CN117566308B - Warehouse cargo handling shuttle robot - Google Patents
Warehouse cargo handling shuttle robot Download PDFInfo
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- CN117566308B CN117566308B CN202410054422.0A CN202410054422A CN117566308B CN 117566308 B CN117566308 B CN 117566308B CN 202410054422 A CN202410054422 A CN 202410054422A CN 117566308 B CN117566308 B CN 117566308B
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- sleeve
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- rod
- sliding block
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- 230000005540 biological transmission Effects 0.000 claims abstract description 20
- 238000003860 storage Methods 0.000 claims abstract description 11
- 230000007246 mechanism Effects 0.000 claims abstract description 9
- 230000009471 action Effects 0.000 claims description 26
- 238000003825 pressing Methods 0.000 claims description 14
- 230000006835 compression Effects 0.000 claims description 10
- 238000007906 compression Methods 0.000 claims description 10
- 230000000149 penetrating effect Effects 0.000 claims description 9
- 238000012856 packing Methods 0.000 claims description 5
- 230000007306 turnover Effects 0.000 claims description 3
- 238000000034 method Methods 0.000 abstract description 6
- 230000009286 beneficial effect Effects 0.000 abstract description 2
- 230000008569 process Effects 0.000 description 4
- 238000004519 manufacturing process Methods 0.000 description 3
- 230000003068 static effect Effects 0.000 description 3
- 230000002349 favourable effect Effects 0.000 description 2
- 230000007547 defect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000004806 packaging method and process Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/0492—Storage devices mechanical with cars adapted to travel in storage aisles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G59/00—De-stacking of articles
- B65G59/06—De-stacking from the bottom of the stack
- B65G59/067—De-stacking from the bottom of the stack articles being separated substantially perpendicularly to the axis of the stack
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a storage cargo handling shuttle robot, which comprises a vehicle body, a frame sleeve, an open slot and a telescopic manipulator, and comprises the following components: a tension member: the inner side of the frame sleeve vertically slides to form two clamping plates, and the inner side of the frame sleeve is rotationally connected with a radial arm of the two corresponding clamping plates; a pushing plate for pushing the first sliding block upwards is vertically slid on the inner side of the frame sleeve; lifting and placing a component: the shell cover is internally provided with a control transverse plate horizontally sliding telescopic mechanism, and the shell cover is internally provided with a transmission piece and a linkage piece. In the invention, firstly, a plurality of containers can be stacked on the vehicle body by a worker, so that the shuttle robot can push and store a plurality of goods at a time, thereby being beneficial to improving the storage efficiency of batch goods, and secondly, the stacked goods can be moved downwards one by one and carried while the flexible state of the clamping plates to the containers is controlled only by controlling the flexible state of the telescopic rods, thereby achieving the purpose of simplifying the operation procedure of the carrying robot.
Description
Technical Field
The invention relates to the technical field of production and storage of acoustic equipment, in particular to a storage goods carrying shuttle robot.
Background
The cargo handling shuttle robot is a type of reciprocating access device applied to multi-deck containers, and is widely used in a picking system for cargoes.
In a factory building with a large sound production scale, in order to meet the requirement of stacking batch sounds after production, a goods handling robot is generally used, a packing box with sounds is placed on a plurality of shelves, the handling robot scans and measures obstacles, walls and air passage navigation marks in the surrounding environment to fix the relative positions of the packing boxes through laser navigation sensors installed on a car body, and when the handling robot reaches a specified unloading position, the goods are handled on the shelves through a fork.
However, since the existing cargo handling robot does not have a vertical handling mechanism, the cargo cannot be vertically stacked on the robot, only one group of cargoes can be handled at a time, after the cargoes are sent to the corresponding goods shelves, the cargoes need to return to receive new cargoes, and the cargoes can be sequentially handled to the corresponding goods shelves, so that the existing handling robot has the problems of lower handling efficiency and complex handling flow.
Based on the defects, a warehouse cargo handling shuttle robot is provided.
Disclosure of Invention
The invention aims at: in order to solve the above problems, a warehouse cargo handling shuttle robot is provided.
In order to achieve the above purpose, the present invention adopts the following technical scheme: the utility model provides a storage goods transport shuttle robot, includes the automobile body, sets firmly at the frame cover of automobile body upper end, forms the open slot that cooperates the packing box business turn over on the frame cover to and install the flexible manipulator inboard at the frame cover, include:
The inner side of the frame sleeve vertically slides to form two clamping plates for clamping the container, a second sliding block is arranged in the clamping plates in a sliding manner, the inner side of the frame sleeve is rotationally connected with two rotating arms corresponding to the clamping plates, and the rotating arms and the second sliding block are rotationally arranged;
The outer end of the frame sleeve is fixedly provided with a shell, a transverse plate horizontally slides in the shell, a telescopic mechanism is arranged in the shell for controlling the transverse plate to horizontally slide, a transmission part and a linkage part are arranged in the frame sleeve, when the transverse plate slides away from the frame sleeve, a clamping plate clamps a goods under the action of the transmission part, and when the transverse plate slides close to the frame sleeve, the clamping plate downwards carries the goods under the action of the linkage part;
The inside of frame cover is provided with the guide, the radial arm is when rotating, keeps the clamp condition to the goods through guide control splint.
Preferably, a vertical rod is fixedly arranged in the frame sleeve through a bracket, a sliding seat is sleeved on the outer side of the vertical rod in a sliding manner, and a inserted rod which is inserted into the sliding seat in a sliding manner is fixedly arranged at the outer end of the clamping plate.
Preferably, the transmission piece comprises a U-shaped frame fixedly arranged at the outer end of the radial arm, a U-shaped frame in the U-shaped frame in a sliding connection mode and a pressing assembly for driving the U-shaped frame to slide, a hack lever penetrating through the radial arm is fixedly arranged at the inner end of the U-shaped frame, and the hack lever is rotationally connected with the second sliding block.
Preferably, the compression assembly comprises a sliding rod fixedly arranged in a U-shaped frame, a first sliding block sleeved on the outer side of the sliding rod and a combination piece pushing the first sliding block to move upwards, a compression spring pressing the first sliding block downwards is sleeved on the outer side of the sliding rod, a supporting rod is fixedly arranged at the side end of the first sliding block, and a bar-shaped groove matched with the supporting rod to slide is formed in the U-shaped frame.
Preferably, the closing member for pushing the first sliding block to move upwards comprises a push plate vertically arranged on the inner side of the frame sleeve in a sliding manner, a shaft rod rotationally connected in a shell cover and a guiding member for driving the shaft rod to rotate, wherein a transmission arm coaxially fixed with the shaft rod is rotationally connected in the shell cover, the free end of the transmission arm is rotationally connected with a connection frame penetrating through the frame sleeve, and the connection frame is fixed with the push plate.
Preferably, the guide member comprises a sliding sleeve which is sleeved on the outer side of the shaft rod in a sliding manner and is fixed with the transverse plate, a protrusion is formed on the inner wall of the sliding sleeve, and a spiral sliding rail matched with the protrusion for sliding is formed on the side wall of the shaft rod.
Preferably, the linkage piece comprises a rotary disc which is rotatably connected in the shell and is coaxially fixed with the shaft lever, a ratchet wheel is rotatably connected in the shell, the ratchet wheel is coaxially fixed with the rotary arm through a transverse shaft penetrating through the frame sleeve, and a ratchet of the unidirectional ratchet wheel is arranged on the rotary disc.
Preferably, the guide piece comprises a side connecting rod fixedly arranged at the outer end of the first sliding block, a spring sleeve is sleeved on the outer side sliding sleeve of the side connecting rod, a reset spring which acts on the spring sleeve outwards is sleeved on the outer side of the side connecting rod, and a sliding groove matched with the spring sleeve to penetrate in a sliding mode is formed in the U-shaped frame.
Preferably, an inner ring groove, an outer ring groove and two vertical grooves which are communicated with the head end and the tail end of the inner ring groove and the outer ring groove are formed on the inner wall of the frame sleeve and matched with the elastic sleeve to slide.
In summary, due to the adoption of the technical scheme, the beneficial effects of the invention are as follows:
1. According to the application, when the vehicle body reaches a specified stop point, the container at the bottommost layer is pushed outwards through the telescopic mechanical arm, at the moment, the container at the second layer and above is in a suspended parking state under the action of the clamping plates, after the container at the bottommost layer is separated from the vehicle body outwards, the clamped upper layer container moves downwards to be placed on the vehicle body along with the rotation of the rotating arm, and a plurality of containers can be stacked on the vehicle body by a worker at the same time, so that the shuttle robot can push and store a plurality of goods at a time, and the storage efficiency of batch goods is improved.
2. According to the application, as the clamping plates slide to the bottom, the container is stably placed on the vehicle body, at the moment, the first sliding block slides upwards under the action of the compression spring, the clamping state of the container is automatically released by the clamping plates, and as the rotating arm continues to rotate, the clamping plates slide upwards to continuously carry the next container, and the purpose of simplifying the operation procedure of the carrying robot is achieved by controlling the telescopic state of the telescopic rod, and simultaneously controlling the elastic state of the clamping plates on the container to realize downward movement and carrying of stacked cargoes one by one.
Drawings
FIG. 1 illustrates a perspective view of a shuttle robot provided in accordance with an embodiment of the present invention;
fig. 2 shows a schematic view of an inner side structure of a frame sleeve according to an embodiment of the present invention;
FIG. 3 illustrates a cross-sectional view of a holster provided in accordance with an embodiment of the present invention;
FIG. 4 shows a schematic view of the inside structure of a U-shaped frame provided according to an embodiment of the present invention;
FIG. 5 illustrates a partial enlarged view at A provided in FIG. 4 in accordance with the present invention;
FIG. 6 shows a schematic top view of a splint provided according to an embodiment of the present invention;
FIG. 7 illustrates an inside end view of a sleeve provided in accordance with an embodiment of the present invention;
fig. 8 shows a schematic top-down view of a shell cover provided according to an embodiment of the present invention.
Legend description:
1. A vehicle body; 2. a frame sleeve; 201. an inner ring groove; 202. an outer ring groove; 203. a vertical groove; 204. an open slot; 3. a telescopic manipulator; 4. a clamping plate; 5. a rod; 6. a horizontal axis; 7. a slide; 8. a vertical rod; 9. a radial arm; 10. a U-shaped frame; 1001. a chute; 11. a slide bar; 12. a compression spring; 13. a first slider; 14. a support rod; 15. a lateral connecting rod; 16. a return spring; 17. a spring sleeve; 18. a U-shaped frame; 1801. a bar-shaped groove; 19. a second slider; 20. a push plate; 21. a rotating disc; 2101. a ratchet; 22. a ratchet wheel; 23. a shaft lever; 2301. a spiral slide rail; 24. a transmission arm; 25. a connecting frame; 26. a cross plate; 27. a sliding sleeve; 28. a protrusion; 29. a telescoping mechanism; 30. a housing; 31. a hack lever.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1-8, the present invention provides a technical solution: the utility model provides a storage goods transport shuttle robot, includes automobile body 1, sets firmly at the frame cover 2 of automobile body 1 upper end, forms the open slot 204 that cooperates the packing box business turn over on frame cover 2 to and install the flexible manipulator 3 in frame cover 2 inboard, include:
The inner side of the frame sleeve 2 vertically slides to form two clamping plates 4 for clamping a container, a second sliding block 19 is arranged in the clamping plates 4 in a sliding manner, the inner side of the frame sleeve 2 is rotationally connected with two radial arms 9 corresponding to the clamping plates 4, and the radial arms 9 and the second sliding blocks 19 are rotationally arranged; the telescopic mechanical arm 3 is a double-depth fork for pushing or grabbing cargoes in the prior art, so that the cargoes can be conveniently stored and taken out;
the outer end of the frame sleeve 2 is fixedly provided with a shell cover 30, a transverse plate 26 horizontally slides in the shell cover 30, a telescopic mechanism 29 is arranged in the shell cover 30 for controlling the transverse plate 26 to horizontally slide, a transmission piece and a linkage piece are arranged in the frame sleeve 2, when the transverse plate 26 slides away from the frame sleeve 2, the clamping plate 4 clamps a goods under the action of the transmission piece, and when the transverse plate 26 slides close to the frame sleeve 2, the clamping plate 4 carries the goods downwards under the action of the linkage piece;
When the car body 1 reaches a specified stop point, the container at the bottommost layer is pushed outwards through the telescopic mechanical arm 3, in the process, the transverse plate 26 is controlled to move away from the frame sleeve 2 through the telescopic mechanism 29, at the moment, two clamping plates 4 in the frame sleeve 2 clamp the container at the second layer oppositely under the action of a transmission part, so that the container at the second layer and above is in a suspended parking state until the container at the bottommost layer is separated from the car body 1 outwards from the opening groove 204, at the moment, the transverse plate 26 is controlled to move towards the direction close to the frame sleeve 2 through the telescopic mechanism 29, the radial arm 9 rotates under the action of a linkage part, so that the clamped container moves downwards along with the clamping plates 4 until the container is placed on the car body 1, the clamping state of the container is automatically released, the vertical movement of the clamping plates 4 is controlled, the container stacked vertically on the car body 1 is achieved, a plurality of sound boxes for packaging can be stacked on the car body 1 simultaneously, and the shuttle robot can store a plurality of goods in a single mode, and the storage efficiency of the push goods can be improved.
The telescopic mechanism 29 is an existing hydraulic or pneumatic telescopic rod, and drives the transverse plate 26 to slide along the horizontal direction by controlling the telescopic rod to extend and retract from the end.
The inner side of the frame sleeve 2 is provided with a guide piece, and the radial arm 9 keeps a clamping state of goods through the guide piece control clamping plate 4 when rotating;
When the clamping plate 4 slides from top to bottom along with the rotation of the radial arm 9, the clamping plate 4 keeps clamping state of the container under the action of the guide piece, when the clamping plate 4 slides to bottom, the clamping plate 4 releases clamping state of the container, when the clamping plate 4 slides from bottom to top along with the rotation of the radial arm 9, the clamping plate 4 is always separated from the container stacked on the vehicle body 1 under the action of the guide piece, and therefore the telescopic manipulator 3 is favorable for carrying and unloading the containers stacked on the vehicle body 1 one by one.
Specifically, as shown in fig. 2 and 6, a vertical rod 8 is fixedly arranged in the frame sleeve 2 through a bracket, a sliding seat 7 is sleeved on the outer side of the vertical rod 8 in a sliding manner, and a plunger 5 which is inserted into the sliding seat 7 in a sliding manner is fixedly arranged at the outer end of the clamping plate 4; when splint 4 is in the vertical direction slip, slide 7 will be along montant 8 vertical slip under the drive of inserted bar 5, through montant 8 and slide 7's sliding fit, be favorable to through the rotation of radial arm 9, drive splint 4 and slide along the vertical direction. When the clamping plate 4 moves transversely relative to the frame 2, the plunger 5 fixed to the clamping plate 4 will slide along the slide 7.
Specifically, as shown in fig. 3-5, the transmission member includes a U-shaped frame 10 fixedly arranged at the outer end of the radial arm 9, a U-shaped frame 18 slidably connected in the U-shaped frame 10, and a pressing assembly for driving the U-shaped frame 18 to slide, wherein a hack lever 31 penetrating through the radial arm 9 is fixedly arranged at the inner end of the U-shaped frame 18, and the hack lever 31 is rotatably connected with the second slide block 19; the pressing assembly controls the U-shaped frame 18 to drive the second sliding block 19 to move transversely through the hack lever 31, so that clamping or loosening of the clamping plate 4 to the container is realized.
The pressing assembly comprises a sliding rod 11 fixedly arranged in a U-shaped frame 18, a first sliding block 13 sleeved on the outer side of the sliding rod 11 in a sliding manner, and a combined piece pushing the first sliding block 13 to move upwards, a compression spring 12 pressing the first sliding block 13 downwards is sleeved on the outer side of the sliding rod 11, a supporting rod 14 is fixedly arranged at the side end of the first sliding block 13, and a strip-shaped groove 1801 matched with the supporting rod 14 to slide is formed in the U-shaped frame 18; when the first slider 13 moves relative to the U-shaped frame 10 under the action of the push plate 20 or the compression spring 12, the strut 14 fixed on the first slider 13 slides along the bar-shaped slot 1801, and the force transmission of the strut 14 to the bar-shaped slot 1801 drives the U-shaped frame 18 to drive the second slider 19 to move transversely relative to the radial arm 9 through the frame rod 31.
The combined piece for pushing the first sliding block 13 to move upwards comprises a push plate 20 vertically arranged on the inner side of the frame sleeve 2 in a sliding manner, a shaft lever 23 rotatably connected in a shell cover 30 and a guide piece for driving the shaft lever 23 to rotate, wherein a transmission arm 24 coaxially fixed with the shaft lever 23 is rotatably connected in the shell cover 30, the free end of the transmission arm 24 is rotatably connected with a connecting frame 25 penetrating through the frame sleeve 2, and the connecting frame 25 is fixed with the push plate 20; when the transverse plate 26 moves transversely relative to the housing 30, the shaft 23 will rotate under the action of the guide, and at this time, the push plate 20 will slide in the vertical direction under the action of the transmission arm 24; the transmission arm 24 is formed by rotationally connecting two equal-length arm rods, one arm rod is fixed with the shaft lever 23, and the other arm rod is fixed with the connecting frame 25.
The guide piece comprises a sliding sleeve 27 which is sleeved on the outer side of the shaft rod 23 in a sliding way and is fixed with the transverse plate 26, a protrusion 28 is formed on the inner wall of the sliding sleeve 27, and a spiral sliding rail 2301 which is matched with the protrusion 28 in a sliding way is formed on the side wall of the shaft rod 23; when the sliding sleeve 27 slides along the shaft 23, the protrusion 28 fixed on the inner wall of the sliding sleeve 27 slides along the spiral slide rail 2301, and the driving arm 24 is driven to rotate and retract by the compression transmission of the protrusion 28 to the spiral slide rail 2301.
Specifically, as shown in fig. 4 and 8, the linkage member includes a rotary disk 21 rotatably connected in a housing 30 and coaxially fixed with a shaft 23, a ratchet 22 is rotatably connected in the housing 30, the ratchet 22 is coaxially fixed with a radial arm 9 through a transverse shaft 6 penetrating through a frame 2, and a ratchet 2101 of the unidirectional ratchet 22 is mounted on the rotary disk 21;
The ratchet 2101 is rotatably connected to the side wall of the rotary disk 21, and a spring for pressing the ratchet 2101 outwards is arranged on the rotary disk 21, when the transverse plate 26 slides to the side far away from the frame sleeve 2, the rotary disk 21 rotates against the clock, and the ratchet 22 keeps a static state relative to the frame sleeve 2; when the cross plate 26 slides against the frame 2, the rotary disk 21 rotates clockwise, and the ratchet 22 drives the rotary arm 9 to rotate through the cross shaft 6 under the meshing action of the ratchet 2101. A bar for limiting the rotation range of the ratchet 2101 should be provided on the rotary plate 21. The ratchet 2101 and the rotary disk 21 are arranged in the prior art.
Specifically, as shown in fig. 2, 6 and 7, the guide member includes a lateral connecting rod 15 fixedly arranged at the outer end of the first slider 13, a spring sleeve 17 is sleeved on the outer side of the lateral connecting rod 15 in a sliding manner, a return spring 16 for acting the spring sleeve 17 outwards is sleeved on the outer side of the lateral connecting rod 15, and a chute 1001 through which the spring sleeve 17 slides is matched is formed in the u-shaped frame 10;
An inner ring groove 201 and an outer ring groove 202 which are matched with the elastic sleeve 17 to slide and two vertical grooves 203 which are communicated with the head end and the tail end of the inner ring groove 201 and the outer ring groove 202 are formed on the inner wall of the frame sleeve 2; the number of the vertical grooves 203 is two, the intersection of the vertical groove 203 positioned above and the outer ring groove 202 forms a step surface, the intersection of the vertical groove 203 positioned above and the inner ring groove 201 forms a step surface, when the elastic sleeve 17 slides upwards away from the inner ring groove 201, the elastic sleeve 17 is sprung into the vertical groove 203 positioned above under the action of the reset spring 16, and when the elastic sleeve 17 slides upwards away from the vertical groove 203 under the action of the push plate 20, the elastic sleeve 17 is sprung into the outer ring groove 202 under the action of the reset spring 16; the intersection of the vertical groove 203 positioned below and the inner ring groove 201 forms a step surface, when the clamping plate 4 slides to the bottom, the first sliding block 13 slides upwards along the sliding rod 11 under the action of the compression spring 12, the elastic sleeve 17 slides upwards along the vertical groove 203 positioned below, and when the elastic sleeve 17 slides out of the vertical groove 203 positioned below, the elastic sleeve 17 is elastically inserted into the inner ring groove 201 under the action of the return spring 16; the end faces of the inner ring groove 201 and the outer ring groove 202 matched with the elastic sleeve 17 in a sliding fit mode are all formed with inclined slope faces for pressing the elastic sleeve 17, so that the elastic sleeve 17 can slide along the side connecting rod 15 under the action of the inclined slope faces when the elastic sleeve 17 slides along the inner ring groove 201 and the outer ring groove 202.
When the push plate 20 slides upwards, the first slide block 13 is driven to slide upwards along the slide rod 11 by the elastic sleeve 17, in the process, the elastic sleeve 17 slides upwards along the vertical groove 203 until the elastic sleeve 17 slides to the junction of the vertical groove 203 and the outer ring groove 202, the elastic sleeve 17 is sprung into the outer ring groove 202 under the pressing action of the return spring 16, after that, the elastic sleeve 17 slides along the outer ring groove 202 along the rotation of the radial arm 9, in the process, the first slide block 13 keeps a static state relative to the U-shaped frame 10, the clamping plate 4 always keeps a clamping state of a container, after the clamping plate 4 slides to the bottom, the elastic sleeve 17 slides to the junction of the vertical groove 203 and the outer ring groove 202, in the process, the first slide block 13 slides upwards along the slide rod 11 under the action of the compression spring 12, the strut 14 fixed on the first slider 13 will drive the clamping plate 4 to slide along with the second slider 19 to lean against the radial arm 9 by the pressing action of the bar-shaped groove 1801, the pressing state of the container is released until the elastic sleeve 17 slides upwards away from the vertical groove 203, the elastic sleeve 17 will spring into the inner ring groove 201 under the action of the reset spring 16, and along with the continued rotation of the radial arm 9, the elastic sleeve 17 will slide along the inner ring groove 201, at this time, the first slider 13 will also keep a relatively static state with the U-shaped frame 10, so that the clamping plate 4 always keeps a separated state with the container when sliding upwards, after the clamping plate 4 slides to the top, the elastic sleeve 17 will spring into the vertical groove 203 above again, and the downward movement and the carrying of the clamping plates 4 to stacked containers one by one are realized by one through controlling the unidirectional rotation of the radial arm 9.
The previous description of the embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (7)
1. The utility model provides a storage goods transport shuttle robot, includes automobile body (1), sets firmly frame cover (2) in automobile body (1) upper end, forms on frame cover (2) cooperation packing box business turn over open slot (204) to and install flexible manipulator (3) inboard at frame cover (2), its characterized in that includes:
two clamping plates (4) for clamping a container are vertically slid on the inner side of the frame sleeve (2), a second sliding block (19) is slidably arranged in the clamping plates (4), two radial arms (9) corresponding to the clamping plates (4) are rotatably connected on the inner side of the frame sleeve (2), and the radial arms (9) and the second sliding block (19) are rotatably arranged;
The outer end of the frame sleeve (2) is fixedly provided with a shell cover (30), a transverse plate (26) horizontally slides in the shell cover (30), a telescopic mechanism (29) is arranged in the shell cover (30) for controlling the transverse plate (26) to horizontally slide, a transmission part and a linkage part are arranged in the frame sleeve (2), when the transverse plate (26) slides away from the frame sleeve (2), the clamping plate (4) clamps a goods under the action of the transmission part, and when the transverse plate (26) slides close to the frame sleeve (2), the clamping plate (4) downwards carries the goods under the action of the linkage part;
The inner side of the frame sleeve (2) is provided with a guide piece, and the rotating arm (9) is used for controlling the clamping plate (4) to keep a clamping state of goods through the guide piece when rotating;
The transmission piece comprises a U-shaped frame (10) fixedly arranged at the outer end of the radial arm (9), a U-shaped frame (18) in the U-shaped frame (10) in a sliding manner, and a pressing assembly for driving the U-shaped frame (18) to slide, wherein a hack lever (31) penetrating through the radial arm (9) is fixedly arranged at the inner end of the U-shaped frame (18), and the hack lever (31) is rotationally connected with the second sliding block (19);
The linkage piece comprises a rotary disc (21) which is rotatably connected in a shell cover (30) and is coaxially fixed with a shaft lever (23), a ratchet wheel (22) is rotatably connected in the shell cover (30), the ratchet wheel (22) is coaxially fixed with a rotary arm (9) through a transverse shaft (6) penetrating through a frame sleeve (2), and a ratchet (2101) of the unidirectional ratchet wheel (22) is arranged on the rotary disc (21).
2. The storage cargo handling shuttle robot according to claim 1, wherein a vertical rod (8) is fixedly arranged in the frame sleeve (2) through a support, a sliding seat (7) is sleeved on the outer side of the vertical rod (8) in a sliding manner, and a plug rod (5) which is slidably inserted into the sliding seat (7) is fixedly arranged on the outer end of the clamping plate (4).
3. The warehouse cargo handling shuttle robot according to claim 1, wherein the pressing assembly comprises a sliding rod (11) fixedly arranged in a U-shaped frame (18), a first sliding block (13) sleeved on the outer side of the sliding rod (11) in a sliding manner, and a closing member pushing the first sliding block (13) to move upwards, a compression spring (12) pressing the first sliding block (13) downwards is sleeved on the outer side of the sliding rod (11), a supporting rod (14) is fixedly arranged at the side end of the first sliding block (13), and a bar-shaped groove (1801) matched with the supporting rod (14) in a sliding manner is formed in the U-shaped frame (18).
4. A warehouse cargo handling shuttle robot as claimed in claim 3, characterized in that the means for pushing the first slider (13) to move upward comprises a push plate (20) disposed inside the frame (2) in a vertically sliding manner, a shaft (23) rotatably connected to the housing (30), and a guide member for driving the shaft (23) to rotate, wherein a driving arm (24) coaxially fixed to the shaft (23) is rotatably connected to the housing (30), and a connecting frame (25) penetrating the frame (2) is rotatably connected to a free end of the driving arm (24), and the connecting frame (25) is fixed to the push plate (20).
5. The warehouse cargo handling shuttle robot as claimed in claim 4, wherein the guide comprises a sliding sleeve (27) slidably sleeved on the outer side of the shaft (23) and fixed to the cross plate (26), a protrusion (28) is formed on an inner wall of the sliding sleeve (27), and a spiral slide rail (2301) for sliding in cooperation with the protrusion (28) is formed on a side wall of the shaft (23).
6. The warehouse cargo handling shuttle robot as claimed in claim 1, wherein the guide member comprises a lateral connecting rod (15) fixedly arranged at the outer end of the first slider (13), a spring sleeve (17) is sleeved on the outer side of the lateral connecting rod (15), a return spring (16) for acting the spring sleeve (17) outwards is sleeved on the outer side of the lateral connecting rod (15), and a sliding groove (1001) through which the spring sleeve (17) is matched is formed in the U-shaped frame (10).
7. The storage cargo handling shuttle robot according to claim 6, wherein an inner ring groove (201) and an outer ring groove (202) which are matched with the elastic sleeve (17) to slide and two vertical grooves (203) which are communicated with the inner ring groove (201) and the outer ring groove (202) at the head end and the tail end are formed on the inner wall of the frame sleeve (2).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410054422.0A CN117566308B (en) | 2024-01-15 | 2024-01-15 | Warehouse cargo handling shuttle robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410054422.0A CN117566308B (en) | 2024-01-15 | 2024-01-15 | Warehouse cargo handling shuttle robot |
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| Publication Number | Publication Date |
|---|---|
| CN117566308A CN117566308A (en) | 2024-02-20 |
| CN117566308B true CN117566308B (en) | 2024-05-31 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202410054422.0A Active CN117566308B (en) | 2024-01-15 | 2024-01-15 | Warehouse cargo handling shuttle robot |
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Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN204355308U (en) * | 2014-12-30 | 2015-05-27 | 武汉市美奇斯机械设备有限公司 | A kind of spiral arm carries out top wrapping machine |
| CN104944151A (en) * | 2015-06-29 | 2015-09-30 | 广州大学 | Forking and clamping goods storing and taking device for AGV |
| CN206344127U (en) * | 2016-12-05 | 2017-07-21 | 顺丰科技有限公司 | Robot |
| CN206735348U (en) * | 2017-04-24 | 2017-12-12 | 浙江美佳尼自动化设备有限公司 | Semi-finished product light-emitting wheel automatic conveying device for light-emitting wheel assembly line |
| CN113086558A (en) * | 2021-04-02 | 2021-07-09 | 青岛万龙智控科技有限公司 | Motorcycle tire assembly unstacking and conveying method |
| CN216945158U (en) * | 2021-12-24 | 2022-07-12 | 深圳市海柔创新科技有限公司 | Clamping mechanism, goods taking device and transfer robot |
| CN115448044A (en) * | 2022-10-12 | 2022-12-09 | 广东华中科技大学工业技术研究院 | Tray dish feeding device |
| CN116216149A (en) * | 2023-03-01 | 2023-06-06 | 滁州博瑞思智能科技有限公司 | Goods taking device and method of intelligent storage equipment |
| CN116923936A (en) * | 2023-08-07 | 2023-10-24 | 上饶市金福物流有限公司 | Stacking device for warehouse logistics |
-
2024
- 2024-01-15 CN CN202410054422.0A patent/CN117566308B/en active Active
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN204355308U (en) * | 2014-12-30 | 2015-05-27 | 武汉市美奇斯机械设备有限公司 | A kind of spiral arm carries out top wrapping machine |
| CN104944151A (en) * | 2015-06-29 | 2015-09-30 | 广州大学 | Forking and clamping goods storing and taking device for AGV |
| CN206344127U (en) * | 2016-12-05 | 2017-07-21 | 顺丰科技有限公司 | Robot |
| CN206735348U (en) * | 2017-04-24 | 2017-12-12 | 浙江美佳尼自动化设备有限公司 | Semi-finished product light-emitting wheel automatic conveying device for light-emitting wheel assembly line |
| CN113086558A (en) * | 2021-04-02 | 2021-07-09 | 青岛万龙智控科技有限公司 | Motorcycle tire assembly unstacking and conveying method |
| CN216945158U (en) * | 2021-12-24 | 2022-07-12 | 深圳市海柔创新科技有限公司 | Clamping mechanism, goods taking device and transfer robot |
| CN115448044A (en) * | 2022-10-12 | 2022-12-09 | 广东华中科技大学工业技术研究院 | Tray dish feeding device |
| CN116216149A (en) * | 2023-03-01 | 2023-06-06 | 滁州博瑞思智能科技有限公司 | Goods taking device and method of intelligent storage equipment |
| CN116923936A (en) * | 2023-08-07 | 2023-10-24 | 上饶市金福物流有限公司 | Stacking device for warehouse logistics |
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| CN117566308A (en) | 2024-02-20 |
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