CN211664652U - Material box carrying system using lifting robot - Google Patents
Material box carrying system using lifting robot Download PDFInfo
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- CN211664652U CN211664652U CN201921544252.5U CN201921544252U CN211664652U CN 211664652 U CN211664652 U CN 211664652U CN 201921544252 U CN201921544252 U CN 201921544252U CN 211664652 U CN211664652 U CN 211664652U
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Abstract
The utility model provides a material box carrying system using a lifting robot, which comprises a dispatching system, a task management system, a robot and a lifting device; the scheduling system is connected with the task management system and plans a traveling route of the robot; the lifting equipment is controlled by a dispatching system to lift, bear and transport the robot; the robot comprises a bottom plate, a mounting plate and a fork rod lifting frame, the fork rod lifting frame is connected with the bottom plate and the mounting plate in a sliding mode through the matching of a slide way and a slide rail, and a forking mechanism is arranged above the mounting plate; the utility model has the advantages that: the height of the carrying robot can be adjusted, and the lifting mechanism is lowered to the lowest position by moving with load, so that the gravity center of the robot is closer to the ground, and the robot can move at a higher speed; when passing through a space with limited longitudinal height, the robot can pass through the space smoothly, and the space adaptability is better; the lifting mechanism can be lowered to the lowest position during transportation, installation or maintenance of equipment, and manual operation is facilitated.
Description
Technical Field
The utility model relates to a handling device field especially relates to an use workbin handling system of liftable robot.
Background
The existing work bin carrying method is that a fixed frame is arranged on a robot body, a work bin taking and placing device, a chain, a gear and other structural members are arranged in the frame, and the work bin taking and placing device is lifted and lowered by using a transmission part such as the chain, the gear and the like in the frame.
Above-mentioned technical scheme's characteristics are that lifting frame's height always is higher than the highest point of getting the goods, if the height of depositing of goods is very high, will lead to the automobile body height also very high, the shortcoming that from this brings is:
1. the moving speed is slow: the high frame can cause the center of gravity of the robot to be higher, and the robot can not move at a higher speed when needing to keep the center of gravity stable during moving, thereby affecting the efficiency;
2. the application sites are limited: too high a robot height may result in the robot not being able to access locations with less longitudinal space, such as elevators, low doors, etc.
3. The transportation, installation and maintenance are inconvenient: the robot is too high and needs to occupy a lot of spaces when transporting, and not only the freight is expensive, the transportation is also inconvenient. In addition, the robot needs to be matched with hoisting equipment during installation. When equipment at the high position of the robot fails, extra equipment is needed to lift the robot to the high position for maintenance.
SUMMERY OF THE UTILITY MODEL
The utility model aims at providing an use workbin handling system of liftable robot.
In order to realize the purpose, the technical scheme of the utility model is that:
a workbin handling system using a lifting robot is characterized by comprising: the system comprises a scheduling system, a task management system, a robot and lifting equipment;
the scheduling system is connected with the task management system and plans a traveling route of the robot;
the lifting equipment is controlled by a dispatching system to lift, bear and transport the robot;
the upper end of the robot is provided with a forking mechanism, a fork rod lifting frame is arranged in the robot, and the height of the fork rod lifting frame is adjusted to change the height of the robot; when the robot takes and puts goods, the fork rod lifting frame is heightened; when the robot walks with goods and enters and exits the lifting equipment, the fork rod lifting frame is lowered.
Further, the robot includes bottom plate and mounting panel, the fork arm crane is installed between bottom plate and mounting panel, the fork arm crane passes through the cooperation sliding connection of slide and slide rail with bottom plate and mounting panel, the top of mounting panel is equipped with the fork and gets the mechanism.
Further, the upper end of bottom plate is equipped with the motor, the both sides of motor set gradually double-end lead screw and lower rail, motor drive double-end lead screw is rotatory, is equipped with the nut slider between adjacent double-end lead screw and the lower rail, the nut slider slides along the lower rail under double-end lead screw rotary drive, the lower extreme of mounting panel is equipped with the upper guideway, and the upper guideway outside cup joints the upper block, the upper and lower both ends of fork arm crane are articulated with upper block and nut slider respectively.
Furthermore, the upper end of each nut sliding block and the lower end of each upper sliding block are respectively provided with a connecting piece in a protruding mode, and the upper end and the lower end of the fork rod lifting frame are hinged to the connecting pieces.
Furthermore, a gear is respectively arranged at two ends of a main shaft of the motor, and the rotation of the main shaft of the motor is transmitted to the double-head screw rod through the gear, so that the double-head screw rod is driven to rotate.
Further, the double-end screw rod drives the two nut sliding blocks to slide on the lower guide rail in the opposite directions in an equivalent manner in a rotating manner.
Further, a pair of screw rod seats is fixedly arranged at the upper end of the bottom plate, the double-end screw rod penetrates through the screw rod seats from front to back, and the screw rod seats are used for fixing and keeping the double-end screw rod horizontal.
Further, the lower extreme of mounting panel is equipped with a pair of centering mechanism seat, centering mechanism seat perpendicular to mounting panel setting, centering mechanism seat is located between two upper rails, centering mechanism seat symmetry sets up the central authorities in the mounting panel left and right sides.
Furthermore, a centering mechanism seat and an upper guide rail on the same side are provided with a centering rotating rod, the middle of the centering rotating rod is hinged with the lower end of the centering mechanism seat, the front end and the rear end of the centering rotating rod are respectively hinged with one end of a centering push-pull rod, and the other end of the centering push-pull rod is hinged with a connecting piece and a fork rod lifting frame.
Further, the fork is got the mechanism and is equipped with two-dimensional code identification camera, two-dimensional code identification camera is connected with dispatch system, two-dimensional code identification camera verifies the information code on the information code of the position of storehouse and the workbin on the goods shelves when getting goods and putting goods.
The utility model has the advantages that: the height of the robot can be adjusted, and the lifting mechanism is lowered to the lowest position by moving with load, so that the gravity center of the robot is closer to the ground, and the robot can move at a higher speed; when the robot passes through a space with limited longitudinal height (such as an elevator, a door and the like), the robot can pass through the space smoothly, and the space adaptability is better; the lifting mechanism can be lowered to the lowest position during transportation, installation or maintenance of equipment, and manual operation is facilitated.
Drawings
FIG. 1 is a block diagram of the overall structure of the present invention;
FIG. 2 is a schematic view of the overall structure of the embodiment;
FIG. 3 is another overall structure diagram of the embodiment;
FIG. 4 is a schematic view of a robot carrying a yoke-type fork structure;
fig. 5 is another schematic view of a robot having a fork arm type fork structure.
Reference numerals:
1 motor, 2 gears, 3 lower guide rails, 4 nuts, slide blocks, 5 double-end screw rods, 6 screw rod seats, 7 fork rod lifting frames
8 centering push-pull rod 9 upper slide block 10 upper guide rail 11 centering mechanism seat 12 centering rotating rod
13 connecting piece 14 bottom plate 15 mounting plate 16 forking mechanism 17 forking slide 18 forking slide 19 forking slide.
Detailed Description
The technical solution of the present invention will be described clearly and completely with reference to the accompanying drawings, and obviously, the described embodiments are some, but not all embodiments of the present invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
Fig. 2 and 3 are schematic structural diagrams of a lifting robot according to an embodiment of the present invention.
As shown in fig. 2, the lifting robot comprises a bottom plate 14 and a mounting plate 15, wherein a motor 1 and two double-head screws 5 are arranged at the upper end of the bottom plate 14, the motor 1 is positioned at the front side of the bottom plate 14, a spindle of the motor 1 is transversely arranged, a gear 2 is respectively arranged at each of the left end and the right end of the spindle, the double-head screws 5 are longitudinally arranged at the left side and the right side of the spindle, the double-head screws 5 are symmetrically arranged, a pair of screw seats 6 is further fixedly arranged at the upper end of the bottom plate 14, the double-head screws 5 penetrate through the screw seats 6 from front to back, two nut sliders 4 are sleeved at the outer side of each double-head screw 5, one end of each nut slider 4 is symmetrically arranged at the front and back of the outer side of the double-head screw 5, the other end of each nut slider 4 slides back and forth along the longitudinally arranged lower guide rail 3, the double-, a fork rod lifting frame 7 is arranged above the nut sliding block 4, and the lower end of the fork rod lifting frame 7 is hinged with the upper end of the nut sliding block 4.
As shown in fig. 3, the lower extreme of mounting panel 15 is equipped with a pair of top rail 10, top rail 10 is located the left and right sides of mounting panel 15, each two top shoe 9 are cup jointed in the outside of top rail 10, the upper end of fork arm crane 7 is articulated with the lower extreme of top shoe 9, the lower extreme of mounting panel 15 still is equipped with a pair of centering mechanism seat 11, centering mechanism seat 11 perpendicular to mounting panel 15 sets up, centering mechanism seat 11 is located between two top rail 10, centering mechanism seat 11 symmetry sets up the central authorities in the mounting panel 15 left and right sides.
The upper end of each nut sliding block 4 and the lower end of each upper sliding block 9 are respectively provided with a connecting piece 13 in a protruding mode, the upper end and the lower end of the fork rod lifting frame 7 are hinged to the connecting pieces 13, and then the fork rod lifting frame 7 can be hinged to the nut sliding blocks 4 and the upper sliding blocks 9.
A centering rotating rod 12 is arranged between the centering mechanism seat 11 and the upper guide rail 10 on the same side, the middle of the centering rotating rod 12 is hinged with the lower end of the centering mechanism seat 11, the front end and the rear end of the centering rotating rod 12 are respectively hinged with one end of a centering push-pull rod 8, the other ends of the centering push-pull rods 8 are hinged with a connecting sheet 13 and a fork rod lifting frame 7, and the end part of the centering push-pull rod 8, the end part of the fork rod lifting frame 7 and the connecting sheet 13 are hinged at one point to form a centering structure of the fork rod lifting frame 7.
As shown in fig. 3, when the centering rotating rod 12 rotates to the vertical direction (parallel to the centering mechanism seat 11), the distance between the outer ends of the two centering push-pull rods 8 is minimum, and at this time, the distance between the two sliding blocks on the same guide rail is minimum, and at this time, the mounting plate 15 cannot move upwards continuously, so that the sliding range of the sliding blocks moving towards each other is limited.
During the concrete implementation, earlier by motor 1 output torque power, transmit double-end lead screw 5 through a pair of gear 2, double-end lead screw 5 is rotatory to drive a pair of nut slider 4 that corresponds, when ascending, two nut slider 4 are along the same speed removal of relative direction, when descending, nut slider 4 is along the same speed removal of distant place direction, because double-end lead screw 5's center is fixed in lead screw seat 6 along the horizontal direction, so nut slider 4 is at central point always when moving, cooperate foretell well centering structure again, make the focus of fork arm crane 7 locked the central authorities of upper and lower two slide rails again, can not lead to the goods to turn on one's side by tilting from beginning to end.
The form of the forking mechanism 16 on the robot is not limited, and may be a fork arm type or a clamp type, and as shown in fig. 3 and 4, is a schematic view of the robot on which the forking mechanism 16 is mounted.
The fork taking mechanism 16 is of a fork arm type structure, the fork taking mechanism 16 comprises a fork taking slide way 17 and a fork taking slide plate 18, and a fork taking slide way 19 matched with the fork taking slide way 17 is arranged at the lower end of the fork taking slide plate 18.
A work bin conveying system using the lifting robot as shown in fig. 1 comprises: the system comprises a scheduling system, a task management system, a robot and lifting equipment;
the dispatching system is connected with the task management system, receives the bin carrying task from the task management system, and is used for searching the available robot, planning the traveling route of the robot, dispatching the lifting of the lifting equipment and checking the information codes of the goods shelves and the bins;
the lifting equipment can be an elevator or a hoisting machine, and the dispatching system controls lifting and is used for bearing and transporting the robot.
The fork-taking mechanism 16 at the upper end of the robot is used for executing the goods taking and placing actions of the material box, and adjusting the height of the fork rod lifting frame 7 to change the height of the robot; when the robot takes and puts goods, the fork rod lifting frame 7 is heightened; when the robot takes the goods to walk and gets in and out of the lifting device, the fork rod lifting frame 7 is lowered, the amplitude of the fork rod lifting frame 7 is not limited, the robot carrying the fork taking mechanism 16 can smoothly get in and out of the lifting device, and the robot does not collide with a door frame of the lifting device.
The forking mechanism 16 is provided with a two-dimension code identification camera which is connected with the dispatching system, and the two-dimension code identification camera verifies the information codes on the storage position information codes and the material box on the goods shelf when taking and putting goods and uploads the information codes to the dispatching system.
In specific implementation, the material box carrying process comprises the following steps:
1. the dispatching system receives the bin carrying task from the task management system and then enters the step 2;
2. the dispatching system searches all robots in a task executable state on the map, if no idle robot exists, the task is suspended, the available robots are waited for, and then the step 3 is carried out;
3. after finding an available robot, the scheduling system plans a route to the starting point for the robot closest to the task starting point. If the robot does not need to enter the elevator or the hoisting machine, the step 4 is carried out, and if the robot needs to enter the elevator or the hoisting machine, the step 5 is carried out;
4. the dispatching system issues a command and a route for moving to a starting point, the robot moves to a task starting point A after receiving the command, the forking mechanism 16 is lifted to the corresponding height of the target material box, and then the step 6 is carried out;
5. the dispatching system issues a command and a route for moving to the door of an elevator or a hoist, the robot receives the command and then moves to a target position and feeds back the command to the dispatching system, the dispatching system dispatches the elevator or the hoist to the floor where the robot is located, the robot enters the elevator or the hoist and then feeds back the state to the dispatching system, the dispatching system dispatches the elevator or the hoist to the floor where a task starting point A is located, then issues the command and the route for moving to a task starting point A to the robot, the robot receives the command and then moves to the task starting point A, and the forking mechanism 16 ascends to the corresponding height of a target bin and then enters step 6;
6. the robot verifies the storage position information codes on the goods shelf and the information codes on the material box through the two-dimensional code recognition camera on the forking mechanism 16, uploads the information codes to the dispatching system, and the dispatching system confirms whether the starting point target is correct or not. Then entering step 7;
7. the system confirms that the target is correct and sends a pick/put command to the robot and the fork mechanism 16 performs the pick/put action. Then step 8 is entered. If the target is wrong, the system reports the error and the task is suspended;
8. after the goods taking and placing actions are finished, the forking mechanism 16 is lowered to the designated height, reports that the dispatching system is ready to move to the end point, and enters step 9;
9. the dispatch system plans a route to a destination. If the robot does not need to enter the elevator or hoisting machine, the step 10 is entered, and if the robot needs to enter the elevator or hoisting machine, the step 11 is entered;
10. the dispatching system issues a command and a route for moving to a destination, the robot moves to a task destination B after receiving the command, the forking mechanism 16 is lifted to a target height, and then the step 12 is carried out;
11. the dispatching system issues a command and a route for moving to the door of an elevator or a hoist, the robot moves to a target position after receiving the command and feeds back the command to the dispatching system, the dispatching system dispatches the elevator or the hoist to the floor where the robot is located, the robot feeds back the state to the dispatching system after entering the elevator or the hoist, the dispatching system dispatches the elevator or the hoist to the floor where a task terminal B is located, then issues the command and the route for moving to the task terminal B to the robot, the robot moves to the task terminal B after receiving the command, the forking mechanism 16 lifts to a target height, and then the step 12 is carried out;
12. the robot verifies the storage position information codes on the goods shelf and the information codes on the material box through the two-dimensional code recognition camera on the forking mechanism 16, uploads the information codes to the dispatching system, and the dispatching system confirms whether the destination target is correct or not. Then proceed to step 13
13. The system confirms that the target is correct and sends a pick/put command to the robot, and the fork pick 16 performs the pick/put action. Step 14 is then entered. If the target is wrong, the system reports the error and the task is suspended;
14. and after the task is completed, the robot waits for the dispatching system to dispatch a new task.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the present invention.
Claims (10)
1. A workbin handling system using a lifting robot is characterized by comprising: the system comprises a scheduling system, a task management system, a robot and lifting equipment;
the scheduling system is connected with the task management system and plans a traveling route of the robot;
the lifting equipment is controlled by a dispatching system to lift, bear and transport the robot;
the upper end of the robot is provided with a forking mechanism, a fork rod lifting frame is arranged in the robot, and the height of the fork rod lifting frame is adjusted to change the height of the robot; when the robot takes and puts goods, the fork rod lifting frame is heightened; when the robot walks with goods and enters and exits the lifting equipment, the fork rod lifting frame is lowered.
2. The work bin conveying system with the lifting robot as claimed in claim 1, wherein the robot comprises a bottom plate and a mounting plate, the fork rod lifting frame is installed between the bottom plate and the mounting plate, the fork rod lifting frame is connected with the bottom plate and the mounting plate through a slide way and a slide rail in a sliding mode, and a fork taking mechanism is arranged above the mounting plate.
3. The work bin handling system of claim 2, wherein the upper end of the bottom plate is provided with a motor, the two sides of the motor are sequentially provided with a double-end lead screw and a lower guide rail, the motor drives the double-end lead screw to rotate, a nut slider is arranged between the adjacent double-end lead screw and the lower guide rail, the nut slider slides along the lower guide rail under the rotary drive of the double-end lead screw, the lower end of the mounting plate is provided with an upper guide rail, the outer side of the upper guide rail is sleeved with the upper slider, and the upper end and the lower end of the fork rod lifting frame are respectively hinged to the upper slider and the nut slider.
4. The bin conveying system according to claim 3, wherein a connecting piece is protruded from the upper end of each nut slider and the lower end of each upper slider, and the upper end and the lower end of the fork rod lifting frame are hinged to the connecting pieces.
5. The bin handling system according to claim 3 wherein a gear is provided at each end of the motor spindle, and rotation of the motor spindle is transmitted to the double-headed screw through the gear, thereby rotating the double-headed screw.
6. The bin handling system of claim 5, wherein rotation of the double-ended screw rod drives equal sliding movement of the nut runners in opposite directions on the lower track.
7. The bin handling system according to claim 3 wherein said bottom plate has a pair of screw bosses secured to an upper end thereof, said threaded stud extending forwardly and rearwardly through said screw bosses, said screw bosses being adapted to hold and maintain said threaded stud horizontally.
8. The bin handling system according to claim 3 wherein the mounting plate is provided at a lower end thereof with a pair of centering seats disposed perpendicular to the mounting plate, the centering seats being located between the two upper rails, the centering seats being symmetrically disposed in the center of the left and right sides of the mounting plate.
9. The work bin handling system according to claim 8, wherein a centering rotating rod is arranged between the centering mechanism seat and the upper guide rail on the same side, the middle of the centering rotating rod is hinged to the lower end of the centering mechanism seat, the front end and the rear end of the centering rotating rod are hinged to one end of a centering push-pull rod respectively, and the other ends of the two centering push-pull rods are hinged to the connecting piece and the fork rod lifting frame.
10. The bin handling system according to claim 1 wherein the forking mechanism is provided with a two-dimensional code recognition camera connected to the dispatching system, the two-dimensional code recognition camera verifying the bin information code on the shelf and the information code on the bin when picking and placing the item.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921544252.5U CN211664652U (en) | 2019-09-17 | 2019-09-17 | Material box carrying system using lifting robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921544252.5U CN211664652U (en) | 2019-09-17 | 2019-09-17 | Material box carrying system using lifting robot |
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| Publication Number | Publication Date |
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| CN211664652U true CN211664652U (en) | 2020-10-13 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201921544252.5U Active CN211664652U (en) | 2019-09-17 | 2019-09-17 | Material box carrying system using lifting robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110803657A (en) * | 2019-09-17 | 2020-02-18 | 上海快仓智能科技有限公司 | Material box carrying system using lifting robot and carrying method thereof |
-
2019
- 2019-09-17 CN CN201921544252.5U patent/CN211664652U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110803657A (en) * | 2019-09-17 | 2020-02-18 | 上海快仓智能科技有限公司 | Material box carrying system using lifting robot and carrying method thereof |
| CN110803657B (en) * | 2019-09-17 | 2024-07-23 | 上海快仓自动化科技有限公司 | Material box conveying system using lifting robot and conveying method thereof |
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| TR01 | Transfer of patent right |
Effective date of registration: 20210514 Address after: Room 01, 4th floor, building 7, 1001 Qinzhou North Road, Xuhui District, Shanghai 200233 Patentee after: Shanghai fast warehouse automation technology Co.,Ltd. Address before: 200435 room 128, room B, 1205, room 128, souvenir Road, 128, Baoshan District, Shanghai. Patentee before: SHANGHAI QUICKTRON INTELLIGENT SCIENCE & TECHNOLOGY Co.,Ltd. |
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