The bin handling robot according to claim 5, characterized in that, Two limiting blocks (1322) are provided, and the two limiting blocks (1322) are symmetrically arranged at both ends of the second damping spring.

7. The bin handling robot according to any one of claims 1 to 6, characterized in that, The gantry (200) is provided with a material box picking and placing mechanism, which is used to pick up and place material boxes and can move up and down along the height direction of the gantry (200) while carrying material boxes.

8. The bin handling robot according to any one of claims 4 to 6, characterized in that, The second damping mechanism (132) includes two second damping members symmetrically arranged on both sides of the drive wheel, and the two second damping members are connected between the first crossbeam (220) and the mounting bracket (110).

9. The bin handling robot according to any one of claims 1 to 6, characterized in that, One of the first guide member (111) and the second guide member (211) is configured as a linear slide rail, and the other is configured as a slider, wherein the slider slides on the linear slide rail.

10. A warehousing system, comprising shelves and a bin-handling robot, characterized in that, The shelf is provided with guide rails, and the bin handling robot is slidably connected to the guide rails and moves horizontally along the guide rails; the bin handling robot is capable of storing and retrieving bins or materials from the shelf, and the bin handling robot is configured as a bin handling robot as described in any one of claims 1 to 9.

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