CN110936348B - Pick-up robot used in warehouse - Google Patents
Pick-up robot used in warehouse Download PDFInfo
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- CN110936348B CN110936348B CN201911360727.XA CN201911360727A CN110936348B CN 110936348 B CN110936348 B CN 110936348B CN 201911360727 A CN201911360727 A CN 201911360727A CN 110936348 B CN110936348 B CN 110936348B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/102—Gears specially adapted therefor, e.g. reduction gears
- B25J9/1035—Pinion and fixed rack drivers, e.g. for rotating an upper arm support on the robot base
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/109—Programme-controlled manipulators characterised by positioning means for manipulator elements comprising mechanical programming means, e.g. cams
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
- B25J9/123—Linear actuators
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Warehouses Or Storage Devices (AREA)
Abstract
The invention discloses a pickup robot used in a warehouse, which comprises a base, wherein wheels capable of walking are rotatably arranged on the bottom surface of the base, supporting legs capable of supporting are fixedly arranged on the bottom surface of the base, after goods are conveyed to the top surface of the base, a main controller controls a starting cylinder, the cylinder drives a push plate to push the goods to the rear side, the goods can enter the warehouse with a small space between goods shelves to work, the occupied space is small, when the goods are taken from the goods, a telescopic rod can directly extend into the goods shelves, the goods on the goods shelves on two sides can be taken and placed simultaneously, the telescopic rod can be retracted after the goods are used, meanwhile, a stand column is driven to rotate, and collision between the goods shelves during movement can be prevented.
Description
Technical Field
The invention relates to the field of robots, in particular to a pick-up robot used in a warehouse.
Background
The warehouse generally stores a lot of goods, and in order to utilize the storage space of warehouse to the maximum extent, the goods shelves in a lot of warehouses are generally placed very high, and although the goods can be lifted and taken up by using the forklift in a lot of warehouses at present, the forklift is large in size, occupies large space, cannot operate at all in a small place between the goods shelves, and can only operate unidirectionally when taking out the goods, so that the working efficiency is low, and the use cost is high.
Disclosure of Invention
The invention aims to provide a pickup robot used in a warehouse, which is used for overcoming the defects in the prior art.
According to the embodiment of the invention, the pickup robot used in the warehouse comprises a base, wherein the bottom surface of the base is rotatably provided with a wheel capable of walking, the bottom surface of the base is fixedly provided with a supporting leg capable of supporting, the top surface of the base is rotatably provided with a stand column, a lifting mechanism capable of vertically conveying and transporting goods in the warehouse is arranged in the stand column, the lifting mechanism comprises a sprocket wheel space which is symmetrically arranged on the stand column in a front-back manner, two groups of connecting plates capable of placing the goods are arranged in the sprocket wheel space in a sliding manner in a bilateral symmetry manner, auxiliary plates are hinged on the connecting plates, the top surface of the base is symmetrically provided with a connecting plate space with an upward opening in the bilateral direction, the connecting plates and the auxiliary plates can enter the connecting plate space when moving downwards, and the goods placed on the connecting plates and the auxiliary plates are placed on the top surface of the base, sliding seats are symmetrically arranged on the front and the rear surfaces of the upright post in a sliding way, a taking mechanism capable of clamping goods on the goods shelf and then sending the goods out is arranged in the sliding seat,
the mechanism of taking includes that longitudinal symmetry slidable mounting is in telescopic link in the slide, the telescopic link is equipped with two sets of longitudinal symmetry, be equipped with tight seat space in the telescopic link, sliding installation can be in press from both sides the gliding tight seat of clamp in the tight seat space, be equipped with the conveying space in pressing from both sides tight seat, first band pulley of conveying space internal rotation installation and second band pulley, the second band pulley with the conveyer belt that the goods on the goods shelves can be carried out the transportation in the transmission installation between the first band pulley, press from both sides tight seat and can carry the back with the goods by the motion in the direction in front and back, conveniently transport.
On the basis of the technical scheme, a first gear space is arranged in the base, a first gear is rotatably installed between the upper inner wall and the lower inner wall of the first gear space, the first gear is fixedly connected with the stand column, a motor is fixedly installed and rotated on the bottom wall of the first gear space, a second gear is fixedly installed on an output shaft of the motor and meshed with the first gear, a main controller is fixedly installed in the base and is in electric signal connection with the motor, a baffle is fixedly installed on the top surface of the base in a bilateral symmetry mode, cylinders are fixedly installed on the front side surface of the baffle in a bilateral symmetry mode, and push plates are fixedly installed on piston push rods of the cylinders.
On the basis of the technical scheme, the lifting mechanism further comprises a lifting motor arranged on the inner wall of the rear side of the limit switch, the lifting motor is in electric signal connection with the main controller, a motor shaft is fixedly arranged on an output shaft of the lifting motor, a first clutch is fixedly arranged on the motor shaft and is in electric signal connection with the main controller, the motor shaft extends forwards to penetrate through the chain wheel space of the front side, first chain wheels are symmetrically and fixedly arranged in the chain wheel spaces of the front side and the rear side on the motor shaft in a front-back symmetrical mode, second chain wheels are symmetrically and rotatably arranged on the front inner wall and the rear inner wall in the chain wheel spaces of the front side and the rear side in a front-back symmetrical mode, a chain is in transmission connection between the second chain wheels and the first chain wheels, the connecting plate is fixedly connected with the chain, two groups of slide ways which are bilaterally symmetrical are, the trigger rod is fixedly installed on the connecting plate, and limit switches are fixedly installed on the inner wall of the front chain wheel space and the rear chain wheel space in a vertically symmetrical mode.
On the basis of the technical scheme, the mechanism of taking still includes that the front and back symmetry sets up threaded rod space on the front and back of stand, rotate between the upper and lower inner wall in threaded rod space and install first threaded rod, first threaded rod with fixed mounting universal joint between the output shaft of lifting motor, fixed mounting second clutch on the first threaded rod, the second clutch with main control unit electricity signal connection, threaded connection between the slide of first threaded rod and rear side, the slide of rear side with fixed connection between the slide of front side, when main control unit control second clutch power intercommunication.
On the basis of the technical scheme, the symmetry is equipped with second gear space around in the slide of front and back, the flexible motor of one side inner wall internal fixation in second gear space, flexible motor with main control unit signal of telecommunication is connected, fixed mounting integral key shaft on the output shaft of flexible motor, spline shaft upper spline installs the third gear, the fixed mounting electro-magnet on one side inner wall in second gear space, the fixed mounting permanent magnet on the third gear, be equipped with the rack on the side of upper and lower telescopic link, the third gear can with rack toothing on the telescopic link.
On the basis of the technical scheme, a clamping motor is fixedly installed in the inner wall of one side of the clamping seat space, the clamping motor is in electric signal connection with a main controller, a second threaded rod is fixedly installed on an output shaft of the clamping motor, threaded sliders are fixedly installed on the second threaded rod in a bilateral symmetry mode, the threaded sliders are connected in a hinged mode, connecting rods are installed on the left side and the right side, the clamping seats are connected in a hinged mode, a conveying motor is fixedly installed in the inner wall of the lower side of a second belt wheel, the conveying motor is in electric signal connection with the main controller, and the output shaft of the conveying motor is fixedly connected with a first belt wheel.
The invention has the beneficial effects that: the telescopic rod type goods taking and placing device can enter a warehouse with a small space between goods shelves to work, the occupied space is small, the goods are convenient to transport, when the goods are taken from the goods, the telescopic rod can directly extend into the goods shelves, the goods can be conveniently taken and placed, the taken goods can be directly sent out backwards, the goods on the goods shelves on two sides can be taken and placed simultaneously, the telescopic rod can be retracted after the goods taking and placing device is used, meanwhile, the stand column is driven to rotate, collision between the goods shelves during movement can be prevented, and the telescopic rod type goods taking and placing device is worthy of popularization.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic sectional view taken along the line A-A in FIG. 1;
FIG. 3 is a schematic sectional view taken along line B-B in FIG. 1;
FIG. 4 is an enlarged schematic view of the structure at C in FIG. 1;
FIG. 5 is an enlarged schematic view of the structure of FIG. 2 at D;
fig. 6 is an enlarged schematic view of fig. 2 at E.
Detailed Description
The invention will now be described in detail with reference to fig. 1-6, wherein for ease of description the orientations described hereinafter are now defined as follows: the up, down, left, right, front and rear directions described below correspond to the front, back, left, right, top and bottom directions of the view direction of fig. 1, fig. 1 is a front view of the apparatus of the present invention, and the directions shown in fig. 1 correspond to the front, back, left, right, top and bottom directions of the apparatus of the present invention.
Referring to fig. 1-6, a pickup robot for use in a warehouse according to an embodiment of the present invention includes a base 10, wheels 11 capable of walking are rotatably mounted on the bottom surface of the base 10, supporting feet 12 capable of supporting are fixedly mounted on the bottom surface of the base 10, an upright post 17 is rotatably mounted on the top surface of the base 10, a lifting mechanism 80 capable of transporting goods in the warehouse up and down is disposed in the upright post 17, the lifting mechanism 80 includes sprocket spaces 36 symmetrically disposed on the upright post 17 in a front-back manner, two groups of joint plates 21 capable of placing goods are slidably mounted in the sprocket spaces 36 in a left-right manner, auxiliary plates 42 are hinged to the joint plates 21, joint plate spaces 20 with upward openings are symmetrically disposed in a left-right manner on the top surface of the base 10, the joint plates 21 and the auxiliary plates 42 can enter the joint plate spaces 20 when moving downward, goods placed on the connecting plate 21 and the auxiliary plate 42 are placed on the top surface of the base 10, sliding seats 25 are symmetrically and slidably installed on the front and back surfaces of the upright post 17, a taking mechanism 81 capable of taking out the goods on the goods shelf after clamping the goods is arranged in each sliding seat 25,
the mechanism of taking 81 includes that longitudinal symmetry slidable mounting is in telescopic link 26 in the slide 25, telescopic link 26 is equipped with two sets of longitudinal symmetry, be equipped with in the telescopic link 26 and press from both sides tight seat space 27, it can press from both sides the gliding tight seat 28 of clamp in front and back in tight seat space 27 to press from both sides tight seat space 27, be equipped with conveying space 49 in pressing from both sides tight seat 28, conveying space 49 internal rotation installation first band pulley 30 and second band pulley 31, second band pulley 31 with the conveyer belt 32 that can carry out the transportation with the goods on the goods shelves is installed in the transmission between the first band pulley 30, press from both sides tight seat 28 and can carry the back with the goods in the direction motion in front and back, conveniently transport.
In addition, in one embodiment, a first gear space 14 is provided in the base 10, a first gear 16 is rotatably installed between upper and lower inner walls of the first gear space 14, the first gear 16 is fixedly connected with the upright post 17, a rotating motor 13 is fixedly installed on a bottom wall of the first gear space 14, a second gear 15 is fixedly installed on an output shaft of the rotating motor 13, the second gear 15 is engaged with the first gear 16, a main controller 18 is fixedly installed in the base 10, the main controller 18 is electrically connected with the rotating motor 13, a baffle plate 19 is fixedly installed on the top surface of the base 10 in a left-right symmetrical manner, air cylinders 37 are fixedly installed on the front side surface of the baffle plate 19 in a left-right symmetrical manner, push plates 39 are fixedly installed on piston push rods of the air cylinders 37, after goods are conveyed onto the top surface of the base 10, the main controller 18 controls the actuating cylinders 37, the cylinder 37 drives the push plate 39 to push the goods to the rear side, when the rotating motor 13 is started, the rotating motor 13 can drive the second gear 15 to rotate, the second gear 15 rotates to drive the first gear 16 to rotate, the upright post 17 can rotate ninety degrees when not in use, the telescopic rod 26 can rotate to the front and rear positions, and the goods cannot collide with other objects.
In addition, in one embodiment, the lifting mechanism 80 further includes a lifting motor 50 disposed on the inner wall of the rear side limit switch 35, the lifting motor 50 is electrically connected to the main controller 18, a motor shaft 40 is fixedly mounted on the output shaft of the lifting motor 50, a first clutch 51 is fixedly mounted on the motor shaft 40, the first clutch 51 is electrically connected to the main controller 18, the motor shaft 40 extends forward to penetrate through the sprocket space 36 of the front side, the first sprockets 23 are symmetrically and fixedly mounted on the motor shaft 40 in the sprocket spaces 36 of the front and rear sides, the second sprockets 34 are symmetrically and rotatably mounted on the inner wall of the front and rear sides in the sprocket spaces 36 of the front and rear sides, the second sprockets 34 are in transmission connection with the chains 24 between the first sprockets 23, and the connecting plate 21 is fixedly connected to the chains 24, be equipped with two sets of slides 22 of symmetry about the right in the stand 17, slide 22 with fishplate bar 21 sliding connection, fixed mounting trigger bar 33 on fishplate bar 21, longitudinal symmetry fixed mounting limit switch 35 on 36 inner walls of sprocket space around, after the goods were conveyed fishplate bar 21, the first clutch 51 power intercommunication of main control unit 18 control, main control unit 18 control lifting motor 50 starts, lifting motor 50 drives motor shaft 40 and rotates, motor shaft 40 rotates and can drive first sprocket 23 and rotate, fishplate bar 21 conveys the goods downwards or upwards when first sprocket 23 rotates drive chain 24 can, make lifting motor 50 stop motion after trigger bar 33 triggers limit switch 35, be convenient for see the goods out.
In addition, in an embodiment, the taking mechanism 81 further includes a threaded rod space 44 symmetrically disposed on the front and rear surfaces of the upright post 17, a first threaded rod 43 is rotatably mounted between the upper and lower inner walls of the threaded rod space 44, a universal joint 52 is fixedly mounted between the first threaded rod 43 and the output shaft of the lifting motor 50, a second clutch 53 is fixedly mounted on the first threaded rod 43, the second clutch 53 is electrically connected with the main controller 18, the first threaded rod 43 is in threaded connection with the rear sliding seat 25, the rear sliding seat 25 is fixedly connected with the front sliding seat 25, when the main controller 18 controls the second clutch 53 to be in power communication, the lifting motor 50 is started, the lifting motor 50 can drive the first threaded rod 43 to rotate, the first threaded rod 43 rotates to drive the sliding seat 25 to move upwards so as to take out the goods, after the use is finished, the lifting motor 50 is started reversely, and the lifting motor 50 drives the first threaded rod 43 to rotate, so that the sliding seat 25 can be retracted downwards.
In addition, in one embodiment, a second gear space 55 is symmetrically arranged in front and back of the front and back sliding seats 25, a telescopic motor 54 is fixedly arranged in an inner wall of one side of the second gear space 55, the telescopic motor 54 is in electric signal connection with the main controller 18, a spline shaft 56 is fixedly arranged on an output shaft of the telescopic motor 54, a third gear 57 is arranged on the spline shaft 56 through a spline, an electromagnet 59 is fixedly arranged on an inner wall of one side of the second gear space 55, a permanent magnet 58 is fixedly arranged on the third gear 57, a side surface of the upper and lower telescopic rods 26 is provided with a rack, the third gear 57 can be meshed with the rack on the telescopic rod 26, when goods are to be taken, the telescopic motor 54 is started, the telescopic motor 54 can drive the third gear 57 to rotate, the electromagnet 59 is electrified to attract the permanent magnet 58, so that the third gear 57 is meshed with the rack on the upper side of the telescopic rod 26, can make the telescopic link 26 of upside stretch out the goods of taking to the left side, when leading to reverse electricity to electro-magnet 59, electro-magnet 59 can promote permanent magnet 58 and move right, and permanent magnet 58 promotes the rack toothing on third gear 57 and the telescopic link 26 of downside right, can make telescopic link 26 of downside stretch out the goods of taking to the right side.
In addition, in one embodiment, a clamping motor 45 is fixedly installed in one side inner wall of the clamping seat space 27, the clamping motor 45 is in electrical signal connection with the main controller 18, a second threaded rod 46 is fixedly installed on an output shaft of the clamping motor 45, threaded sliders 47 are fixedly installed on the second threaded rod 46 in a bilateral symmetry manner, connecting rods 48 are hinged to the left and right threaded sliders 47, the connecting rods 48 on the left and right sides are hinged to the clamping seat 28, a transmission motor 29 is fixedly installed in the lower side inner wall of the second belt pulley 31, the transmission motor 29 is in electrical signal connection with the main controller 18, an output shaft of the transmission motor 29 is fixedly connected with the first belt pulley 30, after the telescopic rod 26 extends into the shelf, the clamping motor 45 is started, the clamping motor 45 drives the second threaded rod 46 to rotate, the second threaded rod 46 rotates to drive the threaded slider 47 to move, when the connecting rod 48 can push the clamping seat 28 out to clamp the goods, the conveying motor 29 is started, the conveying motor 29 can drive the first belt wheel 30 to rotate, and the first belt wheel 30 rotates to drive the conveying belt 32 to take the goods out.
When goods are taken from the goods shelf, the wheels 11 are controlled to rotate, the base 10 is enabled to move to the side of the goods shelf, the main controller 18 controls the second clutch 53 to be in power communication, the lifting motor 50 is started, the lifting motor 50 can drive the first threaded rod 43 to rotate, the first threaded rod 43 rotates to drive the sliding seat 25 to move upwards,
the telescopic motor 54 is controlled to be started, the telescopic motor 54 can drive the third gear 57 to rotate, the electromagnet 59 is electrified to attract the permanent magnet 58, the third gear 57 is meshed with the rack on the upper side of the telescopic rod 26 on the upper side, the telescopic rod 26 on the upper side can extend to the left side into the left side shelf to take goods, when the electromagnet 59 is electrified in the reverse direction, the electromagnet 59 can push the permanent magnet 58 to move to the right, the permanent magnet 58 pushes the third gear 57 to the right side to be meshed with the rack on the telescopic rod 26 on the lower side, the telescopic rod 26 on the lower side can extend to the right side into the right side shelf to take goods,
after the telescopic rod 26 extends into the goods shelf, the clamping motor 45 is started, the clamping motor 45 drives the second threaded rod 46 to rotate, the second threaded rod 46 rotates to drive the threaded sliding block 47 to move, the connecting rod 48 can push the clamping seat 28 out to clamp the goods, the conveying motor 29 is started, the conveying motor 29 can drive the first belt wheel 30 to rotate, the first belt wheel 30 rotates to drive the conveying belt 32 to take the goods out,
after the goods are conveyed to the connecting plate 21, the main controller 18 controls the first clutch 51 to be in power communication, the main controller 18 controls the lifting motor 50 to be started, the lifting motor 50 drives the motor shaft 40 to rotate, the motor shaft 40 can drive the first chain wheel 23 to rotate, the first chain wheel 23 rotates to drive the chain 24, the connecting plate 21 downwards conveys the goods to the top surface of the base 10 when the chain 24 is driven by the first chain wheel 23, the connecting plate 21 and the chain 24 downwards move into the connecting plate space 20 and cannot be contacted with the goods, the goods are placed on the top surface of the base 10, the lifting motor 50 stops moving after the trigger rod 33 triggers the limit switch 35, the objects are conveyed to the top surface of the base 10, the main controller 18 controls the starting cylinder 37, and the cylinder 37 drives the push plate 39 to push the goods to the rear,
after the goods are taken away, the telescopic motor 54 is controlled to be started reversely, the telescopic rod 26 can be made to retract into the sliding seat 25, the second clutch 53 is controlled to be in power communication, the lifting motor 50 is started reversely, the lifting motor 50 drives the first threaded rod 43 to rotate, the sliding seat 25 can be made to retract downwards, the first clutch 51 is controlled to be in power communication, the lifting motor 50 drives the motor shaft 40 to rotate, the connecting plate 21 is made to move to the upper side of the base 10, the rotating motor 13 is controlled to be started, the rotating motor 13 can drive the second gear 15 to rotate, the second gear 15 rotates to drive the first gear 16 to rotate, the upright post 17 can rotate ninety degrees when not in use, the telescopic rod 26 can rotate to the front and back position, collision with other objects can be avoided, and moving is facilitated.
The invention has the beneficial effects that: the telescopic rod type goods taking and placing device can enter a warehouse with a small space between goods shelves to work, the occupied space is small, the goods are convenient to transport, when the goods are taken from the goods, the telescopic rod can directly extend into the goods shelves, the goods can be conveniently taken and placed, the taken goods can be directly sent out backwards, the goods on the goods shelves on two sides can be taken and placed simultaneously, the telescopic rod can be retracted after the goods taking and placing device is used, meanwhile, the stand column is driven to rotate, collision between the goods shelves during movement can be prevented, and the telescopic rod type goods taking and placing device is worthy of popularization.
It will be apparent to those skilled in the art that various modifications may be made to the above embodiments without departing from the general spirit and concept of the invention. All falling within the scope of protection of the present invention. The protection scheme of the invention is subject to the appended claims.
Claims (1)
1. The utility model provides a get a robot that uses in warehouse, includes the base, its characterized in that: the bottom surface of the base is rotatably provided with wheels capable of walking, the bottom surface of the base is fixedly provided with supporting legs capable of supporting, the top surface of the base is rotatably provided with a stand column, the stand column is internally provided with a lifting mechanism capable of vertically conveying goods in a warehouse up and down, the lifting mechanism comprises sprocket wheel spaces which are symmetrically arranged on the stand column from front to back, two groups of connecting plates capable of placing the goods are symmetrically and slidably arranged in the sprocket wheel spaces from left to right, auxiliary plates are hinged on the connecting plates, connecting plate spaces with upward openings are symmetrically arranged on the top surface of the base from left to right, the connecting plates and the auxiliary plates can enter the connecting plate spaces when moving downwards, the goods placed on the connecting plates and the auxiliary plates are placed on the top surface of the base, and sliding seats are symmetrically and slidably arranged on the front and back of the stand column from front to back, the goods taking device is characterized in that a taking mechanism capable of clamping goods on a goods shelf and then sending the goods out is arranged in the sliding seat, the taking mechanism comprises two groups of telescopic rods which are symmetrically arranged in the sliding seat in a sliding mode from top to bottom, the telescopic rods are symmetrically arranged in front and back, a clamping seat space is arranged in the telescopic rods, a clamping seat capable of sliding in the clamping seat space in front and back is slidably arranged in the clamping seat space, a conveying space is arranged in the clamping seat, a first belt wheel and a second belt wheel are rotatably arranged in the conveying space, a conveying belt capable of conveying the goods on the goods shelf is installed between the second belt wheel and the first belt wheel in a transmission mode, and the clamping seat can move in the front and back direction to clamp the goods and then; a first gear space is arranged in the base, a first gear is rotatably arranged between the upper inner wall and the lower inner wall of the first gear space and is fixedly connected with the upright column, a rotating motor is fixedly arranged on the bottom wall of the first gear space, a second gear is fixedly arranged on an output shaft of the rotating motor and is meshed with the first gear, a main controller is fixedly arranged in the base and is electrically connected with the rotating motor, baffle plates are fixedly arranged on the top surface of the base in a bilateral symmetry manner, air cylinders are fixedly arranged on the front side surface of the baffle plates in a bilateral symmetry manner, and push plates are fixedly arranged on piston push rods of the air cylinders; the lifting mechanism further comprises a lifting motor arranged on the inner wall of the rear side of the limit switch of the rear side, the lifting motor is in electric signal connection with the main controller, a motor shaft is fixedly arranged on an output shaft of the lifting motor, a first clutch is fixedly arranged on the motor shaft and is in electric signal connection with the main controller, the motor shaft extends forwards to penetrate through the sprocket space of the front side, first sprockets are symmetrically and fixedly arranged in the sprocket spaces of the front side and the rear side on the motor shaft in a front-back symmetrical mode, second sprockets are symmetrically and rotatably arranged on the front inner wall and the rear inner wall in the sprocket spaces of the front side and the rear side in a front-back symmetrical mode, a chain is in transmission connection between the second sprockets and the first sprockets, the connecting plate is fixedly connected with the chain, two groups of slide ways which are bilaterally symmetrical are arranged in the stand, and the slide, the trigger rod is fixedly installed on the connecting plate, and limit switches are vertically and symmetrically and fixedly installed on the inner wall of the front chain wheel space and the rear chain wheel space; the taking mechanism further comprises threaded rod spaces which are symmetrically arranged on the front surface and the rear surface of the stand column in a front-back mode, a first threaded rod is rotatably installed between the upper inner wall and the lower inner wall of each threaded rod space, a universal joint is fixedly installed between the first threaded rod and the output shaft of the lifting motor, a second clutch is fixedly installed on the first threaded rod, the second clutch is in electrical signal connection with the main controller, the first threaded rod is in threaded connection with the sliding seat on the rear side, the sliding seat on the rear side is fixedly connected with the sliding seat on the front side, and when the main controller controls the second clutch to be in power communication; a second gear space is symmetrically arranged in the front sliding seat and the rear sliding seat, a telescopic motor is fixedly arranged in the inner wall of one side of the second gear space, the telescopic motor is in electric signal connection with the main controller, a spline shaft is fixedly arranged on an output shaft of the telescopic motor, a third gear is arranged on a spline on the spline shaft, an electromagnet is fixedly arranged on the inner wall of one side of the second gear space, a permanent magnet is fixedly arranged on the third gear, a rack is arranged on one side surface of the upper telescopic rod and the lower telescopic rod, and the third gear can be meshed with the rack on the telescopic rod; the clamping motor is fixedly installed in the inner wall of one side of the clamping seat space, the clamping motor is in electric signal connection with the main controller, a second threaded rod is fixedly installed on an output shaft of the clamping motor, threaded sliders are symmetrically and fixedly installed on the second threaded rod in a left-right mode, the threaded sliders are connected with connecting rods in a hinged mode, the connecting rods on the left side and the right side are connected with the clamping seat in a hinged mode, a conveying motor is fixedly installed in the inner wall of the lower side of the second belt wheel, the conveying motor is in electric signal connection with the main controller, and the output shaft of the conveying motor is fixedly connected with the first belt wheel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911360727.XA CN110936348B (en) | 2019-12-25 | 2019-12-25 | Pick-up robot used in warehouse |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911360727.XA CN110936348B (en) | 2019-12-25 | 2019-12-25 | Pick-up robot used in warehouse |
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| Publication Number | Publication Date |
|---|---|
| CN110936348A CN110936348A (en) | 2020-03-31 |
| CN110936348B true CN110936348B (en) | 2020-11-06 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201911360727.XA Active CN110936348B (en) | 2019-12-25 | 2019-12-25 | Pick-up robot used in warehouse |
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Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113954090B (en) * | 2021-10-15 | 2024-03-15 | 浙江逊龙机器人科技有限公司 | Storage transfer robot |
| CN113979360B (en) * | 2021-10-28 | 2022-06-21 | 江苏芯安集成电路设计有限公司 | Singlechip control terminal based on internet |
| CN115781713B (en) * | 2022-12-09 | 2023-05-30 | 青岛拓普斯智能科技有限公司 | Mechanical arm for transplanting upright posts |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US9434558B2 (en) * | 2013-01-20 | 2016-09-06 | Wynright Corporation | Automated truck unloader for unloading/unpacking product from trailers and containers |
| CN106112952B (en) * | 2016-06-27 | 2018-09-04 | 北京工业大学 | Both arms installation transfer robot |
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2019
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