CN108045820A - A kind of automation Dui Huo robots for unmanned wisdom warehouse logistics - Google Patents

Abstract

The present invention relates to a kind of automation Dui Huo robots for unmanned wisdom warehouse logistics, heap goods device is installed on the right side of the upper end including the mobile device described in mobile device and heap goods device.The present invention can solve that staff is needed to carry out artificial heap goods to cargo during existing warehouse logistics, during heap goods, personnel need to put cargo to designated position by ladder, people may fall down initiation security risk when working on ladder because of ladder shakiness, simultaneously, artificial stack goods are irregular, the space for causing storage is inadequate, during carrying, since warehouse area is little, cargo is easily bumped against when personnel freight by cart, simultaneously, because of area cart may not enough be caused not turn curved and affect later stage work when turning, in climbing, cart work of device due to obliquity effects, personnel is needed to carry out grabbing the problems such as steady for a long time to cart during general work on slope, it can realize the function that heap goods is automated on shelf.

Description

A kind of automation Dui Huo robots for unmanned wisdom warehouse logistics

Technical field

It is more particularly to a kind of for the automatic of unmanned wisdom warehouse logistics the present invention relates to unmanned warehouse logistics technical field Hua Dui goods robot.

Background technology

With the continuous development of Chinese science and technology, net purchase is the essential life requirement of new era young man, therefore express delivery Logistics also high speed development therewith, nearly 2 years rising steadily with logistics labour cost, many large size logistics express companies all build The unmanned storehouse of Li Liao robots full-automatic operation realizes that full automatic unmanned warehouse logistics operate, referred to as unmanned warehouse logistics, Also the wisdom logistics of nickname, so-called warehouse logistics are exactly to be removed using self-built or lease storehouse, place, storage, keeping, handling Fortune, dispatching cargo, but staff is needed to carry out artificial heap goods to cargo during warehouse logistics of today, process complexity is cumbersome, During heap goods, personnel need to put cargo to designated position by ladder, and people may fall when working on ladder because of ladder shakiness Trigger security risk, since cargo shape differs, efficiency when staff carries also can be different, meanwhile, artificial heap goods putting Object is irregular, and the space for causing storage is inadequate, during carrying, since warehouse area is little, is easily hit when personnel freight by cart To cargo, meanwhile, because of area cart may not enough be caused not turn curved and affect later stage work when turning, in upward slope descending When, cart work of device due to obliquity effects, meanwhile, on slope during general work personnel is needed to grab cart for a long time Surely, personnel may trigger security risk due to work of bending over for a long time, and manual work process spent time is long, labor intensity greatly with effect Rate is low.

The content of the invention

To solve the above-mentioned problems, the present invention provides a kind of automation heap cargo aircraft devices for unmanned wisdom warehouse logistics People can solve to need staff to carry out artificial heap goods to cargo during existing warehouse logistics, and process complexity is cumbersome, during heap goods, Personnel need to put cargo to designated position by ladder, and people may fall down when working on ladder because of ladder shakiness triggers peace Full hidden danger, since cargo shape differs, efficiency when staff carries also can be different, meanwhile, artificial stack goods are irregular, The space for causing storage is inadequate, during carrying, since warehouse area is little, cargo is easily bumped against when personnel freight by cart, together When, turn when because of area cart may not enough be caused not turn curved and affect later stage work, in upward slope descending, cart due to The obliquity effects work of device, meanwhile, personnel is needed during general work to carry out grabbing for a long time to cart steady on slope, personnel are due to length The problems such as phase work of bending over may trigger security risk, and manual work process spent time is long, and labor intensity is big and efficiency is low, can To realize the function that heap goods is automated on shelf, heap goods is automated, without human intervention, it is ensured that personnel safety, automation The fixed different cargo of gripping, stack goods are neat, save space, and automation cleans barrier, automates pivot turn, During upward slope descending, /V is automated, meanwhile, automation is adjusted when causing present invention work from the influence of upward slope descending, is expended Time is short, and has many advantages, such as that easy to operate, labor intensity is small high with work efficiency.

To achieve these goals, the present invention uses following technical scheme：It is a kind of for unmanned wisdom warehouse logistics from Dong Huadui goods robot, mobile device drive the present invention to be moved and cleared away front obstacle, heap goods device to cargo into Row arranges, and including mobile device and heap goods device, heap goods device is equipped on the right side of the upper end of the mobile device.

The mobile device pushes mechanism, the upper end of walking mechanism including angle adjusting mechanism, walking mechanism and two Angle adjusting mechanism is installed, there are two the front end installations of walking mechanism pushes mechanism, and two push mechanism and are arranged symmetrically, During walking, angle adjusting mechanism carries out angular adjustment and so that heap goods device is equal with horizontal plane, walking mechanism drive it is of the invention into Every trade is walked and rotated, and two push mechanism and clear away front obstacle, automation walking, in upward slope descending, angle tune Section mechanism is adjusted so that from the influence of upward slope descending when the present invention works, and it is former that walking mechanism carries out the present invention automation Ground is turned, and two push mechanism and carry out automation cleaning to front obstacle, time-consuming short, is reduced labor intensity, is improved work Make efficiency.

The mechanism that pushes includes straight rack, carrier wheel, mobile motor, F types shifting frame, mobile sliding block, mobile cunning Slot, partition plate walk sliding block, walk sliding slot, angle board and assistant cylinder, and straight rack is mounted in walking mechanism, is nibbled on straight rack Conjunction has carrier wheel, and carrier wheel is mounted on the output shaft of mobile motor, and mobile motor is mounted on F types by motor cabinet and moves frame On, the lower end that F types move frame is equipped with mobile sliding block, and mobile sliding block is connected by way of being slidably matched with mobile chute, mobile Sliding slot is mounted in walking mechanism, and F types move on frame and are equipped with partition plate, and clutch slot is provided on partition plate, and the rear end of clutch slot leads to It crosses axis pin and assistant cylinder is installed, the top of assistant cylinder is mounted on angle board by axis pin, is pacified on angle board by axis pin On the inner wall of clutch slot, sliding block is installed away on the side wall of partition plate, walks sliding block by way of being slidably matched with walking sliding slot It is connected, walks sliding slot in the walking mechanism, when there is barrier in front, the kind of drive that mobile motor passes through wheel and rack It is moved, mobile motor drives F types to move frame synchronizing moving under the auxiliary of mobile sliding block and mobile chute, pushes mechanism movement To at barrier, mobile device continues to move to forward, meanwhile, it pushes mechanism and barrier is driven to be moved outward, aid in gas Cylinder drives angle board progress angular adjustment to facilitate barrier that can be moved from side of the present invention, time-consuming short, reduces labor intensity, It improves work efficiency.

The heap goods device includes moving mechanism, adjusting mechanism, grasping mechanism, two one mechanisms of folder, two two machines of folder Structure and arranging mechanism, moving mechanism are mounted on the middle part of mobile device, adjusting mechanism are equipped in moving mechanism, adjusting mechanism Right end is equipped with grasping mechanism, and the front end of grasping mechanism is symmetrically installed there are two one mechanism of folder, and the rear end of grasping mechanism is symmetrically pacified Dress is there are two two mechanisms of folder, and two one mechanisms of folder arrange that arranging mechanism is mounted on mobile device in opposite directions with two two mechanisms of folder Rear end, moving mechanism drives heap goods device to be moved, and adjusting mechanism drives grasping mechanism to adjust to suitable angle, crawl Mechanism drives two one mechanisms of folder to be gripped with two two mechanisms of folder to cargo, and the cargo that arranging mechanism puts heap well is put Just, carry out automation crawl to cargo of different shapes, automate the neat cargo of heap, save space, without artificial stack goods, Ensure personnel safety, it is easy to operate, it is time-consuming short, labor intensity is reduced, is improved work efficiency.

The adjusting mechanism turns plate, electric rotating machine, master including regulation motor, ring flat-plate, rotation slide bar, sliding slot, two Axis, flap turn telescopic rod, fixture block, solid block, annulus frame, clamping branch, Circular Plate, two faggings, mobile jib, take offence from bar, band Cylinder, electronic straight telescopic rod and cooperation cylinder, regulation motor by floor installation in moving mechanism, on the output shaft of regulation motor Annulate lamella is installed, the lower end of ring flat-plate is uniformly equipped with rotation slide bar, rotates slide bar and is connected by way of being slidably matched with sliding slot, Sliding slot is mounted in moving mechanism, and two are mounted in moving mechanism plate, and two are arranged symmetrically plate, and two between plate Main shaft is equipped with by bearing, the rear end of main shaft is connected by shaft coupling with the output shaft of electric rotating machine, and electric rotating machine leads to Floor installation is crossed on ring flat-plate, the front end of main shaft is mounted on flap, and flap is circumferentially uniformly equipped with solid block along it, Gu block Outside is mounted on annulus frame inner wall, and sliding groove is provided on annulus frame, and flap is circumferentially uniformly equipped with along it turns telescopic rod, The top for turning telescopic rod is mounted on fixture block, and fixture block is connected by way of being slidably matched with sliding groove, and two faggings are mounted on On ring flat-plate, and two faggings are arranged symmetrically, and the upper end of two faggings is mounted in Circular Plate, and the inner wall of Circular Plate is circumferential equal along it It is even that clamping branch is installed, mobile jib is installed, the lower end of mobile jib is provided with cylinder of taking offence by axis pin, drives cylinder on main shaft Top be mounted on by axis pin from bar, be mounted on from the left end of bar by axis pin on mobile jib, pass through pin from the side wall of bar Axis is equipped with cooperation cylinder, and the top of cylinder is coordinated to be mounted on by axis pin on electronic straight telescopic rod, electronic straight telescopic rod it is upper End is mounted on by axis pin from the right side of bar, and regulation motor is rotated in the auxiliary lower band rotating ring plate for rotating slide bar and sliding slot, Electric rotating machine drives mobile jib to be rotated, and cylinder drive is driven to be adjusted from bar, and electronic straight telescopic rod automatic telescopic is to properly Position, while rotation, turn telescopic rod fixture block driven to carry out clamping with clamping branch to prevent regulation motor from ring flat-plate being driven to carry out It is loosened after rotating to designated position, when needing to rotate again, clamping branch is adjusted outward allows fixture block smooth It is rotated, it is easy to operate, it is time-consuming short, labor intensity is reduced, is improved work efficiency.

The clamping branch includes clamping cylinder, arc plate and clamping block, and clamping cylinder is mounted on the inner wall of Circular Plate, The top of clamping cylinder is mounted on by flange on arc plate, and clamping block is equipped on arc plate, and clamping cylinder drives arc plate to be stretched Contracting is adjusted, and clamping block plays the role of /V to fixture block, improves work efficiency.

As a preferred technical solution of the present invention, the angle adjusting mechanism includes helping plate, two rectangular slabs, angles Cylinder, telescopic rod, U-shaped sub-frame and four pressing branches are spent, help rectangular slab there are two the lower end installations of plate, and two rectangular slabs pair Claim arrangement, rectangular slab is connected by axis pin with walking mechanism, is helped on front side of the lower end of plate and is installed angled cylinder, angle by axis pin The bottom of cylinder is mounted on by axis pin in walking mechanism, and the upper end of plate is helped uniformly to be equipped with telescopic rod, the top peace of telescopic rod On U-shaped sub-frame, help on plate and uniformly install there are four pressing branch, angle cylinder is to helping plate to carry out angular adjustment, telescopic rod Shockproof effect is played, when heap goods device works, four pressing branches carry out pressing fixation to U-shaped sub-frame, when the present invention moves When moving angled ground, from the shadow of upward slope descending when may insure that the present invention works by the adjusting of angle adjusting mechanism It rings, improves work efficiency.

As a preferred technical solution of the present invention, the pressing branch is consolidated frame including L-type, is consolidated by air cylinder, F types Frame and pressing sliding slot, L-type consolidate frame mounted on helping on plate, and L-type, which is consolidated on frame, to be equipped with by air cylinder, passes through method by the top of air cylinder Orchid is consolidated mounted on F types on frame, and the upper end of U-shaped sub-frame is located at F types and consolidates in frame, F types consolidate frame by way of being slidably matched and by Pressure sliding slot is connected, and pressing sliding slot is consolidated mounted on L-type on frame, by air cylinder F types is driven to consolidate frame and carries out pressing fixation to U-shaped sub-frame, It improves work efficiency.

As a preferred technical solution of the present invention, the walking mechanism includes U-shaped bottom frame, walking chassis, lifting Cylinder, ring frame, circular slide way, ring rack, plectane, master gear, lifting motor and four /V branches, the lower end peace of U-shaped bottom frame Equipped with walking chassis, lifting cylinder uniformly is installed in the middle part of the lower end of U-shaped bottom frame, the top of lifting cylinder is mounted on by flange On ring frame, the mode of the lower slide cooperation of ring frame is connected with circular slide way, and circular slide way is mounted on plectane, outside ring frame Ring rack on wall is installed, master gear is engaged on ring rack, master gear is mounted on the output shaft of lifting motor, lifting motor By floor installation on plectane, the lower end of U-shaped bottom frame is uniformly arranged there are four /V branch, lifting motor drive master gear into Row rotates, and master gear band rotating ring rack is rotated, and ring rack drives ring frame carries out rotating on circular slide way so that the present invention It can be rotated in situ, four /V branches play the role of walking mechanism /V, and walking mechanism carries out the present invention Pivot turn is automated, labor intensity is reduced, improves work efficiency.

As a preferred technical solution of the present invention, the /V branch includes limit telescopic plate, adjusts cylinder, rubber Blob of viscose and limiting cylinder, limit telescopic plate are mounted on by hinge on U-shaped bottom frame, and the upper end of limit telescopic plate is equipped with adjusting gas Cylinder, the top for adjusting cylinder are mounted on the lower end of limit telescopic plate by flange, and the lower end of limit telescopic plate is equipped with rubber block, Limiting cylinder is equipped with by axis pin on the side wall of limit telescopic plate, the bottom of limiting cylinder is mounted on U-shaped bottom frame by axis pin On, it adjusts cylinder and limit telescopic plate is driven to be shunk, limiting cylinder drives limit telescopic plate progress angular adjustment to cause /V Branch carries out /V to walking chassis, and rubber block increases frictional force, improves work efficiency.

As a preferred technical solution of the present invention, the moving mechanism includes two main expansion plates, master cylinder, consolidates Determine motor, rotating threaded shaft, auxiliary movable block, L-type and move frame, multi-stage expansion plate, auxiliary slider and auxiliary chute, two main expansion plate peaces It fills on the mobile device, and two main expansion plates are arranged symmetrically, the lower end of the main expansion plate of front side is equipped with master cylinder, master cylinder Top be mounted on the upper end of the main expansion plate in front side, the main expansion plate of rear end is equipped with fixed motor, fixed electricity by motor cabinet The output shaft of machine is connected by shaft coupling with the rear end of rotating threaded shaft, and the front end of rotating threaded shaft is stretched by bearing mounted on front side master Auxiliary movable block is provided on contracting plate, on rotating threaded shaft, be equipped on auxiliary movable block L-type move frame, L-type move frame right end be equipped with it is more Grade expansion plate, the lower end of multi-stage expansion plate are equipped with auxiliary slider, and auxiliary slider is by way of being slidably matched and auxiliary chute It is connected, auxiliary chute is installed on the mobile device, and moving mechanism drives heap goods device to carry out left and right shifting and lifting, reduces labor Fatigue resistance improves work efficiency.

As a preferred technical solution of the present invention, the grasping mechanism includes square plate, rotary chute, rotary column, steady Rack, crawl gear, stand-by motor, bi-directional expansion plate, two telescopic cylinders, two reciprocating air cylinders, two strip plates, permanent tooth item With two solid sliding slots, square plate is mounted on the lower end of adjusting mechanism, and rotary chute is equipped in square plate, and rotary chute is matched somebody with somebody by sliding The mode of conjunction is connected with rotary column, and steady rack is equipped on the outer wall of rotary column, and crawl gear, crawl gear peace are engaged on steady rack On the output shaft of stand-by motor, for stand-by motor by floor installation in square plate, the lower end of rotary column is mounted on bi-directional expansion On plate, and circular trough is symmetrically arranged on bi-directional expansion plate, the installation of the right side of bi-directional expansion plate is there are two telescopic cylinder, and two Telescopic cylinder is arranged symmetrically, and the top of telescopic cylinder is mounted on the outside of bi-directional expansion plate by flange, pacifies on bi-directional expansion plate Dress is there are two reciprocating air cylinder, and two reciprocating air cylinders are arranged symmetrically, and the top of each reciprocating air cylinder is mounted on strip by flange On plate, strip plate is connected by way of being slidably matched with solid sliding slot, Gu sliding slot is mounted on bi-directional expansion plate, and the two of strip plate Side is equipped with permanent tooth item, and according to the pattern of cargo, grasping mechanism is adjusted, and stand-by motor drives crawl gear to be rotated, Crawl gear drives steady rack to be rotated on rotary chute, and two telescopic cylinders drive bi-directional expansion plate to stretch to both sides, Two reciprocating air cylinders drive permanent tooth item to be moved under the auxiliary of two solid sliding slots, are adjusted according to size automation to suitable Angle and length, without human intervention, it is ensured that personnel safety, it is easy to operate, it is time-consuming short, labor intensity is reduced, is improved Work efficiency.

As a preferred technical solution of the present invention, one mechanism of folder and two mechanisms of folder are structure, size is homogeneous The same mechanism of cause, one mechanism of folder include circular block, adjustment gear, connecting plate, grasping plate, working cylinder, gripping pawl, connection Cylinder, a flexible bar and fine adjustment block, circular block are connected by way of being slidably matched with circular trough, and the upper end of circular block is equipped with Adjustment gear is engaged with permanent tooth item in adjustment gear, and the lower end of circular block is equipped with connecting plate, and the lower end of connecting plate is installed by axis pin There is working cylinder, the top of working cylinder is mounted on by axis pin in grasping plate, and the upper end of grasping plate is mounted on by axis pin on connecting plate, Connection cylinder is equipped with by axis pin on the side wall of grasping plate, the top for connecting cylinder is mounted on by axis pin on gripping pawl, gripping The upper end of pawl is mounted on by axis pin in grasping plate, grips and a flexible bar is uniformly equipped on the side wall of pawl, the top for the bar that stretches In fine adjustment block, as requested, the reciprocating air cylinder on grasping mechanism drives permanent tooth item to be moved under the auxiliary of solid sliding slot Dynamic, Gu rack drives adjustment gear carries out angular adjustment, adjustment gear drives circular block to be rotated, and working cylinder drives grasping plate It is adjusted, connection cylinder drives gripping pawl to carry out angular adjustment, and according to the shape of cargo, the bar that stretches drives fine adjustment block to goods Object surface is clamped, and automation crawl is carried out to cargo of different shapes, time-consuming short, is reduced labor intensity, is improved work Make efficiency.

As a preferred technical solution of the present invention, the arranging mechanism includes two electronic sliding blocks, square slide, electricity Dynamic support telescopic rod, electronic auxiliary telescopic rod, T-shaped solid frame, operation cylinder and two ajust branch, and two electronic sliding blocks are mounted on movement On device, square slide is provided on two electronic sliding blocks, the upper end of square slide is equipped with electronic support telescopic rod, electronic support telescopic rod On electronic auxiliary telescopic rod is installed, the right end of electronic auxiliary telescopic rod is equipped with operation cylinder by axis pin, operates the top of cylinder It is mounted on by axis pin on T-shaped solid frame, T-shaped solid frame is mounted on by axis pin on electronic auxiliary telescopic rod, and two are equipped on T-shaped solid frame It is a to ajust branch, and two are ajusted unbranched symmetric arrangement, two electronic sliding blocks drive arranging mechanism to be moved, and electronic support is stretched Bar is adjusted with electronic auxiliary telescopic rod drives arranging mechanism to be moved to suitable position, after two are ajusted branch gripping stacking Cargo, operation cylinder drive T-shaped solid frame progress angular adjustment that the cargo after stacking is ajusted into type, and two electronic sliding blocks drive Cargo carries out being moved to designated position, automates the neat cargo of heap, saves space, time-consuming short, reduces labor intensity, improves Work efficiency.

As a preferred technical solution of the present invention, the branch of ajusting includes symmetrical cylinder, L-type balladeur train, grabs surely Plate is mounted on steady cylinder, symmetrical cylinder is grabbed on T-shaped solid frame, and the top of symmetrical cylinder is mounted on by flange on L-type balladeur train, L Type balladeur train is connected by way of being slidably matched with T-shaped solid frame, is equipped on the side wall of L-type balladeur train by axis pin and is grabbed steady cylinder, It grabs the top of steady cylinder and is mounted on by axis pin and grab steady plate, grab steady plate and be mounted on by hinge on L-type balladeur train, symmetrical cylinder drives L-type balladeur train stretches, and grabs steady cylinder drive and grabs steady plate progress angular adjustment, automates fixed cargo, reduce labor intensity, It improves work efficiency.

During work, first, mobile device drives the present invention to be moved to suitable position, second step, and heap goods device starts work Make, moving mechanism drives heap goods device to be moved, and adjusting mechanism drives grasping mechanism to adjust to suitable angle, grasping mechanism Two one mechanisms of folder is driven to be gripped with two two mechanisms of folder to cargo, the cargo that arranging mechanism puts heap well is ajusted, Afterwards, moving mechanism starts to work, and moving mechanism drives heap goods device to carry out left and right shifting and lifting, and afterwards, adjusting mechanism is opened Beginning work, the regulation motor on adjusting mechanism are rotated in the auxiliary lower band rotating ring plate for rotating slide bar and sliding slot, electric rotating machine Mobile jib is driven to be rotated, cylinder drive is driven to be adjusted from bar, electronic straight telescopic rod automatic telescopic to suitable position, rotation While turning, turn telescopic rod fixture block and clamping branch is driven to carry out clamping to prevent that regulation motor drive ring flat-plate from rotate to specified It is loosened behind position, when needing to rotate again, clamping branch is adjusted outward allows fixture block to be smoothed out rotating, card Tight branch is started to work, and clamping cylinder drives arc plate to carry out telescopic adjustment, and clamping block plays the role of fixture block /V, afterwards, Grasping mechanism is started to work, and according to the pattern of cargo, grasping mechanism is adjusted, and stand-by motor drives crawl gear to be turned Dynamic, crawl gear drives steady rack to be rotated on rotary chute, and two telescopic cylinders drive bi-directional expansion plate to be stretched to both sides Contracting, two reciprocating air cylinders drive permanent tooth item to be moved under the auxiliary of two solid sliding slots, and afterwards, two press from both sides a mechanisms and two It presss from both sides two mechanisms to cooperate with each other, as requested, the reciprocating air cylinder on grasping mechanism drives permanent tooth item under the auxiliary of solid sliding slot It is moved, Gu rack drives adjustment gear carries out angular adjustment, adjustment gear drives circular block to be rotated, working cylinder band Dynamic grasping plate is adjusted, and connection cylinder drives gripping pawl to carry out angular adjustment, and according to the shape of cargo, the bar that stretches drives fine tuning Block is clamped cargo surfaces, and afterwards, arranging mechanism is started to work, and the electronic sliding block of two on arranging mechanism drives ordering machine Structure is moved, and electronic support telescopic rod and electronic auxiliary telescopic rod, which are adjusted, drives arranging mechanism to be moved to suitable position, and two It is a to ajust the cargo after branch gripping is stacked, operation cylinder drive T-shaped solid frame carry out angular adjustment cause the cargo after stacking into Type is ajusted, and two electronic sliding blocks drive cargo to carry out being moved to designated position, ajusts branch start-up operation, and symmetrical cylinder drives L Type balladeur train stretches, and grabs the drive of steady cylinder and grabs steady plate and carries out angular adjustment, the 3rd step, and the walking mechanism in mobile device starts It works, the lifting motor in walking mechanism drives master gear to be rotated, and master gear band rotating ring rack is rotated, ring rack band Dynamic ring frame, which carries out rotating on circular slide way, allows the present invention to be rotated in situ, and four /V branches are to walking mechanism Play the role of /V, afterwards, /V branch is started to work, and the adjusting cylinder on /V branch drives limit telescopic plate to be received Contracting, limiting cylinder drive limit telescopic plate progress angular adjustment that /V branch is caused to carry out /V to walking chassis, and rubber block increases Big frictional force, afterwards, angle adjusting mechanism is started to work, and to plate is helped to carry out angular adjustment, telescopic rod plays anti-angle cylinder The effect of shake, when heap goods device works, four pressing branches carry out U-shaped sub-frame pressing fixation, and pressing branch is started to work, By air cylinder F types is driven to consolidate frame and pressing fixation is carried out to U-shaped sub-frame, afterwards, two push mechanism start-up operation, when there is barrier in front When hindering object, mobile motor is moved by the kind of drive of wheel and rack, and mobile motor drives F types to move frame in mobile sliding block With synchronizing moving under the auxiliary of mobile chute, pushing mechanism and be moved at barrier, mobile device continues to move to forward, meanwhile, Pushing mechanism drives barrier to be moved outward, and assistant cylinder drives angle board progress angular adjustment to facilitate barrier can It is moved from side of the present invention, can realize the function that heap goods is automated on shelf.

The beneficial effects of the present invention are：

1st, the present invention can solve that staff is needed to carry out cargo artificial heap goods during existing warehouse logistics, and process is complicated Cumbersome, during heap goods, personnel need to put cargo to designated position by ladder, and people may be because of ladder not when working on ladder Initiation security risk surely is fallen down, since cargo shape differs, efficiency when staff carries also can be different, meanwhile, artificial heap Goods putting object is irregular, and the space for causing storage is inadequate, during carrying, since warehouse area is little, holds when personnel freight by cart Cargo easily is bumped against, meanwhile, because of area cart may not enough be caused not turn curved and affect later stage work when turning, under upward slope During slope, cart work of device due to obliquity effects, meanwhile, on slope during general work personnel is needed to grab cart for a long time Surely, personnel may trigger security risk due to work of bending over for a long time, and manual work process spent time is long, and labor intensity is big and effect The low problem of rate can realize the function that heap goods is automated on shelf, automate heap goods, without human intervention, it is ensured that people Member's safety, the fixed different cargo of automation gripping, stack goods are neat, save space, and automation cleans barrier, automatically Change pivot turn, in upward slope descending, automate /V, meanwhile, automation is adjusted when causing present invention work under upward slope The influence on slope, the consuming time is short, and has many advantages, such as that easy to operate, labor intensity is small high with work efficiency；

2nd, the present invention is provided with mobile device, and automation walking, in upward slope descending, angle adjusting mechanism, which is adjusted, to be made Work of the present invention when from upward slope descending influence, walking mechanism carries out the present invention automation pivot turn, and two push Mechanism carries out automation cleaning to front obstacle, time-consuming short, reduces labor intensity, improves work efficiency；

3rd, the present invention is provided with heap goods device, and automation crawl is carried out to cargo of different shapes, automates the neat cargo of heap, Space is saved, without artificial stack goods, it is ensured that personnel safety, it is easy to operate, it is time-consuming short, labor intensity is reduced, is carried High work efficiency.

Description of the drawings

The present invention is further described with reference to the accompanying drawings and examples.

Fig. 1 is the structure diagram of the present invention；

Fig. 2 is the first structure schematic diagram of mobile device of the present invention；

Fig. 3 is the second structure diagram of mobile device of the present invention；

Fig. 4 is the first structure schematic diagram between heap goods device of the present invention and U-shaped sub-frame；

Fig. 5 is the second structure diagram between heap goods device of the present invention and U-shaped sub-frame；

Fig. 6 is the X of Fig. 2 of the present invention to partial enlarged view；

Fig. 7 is the Y-direction partial enlarged view of Fig. 4 of the present invention；

Fig. 8 is the Z-direction partial enlarged view of Fig. 4 of the present invention.

Specific embodiment

In order to be easy to understand the technical means, the creative features, the aims and the efficiencies achieved by the present invention, tie below Conjunction is specifically illustrating, and the present invention is further explained.It should be noted that in the case where there is no conflict, embodiment in the application and Feature in embodiment can be combined with each other.

As shown in Figures 1 to 8, to achieve these goals, the present invention uses following technical scheme：One kind is used for unmanned intelligence The automation Dui Huo robots of intelligent warehouse logistics, mobile device 1 drive the present invention to be moved and cleared away front obstacle, heap Goods device 2 arranges cargo, including mobile device 1 and heap goods device 2, installation on the right side of the upper end of the mobile device 1 There is heap goods device 2.

The mobile device 1 pushes mechanism 14, walking mechanism including angle adjusting mechanism 11, walking mechanism 12 and two 12 upper end is equipped with angle adjusting mechanism 11, and there are two the front end installations of walking mechanism 12 pushes mechanism 14, and two push Mechanism 14 is arranged symmetrically, and when walking, angle adjusting mechanism 11 carries out angular adjustment and so that heap goods device 2 is equal with horizontal plane, Walking mechanism 12 drives the present invention to be walked and rotated, and two push mechanism 14 and clear away front obstacle, automation Walking, in upward slope descending, angle adjusting mechanism 11 is adjusted so that from the influence of upward slope descending, row when the present invention works It walks mechanism 12 and automation pivot turn is carried out to the present invention, two push mechanism 14 and carry out automation cleaning to front obstacle, It is time-consuming short, labor intensity is reduced, is improved work efficiency.

The mechanism 14 that pushes includes straight rack 141, carrier wheel 142, mobile motor 143, F types shifting frame 144, shifting Movable slider 145, mobile chute 146, walk sliding block 147, walk sliding slot 148, angle board 150 and assistant cylinder 151, straight partition plate 149 Rack 141 is mounted in walking mechanism 12, and carrier wheel 142 is engaged on straight rack 141, and carrier wheel 142, which is mounted on, to be moved On the output shaft of dynamic motor 143, mobile motor 143 is mounted on F types by motor cabinet and moves on frame 144, and F types move the lower end of frame 144 Mobile sliding block 145 is installed, mobile sliding block 145 is connected by way of being slidably matched with mobile chute 146, mobile chute 146 In walking mechanism 12, F types move on frame 144 and are equipped with partition plate 149, and are provided with clutch slot on partition plate 149, clutch slot Rear end is equipped with assistant cylinder 151 by axis pin, and the top of assistant cylinder 151 is mounted on by axis pin on angle board 150, angle It is mounted on plate 150 by axis pin on the inner wall of clutch slot, sliding block 147 on the side wall of partition plate 149 is installed away, walks sliding block 147 It is connected by way of being slidably matched with walking sliding slot 148, sliding slot 148 is walked in walking mechanism 12, when there is barrier in front When, mobile motor 143 is moved by the kind of drive of wheel and rack, and mobile motor 143 drives F types to move frame 144 and moving Movable slider 145 and synchronizing moving under the auxiliary of mobile chute 146, push mechanism 14 and are moved at barrier, mobile device 1 is forward It continues to move to, meanwhile, it pushes mechanism 14 and barrier is driven to be moved outward, assistant cylinder 151 drives angle board 150 to carry out Angular adjustment facilitates barrier that can be moved from side of the present invention, time-consuming short, reduces labor intensity, improves work efficiency.

The heap goods device 2 includes 24, two moving mechanism 21, adjusting mechanism 22, grasping mechanism one mechanisms 26, two of folder Two mechanisms 27 of a folder and arranging mechanism 28, moving mechanism 21 are mounted on the middle part of mobile device 1, tune are equipped in moving mechanism 21 Save mechanism 22, the right end of adjusting mechanism 22 is equipped with grasping mechanism 24, and the front end of grasping mechanism 24 is symmetrically installed that there are two folders one Mechanism 26, the rear end of grasping mechanism 24 is symmetrically installed there are two two mechanisms 27 of folder, and two press from both sides a mechanisms 26 and two two machines of folder Structure 27 arranges that arranging mechanism 28 is mounted on the rear end of mobile device 1 in opposite directions, and moving mechanism 21 drives heap goods device 2 to be moved, Adjusting mechanism 22 drives grasping mechanism 24 to adjust to suitable angle, two one mechanisms 26 of folder of the drive of grasping mechanism 24 and two folders Two mechanisms 27 grip cargo, and the cargo that arranging mechanism 28 puts heap well is ajusted, and cargo of different shapes is carried out Automation crawl, automates the neat cargo of heap, space is saved, without artificial stack goods, it is ensured that personnel safety, operation letter It is single, it is time-consuming short, labor intensity is reduced, is improved work efficiency.

The adjusting mechanism 22 includes regulation motor 221, ring flat-plate 222, rotates slide bar 223, sliding slot 224, two to plate 225th, electric rotating machine 226, main shaft 227, flap 228, turn telescopic rod 229, fixture block 230, solid block 231, annulus frame 232, clamping Branch 233,234, two faggings 235 of Circular Plate, mobile jib 236, from bar 237, drive and cylinder 238, electronic straight telescopic rod 239 and match somebody with somebody Cylinder 240 is closed, in moving mechanism 21, ring is equipped on the output shaft of regulation motor 221 by floor installation for regulation motor 221 Plate 222, the lower end of ring flat-plate 222, which is uniformly equipped with, rotates slide bar 223, rotates slide bar 223 by way of being slidably matched and sliding slot 224 are connected, and sliding slot 224 is mounted in moving mechanism 21, and two are mounted in moving mechanism 21 plate 225, and two to plate 225 Be arranged symmetrically, two to being equipped with main shaft 227 by bearing between plate 225, the rear end of main shaft 227 passes through shaft coupling and rotation The output shaft of rotating motor 226 is connected, and electric rotating machine 226 by floor installation on ring flat-plate 222, install by the front end of main shaft 227 On flap 228, flap 228 is circumferentially uniformly equipped with solid block 231 along it, Gu the outside of block 231 is mounted on 232 inner wall of annulus frame On, and sliding groove is provided on annulus frame 232, flap 228 is circumferentially uniformly equipped with along it turns telescopic rod 229, turns telescopic rod 229 Top be mounted on fixture block 230 on, fixture block 230 is connected by way of being slidably matched with sliding groove, and two faggings 235 are mounted on On ring flat-plate 222, and two faggings 235 are arranged symmetrically, and the upper end of two faggings 235 is mounted in Circular Plate 234, Circular Plate 234 Inner wall along its circumferentially clamping branch 233 is uniformly installed, mobile jib 236 is installed, the lower end of mobile jib 236 leads on main shaft 227 It crosses axis pin and is provided with cylinder 238 of taking offence, the top of cylinder 238 is driven to be mounted on by axis pin from bar 237, from a left side for bar 237 End is mounted on by axis pin on mobile jib 236, is equipped with cooperation cylinder 240 by axis pin from the side wall of bar 237, is coordinated cylinder 240 top is mounted on by axis pin on electronic straight telescopic rod 239, and the upper end of electronic straight telescopic rod 239 is mounted on by axis pin From the right side of bar 237, regulation motor 221 is rotated in rotation slide bar 223 and the auxiliary lower band rotating ring plate 222 of sliding slot 224, is revolved Rotating motor 226 drives mobile jib 236 to be rotated, and cylinder 238 is driven to drive from bar 237 and is adjusted, and electronic straight telescopic rod 239 is certainly It is dynamic to stretch to suitable position, while rotation, turn telescopic rod 229 and fixture block 230 is driven to be prevented with the progress clamping of clamping branch 233 Regulation motor 221 drives ring flat-plate 222 loosened after rotating to designated position, when needing to rotate again, clamping branch 233 adjustings outward allow fixture block 230 to be smoothed out rotating, easy to operate, time-consuming short, reduce labor intensity, improve Work efficiency.

The clamping branch 233 includes clamping cylinder 2331, arc plate 2332 and clamping block 2333, and clamping cylinder 2331 is pacified On the inner wall of Circular Plate 234, the top of clamping cylinder 2331 is mounted on by flange on arc plate 2332, is pacified on arc plate 2332 Equipped with clamping block 2333, clamping cylinder 2331 drives arc plate 2332 to carry out telescopic adjustment, and clamping block 2333 plays limit to fixture block 230 The effect of position, improves work efficiency.

The angle adjusting mechanism 11 includes helping plate 111, two rectangular slabs 112, angle cylinder 113, telescopic rod 114, U Type sub-frame 115 and four pressing branches 116, help the lower end of plate 111 to install there are two rectangular slab 112, and two rectangular slabs 112 are right Claim arrangement, rectangular slab 112 is connected by axis pin with walking mechanism 12, help plate 111 lower end front side installed by axis pin it is angled Cylinder 113, the bottom of angle cylinder 113 are mounted in walking mechanism 12 by axis pin, the upper end of plate 111 are helped uniformly to be equipped with and is stretched Contracting bar 114, the top of telescopic rod 114 are mounted on U-shaped sub-frame 115, are helped on plate 111 and are uniformly installed there are four pressing branch 116, For angle cylinder 113 to plate 111 is helped to carry out angular adjustment, telescopic rod 114 plays shockproof effect, when heap goods device 2 works, four A pressing branch 116 carries out pressing fixation to U-shaped sub-frame 115, when the present invention is moved to angled ground, passes through angle tune The adjusting of section mechanism 11 may insure to improve work efficiency from the influence of upward slope descending when the present invention works.

The pressing branch 116 consolidates frame 1161 including L-type, consolidates frame 1163 by air cylinder 1162, F types and presses sliding slot 1165, L-type consolidates frame 1161 mounted on helping on plate 111, and L-type, which is consolidated on frame 1161, to be equipped with by air cylinder 1162, by air cylinder 1162 Top consolidated by flange mounted on F types on frame 1163, and the upper end of U-shaped sub-frame 115 is located at F types and consolidates in frame 1163, and F types consolidate frame 1163 are connected by way of being slidably matched with pressing sliding slot 1165, and pressing sliding slot 1165 is consolidated mounted on L-type on frame 1161, presses Cylinder 1162 drives F types to consolidate frame 1163 and carries out pressing fixation to U-shaped sub-frame 115, improves work efficiency.

The walking mechanism 12 includes U-shaped bottom frame 128, walking chassis 121, lifting cylinder 126, ring frame 127, ring and slides Slot 130, ring rack 131, plectane 132, master gear 133, lifting motor 134 and four /V branches 135, under U-shaped bottom frame 128 End is equipped with walking chassis 121, and uniformly lifting cylinder 126, the top of lifting cylinder 126 are equipped in the middle part of the lower end of U-shaped bottom frame 128 End is mounted on by flange on ring frame 127, and the mode of the lower slide cooperation of ring frame 127 is connected with circular slide way 130, and ring is slided Slot 130 is mounted on plectane 132, and ring rack 131 is equipped on the outer wall of ring frame 127, master gear is engaged on ring rack 131 133, master gear 133 be mounted on lifting motor 134 output shaft on, lifting motor 134 by floor installation on plectane 132, U The lower end of type chassis 128 is uniformly arranged there are four /V branch 135, and lifting motor 134 drives master gear 133 to be rotated, main Gear 133 is rotated with rotating ring rack 131, and the drive ring frame 127 of ring rack 131, which carries out rotating on circular slide way 130, to be caused The present invention can be rotated in situ, and four /V branches 135 play the role of walking mechanism 12 /V, walking mechanism 12 Automation pivot turn is carried out to the present invention, labor intensity is reduced, improves work efficiency.

The /V branch 135 includes limit telescopic plate 1351, adjusts cylinder 1352, rubber block 1353 and limiting cylinder 1354, limit telescopic plate 1351 is mounted on by hinge on U-shaped bottom frame 128, and the upper end of limit telescopic plate 1351 is equipped with adjusting Cylinder 1352, the top for adjusting cylinder 1352 are mounted on the lower end of limit telescopic plate 1351, limit telescopic plate 1351 by flange Lower end rubber block 1353 is installed, limiting cylinder 1354, /V are equipped with by axis pin on the side wall of limit telescopic plate 1351 The bottom of cylinder 1354 is mounted on by axis pin on U-shaped bottom frame 128, adjusts cylinder 1352 and limit telescopic plate 1351 is driven to be received Contracting, limiting cylinder 1354 drive 1351 progress angular adjustment of limit telescopic plate that /V branch 135 carries out walking chassis 121 /V, rubber block 1353 increase frictional force, improve work efficiency.

The moving mechanism 21 includes two main expansion plates 211, master cylinder 212, fixed motor 213, rotating threaded shaft 214th, auxiliary movable block 215, L-type move frame 216, multi-stage expansion plate 217, auxiliary slider 218 and auxiliary chute 219, and two masters are flexible Plate 211 is installed on the mobile device 1, and two main expansion plates 211 are arranged symmetrically, the lower end installation of the main expansion plate 211 of front side There is master cylinder 212, the top of master cylinder 212 is mounted on the upper end of the main expansion plate 211 in front side, and the main expansion plate 211 of rear end passes through Motor cabinet is equipped with fixed motor 213, and the output shaft of fixed motor 213 is connected by shaft coupling with the rear end of rotating threaded shaft 214, The front end of rotating threaded shaft 214 is mounted on by bearing on the main expansion plate 211 in front side, and auxiliary movable block is provided on rotating threaded shaft 214 215, L-type is installed on auxiliary movable block 215 and moves frame 216, the right end that L-type moves frame 216 is equipped with multi-stage expansion plate 217, and multistage is stretched The lower end of contracting plate 217 is equipped with auxiliary slider 218, auxiliary slider 218 by way of being slidably matched with 219 phase of auxiliary chute Even, auxiliary chute 219 is installed on the mobile device 1, and moving mechanism 21 drives heap goods device 2 to carry out left and right shifting and lifting, subtracts Small labor intensity, improves work efficiency.

The grasping mechanism 24 includes square plate 241, rotary chute 242, rotary column 243, steady rack 244, crawl gear 245th, stand-by motor 246,249, two strip plates 250 of the reciprocating air cylinder of telescopic cylinder 248, two of bi-directional expansion plate 247, two, Permanent tooth item 251 and two solid sliding slots 252, square plate 241 are mounted on the lower end of adjusting mechanism 22, and rotation is equipped in square plate 241 and is slided Slot 242, rotary chute 242 are connected by way of being slidably matched with rotary column 243, and steady rack is equipped on the outer wall of rotary column 243 244, crawl gear 245 is engaged on steady rack 244, crawl gear 245 is mounted on the output shaft of stand-by motor 246, auxiliary Motor 246 is by floor installation in square plate 241, and the lower end of rotary column 243 is mounted on bi-directional expansion plate 247, and bi-directional expansion It is symmetrically arranged with circular trough on plate 247, the right side installation of bi-directional expansion plate 247 is there are two telescopic cylinder 248, and two flexible gas Cylinder 248 is arranged symmetrically, and the top of telescopic cylinder 248 is mounted on the outside of bi-directional expansion plate 247, bi-directional expansion plate by flange Installation is there are two reciprocating air cylinder 249 on 247, and two reciprocating air cylinders 249 are arranged symmetrically, and the top of each reciprocating air cylinder 249 leads to Flange is crossed on strip plate 250, strip plate 250 is connected by way of being slidably matched with solid sliding slot 252, Gu sliding slot 252 On bi-directional expansion plate 247, the both sides of strip plate 250 are equipped with permanent tooth item 251, according to the pattern of cargo, grasping mechanism 24 are adjusted, and stand-by motor 246 drives crawl gear 245 to be rotated, and crawl gear 245 drives steady rack 244 rotating It is rotated on sliding slot 242, two telescopic cylinders 248 drive bi-directional expansion plate 247 to stretch to both sides, two reciprocating air cylinders 249 Under the auxiliary of two solid sliding slots 252 permanent tooth item 251 is driven to be moved, according to size automation adjust to suitable angle with Length, without human intervention, it is ensured that personnel safety, it is easy to operate, it is time-consuming short, labor intensity is reduced, improves work effect Rate.

One mechanism 26 of folder and two mechanisms 27 of folder are structure, the consistent same mechanism of size, one machine of folder Structure 26 includes circular block 261, adjustment gear 262, connecting plate 263, grasping plate 264, working cylinder 265, gripping pawl 266, connection cylinder 267th, a flexible bar 268 and fine adjustment block 269, circular block 261 are connected by way of being slidably matched with circular trough, circular block 261 Upper end adjustment gear 262 is installed, permanent tooth item 251 is engaged in adjustment gear 262, the lower end of circular block 261 is equipped with company Plate 263, the lower end of connecting plate 263 are equipped with working cylinder 265 by axis pin, and the top of working cylinder 265 is mounted on by axis pin In grasping plate 264, the upper end of grasping plate 264 is mounted on by axis pin on connecting plate 263, is equipped on the side wall of grasping plate 264 by axis pin Cylinder 267 is connected, the top for connecting cylinder 267 is mounted on by axis pin on gripping pawl 266, and the upper end of gripping pawl 266 passes through pin Axis is mounted in grasping plate 264, is gripped and is uniformly equipped with a flexible bar 268 on the side wall of pawl 266, the top peace for the bar 268 that stretches In fine adjustment block 269, as requested, the reciprocating air cylinder 249 on grasping mechanism 24 drives permanent tooth under the auxiliary of solid sliding slot 252 Item 251 is moved, permanent tooth item 251 drive adjustment gear 262 carry out angular adjustment, adjustment gear 262 drive circular block 261 into Row rotates, and working cylinder 265 drives grasping plate 264 to be adjusted, and connection cylinder 267 drives gripping pawl 266 to carry out angular adjustment, root According to the shape of cargo, a flexible bar 268 drives fine adjustment block 269 to be clamped cargo surfaces, and cargo of different shapes is carried out Automation crawl, it is time-consuming short, labor intensity is reduced, is improved work efficiency.

The arranging mechanism 28 includes two electronic sliding blocks 281, square slide 282, electronic support telescopic rod 283, electronic auxiliary Telescopic rod 284, T-shaped solid frame 285, operation cylinder 286 and two ajust branch 287, and two electronic sliding blocks 281 are mounted on mobile fill It puts on 1, square slide 282 is provided on two electronic sliding blocks 281, the upper end of square slide 282 is equipped with electronic support telescopic rod 283, Electronic auxiliary telescopic rod 284 is installed, the right end of electronic auxiliary telescopic rod 284 is equipped with behaviour by axis pin on electronic support telescopic rod 283 Make cylinder 286, the top for operating cylinder 286 is mounted on by axis pin on T-shaped solid frame 285, and T-shaped solid frame 285 is installed by axis pin On electronic auxiliary telescopic rod 284, branch 287 is ajusted there are two installations on T-shaped solid frame 285, and two are ajusted 287 symmetrical cloth of branch It puts, two electronic sliding blocks 281 drive arranging mechanism 28 to be moved, and electronic support telescopic rod 283 is carried out with electronic auxiliary telescopic rod 284 It adjusts and arranging mechanism 28 is driven to be moved to suitable position, two are ajusted the cargo after the gripping of branch 287 is stacked, and operate cylinder 286, which drive T-shaped solid frame 285 to carry out angular adjustment, causes the cargo after stacking to be ajusted into type, and two electronic sliding blocks 281 drive cargo It carries out being moved to designated position, automates the neat cargo of heap, save space, it is time-consuming short, labor intensity is reduced, improves work Efficiency.

The branch 287 of ajusting includes symmetrical cylinder 2871, L-type balladeur train 2872, grabs steady plate 2873 and grab steady cylinder 2874, symmetrical cylinder 2871 is mounted on T-shaped solid frame 285, and the top of symmetrical cylinder 2871 is mounted on L-type balladeur train by flange On 2872, L-type balladeur train 2872 is connected by way of being slidably matched with T-shaped solid frame 285, is passed through on the side wall of L-type balladeur train 2872 Axis pin, which is equipped with, grabs steady cylinder 2874, grabs the top of steady cylinder 2874 and is mounted on by axis pin and grab steady plate 2873, grabs steady plate 2873 It is mounted on by hinge on L-type balladeur train 2872, symmetrical cylinder 2871 drives L-type balladeur train 2872 to stretch, and grabs steady cylinder 2874 Drive grabs steady plate 2873 and carries out angular adjustment, automates fixed cargo, reduces labor intensity, improve work efficiency.

During work, first, mobile device 1 drives the present invention to be moved to suitable position, second step, and heap goods device 2 starts Work, moving mechanism 21 drive heap goods device 2 to be moved, and adjusting mechanism 22 drives grasping mechanism 24 to adjust to suitable angle Degree, grasping mechanism 24 drive two one mechanisms 26 of folder to press from both sides two mechanisms 27 with two and cargo are gripped, and arranging mechanism 28 is by heap The cargo put well is ajusted, and afterwards, moving mechanism 21 starts to work, and moving mechanism 21 drives heap goods device 2 to carry out left and right shifting And lifting, afterwards, adjusting mechanism 22 is started to work, and the regulation motor 221 on adjusting mechanism 22 is rotating slide bar 223 and sliding slot 224 auxiliary lower band rotating ring plate 222 is rotated, and electric rotating machine 226 drives mobile jib 236 to be rotated, and cylinder 238 is driven to drive It is adjusted from bar 237, electronic straight 239 automatic telescopic of telescopic rod to suitable position, while rotation, turns 229 band of telescopic rod Dynamic fixture block 230 carries out clamping with clamping branch 233 prevents regulation motor 221 from ring flat-plate 222 being driven to carry out after rotating to designated position It loosens, when needing to rotate again, clamping branch 233 is adjusted outward allows fixture block 230 to be smoothed out rotating, card Tight branch 233 is started to work, and clamping cylinder 2331 drives arc plate 2332 to carry out telescopic adjustment, and clamping block 2333 plays fixture block 230 To the effect of /V, afterwards, grasping mechanism 24 is started to work, and according to the pattern of cargo, grasping mechanism 24 is adjusted, auxiliary electricity Machine 246 drives crawl gear 245 to be rotated, and crawl gear 245 drives steady rack 244 to be rotated on rotary chute 242, Two telescopic cylinders 248 drive bi-directional expansion plates 247 to stretch to both sides, and two reciprocating air cylinders 249 consolidate the auxiliary of sliding slot 252 at two Lower drive permanent tooth item 251 is helped to be moved, afterwards, two one mechanisms 26 of folder are cooperated with each other with two two mechanisms 27 of folder, root According to requiring, the reciprocating air cylinder 249 on grasping mechanism 24 drives permanent tooth item 251 to be moved under the auxiliary of solid sliding slot 252, permanent tooth Item 251 drives adjustment gear 262 to carry out angular adjustment, and adjustment gear 262 drives circular block 261 to be rotated, working cylinder 265 Grasping plate 264 is driven to be adjusted, connection cylinder 267 drives gripping pawl 266 to carry out angular adjustment, according to the shape of cargo, stretches One bar 268 drives fine adjustment block 269 to be clamped cargo surfaces, and afterwards, arranging mechanism 28 is started to work, on arranging mechanism 28 Two electronic sliding blocks 281 drive arranging mechanism 28 to be moved, and electronic support telescopic rod 283 is adjusted with electronic auxiliary telescopic rod 284 Section drives arranging mechanism 28 to be moved to suitable position, and two are ajusted the cargo after the gripping of branch 287 is stacked, and operate cylinder 286 T-shaped solid frame 285 is driven to carry out angular adjustment so that the cargo after stacking is ajusted into type, two electronic sliding blocks 281 drive cargos into Row is moved to designated position, ajusts branch 287 and starts to work, and symmetrical cylinder 2871 drives L-type balladeur train 2872 to stretch, and grabs steady Cylinder 2874, which drives, grabs the steady progress of plate 2873 angular adjustment, the 3rd step, and the walking mechanism 12 in mobile device 1 is started to work, row Walking the lifting motor 134 in mechanism 12 drives master gear 133 to be rotated, and master gear 133 is rotated with rotating ring rack 131, The drive ring frame 127 of ring rack 131, which carries out rotating on circular slide way 130, allows the present invention to be rotated in situ, four /V branch 135 plays the role of /V to walking mechanism 12, and afterwards, /V branch 135 is started to work, on /V branch 135 Adjusting cylinder 1352 limit telescopic plate 1351 is driven to be shunk, limiting cylinder 1354 drives limit telescopic plate 1351 to carry out angle Degree is adjusted so that /V branch 135 carries out /V to walking chassis 121, and rubber block 1353 increases frictional force, afterwards, angle tune Section mechanism 11 starts to work, and for angle cylinder 113 to plate 111 is helped to carry out angular adjustment, telescopic rod 114 plays shockproof effect, when When heap goods device 2 works, four pressing branches 116 carry out U-shaped sub-frame 115 pressing fixation, and pressing branch 116 is started to work, By air cylinder 1162 F types is driven to consolidate frame 1163 and pressing fixation is carried out to U-shaped sub-frame 115, afterwards, two push mechanism 14 and start work Make, when there is barrier in front, mobile motor 143 is moved by the kind of drive of wheel and rack, 143 band of mobile motor Dynamic F types move the synchronizing moving under auxiliary of the mobile sliding block 145 with mobile chute 146 of frame 144, push mechanism 14 and are moved to barrier Place, mobile device 1 continue to move to forward, meanwhile, it pushes mechanism 14 and barrier is driven to be moved outward, assistant cylinder 151 Angle board 150 is driven, which to carry out angular adjustment, facilitates barrier that can be moved from side of the present invention, realizes and is automated on shelf The function of heap goods needs staff to carry out artificial heap goods to cargo when solving existing warehouse logistics, process complexity is cumbersome, heap During goods, personnel need to put cargo to designated position by ladder, and people may fall down when working on ladder because of ladder shakiness Trigger security risk, since cargo shape differs, efficiency when staff carries also can be different, meanwhile, artificial stack goods Irregular, the space for causing storage is inadequate, during carrying, since warehouse area is little, is easily bumped against when personnel freight by cart Cargo, meanwhile, because of area cart may not enough be caused not turn curved and affect later stage work when turning, in upward slope descending, Cart work of device due to obliquity effects, meanwhile, personnel is needed to carry out grabbing steady, people for a long time to cart during general work on slope For member since work of bending over for a long time may trigger security risk, manual work process spent time is long, and labor intensity is big and efficiency is low Etc. problems, reached purpose.

The basic principles, main features and advantages of the invention have been shown and described above.The technical staff of the industry should Understand, the present invention is not limited to the above embodiments, and the description in above embodiments and description simply illustrates the present invention Principle, without departing from the spirit and scope of the present invention, various changes and modifications of the present invention are possible, these change and change Into all fall within the protetion scope of the claimed invention.The claimed scope of the invention is by appended claims and its equivalent It defines.

Claims (10)

1. a kind of automation Dui Huo robots for unmanned wisdom warehouse logistics, including mobile device (1) and heap goods device (2), it is characterised in that:Heap goods device (2) is installed on the right side of the upper end of the mobile device (1)；

The mobile device (1) pushes mechanism (14) including angle adjusting mechanism (11), walking mechanism (12) and two, walks The upper end of mechanism (12) is equipped with angle adjusting mechanism (11), and there are two push mechanism for the front end installation of walking mechanism (12) (14), and two push mechanism (14) and are arranged symmetrically；

The heap goods device (2) includes moving mechanism (21), adjusting mechanism (22), grasping mechanism (24), two one mechanisms of folder (26), two two mechanisms of folder (27) and arranging mechanism (28), moving mechanism (21) is mounted on the middle part of mobile device (1), mobile Adjusting mechanism (22) is installed, the right end of adjusting mechanism (22) is equipped with grasping mechanism (24), grasping mechanism in mechanism (21) (24) front end is symmetrically installed there are two one mechanism of folder (26), and the rear end of grasping mechanism (24) is symmetrically installed that there are two two mechanisms of folder (27), and two one mechanisms of folder (26) arrange that arranging mechanism (28) is mounted on mobile device in opposite directions with two two mechanisms of folder (27) (1) rear end；

The adjusting mechanism (22) includes regulation motor (221), ring flat-plate (222), rotates slide bar (223), sliding slot (224), two It is a to plate (225), electric rotating machine (226), main shaft (227), flap (228), turn telescopic rod (229), fixture block (230), solid block (231), annulus frame (232), clamping branch (233), Circular Plate (234), two faggings (235), mobile jib (236), from bar (237), cylinder (238), electronic straight telescopic rod (239) and cooperation cylinder (240), regulation motor (221) is driven to pacify by pedestal In moving mechanism (21), annulate lamella (222) is installed on the output shaft of regulation motor (221), the lower end of ring flat-plate (222) is uniform It is equipped with and rotates slide bar (223), rotate slide bar (223) and be connected by way of being slidably matched with sliding slot (224), sliding slot (224) In moving mechanism (21), two are mounted in moving mechanism (21) plate (225), and two to plate (225) symmetrical cloth Put, two to being equipped with main shaft (227) by bearing between plate (225), the rear end of main shaft (227) passes through shaft coupling and rotation The output shaft of rotating motor (226) is connected, electric rotating machine (226) by floor installation on ring flat-plate (222), main shaft (227) Front end is mounted on flap (228), and flap (228) is circumferentially uniformly equipped with solid block (231) along it, Gu the outside peace of block (231) On annulus frame (232) inner wall, and sliding groove is provided on annulus frame (232), flap (228) is circumferentially uniformly equipped with along it Turn telescopic rod (229), the top for turning telescopic rod (229) is mounted on fixture block (230), and fixture block (230) passes through the side that is slidably matched Formula is connected with sliding groove, and two faggings (235) are mounted on ring flat-plate (222), and two faggings (235) are arranged symmetrically, two supports The upper end of plate (235) is mounted in Circular Plate (234), and the inner wall of Circular Plate (234) is circumferentially uniformly equipped with clamping branch along it (233), mobile jib (236) is installed, the lower end of mobile jib (236) is provided with cylinder of taking offence by axis pin on main shaft (227) (238), the top of cylinder (238) is driven to be mounted on by axis pin from bar (237), is pacified from the left end of bar (237) by axis pin On mobile jib (236), cooperation cylinder (240) is equipped with by axis pin from the side wall of bar (237), cooperation cylinder (240) Top is mounted on by axis pin on electronic straight telescopic rod (239), the upper end of electronic straight telescopic rod (239) by axis pin be mounted on from The right side of bar (237)；

The clamping branch (233) includes clamping cylinder (2331), arc plate (2332) and clamping block (2333), clamping cylinder (2331) on the inner wall of Circular Plate (234), the top of clamping cylinder (2331) is mounted on arc plate (2332) by flange On, clamping block (2333) is installed on arc plate (2332).

2. a kind of automation Dui Huo robots for unmanned wisdom warehouse logistics according to claim 1, feature exist In：The angle adjusting mechanism (11) includes helping plate (111), two rectangular slabs (112), angle cylinder (113), telescopic rod (114), U-shaped sub-frame (115) and four pressing branches (116), help the lower end of plate (111) to install there are two rectangular slab (112), and Two rectangular slabs (112) are arranged symmetrically, and rectangular slab (112) is connected by axis pin with walking mechanism (12), helps the lower end of plate (111) Angled cylinder (113) is installed in front side by axis pin, and the bottom of angle cylinder (113) is mounted on walking mechanism (12) by axis pin On, help the upper end of plate (111) that telescopic rod (114) is uniformly installed, the top of telescopic rod (114) is mounted on U-shaped sub-frame (115) On, pressing branch (116) there are four uniformly installing is helped on plate (111).

3. a kind of automation Dui Huo robots for unmanned wisdom warehouse logistics according to claim 2, feature exist In：The pressing branch (116) consolidates frame (1161) including L-type, consolidates frame (1163) by air cylinder (1162), F types and press and slide Slot (1165), L-type consolidate frame (1161) mounted on helping on plate (111), and L-type, which is consolidated on frame (1161), to be equipped with by air cylinder (1162), Consolidated by the top of air cylinder (1162) by flange mounted on F types on frame (1163), and the upper end of U-shaped sub-frame (115) is located at F types Gu in frame (1163), F types consolidate frame (1163) and are connected by way of being slidably matched with pressing sliding slot (1165), press sliding slot (1165) consolidate mounted on L-type on frame (1161).

4. a kind of automation Dui Huo robots for unmanned wisdom warehouse logistics according to claim 1, feature exist In：The walking mechanism (12) includes U-shaped bottom frame (128), walking chassis (121), lifting cylinder (126), ring frame (127), circular slide way (130), ring rack (131), plectane (132), master gear (133), lifting motor (134) and four /V branch Chain (135), the lower end of U-shaped bottom frame (128) are equipped with walking chassis (121), are uniformly installed in the middle part of the lower end of U-shaped bottom frame (128) There is lifting cylinder (126), the top of lifting cylinder (126) is mounted on by flange on ring frame (127), ring frame (127) The mode of lower slide cooperation is connected with circular slide way (130), and circular slide way (130) is mounted on plectane (132), ring frame (127) Outer wall on ring rack (131) is installed, be engaged with master gear (133) on ring rack (131), master gear (133), which is mounted on, to be risen Drop motor (134) output shaft on, lifting motor (134) by floor installation on plectane (132), under U-shaped bottom frame (128) Hold /V branch (135) there are four being uniformly arranged；

The /V branch (135) includes limit telescopic plate (1351), adjusts cylinder (1352), rubber block (1353) and /V Cylinder (1354), limit telescopic plate (1351) by hinge be mounted on U-shaped bottom frame (128) on, limit telescopic plate (1351) it is upper End, which is equipped with, adjusts cylinder (1352), and the top for adjusting cylinder (1352) is mounted on by flange under limit telescopic plate (1351) End, the lower end of limit telescopic plate (1351) is equipped with rubber block (1353), passes through axis pin on the side wall of limit telescopic plate (1351) Limiting cylinder (1354) is installed, the bottom of limiting cylinder (1354) is mounted on by axis pin on U-shaped bottom frame (128).

5. a kind of automation Dui Huo robots for unmanned wisdom warehouse logistics according to claim 1, feature exist In：The mechanism (14) that pushes includes straight rack (141), carrier wheel (142), mobile motor (143), F types shifting frame (144), mobile sliding block (145), mobile chute (146), partition plate (149), walk sliding block (147), walk sliding slot (148), angle board (150) it is mounted on assistant cylinder (151), straight rack (141) in walking mechanism (12), straight rack is engaged on (141) Carrier wheel (142), carrier wheel (142) are mounted on the output shaft of mobile motor (143), and mobile motor (143) passes through electricity Engine base is mounted on F types and moves on frame (144), and the lower end that F types move frame (144) is equipped with mobile sliding block (145), mobile sliding block (145) It is connected by way of being slidably matched with mobile chute (146), mobile chute (146) is mounted in walking mechanism (12), and F types move Partition plate (149) on frame (144) is installed, and clutch slot is provided on partition plate (149), the rear end of clutch slot is equipped with by axis pin Assistant cylinder (151), the top of assistant cylinder (151) are mounted on angle board (150) by axis pin, led on angle board (150) Axis pin is crossed on the inner wall of clutch slot, sliding block (147) on the side wall of partition plate (149) is installed away, sliding block (147) is walked and passes through The mode being slidably matched is connected with walking sliding slot (148), walks sliding slot (148) in walking mechanism (12).

6. a kind of automation Dui Huo robots for unmanned wisdom warehouse logistics according to claim 1, feature exist In：The moving mechanism (21) includes two main expansion plates (211), master cylinder (212), fixed motor (213), rotating threaded shaft (214), auxiliary movable block (215), L-type move frame (216), multi-stage expansion plate (217), auxiliary slider (218) and auxiliary chute (219), two main expansion plates (211) are mounted in mobile device (1), and two main expansion plates (211) are arranged symmetrically, front side The lower end of main expansion plate (211) is equipped with master cylinder (212), and the top of master cylinder (212) is mounted on the main expansion plate in front side (211) Upper end, the main expansion plate (211) of rear end is equipped with fixed motor (213), the output shaft of fixed motor (213) by motor cabinet It is connected by shaft coupling with the rear end of rotating threaded shaft (214), the front end of rotating threaded shaft (214) is stretched by bearing mounted on front side master On contracting plate (211), auxiliary movable block (215) is provided on rotating threaded shaft (214), L-type on auxiliary movable block (215) is installed and moves frame (216), the right end of L-type shifting frame (216) is equipped with multi-stage expansion plate (217), and the lower end of multi-stage expansion plate (217) is equipped with auxiliary Sliding block (218), auxiliary slider (218) are connected by way of being slidably matched with auxiliary chute (219), auxiliary chute (219) peace In mobile device (1).

7. a kind of automation Dui Huo robots for unmanned wisdom warehouse logistics according to claim 1, feature exist In：The grasping mechanism (24) includes square plate (241), rotary chute (242), rotary column (243), steady rack (244), crawl tooth Take turns (245), stand-by motor (246), bi-directional expansion plate (247), two telescopic cylinders (248), two reciprocating air cylinders (249), two The solid sliding slot (252) of a strip plate (250), permanent tooth item (251) and two, square plate (241) are mounted on the lower end of adjusting mechanism (22), Rotary chute (242) is installed in square plate (241), rotary chute (242) by way of being slidably matched with rotary column (243) phase Even, steady rack (244) is installed on the outer wall of rotary column (243), crawl gear (245) is engaged on steady rack (244), capture tooth Take turns (245) be mounted on stand-by motor (246) output shaft on, stand-by motor (246) by floor installation in square plate (241), The lower end of rotary column (243) is mounted on bi-directional expansion plate (247), and is symmetrically arranged with circular trough on bi-directional expansion plate (247), double It is installed to the right side of expansion plate (247) there are two telescopic cylinder (248), and two telescopic cylinders (248) are arranged symmetrically, stretch gas The top of cylinder (248) is mounted on the outside of bi-directional expansion plate (247) by flange, on bi-directional expansion plate (247) there are two installations Reciprocating air cylinder (249), and two reciprocating air cylinders (249) are arranged symmetrically, the top of each reciprocating air cylinder (249) is installed by flange On strip plate (250), strip plate (250) is connected by way of being slidably matched with solid sliding slot (252), Gu sliding slot (252) is pacified On bi-directional expansion plate (247), the both sides of strip plate (250) are equipped with permanent tooth item (251).

8. a kind of automation Dui Huo robots for unmanned wisdom warehouse logistics according to claim 1, feature exist In：One mechanism of folder (26) and two mechanisms of folder (27) are structure, the consistent same mechanism of size, one mechanism of folder (26) circular block (261), adjustment gear (262), connecting plate (263), grasping plate (264), working cylinder (265), gripping pawl are included (266), cylinder (267), a flexible bar (268) and fine adjustment block (269) are connected, circular block (261) is by way of being slidably matched It is connected with circular trough, the upper end of circular block (261) is equipped with adjustment gear (262), and adjustment gear is engaged with permanent tooth item on (262) (251), the lower end of circular block (261) is equipped with connecting plate (263), and the lower end of connecting plate (263) is equipped with working cylinder by axis pin (265), the top of working cylinder (265) is mounted on by axis pin in grasping plate (264), and the upper end of grasping plate (264) is pacified by axis pin On connecting plate (263), connection cylinder (267) is equipped with by axis pin on the side wall of grasping plate (264), connection cylinder (267) Top is mounted on by axis pin on gripping pawl (266), and the upper end of gripping pawl (266) is mounted on by axis pin in grasping plate (264), folder It takes and a flexible bar (268) is uniformly installed on the side wall of pawl (266), the top for the bar (268) that stretches is mounted on fine adjustment block (269) On.

9. a kind of automation Dui Huo robots for unmanned wisdom warehouse logistics according to claim 1, feature exist In：The arranging mechanism (28) includes two electronic sliding blocks (281), square slide (282), electronic support telescopic rod (283), electronic Auxiliary telescopic rod (284), T-shaped solid frame (285), operation cylinder (286) and two ajust branch (287), two electronic sliding blocks (281) In mobile device (1), square slide (282), the upper end peace of square slide (282) are provided on two electronic sliding blocks (281) Equipped with electronic support telescopic rod (283), electronic auxiliary telescopic rod (284), electronic auxiliary telescopic rod are installed on electronic support telescopic rod (283) (284) right end by axis pin be equipped with operation cylinder (286), operation cylinder (286) top by axis pin be mounted on it is T-shaped solid On frame (285), T-shaped solid frame (285) is mounted on by axis pin on electronic auxiliary telescopic rod (284), is equipped on T-shaped solid frame (285) Two are ajusted branch (287), and two are ajusted branch (287) and are arranged symmetrically.

10. a kind of automation Dui Huo robots for unmanned wisdom warehouse logistics according to claim 1, feature exist In：The branch (287) of ajusting includes symmetrical cylinder (2871), L-type balladeur train (2872), grabs steady plate (2873) and grab steady cylinder (2874), symmetrical cylinder (2871) is mounted on T-shaped solid frame (285), and the top of symmetrical cylinder (2871) is mounted on L by flange On type balladeur train (2872), L-type balladeur train (2872) is connected by way of being slidably matched with T-shaped solid frame (285), L-type balladeur train (2872) it is equipped on side wall by axis pin and grabs steady cylinder (2874), the top for grabbing steady cylinder (2874) is mounted on by axis pin Steady plate (2873) is grabbed, steady plate (2873) is grabbed and is mounted on by hinge on L-type balladeur train (2872).