CN115231175B

CN115231175B - Intelligent innovation vertical warehouse collecting and distributing transfer system for fast freight yard

Info

Publication number: CN115231175B
Application number: CN202210919940.5A
Authority: CN
Inventors: 黄晓明; 马云龙
Original assignee: Shanghai Shenlian Robot Technology Co ltd
Current assignee: Shanghai Shenlian Robot Technology Co ltd
Priority date: 2022-08-01
Filing date: 2022-08-01
Publication date: 2023-09-15
Anticipated expiration: 2042-08-01
Also published as: CN115231175A

Abstract

The invention belongs to the field of intelligent logistics, and provides an intelligent innovation vertical warehouse collecting and distributing transfer system of an express delivery yard, which comprises a plurality of groups of belt conveyors, transfer robots and four-way vehicle rails which are arranged between trucks and a three-dimensional warehouse; a robot clamping device is arranged at the tail end of the mechanical arm of the transfer robot; the robot clamping device comprises a bidirectional transmission base assembly, a mechanical clamping assembly, a vacuum adsorption assembly and a shell assembly; the transfer robot is connected on the top of two-way transmission base subassembly, and the both ends transmission is connected with mechanical clamping subassembly, and the bottom transmission is connected with vacuum adsorption subassembly to drive vacuum adsorption subassembly attached at the top of packing box when driving mechanical clamping subassembly and pressing from both sides tight packing box. The transfer robot and the robot clamping device are adopted to cooperatively realize high automation degree, strong practicability, good safety performance and stable operation, so that diversified operability is provided for grabbing and transferring the container, and the warehouse entering and exiting efficiency of the stereoscopic warehouse is greatly improved.

Description

Intelligent innovation vertical warehouse collecting and distributing transfer system for fast freight yard

Technical Field

The invention relates to the technical field of intelligent logistics transportation, in particular to an intelligent innovation vertical warehouse collecting and distributing transportation system of an express delivery yard.

Background

With the development of society and the continuous rise of human resource cost, in order to realize the storage and turnover of goods, many enterprises in the society currently adopt a stereoscopic warehouse to solve the warehouse logistics problems of short labor force, warehouse capacity improvement and the like. Various large-scale production enterprises or large-scale logistics enterprises are provided with a plurality of large-scale stereoscopic warehouses, wherein the small and medium-sized warehouses commonly adopt a storage mode of stereoscopic shelves/turnover boxes. The cargo in-and-out operation flow of the existing stereoscopic warehouse is generally as follows: the method comprises the steps of truck goods coming, manual scanning of container information binding, stacking, forklift truck container warehouse entering, four-way shuttle vehicle connection of pallets and goods on the pallet, four-way vehicle conveying of the pallets to a stereoscopic warehouse for temporary storage, manual sorting, stacking of the picked containers, forklift truck removing of the pallets from warehouse, manual transfer of the goods on the pallets to a belt conveyor, and delivery of the goods after delivery to the truck.

The stereoscopic warehouse of most enterprises in the traditional industry, especially the electronic commerce industry, is a mode of packing the cargoes into and out of the warehouse, and the cargo in and out of the warehouse operation flow is generally carried out by adopting a manual carrying mode and a forklift cooperative carrying mode. When goods enter and exit the space, the goods in the goods vehicle are required to be transferred to the vertical warehouse area at the loading and unloading platform or the goods are required to be transferred to the goods vehicle parked at the loading and unloading platform outside the vertical warehouse area, and in the process of entering and exiting the goods vehicle and the vertical warehouse area, the goods vehicle is required to be transferred by staff, so that the transferring process of other equipment in the middle is inevitably increased, the efficiency of entering and exiting the goods vehicle is reduced, and the investment of labor cost is improved.

At present, along with the production mode of enterprises beginning to change to flexible and intelligent directions, artificial intelligence is gradually applied to intelligent storage systems, and along with popularization of network operators, the market of domestic and foreign logistics is more active, logistics competition is increasingly intense, intelligent transportation of goods through robots is an important link and a common scene of intelligent storage, and intelligent transportation is already an indispensable link in intelligent storage.

Therefore, aiming at the problems of low warehouse-in and warehouse-out efficiency and high labor cost of the traditional warehouse-in and warehouse-out mode, it is necessary to develop a warehouse-in and warehouse-out mode for automatically conveying the cargoes needing to enter and leave the vertical warehouse to a loading and unloading platform or the side of the vertical warehouse by means of the autonomous receiving and autonomous executing capability of a robot so as to replace manual work to improve the warehouse-in and warehouse-out operation efficiency.

Disclosure of Invention

The invention provides an intelligent innovative vertical warehouse collecting and distributing transfer system of a fast-moving freight yard, which can automatically transport cargoes to a loading and unloading platform or a vertical warehouse side, for solving the problems of low warehouse entering and exiting efficiency and high labor cost investment in the existing warehouse entering and exiting mode.

In order to achieve the above purpose, the present invention adopts the following technical scheme:

the invention provides an intelligent innovative vertical warehouse collecting and distributing transfer system of an express delivery yard, which comprises a plurality of groups of belt conveyors, transfer robots and four-way vehicle rails with four-way vehicles, wherein the belt conveyors are arranged between a truck and a stereoscopic warehouse and are used for transferring cargo boxes; the tail end of a mechanical arm of the transfer robot is provided with a robot clamping device which is used for transferring a container on a four-way vehicle back and forth between the belt conveyor and the four-way vehicle; wherein:

The robot clamping device adopts a bidirectional clamping structure and comprises a bidirectional transmission base assembly, a mechanical clamping assembly, a vacuum adsorption assembly and a shell assembly; the top of two-way transmission base subassembly is connected the end of transfer robot, and both ends transmission is connected with be symmetrical arrangement mechanical clamping subassembly, bottom transmission is connected with vacuum adsorption subassembly, in order to drive mechanical clamping subassembly presss from both sides tightly the packing box the drive vacuum adsorption subassembly is attached at the top of packing box.

Further, on the intelligent innovation vertical warehouse collecting and distributing transfer system of the express delivery yard, the transfer robot adopts a six-axis robot, and the tail end of a sixth axis of the transfer robot is detachably connected with a bolt connecting piece at the top of the shell assembly through threads.

Further, on the intelligent innovation vertical warehouse collection and distribution transfer system of the express delivery yard, the bidirectional transmission base assembly comprises:

the first mounting base is square plate-shaped, first clamping accommodating grooves are respectively formed in the middle positions of the left end and the right end of the first mounting base, transmission accommodating grooves are respectively formed in the middle positions of the front end and the rear end of the first mounting base, and first sucking disc accommodating grooves are respectively formed in the four corner positions of the first mounting base;

The four sliding guide mechanisms are respectively and transversely fixedly arranged at four corners of the top of the first mounting base, are symmetrically arranged in pairs, and the second guide units of the two sliding guide mechanisms at the same side end are connected through connecting rods;

the transmission toothed plate mechanism consists of a first toothed plate and a second toothed plate which are arranged in parallel up and down, the first toothed plate is fixedly connected with the connecting rod, and the second toothed plate is fixedly arranged at the tops of the plate bodies at two sides of the first clamping accommodating groove;

the stretching transmission mechanism is provided with a first stretching belt and a second stretching belt which are telescopic, the outer side ends of the first stretching belt and the second stretching belt are respectively and correspondingly connected with the connecting rod, and the bottom of the connecting rod is connected with the first toothed plate;

the output shaft of the power output mechanism is connected with the inner side ends of the first stretching belt and the second stretching belt so as to simultaneously wind or release the first stretching belt and the second stretching belt and synchronously drive the first toothed plates at the two ends to horizontally move relative to the second toothed plates; and

the sucking disc laminating mechanisms are two groups, are respectively and correspondingly arranged in the transmission accommodating grooves at the outer sides of the sliding guide mechanisms, the upper ends of the sucking disc laminating mechanisms are hinged to the outer side walls of the second guide units, the lower ends of the sucking disc laminating mechanisms are fixedly connected with the vacuum adsorption assemblies, and the vacuum adsorption assemblies are synchronously driven to be attached to the top of the container in the process that the second guide units slide left and right.

Further preferably, on the intelligent innovative vertical warehouse collection and distribution transfer system of the express delivery yard, the sliding guiding mechanism comprises:

the first guide unit is internally and transversely provided with a chute structure, and the cross section of the chute structure is in a convex shape;

the lower end of the second guide unit is in a convex shape, and the lower end of the second guide unit is movably embedded in the chute structure; and

and the elastic reset unit is embedded in the outer side end of the chute structure, one end of the elastic reset unit is fixedly connected with the end part of the first guide unit, and the other end of the elastic reset unit is fixedly connected with the lower end of the second guide unit.

Further preferably, on the intelligent innovation vertical warehouse collecting and distributing transfer system of the express delivery cargo yard, a first rack is longitudinally distributed on the bottom end face of the first toothed plate, a second rack is longitudinally distributed on the top end face of the second toothed plate, and the first rack and the second rack are respectively meshed and connected with a tooth moving stretching mechanism at the top end of the mechanical clamping assembly.

Further preferably, on the intelligent innovative vertical warehouse collection and distribution transfer system of the express delivery yard, the stretching transmission mechanism comprises:

the support unit is in a U-shaped structure, and a first mounting hole, a second mounting hole and a third mounting hole are respectively formed in the side walls of the two ends of the support unit from bottom to top;

The two ends of the first guide unit are arranged in the two first mounting holes through bearing frames, and the bottoms of the first guide units are attached with the first stretching belts;

the two ends of the second guide unit are arranged in the two second mounting holes through bearing frames, and the bottoms of the second guide units are attached with the second stretching belts;

the two ends of the third guide unit are arranged in the two third mounting holes through bearing frames, and are fixedly connected with the inner side ends of the first stretching strap and the second stretching strap;

the first transmission unit is arranged at the end part of the third guide unit and is in transmission connection with the second transmission unit at the output end of the power output mechanism;

the distal end of the first stretching belt is connected with the connecting rod at the right side end, and the proximal end of the first stretching belt is connected with the third guiding unit after being guided by the first guiding unit and the second guiding unit; and

the distal end of the second stretching belt is connected with the connecting rod at the left side end, and the proximal end of the second stretching belt is guided by the second guiding unit and then is connected with the third guiding unit;

the third guiding unit is synchronously driven to wind or release the first stretching belt and the second stretching belt through the power output mechanism, so that the first toothed plates at two ends are synchronously driven to horizontally move relative to the second toothed plates, and then the mechanical clamping assembly meshed with the first toothed plates is driven to clamp or release the container.

Further preferably, on the intelligent innovation vertical warehouse collecting and distributing transfer system of the express delivery yard, the sucker attaching mechanism comprises:

the two first hinging units are fixedly arranged on the outer side walls of the second guiding units corresponding to the left end and the right end at one end;

one end of each second hinging unit is hinged with the other end of the corresponding first hinging unit, and the other end of each second hinging unit is obliquely downward arranged in the transmission accommodating groove;

one end of each third hinging unit is hinged with the other end of the corresponding second hinging unit; and

and the two ends of the sucker fixing plate unit are fixedly connected with the other end of the corresponding third hinging unit, and the bottom of the sucker fixing plate unit is fixedly connected with the vacuum adsorption assembly.

Further, on the intelligent innovation vertical warehouse collecting and distributing transfer system of the express delivery cargo yard, the mechanical clamping assembly is composed of two groups of clamping handles which are symmetrically arranged left and right, and each group of clamping handles comprises:

the first clamping mechanism is C-shaped, a plurality of through holes which are arranged at intervals are transversely formed in the periphery of the first clamping mechanism, and positioning pin holes are longitudinally formed in the upper end of the first clamping mechanism;

The back of the second clamping mechanism is hinged with the lower end of the first clamping mechanism, and a plurality of anti-skid units are arranged on the end face of the front part of the second clamping mechanism facing the container at intervals;

the tooth moving stretching mechanism consists of a tooth moving fixed shaft which is longitudinally arranged and tooth moving connecting sleeves which are rotatably sleeved at two ends of the tooth moving fixed shaft, and the middle part of the tooth moving fixed shaft is fixedly connected with the top end of the first clamping mechanism; and

the two ends of the positioning adjusting mechanism are fixedly arranged at the bottoms of the plate bodies at two sides of the first clamping accommodating groove, a plurality of groups of positioning adjusting holes are formed in the lower end of the positioning adjusting mechanism, and a group of positioning pin shafts in the positioning adjusting holes penetrate through the positioning pin holes.

Further, on the intelligent innovation vertical warehouse collection and distribution transfer system of the express delivery yard, the vacuum adsorption component comprises:

the second mounting base is square plate-shaped, the top of the second mounting base is connected with the sucker fixing plate unit, second sucker accommodating grooves corresponding to the upper first sucker accommodating grooves are respectively formed in the four corners of the second mounting base, and second clamping accommodating grooves corresponding to the first clamping accommodating grooves are formed in the left end and the right end of the second mounting base;

The vacuum adsorption units are four, the upper ends of the vacuum adsorption units are externally connected with vacuum pumping equipment through hoses, the lower ends of the vacuum adsorption units are correspondingly embedded in the first sucker accommodating grooves, and the peripheral walls of the lower ends of the vacuum adsorption units are detachably connected with the inner peripheral wall threads of the second sucker accommodating grooves.

Further, on the intelligent innovative vertical warehouse collection and distribution transfer system of the express delivery yard, the shell assembly comprises:

the lower ends of the peripheral side walls of the cover body unit are fixedly connected to a first mounting base of the bidirectional transmission base assembly through screws respectively;

the lower end of the bolt connecting piece is fixedly arranged at the top of the cover body unit, and the upper end of the bolt connecting piece is connected with a sixth shaft of the transfer robot through threads;

and the two overhauling units are respectively arranged in the middle parts of the left side wall and the right side wall of the cover body unit and correspond to the positions of the transmission toothed plate mechanism.

Compared with the prior art, the invention has the following technical effects:

(1) The automatic clamping and carrying purpose is realized by adopting a mode of cooperation of a transfer robot and a robot clamping device to replace manual carrying and fork truck co-carrying at a warehouse in-out and warehouse transferring position between a truck and a stereoscopic warehouse, so that the cargo box transferring efficiency is improved, the transferring flow is reduced, the manual investment is reduced, and the cargo to be in-out and warehouse is automatically carried to a loading and unloading platform or a warehouse side to replace manual work and fork truck to improve the warehouse in-out and warehouse operation efficiency;

(2) The adopted robot clamping device has two transportation modes of negative pressure adsorption and mechanical clamping on the container, so that the container is ensured to be safely and stably transferred from a four-way vehicle in a warehouse-standing area to a conveyor on the container side or from the container side to a four-way vehicle on the warehouse-standing side; the clamping of the container is stable and safe, and the clamping device can be suitable for grabbing cargoes with larger weight, so that the problem of falling caused by the leakage of the sucking disc in the container transferring process is avoided;

(3) The mechanical clamping assembly and the vacuum adsorption assembly on the robot clamping device are connected to the bidirectional transmission base assembly in a detachable mode, so that the robot clamping device can flexibly assemble containers with different weights and different shapes according to requirements, is flexible and convenient to use, and the process of grabbing the containers by the robot clamping device is more stable;

(4) The stretching transmission mechanism in the bidirectional transmission base assembly adopts a mode that a first stretching belt and a second stretching belt are stretched relatively to drive the left and right translation of the first toothed plate, the first stretching belt and the second stretching belt respectively have enough connection widths with the first toothed plates at two ends, the stability of the first toothed plate in the left and right translation process is ensured, and then the clamping stability of the mechanical clamping assemblies at two sides is ensured;

(5) The top end of the mechanical clamping assembly is meshed between the first toothed plate and the second toothed plate by adopting a tooth-moving stretching mechanism, and the relative movement of the first toothed plate and the second toothed plate is utilized to control the top end of the mechanical clamping assembly to realize left-right movement while rotating; the clamping range of the mechanical clamping assembly can be flexibly adjusted by adjusting the positions of the positioning pin shafts in different positioning adjusting holes, and the mechanical clamping assembly is applicable to containers with different sizes;

(6) The top of the vacuum adsorption assembly is connected with the bidirectional transmission base assembly by adopting a suction cup attaching mechanism, the suction cup attaching mechanism mainly comprises a hinged unit and a suction cup fixing plate unit which are hinged, and the suction cup fixing plate unit is synchronously driven to move up and down by utilizing the relative movement of the sliding blocks on the left and right groups of sliding guide mechanisms, so that the vacuum adsorption assembly is driven to be attached to the surface of a container in the process of moving down, the sealing connectivity between the suction cup and the container is ensured, the problem of air leakage caused by the unstable suction of the suction cup is avoided, and the stability of vacuum adsorption is improved;

(7) The vertical warehouse collecting and distributing transfer system and the cooperation mode of the transfer robot and the robot clamping device adopted by the vertical warehouse collecting and distributing transfer system are high in automation degree, strong in practicability, good in safety performance and stable in operation, diversified operability is provided for grabbing and transferring containers, and warehouse entering and exiting efficiency of a stereoscopic warehouse is greatly improved.

Drawings

FIG. 1 is a schematic diagram of the overall structure of an intelligent innovative vertical warehouse collection and distribution transfer system for an express delivery yard;

FIG. 2 is a schematic diagram of a local enlarged structure in a smart innovative vertical warehouse collection and distribution transfer system of an express yard according to the present invention;

FIG. 3 is a schematic top view of a robot gripping device in the intelligent innovative vertical warehouse collection and distribution transfer system of the fast freight yard;

FIG. 4 is a schematic diagram of a front view of a robot gripping device in a smart innovative vertical warehouse collection and distribution transfer system for a fast freight yard according to the present invention;

FIG. 5 is a schematic view showing the bottom view of a robot gripping device in the intelligent innovative vertical warehouse collection and distribution transfer system of the fast-moving cargo yard;

FIG. 6 is a schematic view of a part A of a robot gripping device in the intelligent innovative vertical warehouse collection and distribution transfer system of the fast freight yard of FIG. 5 according to the present invention;

FIG. 7 is a schematic diagram of a cross-sectional structure of a robot gripping device in an intelligent innovative vertical warehouse collection and distribution transfer system of an express yard according to the present invention;

FIG. 8 is a schematic view of a part B of a robot gripping device in the intelligent innovative vertical warehouse collection and distribution transfer system of the fast freight yard of FIG. 7 according to the present invention;

FIG. 9 is a schematic diagram of an explosion structure of a robot gripping device in an intelligent innovative vertical warehouse collection and distribution transfer system of an express yard according to the present invention;

FIG. 10 is a schematic diagram of a robot gripping device in a smart innovative vertical warehouse collection and distribution transfer system for a fast freight yard according to the second embodiment of the present invention;

FIG. 11 is a schematic diagram of the internal structure of a robot gripping device in the intelligent innovative vertical warehouse collection and distribution transfer system of the fast freight yard;

FIG. 12 is a schematic top view of a two-way drive base assembly in a smart innovative vertical warehouse collection and distribution transfer system for a fast farm according to the present invention;

FIG. 13 is a schematic view of a part C partial enlarged structure of a bi-directional transmission base assembly of the intelligent innovative vertical warehouse collection and distribution transfer system of the fast farm of FIG. 12 according to the present invention;

FIG. 14 is a schematic top view of a two-way drive base assembly of the intelligent innovative vertical warehouse collection and distribution transfer system for a fast farm according to the present invention;

FIG. 15 is a schematic view of a portion D of a two-way drive base assembly of the intelligent innovative vertical warehouse collection and distribution transfer system of the fast farm of FIG. 14 according to the present invention;

FIG. 16 is a schematic diagram of a cross-sectional view of a two-way drive base assembly in an intelligent innovative vertical warehouse collection and distribution transfer system for a fast-moving cargo yard according to the present invention;

FIG. 17 is a schematic diagram of a cross-sectional view of a two-way transmission base assembly in an intelligent innovative vertical warehouse collection and distribution transfer system for a fast freight yard according to the present invention;

FIG. 18 is a schematic diagram of a tension transmission mechanism in a smart innovative vertical warehouse collection and distribution transfer system for a fast freight yard according to the present invention;

FIG. 19 is a schematic diagram showing a second structure of a tensile transmission mechanism in a smart innovative vertical warehouse collection and distribution transfer system of an express delivery yard;

FIG. 20 is a schematic diagram of a mechanical clamping assembly in a smart innovative vertical warehouse collection and distribution transfer system for a fast freight yard according to the present invention;

FIG. 21 is a schematic diagram of a mechanical clamping assembly in a smart innovative vertical warehouse collection and distribution transfer system for a fast freight yard according to the present invention;

FIG. 22 is a schematic diagram of a housing assembly in an intelligent innovative vertical warehouse collection and distribution transfer system for a fast freight yard according to the present invention.

Detailed Description

The present invention will be described in detail and in detail by way of the following examples, which are not intended to limit the scope of the invention, for better understanding of the invention.

In some of these embodiments, as shown in fig. 1 and 2, there is provided a fast-moving yard intelligent innovative vertical warehouse collection and distribution transfer system capable of automatically transporting goods to a loading and unloading platform or a vertical warehouse side, which is arranged on the loading and unloading platform around a stereoscopic warehouse 008, and comprises a plurality of groups of transfer channels established between the stereoscopic warehouse 008 and a truck 001 to be unloaded, each group of transfer channels comprises a belt conveyor 002, a transfer robot 003 and a four-way vehicle rail 005 with four-way vehicle 006, and the transfer robot 003 and the four-way vehicle rail 005 with four-way vehicle 006 are used for transferring a cargo box 000 between the truck 001 and the stereoscopic warehouse 008 through the belt conveyor 002.

In order to solve the problems of low warehouse entry and exit efficiency and high labor cost investment in the existing warehouse entry and exit mode, the four-way vehicle 006 is adopted creatively to supply goods to the movable transfer robot 003, and the transfer robot 003 is transferred to the belt conveyor 002. The robot clamping device 004 is arranged at the tail end of the mechanical arm of the transfer robot 003 and is used for transferring the container 000 on the four-way vehicle 006 back and forth between the belt conveyor 002 and the four-way vehicle 006.

This vertical storehouse collection and distribution transfer system utilizes four-way car 006 advantages such as fast, flexible, the supply speed that shuttles back and forth, with transfer robot 003 and robot clamping device 004 reasonable combination, solve traditional packing box business turn over storehouse and transport slowly, the mistake is many, take artificial problem, simultaneously, four-way car 006 and transfer robot 003 can also be idle time or the work of mending goods night, improves time utilization, reduction equipment input. The transfer robot 003 and the robot clamping device 004 which are adopted cooperatively have the advantages of high automation degree, strong practicability, good safety performance and stable operation, provide diversified operability for grabbing and transferring the container 000, and greatly improve the warehouse entering and exiting efficiency of the stereoscopic warehouse.

As shown in fig. 3, 4, 5, 7, 9 and 11, the robot clamping device 004 used in the vertical warehouse collecting and transporting system is a bidirectional clamping structure, and mainly comprises a bidirectional transmission base assembly 100, a mechanical clamping assembly 200, a vacuum adsorption assembly 300 and a housing assembly 400.

The top end of the bidirectional transmission base assembly 100 is connected with the end of the transfer robot 003, specifically, the top end of the bidirectional transmission base assembly 100 is detachably connected with a sixth shaft at the end of the transfer robot 003 through the housing assembly 400.

The mechanical clamping assemblies 200 are in symmetrical arrangement and are connected to two ends of the bidirectional transmission base assembly 100 in a transmission manner, and the mechanical clamping assemblies 200 are used for clamping two side wall positions of the container 000 so as to achieve gripping of the container 000 in a clamping manner.

The bottom of the bidirectional transmission base assembly 100 is in transmission connection with the vacuum adsorption assembly 300, the vacuum adsorption assembly 300 is used for grabbing the container 000 in a vacuum adsorption mode, and the vacuum adsorption assembly 300 can move up and down under the driving of the bidirectional transmission base assembly 100, so that the vacuum adsorption unit 320 on the vacuum adsorption assembly 300 is close to or far away from the top of the container 000.

The bi-directional transmission base assembly 100 is provided with a power output mechanism 150, which can drive the mechanical clamping assembly 200 to clamp the container 000 and simultaneously drive the vacuum adsorption assembly 300 to be attached to the top of the container 000.

In addition, for containers 000 with different weights and different shapes, the mechanical clamping assembly 200 or the vacuum adsorption assembly 300 can be independently assembled on the bidirectional transmission base assembly 100, and the assembling mode only needs to disassemble the tooth-moving connecting sleeve at the top end of the mechanical clamping assembly 200 or the vacuum adsorption unit 320 on the vacuum adsorption assembly 300, so that the use is flexible and convenient.

And it is also worth noting that when the mechanical clamping assembly 200 is used alone to grasp the container 000, the second mounting base 310 on the vacuum suction assembly 300 can be horizontally attached to the top of the container 000, so that the problem of shaking caused by infinite positions on the top of the container 000 is avoided, and the stability of the container 000 grasping and transferring process is further ensured.

In some embodiments, as shown in fig. 1 and 2, the transfer robot 003 is a six-axis robot, and the end of the sixth axis is detachably connected to the bolt connection 402 at the top of the housing assembly 400 through threads, so that the robot gripping device 004 is fixedly mounted on the transfer robot 003 in a detachable manner.

As shown in fig. 3, 4, 5, 7, 9 and 10, the housing assembly 400 includes a housing unit 401, and lower ends of peripheral side walls of the housing unit 401 are fixedly connected to the first mounting base 110 of the bidirectional transmission base assembly 100 by screws, respectively. The top of the cover unit 401 is fixedly provided with a bolt connecting piece 402, and the upper end of the bolt connecting piece 402 is connected with a sixth shaft of the transfer robot 003 through threads.

In addition, in order to facilitate the maintenance of the equipment and the disassembly of the mechanical clamping assembly 200, maintenance units 403 are respectively provided at the middle parts of the left and right side walls of the cover unit 401 at positions corresponding to the transmission toothed plate mechanisms 130.

Specifically, the cover unit 401 is an inverted shell, which is made of stainless steel or aluminum alloy, and the lower end of the inverted shell is fixedly connected to the first mounting base 110 through bolts or screws. The bolt connection 402 is a screw with external threads, which is connected to a nut fixed to the sixth shaft of the transfer robot 003. The overhaul unit 403 has a square hole structure with an opening at the lower end.

In some embodiments, as shown in fig. 9, 10, 11, 12, 13, 14, 15, 16 and 17, the bi-directional transmission base assembly 100 mainly includes a first mounting base 110, a sliding guide mechanism 120, a transmission toothed plate mechanism 130, a stretching transmission mechanism 140, a power take-off mechanism 150 and a suction cup attaching mechanism 160.

As a preferred embodiment, the first mounting base 110 has a square plate structure, and first clamping accommodating grooves 111 are respectively formed at intermediate positions of the left and right ends of the first mounting base, and the first clamping accommodating grooves 111 have an open hole structure at an outer side for mounting and accommodating the mechanical clamping assembly 200.

The middle positions of the front end and the rear end of the first mounting base 110 are respectively provided with a transmission accommodating groove 112, the transmission accommodating groove 112 is in a bar-shaped hole structure, and two ends of the transmission accommodating groove extend to the position of the sliding guide mechanism 120 towards two sides and are positioned at the outer side of the sliding guide mechanism 120 for assembling and accommodating the sucker attaching mechanism 160.

In addition, first suction cup accommodating grooves 113 are respectively formed at four corners of the first mounting base 110, and the first suction cup accommodating grooves 113 are circular, and have a shape and a size consistent with those of the vacuum suction units 320, for mounting the vacuum suction units 320. It should be noted that the vacuum suction unit 320 is not connected to the first chuck receiving groove 113, but serves as a hollow passage connecting the vacuum suction unit 320 and the second mounting base 310.

As a preferred embodiment, the sliding guide mechanism 120 is designed with a linear slider guide rail structure, and in order to ensure the stability of the left-right movement of the first toothed plate 131, the number of the sliding guide mechanisms 120 is four, and the sliding guide mechanisms are respectively and transversely fixed at four corners of the top of the first mounting base 110, and are located at the inner side positions of the four first suction cup accommodating grooves 113.

Wherein, two slip guiding mechanism 120 on left side are bilateral symmetry with two slip guiding mechanism 120 on right side and arrange, two of homonymy end pass through connecting rod 123 between the second guide unit 122 of slip guiding mechanism 120, first pinion rack 131 is connected to the connecting rod 123 bottom, and unilateral is through the guiding action of two sets of slip guiding mechanism 120, has guaranteed the stability of connecting rod 123 and the first pinion rack 131 of its bottom in the translation in-process about, avoids connecting rod 123 and first pinion rack 131 output to rock.

As a preferred embodiment, the driving toothed plate mechanism 130 is composed of a first toothed plate 131 and a second toothed plate 132, and the first toothed plate 131 and the second toothed plate 132 are arranged in parallel up and down. The first toothed plate 131 is fixedly connected with the connecting rod 123, and the second toothed plate 132 is fixedly arranged at the top of the plate body at two sides of the first clamping accommodating groove 111.

In order to realize the transmission between the transmission toothed plate mechanism 130 and the mechanical clamping assembly 200, so as to drive the mechanical clamping assembly 200 to clamp the container 000, a first rack is longitudinally distributed on the bottom end surface of the first toothed plate 131, correspondingly, a second rack is longitudinally distributed on the top end surface of the second toothed plate 132, and the first rack and the second rack are respectively engaged and connected with the tooth-moving stretching mechanism 230 at the top end of the mechanical clamping assembly 200.

When in use, in the process of controlling the first toothed plate 131 to translate left and right relatively to the second toothed plate 132, the first toothed plate 131 drives the tooth moving stretching mechanism 230 to move left and right synchronously between the two, and then synchronously drives the clamping handles on the left side and the right side to move oppositely or back to back, so as to achieve the purpose of clamping the mechanical clamping assembly 200.

As a preferred embodiment, two ends of the stretching transmission mechanism 140 are respectively connected with two ends of the connecting rod 123, so that the connecting rods 123 for synchronously pulling the two ends are synchronously approaching or moving away. Specifically, the stretching driving mechanism 140 is provided with a first stretching belt 146 and a second stretching belt 147 which are telescopic, and the first stretching belt 146 and the second stretching belt 147 respectively pull the connecting rods 123 at the two ends.

The outer end of the first stretching strap 146 is correspondingly connected with the connecting rod 123 at the right end, the outer end of the second stretching strap 147 is correspondingly connected with the connecting rod 123 at the left end, and the bottom of the connecting rod 123 is connected with the first toothed plate 131, so that the first toothed plates 131 at the two ends are synchronously driven to translate inwards or outwards while the pulling connecting rod 123 is synchronously close to or synchronously far away from.

As a preferred embodiment, the power output mechanism 150 adopts a servo driving motor, and a gear is sleeved on an output shaft of the servo driving motor and is in meshed connection with the first transmission unit 145 on the stretching transmission mechanism 140. Thereby, the power output mechanism 150 is in transmission connection with the inner ends of the first stretching belt 146 and the second stretching belt 147, so as to simultaneously wind or release the first stretching belt 146 and the second stretching belt 147, thereby realizing the horizontal translation of the first toothed plate 131 at the two ends relative to the second toothed plate 132.

As a preferred embodiment, the two suction cup attaching mechanisms 160 are respectively disposed in the transmission accommodating grooves 112 on the outer side of the sliding guide mechanism 120. The suction cup attaching mechanism 160 is used as a connecting mechanism for connecting the bidirectional transmission base assembly 100 and the vacuum suction assembly 300, and is used for controlling the vacuum suction assembly 300 to move up and down.

Specifically, the upper end of the suction cup attaching mechanism 160 is hinged to the outer side wall of the second guiding unit 122, and the lower end is fixedly connected to the vacuum suction assembly 300, so that the vacuum suction assembly 300 is synchronously driven to attach to the top of the container 000 during the process of sliding the second guiding unit 122 left and right.

In some of these embodiments, as shown in fig. 9, 11, 12, 13, 16 and 17, the sliding guide mechanism 120 mainly includes a first guide unit 121, a second guide unit 122 and an elastic restoring unit 124.

Specifically, the first guiding unit 121 is a guide rail structure, and a chute structure is transversely formed in the first guiding unit, and the cross section of the chute structure is in a convex shape and is used for assembling the second guiding unit 122. The lower end of the second guiding unit 122 is designed to be convex and is movably embedded in the chute structure correspondingly to the cross section of the chute structure; the chute structure can guide the second guiding unit 122 to slide left and right along a straight line, and meanwhile, the second guiding unit 122 can be installed in the chute in a limiting mode, and meanwhile limiting and guiding effects are achieved.

In addition, in order to enable the gripping handles on both sides of the mechanical gripping assembly 200 to be disengaged from the cargo box 000, an elastic reset unit 124 is also hidden in the chute of the slide guide 120. The elastic reset unit 124 is embedded in the outer end of the chute structure, one end of the elastic reset unit is fixedly connected with the end of the first guide unit 121, and the other end of the elastic reset unit is fixedly connected with the lower end of the second guide unit 122.

In the process that the mechanical clamping assembly 200 grabs the container 000 and releases, after the stretching transmission mechanism 140 releases the pulled connecting rod 123, the elastic reset unit 124 can drive the second guide unit 122 to move and reset inwards under the action of self elasticity, so as to drive the first toothed plate 131 to move to the initial position, and synchronously drive the two clamping handles of the mechanical clamping assembly 200 to open.

In some of these embodiments, as shown in fig. 7, 9, 11, 18, and 19, the stretching driving mechanism 140 mainly includes a supporting unit 141, a first guiding unit 142, a second guiding unit 143, a third guiding unit 144, a first driving unit 145, a first stretching strap 146, and a second stretching strap 147.

Specifically, the supporting unit 141 is a U-shaped supporting frame structure, and is made of stainless steel or aluminum alloy, and the lower end of the supporting unit is fixedly mounted at the middle position of the first mounting base 110 by screws. And the supporting arms at the front and rear ends of the supporting unit 141 are respectively provided with a first mounting hole, a second mounting hole and a third mounting hole from bottom to top, and the first mounting hole, the second mounting hole and the third mounting hole are square holes or waist-shaped holes.

The first guiding unit 142 is rotatably disposed at the lower end of the supporting unit 141, two ends of the first guiding unit are disposed in the two first mounting holes through bearing frames, and the bottom of the first guiding unit is attached to the first stretching strap 146. The first guide unit 142 employs a guide roller.

The second guiding unit 143 is rotatably disposed in the middle of the supporting unit 141, two ends of the second guiding unit are disposed in the two second mounting holes through bearing frames, and the bottom of the second guiding unit is attached with the second stretching strap 147; the second guide unit 143 employs a guide roller.

The third guiding unit 144 is rotatably disposed at the upper end of the supporting unit 141, and two ends thereof are disposed in the two third mounting holes through bearing frames, and are fixedly connected to the inner ends of the first stretching strap 146 and the second stretching strap 147. The third guiding unit 144 employs a guiding roller.

The first transmission unit 145 is fixedly sleeved at one end of the third guide unit 144 by adopting a key connection, is positioned at the outer side of the supporting unit 141, is in transmission connection with the second transmission unit at the output end of the power output mechanism 150, and the first transmission unit 145 and the second transmission unit are transmission gears and are in transmission connection by adopting a meshing mode. Or alternatively, the first transmission unit 145 and the second transmission unit are synchronous wheels, and are connected by a synchronous belt.

The first stretching strap 146 and the second stretching strap 147 are uniformly provided with a connecting strap with a certain width and a certain length, and are cut from a synchronous strap. Specifically, the distal end of the first stretching strap 146 is connected to the right-side end of the connecting rod 123, and the proximal end is guided by the first guiding unit 142 and the second guiding unit 143 and then connected to the third guiding unit 144; and the distal end of the second stretching strap 147 is connected to the connecting rod 123 at the left end, and the proximal end is guided by the second guiding unit 143 and then connected to the third guiding unit 144.

In use, the stretching assembly 140 synchronously drives the third guiding unit 144 to wind or release the first stretching strap 146 and the second stretching strap 147 through the power output mechanism 150, so as to synchronously drive the first toothed plates 131 at two ends to translate left and right relative to the second toothed plates 132, and then drive the mechanical clamping assembly 200 engaged with the first toothed plates to clamp or release the cargo box 000.

In some embodiments, as shown in fig. 8, 9, 11, 12, 13 and 17, the suction cup attaching mechanism 160 mainly includes two first hinge units 161, two second hinge units 162, two third hinge units 163 and a suction cup fixing plate unit 164. The suction cup attaching mechanism 160 utilizes the relative movement and the back movement of the second guide units 122 at the left end and the right end, and drives the suction cup fixing plate unit 164 and the vacuum suction assembly 300 below to be adjusted up and down through the second hinge unit 162 which is hinged, so that the vacuum suction unit 320 on the vacuum suction assembly 300 is attached to the upper surface of the container 000, the air tightness between the suction cup and the container 000 on the vacuum suction unit 320 is enhanced, the stability of vacuum suction is ensured, and the container 000 is prevented from falling off accidentally in the vacuum suction grabbing process.

The two first hinge units 161 and the two third hinge units 163 are pins for respectively connecting the two second hinge units 162, the suction cup fixing plate unit 164 and the second mounting base 310 on the sliding guide mechanism 120.

Specifically, one ends of the two first hinge units 161 are fixedly disposed on the outer side walls of the second guide units 122 corresponding to the left and right ends; one end of the two third hinge units 163 is hinged to the other end of the corresponding second hinge unit 162.

The second hinge unit 162 has a bar-shaped structure, and has pin holes formed at both ends thereof for assembling the first hinge unit 161 and the third hinge unit 163, respectively. One end of each second hinge unit 162 is hinged to the other end of the corresponding first hinge unit 161, and the other end is disposed in the transmission accommodating groove 112 and inclined downward inwards.

The sucker fixing plate unit 164 has a strip-shaped block structure, and has two ends provided with pin holes for fixedly connecting the other ends of the corresponding third hinge units 163, and a bottom portion thereof is fixedly connected to the second mounting base 310 of the vacuum suction assembly 300 by screws.

The top of the vacuum adsorption assembly 300 is connected with the bidirectional transmission base assembly 100 by adopting a sucker attaching mechanism 160, the sucker attaching mechanism 160 mainly consists of a hinged unit and a sucker fixing plate unit 164 which are hinged, and the sucker fixing plate unit 164 is synchronously driven to move up and down by utilizing the relative movement of the second guide unit 122 on the left and right sliding guide mechanisms 120.

In some embodiments, as shown in fig. 3, 4, 5, 7, 8, 9, 10, 11, 20 and 21, the mechanical clamping assembly 200 is composed of two sets of clamping handles arranged symmetrically left and right, each set of clamping handles mainly including a first clamping mechanism 210, a second clamping mechanism 220, a running gear stretching mechanism 230 and a positioning adjusting mechanism 240.

Specifically, the first clamping mechanism 210 is C-shaped, a plurality of through holes are transversely arranged on the periphery of the first clamping mechanism at intervals, and a positioning pin hole is longitudinally arranged at the upper end of the first clamping mechanism; the design of the through hole can effectively reduce the weight of the whole handle, and meanwhile, the first clamping mechanism 210 can have certain deformation toughness. The upper end is longitudinally provided with a positioning pin hole for inserting the positioning pin shaft to play a role of supporting a pivot.

The second clamping mechanism 220 is a plate-shaped structure, and is configured to directly clamp the cargo box 000, and is hinged to the back of the second clamping mechanism 220 at the lower end of the first clamping mechanism 210, and a plurality of anti-slip units are disposed at intervals on the front end of the second clamping mechanism 220 facing the end surface of the cargo box 000, and the anti-slip units adopt inlaid rubber protrusions or protective patterns for increasing the direct friction force between the second clamping mechanism 220 and the side wall of the cargo box 000.

The middle part of the tooth moving fixed shaft 231 is fixedly connected with the top end of the first clamping mechanism 210; the gear structure comprises a longitudinally arranged gear fixing shaft 231 and gear connecting sleeves 232 rotatably sleeved at two ends of the gear fixing shaft 231, wherein the gear connecting sleeves 232 are of a gear structure. The tooth fixing shaft 231 is fixedly welded to the top end of the first clamping mechanism 210, or is movably inserted into a through hole at the top end of the first clamping mechanism 210.

The two ends of the positioning adjusting mechanism 240 are fixedly arranged at the bottoms of the plate bodies at two sides of the first clamping accommodating groove 111, a plurality of groups of positioning adjusting holes are arranged at the lower end of the positioning adjusting mechanism, and a group of positioning pin shafts 241 in the positioning adjusting holes penetrate through the positioning pin holes.

As shown in fig. 7 and 8, in the process of translating the first toothed plate 131 leftwards relative to the second toothed plate 132, the tooth moving and stretching mechanism 230 is synchronously driven to move leftwards through the tooth moving and connecting sleeve 232, and the upper end of the first clamping mechanism 210 is fixed on the plate body through the positioning pin 241, so that the second clamping mechanism 220 rotates around the positioning pin 241, and the second clamping mechanism 220 at the lower end moves inwards, thereby clamping the container 000, and achieving the purpose of grabbing the container 000.

Similarly, in the process of translating the first toothed plate 131 rightward relative to the second toothed plate 132, the tooth moving connecting sleeve 232 synchronously drives the tooth moving stretching mechanism 230 to move rightward, and the upper end of the first clamping mechanism 210 is fixed on the plate body through the positioning pin 241, so that the second clamping mechanism 220 rotates around the positioning pin 241, and the second clamping mechanism 220 at the lower end moves outward, so that the container 000 is separated from and clamped, and the purpose of releasing the container 000 is achieved.

In some of these embodiments, as shown in fig. 7, 8, 10, 11, 14, 15, 16 and 17, the vacuum suction assembly 300 employs a conventional vacuum suction gripping device, and generates a negative pressure in the vacuum suction unit 320 through an external vacuum suction device, thereby suction gripping the cargo box 000. The vacuum adsorption assembly 300 mainly includes a second mounting base 310 and a plurality of vacuum adsorption units 320.

Specifically, the second mounting base 310 is a square plate structure, the top of the second mounting base 310 is fixedly connected with the front and rear suction cup fixing plate units 164, and the size of the second mounting base 310 is smaller than that of the first mounting base 110. And second chuck accommodating grooves 311 corresponding to the upper first chuck accommodating grooves 113 are respectively formed at four corners of the second mounting base 310, and second clamping accommodating grooves 312 corresponding to the first clamping accommodating grooves 111 are formed at left and right ends.

The vacuum adsorption units 320 are four open-shaped suction cups, the upper ends of the suction cups are externally connected with a vacuum pumping device through a hose, the lower ends of the suction cups are correspondingly embedded in the first suction cup accommodating grooves 113, and the outer peripheral walls of the lower ends of the suction cups are detachably connected with the inner peripheral wall threads of the second suction cup accommodating grooves 311.

The vacuum adsorption assembly 300 utilizes the relative movement of the second guide units 122 on the left and right groups of sliding guide mechanisms to synchronously drive the sucker fixing plate units 164 to move up and down, so that the vacuum adsorption assembly 300 is driven to be attached to the surface of a cargo 000 in the process of moving down, the sealing connectivity between a sucker and the cargo box 000 is ensured, the problem of air leakage caused by unstable suction of the sucker is avoided, and the stability of vacuum grabbing is improved.

The above description of the specific embodiments of the present invention has been given by way of example only, and the present invention is not limited to the above described specific embodiments. Any equivalent modifications and substitutions for the present invention will occur to those skilled in the art, and are also within the scope of the present invention. Accordingly, equivalent changes and modifications are intended to be included within the scope of the present invention without departing from the spirit and scope thereof.

Claims

1. The intelligent innovative vertical warehouse collecting and distributing transfer system for the fast freight yard is characterized by comprising a plurality of groups of belt conveyors, transfer robots and four-way vehicle tracks, wherein the belt conveyors are arranged between a truck and a stereoscopic warehouse and are used for transferring containers; the tail end of a mechanical arm of the transfer robot is provided with a robot clamping device which is used for transferring a container on a four-way vehicle back and forth between the four-way vehicles by a belt conveyor; wherein:

The robot clamping device adopts a bidirectional clamping structure and comprises a bidirectional transmission base assembly, a mechanical clamping assembly, a vacuum adsorption assembly and a shell assembly; the top end of the bidirectional transmission base assembly is connected with the tail end of the transfer robot, the two ends of the bidirectional transmission base assembly are in transmission connection with the mechanical clamping assemblies which are symmetrically arranged, and the bottom of the bidirectional transmission base assembly is in transmission connection with the vacuum adsorption assembly so as to drive the mechanical clamping assemblies to clamp the container and simultaneously drive the vacuum adsorption assembly to be attached to the top of the container;

the bi-directional transmission base assembly includes:

the sucking disc attaching mechanisms are two groups and are respectively and correspondingly arranged in the transmission accommodating grooves at the outer sides of the sliding guide mechanisms, the upper ends of the sucking disc attaching mechanisms are hinged to the outer side walls of the second guide units, and the lower ends of the sucking disc attaching mechanisms are fixedly connected with the vacuum adsorption assemblies so as to synchronously drive the vacuum adsorption assemblies to be attached to the top of the container in the process that the second guide units slide left and right;

the bottom end face of the first toothed plate is longitudinally provided with a first rack, the top end face of the second toothed plate is longitudinally provided with a second rack, and the first rack and the second rack are respectively meshed and connected with a tooth moving stretching mechanism at the top end of the mechanical clamping assembly.

2. The intelligent innovative vertical warehouse collection and distribution transfer system of the express delivery yard according to claim 1, wherein the transfer robot is a six-axis robot, and the tail end of the sixth axis is detachably connected with a bolt connecting piece at the top of the shell assembly through threads.

3. The intelligent innovative vertical warehouse collection and distribution transfer system of a fast freight yard of claim 1, wherein the sliding guide mechanism comprises:

4. The intelligent innovative vertical warehouse collection and distribution transfer system of a fast freight yard of claim 1, wherein the tension transmission mechanism comprises:

5. The intelligent innovative vertical warehouse collection and distribution transfer system of a fast freight yard of claim 1, wherein the sucker attaching mechanism comprises:

6. The intelligent innovative vertical warehouse collection and distribution transfer system of a fast freight yard according to claim 1, wherein the mechanical clamping assembly is composed of two groups of clamping handles symmetrically arranged left and right, each group of clamping handles comprising:

7. The rapid transit yard intelligent innovation vertical warehouse collection and distribution transfer system of claim 1, wherein the vacuum adsorption assembly comprises:

8. The rapid transit yard intelligent innovation vertical warehouse collection and distribution transfer system of claim 1, wherein the housing assembly comprises: