Telescopic goods retrieval robot for automated warehouses

Abstract

The utility model relates to automatic warehousing equipment field especially relates to a telescopic goods taking mechanical arm for automatic warehouse, including AGV forklift, AGV forklift is installed with control terminal, AGV forklift front side is installed with mechanical arm, and the mechanical arm front side is installed with the up and down removal's prong board, and the prong board is connected with the guide rod in, and the prong board is slidably connected with the extension plate in, and the extension plate is slidably connected with the guide rod, and the prong board is rotatably connected with the gear in the one end far from the mechanical arm, and the extension plate is connected with the rack towards the gear side, and the rack is engaged with the gear, and the prong board is installed with the motor in, and the output shaft of motor is connected with the gear, and the extension plate bottom is provided with the auxiliary assembly for reducing the friction force. Through motor drive gear and extension plate rack meshing drive, cooperate with the guide rod sliding connection, realize extension plate stepless telescopic, adapt to the change of goods shelf depth, break through the fixed arm length limit, solve the inner layer goods to take and put difficult problem, improve the warehousing space utilization.

Description

Technical Field

[0001] This utility model relates to the field of automated warehousing equipment, and in particular to a telescopic picking robotic arm for automated warehouses. Background Technology

[0002] With breakthroughs in the Internet of Things, artificial intelligence, and robotics, the global warehousing industry is transforming from a traditional labor-intensive model to a digital and intelligent one. Modern logistics systems place higher demands on the efficiency of "goods-people-machine" collaboration, and innovative devices such as telescopic robotic arms have become key technological carriers for resolving the contradiction between storage density and retrieval flexibility.

[0003] In the existing technological system, automated forklifts have become the mainstream solution, widely replacing manual labor in picking and placing goods. Typical equipment, such as laser-guided AGVs and vision-guided AMRs, achieve precise positioning and vertical lifting and lowering of palletized goods by incorporating infrared / laser rangefinders, 3D vision recognition modules, and multi-axis robotic arms. Taking the intelligent forklifts deployed by a logistics company as an example, their single pick-and-place cycle is significantly shortened, the error rate is extremely low, and most standardized goods operations can be completed between racks with standard aisle widths, effectively improving the production cycle and continuous operation capability of the assembly line.

[0004] However, the fixed-length robotic arms of traditional automated forklifts reveal structural flaws in dense warehousing scenarios. Limited by the forklift arm's extension range and racking design specifications, existing warehouse layouts must reserve sufficient operating aisles, making it difficult to compress racking unit spacing and limiting space utilization. More importantly, when goods are stored in multi-row stacks, the fixed-length forklift arms cannot reach the inner layers of goods, forcing companies to adopt either "manual secondary handling" or "custom-extended racking": the former increases labor costs and poses operational safety hazards, while the latter drives up racking modification costs and still fails to solve the lack of flexibility in dynamically adjusting storage locations, thus hindering the development of high-density warehouse automation. Utility Model Content

[0005] To overcome the drawbacks of fixed arm length limitations, this invention provides a telescopic picking robotic arm for automated warehouses, aiming to solve the aforementioned shortcomings.

[0006] A telescopic picking robotic arm for automated warehouses includes an AGV forklift equipped with a control terminal. A robotic arm is mounted on the front of the AGV forklift, and a vertically movable fork plate is mounted on the front of the robotic arm. A guide rod is connected inside the fork plate, and an extension plate is slidably connected inside the fork plate, with the extension plate slidably connected to the guide rod. A gear is rotatably connected inside the end of the fork plate away from the robotic arm. A rack is connected to the side of the extension plate facing the gear, and the rack meshes with the gear. A motor is mounted inside the fork plate, and the output shaft of the motor is connected to the gear. A maintenance plate is located at the bottom of the fork plate below the motor. An auxiliary component for reducing friction is located at the bottom of the extension plate.

[0007] Furthermore, the auxiliary component includes rollers, and several mounting plates are connected to the left and right ends of the bottom of the extension plate. Bearings are provided inside the mounting plates, and the left and right ends of the rollers are connected to the inner rings of the bearings. The rollers are in rolling contact with the inner wall of the fork plate.

[0008] Furthermore, the bottom of the extension plate is connected with several cleaning pads at intervals.

[0009] Furthermore, the end of the extension plate is connected to a cover plate for closing the fork plate.

[0010] Furthermore, the extension plate has a scale on the side opposite to the rack.

[0011] Furthermore, a pre-drilled hole is provided in the middle of the inspection plate.

[0012] Compared with the prior art, the beneficial effects of this utility model are as follows: 1. Through the meshing transmission of the motor-driven gear and the rack of the extension plate, and the sliding connection with the guide rod, the extension plate can be infinitely extended and retracted to adapt to changes in shelf depth, break through the limitation of fixed arm length, solve the problem of picking up and placing goods in the inner layer, and improve the utilization rate of warehouse space.

[0013] 2. The guide rod constrains the movement trajectory, and the rollers and bearings in the auxiliary components form a rolling friction structure, which reduces the resistance to extension and the risk of deviation, ensures the smooth movement of the extension plate, reduces shaking during cargo handling, and improves positioning accuracy and operational stability. Attached Figure Description

[0014] Figure 1 This is a schematic diagram of the overall structure of this utility model.

[0015] Figure 2 This is a cross-sectional view showing the connection relationship between the guide rod and the extension plate of this utility model.

[0016] Figure 3 This is a cross-sectional view of the mounting structure of the gear and rack of this utility model.

[0017] Figure 4 This is a schematic diagram of the installation structure of the inspection plate and the insert plate of this utility model.

[0018] In the attached diagram, the following labels are used: 1-AGV forklift, 101-control terminal, 2-robotic arm, 3-fork plate, 4-guide rod, 5-extension plate, 6-rack, 7-gear, 8-motor, 9-maintenance plate, 10-auxiliary component, 1001-mounting plate, 1002-roller, 1003-bearing, 11-cleaning pad, 12-cover plate, 13-scale, 14-reserved hole. Detailed Implementation

[0019] The embodiments of this utility model will now be described in detail with reference to the accompanying drawings.

[0020] Example: A telescopic picking robotic arm for automated warehouses, such as Figures 1-4 As shown, the system includes an AGV forklift 1, a control terminal 101, a robotic arm 2, forks 3, guide rods 4, an extension plate 5, a rack 6, a gear 7, a motor 8, a maintenance plate 9, and auxiliary components 10. The AGV forklift 1 is equipped with the control terminal 101. A robotic arm 2 is mounted on the front of the AGV forklift 1, and a vertically movable forklift 3 is mounted on the front of the robotic arm 2. A vision camera module is added to the front of the AGV forklift 1, establishing a data link with the control terminal 101 to provide real-time feedback of shelf position information to the control terminal 101. Guide rods 4 are connected inside the forklift 3, and an extension plate 5 is slidably connected inside the forklift 3. The fork plate 3 is slidably connected to the guide rod 4. A gear 7 is rotatably connected to the end of the fork plate 3 away from the robotic arm 2. A rack 6 is connected to the side of the extension plate 5 facing the gear 7. The rack 6 meshes with the gear 7. The stepless extension and retraction control of the extension plate 5 is realized through the meshing transmission of the gear 7 and the rack 6. A motor 8 is installed inside the fork plate 3. The motor 8 is connected to the control terminal 101 through an encoder to realize the precise transmission of motion commands. The output shaft of the motor 8 is connected to the gear 7. A maintenance plate 9 is set at the bottom of the fork plate 3. The maintenance plate 9 is located below the motor 8. An auxiliary component 10 for reducing friction is set at the bottom of the extension plate 5.

[0021] The auxiliary component 10 includes a mounting plate 1001, rollers 1002 and bearings 1003. Several mounting plates 1001 are connected to the left and right ends of the bottom of the extension plate 5. Bearings 1003 are installed inside the mounting plate 1001. The left and right ends of the rollers 1002 are connected to the inner rings of the bearings 1003. The rollers 1002 are in rolling contact with the inner wall of the fork plate 3. The surface of the mounting plate 1001 is coated with a wear-resistant coating. Shock-absorbing pads are added to the contact parts with the inner wall of the fork plate 3 to reduce the noise generated by high-frequency rolling.

[0022] It also includes cleaning pads 11. Several cleaning pads 11 are connected at intervals at the bottom of the extension plate 5. The cleaning pads 11 are made of elastic silicone material and form a dynamic seal with the inner wall of the fork plate 3 to prevent dust and debris from entering the mechanical structure.

[0023] It also includes a cover plate 12, and the end of the extension plate 5 is connected to a cover plate 12 for closing the fork plate 3. A magnetic sealing strip is embedded on the inner side of the cover plate 12, which forms a magnetic closure with the opening end of the fork plate 3 to improve the sealing and dustproof performance.

[0024] It also includes scale 13, which is provided on the side of the extension plate 5 away from the rack 6.

[0025] The inspection board 9 has a reserved hole 14 in the middle. The reserved hole 14 serves as a heat dissipation channel and a maintenance gripping point, forming an active thermal management solution in conjunction with the heat dissipation system of the control terminal 101.

[0026] The AGV forklift 1 receives and processes instructions via the control terminal 101, allowing operators to monitor the equipment status in real time. When goods are detected at the edge of the shelf, the forks 3 are inserted horizontally into the bottom of the goods, and the robotic arm 2 lifts and transports the goods. If the goods are inside the shelf, the operator controls the robotic arm 2 to lift the forks 3 via the control terminal 101. Subsequently, the control terminal 101 triggers the motor 8 to operate, and the output shaft of the motor 8 drives the gear 7 to rotate. The gear 7 meshes with the rack 6 on the side of the extension plate 5, driving the extension plate 5 to slide smoothly out along the guide rod 4. At this time, the rollers 1002 at the bottom of the extension plate 5 contact and rotate with the inner wall of the forks 3. The bearing 1003 group ensures that the rotational friction is minimized and provides lateral support to prevent the extension plate 5 from shifting or shaking.

[0027] After the extension plate 5 is fully extended and inserted into the bottom of the goods, the AGV forklift 1 slightly retracts to remove the goods from the shelf support point. Under stress, the fork plate 3 and the internal rollers 1002 jointly bear the bending stress, maintaining structural stability. Subsequently, the robotic arm 2 lowers the fork plate 3 to a position where it is flush with the bottom of the goods, and the AGV forklift 1 moves forward to the original position of the goods. At this time, the motor 8 reverses and retracts about one-third of the length of the extension plate 5. Through two repeated extension-retraction actions, the goods are gradually moved to the outside of the shelf. Finally, the extension plate 5 is completely retracted into the fork plate 3, and the fork plate 3, as the direct support component, completes the goods handling. This process can be reversed to achieve layered placement of goods deeper into the shelf.

[0028] The displacement accuracy of the extension plate 5 is dynamically calibrated by the built-in sensor of the robotic arm 2 in conjunction with the scale marking 13: the sensor captures the initial position coordinates of the goods in real time, calculates the required extension length, and provides intuitive feedback through the scale marking 13. During equipment operation, the heat generated by the motor 8 is naturally dissipated through the reserved hole 14 below the maintenance plate 9. During maintenance, the operator can hold the edge of the maintenance plate 9 with one hand through the reserved hole 14 and turn the screw to complete the opening and closing operation. When the extension plate 5 is extended, the outer edge of the cleaning pad 11 forms a physical barrier to prevent dust and debris from entering the interior of the fork plate 3; in the retracted state, the end cover plate 12 completely fits the opening of the fork plate 3 to form a seal, preventing the accumulation of foreign objects from affecting the next use and ensuring that the interior of the fork plate 3 is always kept clean.

[0029] The above description is merely a specific embodiment of this utility model, but the protection scope of this utility model is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in this utility model should be included within the protection scope of this utility model. Therefore, the protection scope of this utility model should be determined by the scope of the claims.

Claims

1. A telescopic picking robotic arm for automated warehouses, characterized in that: The system includes an AGV forklift (1), which is equipped with a control terminal (101). A robotic arm (2) is mounted on the front side of the AGV forklift (1). A fork plate (3) that moves up and down is mounted on the front side of the robotic arm (2). A guide rod (4) is connected inside the fork plate (3). An extension plate (5) is slidably connected inside the fork plate (3). The extension plate (5) is slidably connected to the guide rod (4). A gear (7) is rotatably connected inside the end of the fork plate (3) away from the robotic arm (2). A rack (6) is connected to the side of the extension plate (5) facing the gear (7). The rack (6) meshes with the gear (7). A motor (8) is installed inside the fork plate (3). The output shaft of the motor (8) is connected to the gear (7). A maintenance plate (9) is provided at the bottom of the fork plate (3). The maintenance plate (9) is located below the motor (8). An auxiliary component (10) for reducing friction is provided at the bottom of the extension plate (5).

2. The telescopic picking robotic arm for automated warehouses as described in claim 1, characterized in that: The auxiliary component (10) includes a roller (1002). Several mounting plates (1001) are connected to the left and right ends of the bottom of the extension plate (5). A bearing (1003) is provided in the mounting plate (1001). The left and right ends of the roller (1002) are connected to the inner ring of the bearing (1003). The roller (1002) is in rolling connection with the inner wall of the fork plate (3).

3. The telescopic picking robotic arm for automated warehouses as described in claim 2, characterized in that: The bottom of the extension plate (5) is connected with several cleaning pads (11) at intervals.

4. The telescopic picking robotic arm for automated warehouses as described in claim 3, characterized in that: The end of the extension plate (5) is connected to a cover plate (12) for closing the fork plate (3).

5. A telescopic picking robotic arm for automated warehouses as described in claim 4, characterized in that: The extension plate (5) has a scale (13) on the side opposite to the rack (6).

6. The telescopic picking robotic arm for automated warehouses as described in claim 5, characterized in that: The inspection plate (9) has a reserved hole (14) in the middle.

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