CN118145217A - Agv intelligent storage climbing robot - Google Patents
Agv intelligent storage climbing robot Download PDFInfo
- Publication number
- CN118145217A CN118145217A CN202410406808.3A CN202410406808A CN118145217A CN 118145217 A CN118145217 A CN 118145217A CN 202410406808 A CN202410406808 A CN 202410406808A CN 118145217 A CN118145217 A CN 118145217A
- Authority
- CN
- China
- Prior art keywords
- robot
- climbing
- electric cylinder
- telescopic
- output end
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 230000009194 climbing Effects 0.000 title claims abstract description 51
- 241000209140 Triticum Species 0.000 claims abstract description 31
- 235000021307 Triticum Nutrition 0.000 claims abstract description 31
- 238000012546 transfer Methods 0.000 claims abstract description 17
- 230000007246 mechanism Effects 0.000 claims abstract description 10
- 210000000078 claw Anatomy 0.000 claims abstract description 9
- 239000003638 chemical reducing agent Substances 0.000 claims description 20
- 239000006096 absorbing agent Substances 0.000 claims description 14
- 230000035939 shock Effects 0.000 claims description 14
- 230000001360 synchronised effect Effects 0.000 claims description 8
- 230000005540 biological transmission Effects 0.000 claims description 3
- 239000000725 suspension Substances 0.000 claims description 3
- 230000006870 function Effects 0.000 description 6
- 238000000034 method Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 2
- 238000007726 management method Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000013135 deep learning Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000004927 fusion Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Landscapes
- Warehouses Or Storage Devices (AREA)
- Manipulator (AREA)
Abstract
The invention relates to a agv intelligent warehousing climbing robot, and relates to the technical field of warehousing robots. The wheat wheel agv trolley comprises a carrying robot and a wheat wheel agv trolley, wherein the carrying robot is placed at the top end of the wheat wheel agv trolley; the transfer robot comprises a robot frame body, electric cylinder systems and a telescopic system, wherein the two electric cylinder systems are symmetrically and fixedly arranged at two ends of the robot frame body, and the output end of each electric cylinder system is provided with a traveling mechanism for climbing on a goods shelf; the two telescopic systems are symmetrically and fixedly arranged on two sides of the robot frame body, and hook claws are arranged on the telescopic systems and used for grabbing the target box body. The invention adopts the gear rack to climb, greatly reduces the volume of equipment while reducing the cost of the machine, has no limit on the climbing height, can be used for heavy large-scale high-level shelves, solves the problem of the limitation on the goods taking height, improves the utilization rate of warehouse space and improves the efficiency of warehouse entry, goods taking and warehouse exit.
Description
Technical Field
The invention relates to the technical field of storage robots, in particular to a agv intelligent storage climbing robot.
Background
The research of the storage robots in China is started later, most of the existing agv robots are of lifting type and forklift type, the size is large, the goods taking height is limited, the existing logistics warehouse system cannot be adapted, and when the occupied space of a warehouse is limited, a goods shelf cannot be heightened to obtain a larger storage space. And traditional agv robots often only have a goods taking function, and other personnel or equipment are often required to finish placing goods at the appointed position of the appointed goods shelf.
Therefore, how to provide agv intelligent storage climbing robot becomes the technical problem that the skilled person needs to solve urgently.
Disclosure of Invention
Aiming at the defects of the existing test equipment, the invention provides the agv intelligent storage climbing robot, which adopts a gear rack to climb, so that the equipment volume is greatly reduced while the cost of the machine is reduced, the climbing elevation is not limited, the intelligent storage climbing robot can be used for a heavy large-scale high-level goods shelf, the problem of goods taking height limitation is solved, the utilization rate of warehouse space is improved, and the warehouse entry, goods taking and warehouse exit efficiency is improved.
To achieve the above object, the present invention provides agv intelligent warehouse climbing robot, comprising: a transfer robot and a wheat wheel agv trolley, wherein the transfer robot is placed at the top end of the wheat wheel agv trolley; the transfer robot comprises a robot frame body, an electric cylinder system and a telescopic system, wherein the two electric cylinder systems are symmetrically and fixedly arranged at two ends of the robot frame body, and the output end of the electric cylinder system is provided with a travelling mechanism for climbing on a goods shelf; the two telescopic systems are symmetrically and fixedly arranged at two sides of the robot frame body, and hook claws are arranged on the telescopic systems and used for grabbing a target box body;
The electric cylinder system comprises an electric cylinder, a connecting rod and a fixed plate; the electric cylinder is fixedly arranged on the robot frame body, one end of the connecting rod is connected with the output end of the electric cylinder, the other end of the connecting rod is connected with the fixing plate, and travelling mechanisms are arranged on two sides of the fixing plate;
The travelling mechanism comprises a climbing motor, a planetary reducer and a climbing gear, wherein the climbing motor is fixedly arranged on the fixed plate, the input end of the planetary reducer is connected with the output end of the climbing motor, and the output end of the planetary reducer is connected with the climbing gear.
Further, the electric cylinder system further comprises a hydraulic shock absorber, the hydraulic shock absorber is fixed on the robot frame body, and the output end of the hydraulic shock absorber is connected with the fixing plate.
Further, the telescopic system comprises a driving assembly, a sliding rail and a telescopic sliding block, wherein the sliding rail is arranged on the robot frame body, the telescopic sliding block is in sliding connection with the sliding rail, two sides of the bottom end of the telescopic sliding block are respectively connected with a hook claw, the driving assembly is fixedly arranged on the robot frame body, and the output end of the driving assembly is in sliding connection with the telescopic sliding block.
Further, the drive assembly includes driving motor, speed reducer, drive gear, driven gear, band pulley and double-sided gear hold-in range, driving motor fixed mounting is in on the robot support body, the input of speed reducer with driving motor's output, the output of speed reducer with drive gear links to each other, driven gear with the band pulley sets up coaxially, drive gear with driven gear meshes mutually, double-sided gear hold-in range twines on the band pulley, be provided with the rack on the flexible slider, double-sided gear hold-in range with the rack meshes mutually.
Further, the wheat wheel agv trolley comprises a trolley body, a wheat wheel motor, a Mecanum wheel and a negative pressure shock absorber, wherein the wheat wheel motor is installed on the trolley body, the output end of the wheat wheel motor is in transmission connection with the Mecanum wheel, and the negative pressure shock absorber is installed on a suspension of the trolley body.
Further, the two-dimensional code sensor facing the ground is arranged on the vehicle body and used for scanning the two-dimensional code attached to the ground to realize positioning.
Furthermore, two infrared obstacle avoidance sensors are respectively arranged at the front part and the rear part of the vehicle body, and a camera is arranged in front of the vehicle body and used for assisting in positioning.
The invention has the beneficial effects that:
The invention adopts the rack and pinion climbing, greatly reduces the volume of equipment while reducing the cost of the machine, has no limit on the climbing height, can be used for heavy large-scale high-level shelves, solves the problem of the limitation on the goods taking height, improves the utilization rate of warehouse space, improves the efficiency of warehouse entry, goods taking and warehouse exit, and solves the problem that the robot cannot turn due to too narrow passageway in some warehouses; the robot can be used bidirectionally, so that the function of taking goods is realized, and the function of conveying the goods to a goods shelf is also realized.
Drawings
FIG. 1 is a schematic diagram of the structure of the present invention;
FIG. 2 is a schematic view of another view of the present invention;
fig. 3 is a schematic perspective view of a transfer robot according to the present invention;
fig. 4 is a front view of the transfer robot of the present invention;
FIG. 5 is a top view of the transfer robot of the present invention;
FIG. 6 is a schematic view of the wheat wheel agv cart of the present invention;
FIG. 7 is a state diagram of the use of the present invention;
Fig. 8 is a front view of fig. 7.
Wherein, in the figure:
1-a handling robot; 2-wheat wheel agv trolley; 3-a robot frame; 4-electric cylinder system; 5-telescoping systems; 6-hooking claws; 7-a goods shelf; 41-electric cylinder; 42-connecting rods; 43-fixing plate; 44-hydraulic shock absorber; 45-climbing a motor; 46-a planetary reducer; 47-climbing gears; 51-sliding rails; 52-a telescopic slide block; 53-driving a motor; 54-speed reducer; 55-driving gear; 56-driven gear; 57-pulleys; 58-a double-sided gear synchronous belt; 21-a vehicle body; 22-wheat wheel motor; 23-Mecanum wheel; 24-negative pressure shock absorber; 25-an infrared obstacle avoidance sensor; 26-a camera; 27-two-dimensional code sensor.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely, and it is apparent that the described embodiments 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.
It should be noted that the terms "first," "second," and the like in the description and the claims of the present application and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate in order to describe the embodiments of the application herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
In the present application, the terms "upper", "lower", "left", "right", "front", "rear", "top", "bottom", "inner", "outer", "middle", "vertical", "horizontal", "lateral", "longitudinal" and the like indicate an azimuth or a positional relationship based on that shown in the drawings. These terms are only used to better describe the present application and its embodiments and are not intended to limit the scope of the indicated devices, elements or components to the particular orientations or to configure and operate in the particular orientations.
Also, some of the terms described above may be used to indicate other meanings in addition to orientation or positional relationships, for example, the term "upper" may also be used to indicate some sort of attachment or connection in some cases. The specific meaning of these terms in the present application will be understood by those of ordinary skill in the art according to the specific circumstances.
Furthermore, the terms "mounted," "configured," "provided," "connected," "coupled," and "sleeved" are to be construed broadly. For example, it may be a fixed connection, a removable connection, or a unitary construction; may be a mechanical connection, or an electrical connection; may be directly connected, or indirectly connected through intervening media, or may be in internal communication between two devices, elements, or components. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art according to the specific circumstances.
As shown in fig. 1-8, the present invention provides agv an intelligent warehouse climbing robot, comprising: a transfer robot 1 and a wheat wheel agv trolley 2, wherein the transfer robot 1 is placed at the top end of the wheat wheel agv trolley 2; the transfer robot 1 comprises a robot frame body 3, an electric cylinder system 4 and a telescopic system 5, wherein the two electric cylinder systems 4 are symmetrically and fixedly arranged at two ends of the robot frame body 3, and the output end of the electric cylinder system 4 is provided with a traveling mechanism 6 for climbing on a goods shelf 7; the two telescopic systems 5 are symmetrically and fixedly arranged at two sides of the robot frame body 3, and the telescopic systems 5 are provided with hook claws 6 for grabbing a target box body.
The electric cylinder system 4 comprises an electric cylinder 41, a connecting rod 42 and a fixing plate 43; the electric cylinder 41 is fixedly installed on the robot frame body 3, one end of the connecting rod 42 is connected with the output end of the electric cylinder 41, the other end of the connecting rod is connected with the fixing plate 43, and travelling mechanisms are installed on two sides of the fixing plate 43. The electric cylinder system 4 further comprises a hydraulic damper 44, the hydraulic damper 44 is fixed on the robot frame 41, and an output end of the hydraulic damper 44 is connected with the fixing plate 43.
The travelling mechanism comprises a climbing motor 45, a planetary reducer 46 and a climbing gear 47, wherein the climbing motor 45 is fixedly installed on the fixed plate 43, the input end of the planetary reducer 46 is connected with the output end of the climbing motor 45, and the output end of the planetary reducer 46 is connected with the climbing gear 47.
The telescopic system 5 comprises a driving assembly, a sliding rail 51 and a telescopic sliding block 52, wherein the sliding rail 51 is arranged on the robot frame body 3, the telescopic sliding block 52 is slidably connected in the sliding rail 51, two sides of the bottom end of the telescopic sliding block 52 are respectively connected with a hook claw 6, the driving assembly is fixedly arranged on the robot frame body 3, and the output end of the driving assembly is slidably connected with the telescopic sliding block 52.
The driving assembly comprises a driving motor 53, a speed reducer 54, a driving gear 55, a driven gear 56, a belt wheel 57 and a double-sided gear synchronous belt 58, wherein the driving motor 53 is fixedly installed on the robot frame body 3, the input end of the speed reducer 54 is connected with the output end of the driving motor 53, the output end of the speed reducer 54 is connected with the driving gear 55, the driven gear 56 and the belt wheel 57 are coaxially arranged, the driving gear 55 is meshed with the driven gear 56, the double-sided gear synchronous belt 58 is wound on the belt wheel 57, a rack is arranged on the telescopic sliding block 52, and the double-sided gear synchronous belt 58 is meshed with the rack.
The wheat wheel agv trolley 2 comprises a trolley body 21, a wheat wheel motor 22, a Mecanum wheel 23 and a negative pressure shock absorber 24, wherein the wheat wheel motor 22 is installed on the trolley body 21, the output end of the wheat wheel motor 22 is in transmission connection with the Mecanum wheel 23, and the negative pressure shock absorber 24 is installed on a suspension of the trolley body 21. The two-dimensional code sensor 27 facing the ground is mounted on the vehicle body 21 and is used for scanning the two-dimensional code attached to the ground to realize positioning. Two infrared obstacle avoidance sensors 25 are respectively arranged at the front and the rear of the vehicle body, and a camera 26 is arranged in front of the vehicle body and used for assisting in positioning.
The invention adopts the rack and pinion climbing, greatly reduces the volume of equipment while reducing the cost of the machine, has no limit on the climbing height, can be used for heavy large-scale high-level shelves, solves the problem of the limitation on the goods taking height, improves the utilization rate of warehouse space, improves the efficiency of warehouse entry, goods taking and warehouse exit, and solves the problem that the robot cannot turn due to too narrow passageway in some warehouses; the robot can be used bidirectionally, so that the function of taking goods is realized, and the function of conveying the goods to a goods shelf is also realized.
The invention can be applied to shelves with various heights, has higher precision, simple operation, convenient maintenance and omnibearing movement, and theoretically, the height of the shelf is not limited (the traditional storage robot only supports 2m shelves). By matching with the vision path planning and the deep learning algorithm, a plurality of robots can work simultaneously to realize intelligent access and transportation, and manual operation is replaced. Meanwhile, a visual panel and intelligent storage software are provided, so that warehouse staff and management staff can operate in real time, the state of the transfer robot is tracked, the goods position is searched, and informationized management is realized.
According to the invention, the climbing gear of the transfer robot is meshed with the rack of the goods shelf to enable the transfer robot to climb to the height of the target container, and a fork truck or a lifting device with high height is not required to be arranged on the wheat wheel agv trolley, so that the climbing height of the transfer robot is not limited, the use cost of materials is greatly saved, and the volume of the avg trolley is greatly reduced.
The wheat wheel agv trolley of the storage robot adopts the characteristic that the Mecanum wheel has omnidirectional movement, the omnidirectional movement of the wheat wheel agv trolley in the warehouse is realized by controlling the rotation speed of the Mecanum wheel, and the vehicle can turn more flexibly in the warehouse with limited plane area space. Compared with the traditional sucker type clamping device, the carrying robot can not only pick up goods, but also carry the goods placed on the wheat wheel agv trolley to the appointed position of the goods shelf, thereby achieving the functions of picking up goods and warehousing.
The agv trolley disclosed by the invention adopts a two-dimensional code and camera fusion mode to track and position the robot so as to improve the positioning accuracy.
The working principle of the invention is as follows:
firstly, a cargo number is input through a computer of a control console, a wheat wheel agc trolley receives an instruction through an upper computer to execute a preset program, a two-dimensional code arranged on the ground is scanned to reach a designated goods shelf, when the wheat wheel agv trolley moves below a target goods shelf, an electric cylinder installed on a storage climbing robot operates to push a climbing gear to a rack installed on a goods shelf support to be meshed with the rack, and after the meshing is completed, a climbing motor starts to work to enable the storage climbing robot to climb to the goods shelf with the height of the target goods shelf number. At this time, under the drive of a driving motor of the telescopic system, the belt wheel rotates, the double-sided gear synchronous belt drives the telescopic sliding block to extend out and move to the upper side of the target box body, and at this time, the claw arranged on the telescopic sliding block hooks the convex edge of the container, so that the goods are pulled to the goods taking robot to recycle the goods. At this time, the wheat wheel agv trolley moves forward so that the pick robot falls down to the unloading area. After the telescopic system is reset, the climbing motor driving the climbing gear is reversed, and the robot places the goods behind the wheat wheel agv trolley (unloading area). And then the storage climbing robot continuously takes the goods of the goods shelf according to the instruction, or the wheat wheel agv trolley moves backwards, and the storage climbing robot falls back to the trolley.
The foregoing description is only of the preferred embodiments of the present invention and is not intended to limit the technical scope of the present invention, so that any minor modifications, equivalent changes and modifications made to the above embodiments according to the technical principles of the present invention still fall within the scope of the technical solutions of the present invention.
Claims (7)
1. Agv intelligent storage climbing robot, its characterized in that includes: a transfer robot and a wheat wheel agv trolley, wherein the transfer robot is placed at the top end of the wheat wheel agv trolley; the transfer robot comprises a robot frame body, an electric cylinder system and a telescopic system, wherein the two electric cylinder systems are symmetrically and fixedly arranged at two ends of the robot frame body, and the output end of the electric cylinder system is provided with a travelling mechanism for climbing on a goods shelf; the two telescopic systems are symmetrically and fixedly arranged at two sides of the robot frame body, and hook claws are arranged on the telescopic systems and used for grabbing a target box body;
The electric cylinder system comprises an electric cylinder, a connecting rod and a fixed plate; the electric cylinder is fixedly arranged on the robot frame body, one end of the connecting rod is connected with the output end of the electric cylinder, the other end of the connecting rod is connected with the fixing plate, and travelling mechanisms are arranged on two sides of the fixing plate;
The travelling mechanism comprises a climbing motor, a planetary reducer and a climbing gear, wherein the climbing motor is fixedly arranged on the fixed plate, the input end of the planetary reducer is connected with the output end of the climbing motor, and the output end of the planetary reducer is connected with the climbing gear.
2. The agv intelligent warehouse climbing robot of claim 1, wherein the electric cylinder system further comprises a hydraulic shock absorber, the hydraulic shock absorber is fixed on the robot frame, and an output end of the hydraulic shock absorber is connected with the fixed plate.
3. The agv intelligent warehousing climbing robot according to claim 2, wherein the telescopic system comprises a driving assembly, a sliding rail and a telescopic sliding block, the sliding rail is installed on the robot frame body, the telescopic sliding block is slidably connected in the sliding rail, two sides of the bottom end of the telescopic sliding block are connected with hook claws, the driving assembly is fixedly installed on the robot frame body, and the output end of the driving assembly is slidably connected with the telescopic sliding block.
4. The agv intelligent storage climbing robot of claim 3, wherein the driving assembly comprises a driving motor, a speed reducer, a driving gear, a driven gear, a belt wheel and a double-sided gear synchronous belt, the driving motor is fixedly arranged on the robot frame body, the input end of the speed reducer is connected with the output end of the driving motor, the output end of the speed reducer is connected with the driving gear, the driven gear and the belt wheel are coaxially arranged, the driving gear is meshed with the driven gear, the double-sided gear synchronous belt is wound on the belt wheel, a rack is arranged on the telescopic sliding block, and the double-sided gear synchronous belt is meshed with the rack.
5. The agv intelligent warehouse climbing robot of claim 1, wherein the wheat wheel agv trolley comprises a trolley body, a wheat wheel motor, a Mecanum wheel and a negative pressure shock absorber, wherein the wheat wheel motor is arranged on the trolley body, the output end of the wheat wheel motor is in transmission connection with the Mecanum wheel, and the negative pressure shock absorber is arranged on a suspension of the trolley body.
6. The agv intelligent warehousing climbing robot according to claim 5, wherein the two-dimensional code sensor facing the ground is installed on the vehicle body and used for scanning a two-dimensional code attached to the ground to realize positioning.
7. The agv intelligent warehouse climbing robot as set forth in claim 6, wherein two infrared obstacle avoidance sensors are respectively installed at the front and rear parts of the vehicle body, and a camera is installed at the front for assisting in positioning.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410406808.3A CN118145217A (en) | 2024-04-03 | 2024-04-03 | Agv intelligent storage climbing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410406808.3A CN118145217A (en) | 2024-04-03 | 2024-04-03 | Agv intelligent storage climbing robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN118145217A true CN118145217A (en) | 2024-06-07 |
Family
ID=91296747
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202410406808.3A Pending CN118145217A (en) | 2024-04-03 | 2024-04-03 | Agv intelligent storage climbing robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN118145217A (en) |
-
2024
- 2024-04-03 CN CN202410406808.3A patent/CN118145217A/en active Pending
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111620024B (en) | Transfer robot, container taking method and container placing method | |
| CN212221331U (en) | Transfer robot and warehouse logistics system | |
| WO2021227551A1 (en) | Transport robot, box retrieval method, cargo box loading method, and warehouse logistics system | |
| WO2020135460A1 (en) | Transfer robot, warehouse logistics system and article transferring method | |
| CA3066261C (en) | Automated loading of delivery vehicles using automated guided vehicles | |
| US10676279B1 (en) | Systems, methods, and storage units for article transport and storage | |
| CN110194341B (en) | Transfer robot and warehouse system | |
| CN205087427U (en) | Industrial robot automated storage system | |
| CN212923034U (en) | Transfer robot and warehouse logistics system | |
| CN111605958A (en) | Transfer robot and warehouse logistics system | |
| US20230062304A1 (en) | Systems, methods, and storage units for article transport and storage | |
| CN218087756U (en) | Transfer robot and sorting system | |
| CN111731746B (en) | Transfer robot and warehouse logistics system | |
| CN113443585A (en) | Stacking robot | |
| CN111703798A (en) | Carrying robot, box taking method, cargo loading method of cargo box and storage logistics system | |
| WO2024021789A1 (en) | Warehousing system and control method | |
| CN114798453B (en) | Full-automatic intelligent storage logistics transportation trolley | |
| US20240025058A1 (en) | Robotic apparatuses, systems, and methods for moving objects | |
| CN113460846B (en) | Tower crane type logistics express delivery transportation robot and control method thereof | |
| CN212244828U (en) | Transfer robot and warehouse logistics system | |
| CN211920788U (en) | L-shaped transportation robot | |
| CN118145217A (en) | Agv intelligent storage climbing robot | |
| CN115571537B (en) | Long rod piece electric power material self-loading and unloading robot and self-loading and unloading system | |
| CN115231175B (en) | Intelligent innovation vertical warehouse collecting and distributing transfer system for fast freight yard | |
| CN112573060B (en) | Transfer robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination |