CN105600254A - Automatic picking robot - Google Patents
Automatic picking robot Download PDFInfo
- Publication number
- CN105600254A CN105600254A CN201610090567.1A CN201610090567A CN105600254A CN 105600254 A CN105600254 A CN 105600254A CN 201610090567 A CN201610090567 A CN 201610090567A CN 105600254 A CN105600254 A CN 105600254A
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- China
- Prior art keywords
- wheel
- car body
- motor
- lifting
- plate
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- 230000005540 biological transmission Effects 0.000 claims description 16
- 230000007704 transition Effects 0.000 claims description 9
- 230000009184 walking Effects 0.000 claims description 7
- 230000000452 restraining effect Effects 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000003028 elevating effect Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000000280 densification Methods 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Warehouses Or Storage Devices (AREA)
- Manipulator (AREA)
Abstract
The invention relates to an automatic picking robot which is provided with a vehicle body, wherein an electric control device is arranged on the vehicle body; a driving wheel device is arranged at the bottom of the vehicle body; auxiliary universal wheels are arranged around the bottom of the vehicle body; a cargo tray is arranged in the middle of the vehicle body; a lifting mechanism is arranged at the upper part of the vehicle body; the lower part of the lifting mechanism is connected with a telescopic arm mechanism; a mechanical clamping arm is arranged at the bottom of the telescopic arm mechanism. The automatic picking robot disclosed by the invention can both perform a single task and simultaneously perform multiple tasks, so that the task duration is greatly shortened, and the working efficiency and the productivity are improved.
Description
Technical field
The present invention relates to logistics conveying equipment technical field, especially a kind of automatic selecting machine device people.
Background technology
Along with technology and economic development, produce densification degree more and more higher, efficiency and utilization rate become primary factor, therefore the file layout of goods more and more trends towards three-dimensional, it is stereo warehouse, the appearance of vertical library and corollary equipment, greatly improve the utilization rate in space, also improved production efficiency, piler and the plate that shuttles back and forth are exactly a wherein part for vertical library, for logistic storage efficiently brings huge advantage, but for the larger goods of selection workload, owing to the goods place pallet whole disc picking that will choose need to being gone out, after the task selection of sorting station, this pallet must be put back to, increase virtually number of times back and forth, not only affect efficiency, energy consumption is also along with increase, this maximizes and requires not conform to the utilization of resources becoming more and more important, this also becomes warehouse logistics conveying industries significant problem to be solved.
Summary of the invention
Object of the present invention is exactly for goods storting apparatus above shortcomings in stereo warehouse at present, provides a kind of simple in structure, flexibility, mobility, reliability and safe automatic selecting machine device people.
Concrete scheme of the present invention is: automatic selecting machine device people, there is car body, car body is provided with electric control gear, be provided with driving wheel device at vehicle bottom, vehicle bottom surrounding is provided with auxiliary universal wheel, in the middle of car body, is provided with cargo pallet, and vehicle body upper portion is provided with hoisting mechanism, hoisting mechanism bottom is connected with Telescopic boom mechanism, and the bottom of Telescopic boom mechanism is provided with mechanical jig arm.
The device of driving wheel described in the present invention comprises the mounting plate connecting together with car body, in the middle of mounting plate, be provided with self-aligning bearing and large tooth sector, one side of the large tooth sector little tooth sector that has been connected with a joggle, little tooth sector drives rotation by steer motor; The below of large tooth sector is provided with roller box, this roller box is fixed together and can rotates thereupon with large tooth sector, is provided with live axle in roller box, and driving wheel is housed on live axle, one side of roller box is provided with drive motors, and driving wheel rotates walking under the drive of drive motors.
Hoisting mechanism described in the present invention comprises the mount pad that is arranged on car body top, mount pad is provided with lifting motor, the output of lifting motor is provided with motor sprocket, on described mount pad, be also provided with a power transmission shaft, on power transmission shaft, be set with a drive sprocket, between drive sprocket and motor sprocket by chain drive, the two ends of power transmission shaft are respectively provided with a lifting wheel, on the below car body corresponding with each lifting wheel, be respectively provided with a bend wheel, between each lifting wheel and corresponding bend wheel, carry out transmission by belt or chain.
Described in the present invention, Telescopic boom mechanism has fixed base plate, and the both sides of fixed base plate are respectively provided with a connecting plate, and belt or chain level between lifting wheel and the bend wheel of two connecting plates respectively and in described hoisting mechanism are fixed together; The crown center of fixed base plate is provided with flexible motor, on the output shaft of flexible motor, driven wheel is housed, and on the fixed base plate of driven wheel below, is also provided with transition gear; The parallel flap seat that is provided with two belt restraining chutes of two bottom sides of fixed base plate, flap seat below is provided with an expansion plate, the both sides of expansion plate are installed in the constraint chute on flap seat, the upper end plate of expansion plate is provided with a toothed rack, this tooth bar and transition gear are connected with a joggle, described expansion plate moves forward and backward along constraint chute under the transmission of transition gear and tooth bar, and the bottom of expansion plate is connected with described mechanical jig arm.
On the surrounding sidewall of car body described in the present invention, be also provided with some directive wheels, this directive wheel ensure car body in horizontal or longitudinal external orbital, walk do not occur crooked.
After the instruction that robot of the present invention reception electric control gear sends, drive motors work, driving wheel rotation walking, auxiliary universal wheel ensures the balance of robot car body, it is crooked that directive wheel guarantees that the normal walking of robot does not occur, and by the track of external stability, arrives and specify goods yard; Lifting motor work, shuts down after Telescopic boom mechanism is promoted to a high position; Expansion plate in Telescopic boom mechanism drives by flexible motor, stretches out, and arrival quits work behind precalculated position; Lifting motor turns round again, and Telescopic boom mechanism is delivered to low level by reversion, is applicable to capturing the height (confirming when debugging) of goods, and mechanical jig arm captures goods; After confirming that goods is crawled, lifting motor work, Telescopic boom mechanism is promoted to a high position, and lifting motor is out of service, flexible machine operation, expansion plate is got back to initial point, i.e. home position on car body; Lifting motor work, drops to Telescopic boom mechanism behind precalculated position, and mechanical jig arm is opened, and goods is put on the cargo pallet in car body; Machinery jig arm is closed, and Telescopic boom mechanism is promoted to initial point by lifting motor, and the task that next time captures is waited in execution; After required goods is all chosen, be back to selection station by track, Goods Outwards, complete outbound task, and multiple goods can a subtask be got by robot of the present invention, also can multiple tasks once complete.
Robot of the present invention can carry out job task on one deck shelf, also can on multi-layered storage rack, carry out operation, by the elevating mechanism on track, be transported to levels, can realize by the driving of the steer motor in driving wheel device, robot can be between each row shelf free shuttling, therefore, automatic selecting machine device people carries out when having realized single task and multitask, has greatly shortened task time, has improved operating efficiency and productivity ratio.
Brief description of the drawings
Fig. 1 is application state schematic diagram of the present invention;
Fig. 2 is the main apparent direction structural representation of the present invention;
Fig. 3 is that the present invention overlooks direction structure schematic diagram;
Fig. 4 is the left apparent direction structural representation of the present invention;
Fig. 5 is driving wheel apparatus structure schematic diagram in the present invention;
Fig. 6 is Telescopic boom mechanism structural representation in the present invention;
Fig. 7 is hoisting mechanism structural representation in the present invention.
In figure: 1-track, 2-elevating mechanism, 3-shelf, 4-automatic selecting machine device people, 5-electric control gear, 6-hoisting mechanism, 7-Telescopic boom mechanism, 8-goods, 9-car body, 10-driving wheel device, 11-auxiliary universal wheel, 12-directive wheel, 13-bend wheel, 14-roller box, 15-large tooth sector, 16-self-aligning bearing, 17-mounting plate, 18-steer motor, 19-little tooth sector, 20-driving wheel, 21-live axle, 22-drive motors, 23-connecting plate, 24-fixed base plate, 25-tooth bar, 26-transition gear, 27-driven wheel, 28-flexible motor, 29-flap seat, 30-mechanical jig arm, 31-expansion plate, 32-lifting wheel, 33-lifting motor, 34-motor sprocket, 35-drive sprocket, 36-power transmission shaft, 37-mount pad.
Detailed description of the invention
Referring to Fig. 2-Fig. 7, the present invention is automatic selecting machine device people, there is car body 9, car body is provided with electric control gear 5, is provided with driving wheel device 10 at vehicle bottom, and vehicle bottom surrounding is provided with auxiliary universal wheel 11, in the middle of car body, be provided with cargo pallet, vehicle body upper portion is provided with hoisting mechanism 6, and hoisting mechanism bottom is connected with Telescopic boom mechanism 7, and the bottom of Telescopic boom mechanism is provided with mechanical jig arm 30.
The device of driving wheel described in the present embodiment 10 comprises the mounting plate 17 connecting together with car body 9, in the middle of mounting plate, be provided with self-aligning bearing 16 and large tooth sector 15, one side of the large tooth sector little tooth sector 19 that has been connected with a joggle, little tooth sector drives rotation by steer motor 18; The below of large tooth sector is provided with roller box 14, this roller box is fixed together and can rotates thereupon with large tooth sector, is provided with live axle 21 in roller box, and driving wheel 20 is housed on live axle, one side of roller box is provided with drive motors 22, and driving wheel rotates walking under the drive of drive motors.
Hoisting mechanism 6 described in the present embodiment comprises the mount pad 37 that is arranged on car body top, mount pad is provided with lifting motor 33, the output of lifting motor is provided with motor sprocket 34, on described mount pad, be also provided with a power transmission shaft 36, on power transmission shaft, be set with a drive sprocket 35, between drive sprocket and motor sprocket by chain drive, the two ends of power transmission shaft are respectively provided with a lifting wheel 32, on the below car body corresponding with each lifting wheel, be respectively provided with a bend wheel 13, between each lifting wheel and corresponding bend wheel, carry out transmission by belt or chain.
Telescopic boom mechanism described in the present embodiment has fixed base plate 24, and belt or chain level that the both sides of fixed base plate are respectively provided with between lifting wheel and the bend wheel of connecting plate 23, two connecting plates respectively and in described hoisting mechanism are fixed together; The crown center of fixed base plate is provided with flexible motor 28, on the output shaft of flexible motor, driven wheel 27 is housed, and on the fixed base plate of driven wheel below, is also provided with transition gear 26; The parallel flap seat 29 that is provided with two belt restraining chutes of two bottom sides of fixed base plate, flap seat below is provided with an expansion plate 31, the both sides of expansion plate are installed in the constraint chute on flap seat 29, the upper end plate of expansion plate is provided with a toothed rack 25, this tooth bar 25 is connected with a joggle with transition gear 26, described expansion plate moves forward and backward along constraint chute under the transmission of transition gear and tooth bar, and the bottom of expansion plate is connected with described mechanical jig arm 30.
On the surrounding sidewall of car body 9 described in the present embodiment, be also provided with some directive wheels 12, this directive wheel ensure car body in horizontal or longitudinal external orbital 1, walk do not occur crooked.
After the instruction that robot of the present invention reception electric control gear 5 sends, drive motors 22 is worked, driving wheel 20 rotation walkings, auxiliary universal wheel 11 ensures the balance of robot car body, it is crooked that directive wheel 12 guarantees that the normal walking of robot does not occur, and by the track 1 of external stability, arrives and specify goods yard; Lifting motor 33 is worked, and shuts down after Telescopic boom mechanism is promoted to a high position; Expansion plate 31 in Telescopic boom mechanism drives by flexible motor 28, stretches out, and arrival quits work behind precalculated position; Lifting motor turns round again, and Telescopic boom mechanism is delivered to low level by reversion, is applicable to capturing the height (confirming when debugging) of goods 8, and mechanical jig arm 30 captures goods; After confirming that goods is crawled, lifting motor work, Telescopic boom mechanism is promoted to a high position, and lifting motor is out of service, flexible machine operation, expansion plate is got back to initial point, i.e. home position on car body 9; Lifting motor work, drops to Telescopic boom mechanism behind precalculated position, and mechanical jig arm is opened, and goods is put on the cargo pallet in car body; Machinery jig arm is closed, and Telescopic boom mechanism is promoted to initial point by lifting motor, and the task that next time captures is waited in execution; After required goods is all chosen, be back to selection station by track 1, Goods Outwards, complete outbound task, and multiple goods can a subtask be got by robot of the present invention, also can multiple tasks once complete, referring to Fig. 1.
Robot of the present invention can carry out job task on one deck shelf, also can on multi-layered storage rack, carry out operation, by the elevating mechanism 2 on track 1, be transported to levels, can realize by the driving of the steer motor 18 in driving wheel device 10, robot can be in 3 free shuttling of each row shelf, therefore, automatic selecting machine device people 4 carries out when having realized single task and multitask, has greatly shortened task time, has improved operating efficiency and productivity ratio.
Claims (5)
1. automatic selecting machine device people, there is car body, car body is provided with electric control gear, it is characterized in that: be provided with driving wheel device at vehicle bottom, vehicle bottom surrounding is provided with auxiliary universal wheel, in the middle of car body, is provided with cargo pallet, and vehicle body upper portion is provided with hoisting mechanism, hoisting mechanism bottom is connected with Telescopic boom mechanism, and the bottom of Telescopic boom mechanism is provided with mechanical jig arm.
2. automatic selecting machine device people according to claim 1, it is characterized in that: described driving wheel device comprises the mounting plate connecting together with car body, in the middle of mounting plate, be provided with self-aligning bearing and large tooth sector, one side of the large tooth sector little tooth sector that has been connected with a joggle, little tooth sector drives rotation by steer motor; The below of large tooth sector is provided with roller box, this roller box is fixed together and can rotates thereupon with large tooth sector, is provided with live axle in roller box, and driving wheel is housed on live axle, one side of roller box is provided with drive motors, and driving wheel rotates walking under the drive of drive motors.
3. automatic selecting machine device people according to claim 1, it is characterized in that: described hoisting mechanism comprises the mount pad that is arranged on car body top, mount pad is provided with lifting motor, the output of lifting motor is provided with motor sprocket, on described mount pad, be also provided with a power transmission shaft, on power transmission shaft, be set with a drive sprocket, between drive sprocket and motor sprocket by chain drive, the two ends of power transmission shaft are respectively provided with a lifting wheel, on the below car body corresponding with each lifting wheel, be respectively provided with a bend wheel, between each lifting wheel and corresponding bend wheel, carry out transmission by belt or chain.
4. according to the automatic selecting machine device people described in claim 1 or 3, it is characterized in that: described Telescopic boom mechanism has fixed base plate, the both sides of fixed base plate are respectively provided with a connecting plate, and belt or chain level between lifting wheel and the bend wheel of two connecting plates respectively and in described hoisting mechanism are fixed together; The crown center of fixed base plate is provided with flexible motor, on the output shaft of flexible motor, driven wheel is housed, and on the fixed base plate of driven wheel below, is also provided with transition gear; The parallel flap seat that is provided with two belt restraining chutes of two bottom sides of fixed base plate, flap seat below is provided with an expansion plate, the both sides of expansion plate are installed in the constraint chute on flap seat, the upper end plate of expansion plate is provided with a toothed rack, this tooth bar and transition gear are connected with a joggle, described expansion plate moves forward and backward along constraint chute under the transmission of transition gear and tooth bar, and the bottom of expansion plate is connected with described mechanical jig arm.
5. automatic selecting machine device people according to claim 1, is characterized in that: on the surrounding sidewall of described car body, be also provided with some directive wheels, this directive wheel ensure car body in horizontal or longitudinal external orbital, walk do not occur crooked.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610090567.1A CN105600254B (en) | 2016-02-18 | 2016-02-18 | Automatic selecting machine device people |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610090567.1A CN105600254B (en) | 2016-02-18 | 2016-02-18 | Automatic selecting machine device people |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105600254A true CN105600254A (en) | 2016-05-25 |
| CN105600254B CN105600254B (en) | 2018-02-06 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610090567.1A Active CN105600254B (en) | 2016-02-18 | 2016-02-18 | Automatic selecting machine device people |
Country Status (1)
| Country | Link |
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| CN (1) | CN105600254B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111038892A (en) * | 2018-10-15 | 2020-04-21 | 菜鸟智能物流控股有限公司 | Logistics object allocation system and method |
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|---|---|---|---|---|
| EP2114799A1 (en) * | 2007-02-09 | 2009-11-11 | Texo Application AB | Vehicle with level-adjusting arrangement |
| CN201895957U (en) * | 2010-12-07 | 2011-07-13 | 天海欧康科技信息(厦门)有限公司 | Cigarette circulation lifting and conveying device |
| CN201962993U (en) * | 2010-12-24 | 2011-09-07 | 东莞市伟创东洋自动化设备有限公司 | Two-layer ascending and descending transverse moving lifting chain transmission device |
| CN102241313A (en) * | 2011-06-03 | 2011-11-16 | 山东大学 | Gantry type lifting shuttle |
| CN102530472A (en) * | 2012-01-16 | 2012-07-04 | 山西东杰智能物流装备股份有限公司 | Orbit shuttling load transferring trolley used for stereoscopic warehouse |
| CN203268812U (en) * | 2013-04-03 | 2013-11-06 | 上海速锐信息技术有限公司 | Intelligent four-direction shuttle vehicle with climbing function |
| CN103922136A (en) * | 2014-04-22 | 2014-07-16 | 山东兰剑物流科技股份有限公司 | Small-amount cigarette intensive selecting method and shuttling selecting vehicle |
| CN204161914U (en) * | 2014-09-26 | 2015-02-18 | 鹤壁职业技术学院 | Controllable position is turned to move shelf |
| CN205366782U (en) * | 2016-02-18 | 2016-07-06 | 湖北三丰小松自动化仓储设备有限公司 | Automatic machine people selects |
-
2016
- 2016-02-18 CN CN201610090567.1A patent/CN105600254B/en active Active
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP2114799A1 (en) * | 2007-02-09 | 2009-11-11 | Texo Application AB | Vehicle with level-adjusting arrangement |
| CN201895957U (en) * | 2010-12-07 | 2011-07-13 | 天海欧康科技信息(厦门)有限公司 | Cigarette circulation lifting and conveying device |
| CN201962993U (en) * | 2010-12-24 | 2011-09-07 | 东莞市伟创东洋自动化设备有限公司 | Two-layer ascending and descending transverse moving lifting chain transmission device |
| CN102241313A (en) * | 2011-06-03 | 2011-11-16 | 山东大学 | Gantry type lifting shuttle |
| CN102530472A (en) * | 2012-01-16 | 2012-07-04 | 山西东杰智能物流装备股份有限公司 | Orbit shuttling load transferring trolley used for stereoscopic warehouse |
| CN203268812U (en) * | 2013-04-03 | 2013-11-06 | 上海速锐信息技术有限公司 | Intelligent four-direction shuttle vehicle with climbing function |
| CN103922136A (en) * | 2014-04-22 | 2014-07-16 | 山东兰剑物流科技股份有限公司 | Small-amount cigarette intensive selecting method and shuttling selecting vehicle |
| CN204161914U (en) * | 2014-09-26 | 2015-02-18 | 鹤壁职业技术学院 | Controllable position is turned to move shelf |
| CN205366782U (en) * | 2016-02-18 | 2016-07-06 | 湖北三丰小松自动化仓储设备有限公司 | Automatic machine people selects |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111038892A (en) * | 2018-10-15 | 2020-04-21 | 菜鸟智能物流控股有限公司 | Logistics object allocation system and method |
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| Publication number | Publication date |
|---|---|
| CN105600254B (en) | 2018-02-06 |
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| PE01 | Entry into force of the registration of the contract for pledge of patent right | ||
| PE01 | Entry into force of the registration of the contract for pledge of patent right |
Denomination of invention: Automatic picking robot Effective date of registration: 20211206 Granted publication date: 20180206 Pledgee: Agricultural Bank of China Limited Huangshi lime kiln sub branch Pledgor: HUBEI SANFENG XIAOSONG AUTOMATED WAREHOUSE EQUIPMENT CO.,LTD. Registration number: Y2021980014238 |
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| CP03 | Change of name, title or address |
Address after: No. 398, Jinshan Avenue, Jinshan Industrial New Zone, Economic and Technological Development Zone, Huangshi City, Hubei Province, 435100 Patentee after: Hubei Sanfeng Komatsu Logistics Technology Co.,Ltd. Address before: No. 398, Jinshan Avenue, Jinshan New District, Economic Development Zone, Huangshi City, Hubei Province, 435100 Patentee before: HUBEI SANFENG XIAOSONG AUTOMATED WAREHOUSE EQUIPMENT CO.,LTD. |
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Change date: 20221114 Registration number: Y2021980014238 Pledgor after: Hubei Sanfeng Komatsu Logistics Technology Co.,Ltd. Pledgor before: HUBEI SANFENG XIAOSONG AUTOMATED WAREHOUSE EQUIPMENT CO.,LTD. |
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| PM01 | Change of the registration of the contract for pledge of patent right | ||
| PC01 | Cancellation of the registration of the contract for pledge of patent right |
Date of cancellation: 20230109 Granted publication date: 20180206 Pledgee: Agricultural Bank of China Limited Huangshi lime kiln sub branch Pledgor: Hubei Sanfeng Komatsu Logistics Technology Co.,Ltd. Registration number: Y2021980014238 |
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| PC01 | Cancellation of the registration of the contract for pledge of patent right |