CN215045861U

CN215045861U - Packing box transfer robot

Info

Publication number: CN215045861U
Application number: CN202023328923.XU
Authority: CN
Inventors: 肖玉辉
Original assignee: Beijing Jizhijia Technology Co Ltd
Current assignee: Beijing Jizhijia Technology Co Ltd
Priority date: 2020-12-31
Filing date: 2020-12-31
Publication date: 2021-12-07
Anticipated expiration: 2030-12-31

Abstract

The utility model provides a packing box transfer robot, this packing box transfer robot includes: the robot carrier is arranged on a portal frame of the robot carrier; at least two separate lifting mechanisms arranged side by side on the gantry; further comprising: at least one pick-up mechanism and at least one pallet connected to and driven by the at least two separate lifting mechanisms, respectively. Among the above-mentioned technical scheme, through addding at least one on the portal and get goods mechanism and at least one tray, reduce the volume of robot, improve warehouse storage density, get goods mechanism side direction and get goods, no rotation action reduces and gets goods time. And the packing box can descend to the position that is fit for artifical the picking, improves and selects efficiency.

Description

Packing box transfer robot

Technical Field

The utility model relates to commodity circulation technical field especially involves a packing box transfer robot.

Background

The current multi-box robot has a cache goods shelf, can take 5 boxes or more than 5 boxes once, can obtain good picking efficiency, but also brings relative complexity of a structure, the size of the robot is large, the required roadway space is large, and the multi-box robot is not beneficial to the dense storage of goods. And in the box taking process, certain time is wasted along with the rotation motion of the box taking mechanism.

In addition, because the height of multilayer buffer goods shelves is higher, when choosing upper packing box, need appurtenance such as ladder, reduced the efficiency of artifical selection.

SUMMERY OF THE UTILITY MODEL

The utility model aims at overcoming the not enough of prior art, provide a packing box transfer robot.

The utility model discloses a realize through following technical scheme:

the utility model provides a packing box transfer robot, this packing box transfer robot includes: the robot carrier is arranged on a portal frame of the robot carrier; at least two separate lifting mechanisms arranged side by side on the gantry; through setting up two at least solitary elevating system, get the orderly operation of cargo compartment, the stable performance. In addition, the method also comprises the following steps: at least one pick-up mechanism and at least one pallet connected to and driven by the at least two separate lifting mechanisms, respectively. The goods taking mechanism is arranged, so that the size of the container carrying robot is reduced, meanwhile, the goods are directly taken laterally, the roadway space is reduced, and the storage density of a warehouse is effectively improved; the at least one tray that is equipped with makes the packing box reduce to the position that is fit for artifical the picking, accords with ergonomics, selects efficiently.

In a specific possible embodiment, the number of the trays is two, and the two trays are arranged along the height direction of the gantry; the at least two independent lifting mechanisms comprise two lifting mechanisms which correspondingly drive the two trays one by one. The two trays can be lifted independently.

In a specific possible embodiment, each lifting mechanism is a rack and pinion mechanism, a lead screw mechanism, or a timing belt mechanism. Different lifting modes can be adopted.

In a specific possible embodiment, the at least two separate lifting mechanisms are arranged along the telescopic direction of the pick-up mechanism. The stability is improved.

In a specific embodiment, each picking mechanism is a multi-stage telescopic picking mechanism. The size of the cargo box carrying robot is reduced by the multi-stage telescopic cargo taking mechanism.

In a particular possible embodiment, the protruding direction of each pick-up mechanism is directed towards the pick-up direction of the container handling robot. The box is laterally taken through the goods taking mechanism without rotating, so that the goods taking time is reduced

In a specific embodiment, the robot carrier further comprises a control device, and the control device is used for controlling the goods taking mechanism to firstly place the goods box to the tray close to the robot carrier when the tray close to the robot carrier does not carry the goods box and the goods taking mechanism takes the goods. And the containers are orderly taken and transported.

In a specific possible embodiment, a sensing assembly is disposed proximate to the tray of the robotic carrier;

the control device is used for controlling the goods taking mechanism to take goods when the sensing assembly does not detect the goods box, and the goods box is firstly placed on the tray close to the robot carrier. And the containers are orderly taken and transported.

In a specific possible embodiment, the control device is further configured to control the pallet to move to a position close to the robot carrier after the pallet close to the robot carrier carries a container. Reduce packing box transfer robot focus, improve stability.

In a particular possible embodiment, the control means further comprises controlling the tray remote from the robotic carrier to be raised to a position close to the top of the portal when the two trays are not carrying a container. The tray is lifted to the top of the portal frame, and a box taking space is reserved for the tray at the bottom.

Drawings

Fig. 1 is a schematic structural view of a container transfer robot according to an embodiment of the present invention;

fig. 2 is a side view of a container handling robot according to an embodiment of the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

For the convenience of understanding the embodiment of the present invention provides a storage robot, the application scenario of which is first described. The existing multi-box robot is large in size and not beneficial to dense storage of goods. And the efficiency of taking the case after the rotation action is lower, and the case can not be dropped to the proper picking height to be taken in multiple layers. Therefore, the utility model reduces the size of the robot, thereby improving the storage density of the warehouse, and the box taking mechanism directly takes boxes laterally without rotating action, thereby reducing the time for taking boxes; simultaneously, the container carrying robot can lower the containers to the position suitable for manual picking, and picking efficiency is improved. The following detailed description is to be read with reference to the drawings and the specific examples.

Referring first to the containers, the containers in this application refer to boxes used for holding products or semi-finished products in the logistics industry, including but not limited to plastic boxes, cartons, wooden boxes and the like.

Referring to fig. 1 and 2 together, fig. 1 and 2 illustrate schematic structural diagrams in different directions in the embodiments of the present application.

Referring first to fig. 1, fig. 1 is a schematic structural diagram of a container handling robot according to an embodiment of the present invention; this packing box transfer robot includes: a robot carrier 10, the robot carrier 10 being a wheeled mobile robot or a tracked mobile robot. The robot walks in the goods taking channels reserved by the goods shelves arranged in two rows in the warehouse or the goods taking channels reserved by the goods shelves arranged in four rows in the warehouse, and does not rotate in the goods taking channels, so that the space of the goods taking channels can be reduced, and the storage capacity of containers in the warehouse is increased.

With continued reference to fig. 1, the container handling robot further includes a gantry 20 disposed on the robot carrier 10. The gantry 20 is vertically disposed on the robot carrier 10, and at least two separate elevating mechanisms are disposed on the gantry 20. First, it is explained that each lifting mechanism can be driven by any one of a rack and pinion mechanism, a lead screw mechanism or a synchronous belt mechanism, or other structures capable of realizing lifting driving in the prior art can be adopted. In addition, each lifting mechanism is an independent running mechanism.

In addition, the container transfer robot further includes: at least one pick mechanism 30 and at least one pallet connected to and driven by the at least two separate lift mechanisms, respectively. When the number of the trays and the number of the pickup mechanisms 30 are both one, the at least two separate lifting mechanisms in this embodiment include: two lifting mechanisms are arranged on the gantry 20 in the direction of picking of the container transfer robot. The two lifting mechanisms are connected with the tray and the goods taking mechanisms 30 in a one-to-one correspondence mode, the lifting device connected with the goods taking mechanisms 30 is located on the outer side of the door frame 20, the lifting mechanism connected with the tray is located on the inner side of the door frame 20, and then one goods taking mechanism 30 and one tray are matched with each other to work. Of course, one, two or more trays may be provided in the present application, and the number of the goods taking mechanisms 30 may be set in different manners, for example, the number of the goods taking mechanisms 30 corresponds to the number of the trays, two trays correspond to one goods taking mechanism 30 or a plurality of trays correspond to a plurality of goods taking mechanisms 30, and the number of the trays and the number of the goods taking mechanisms 30 are not limited herein.

In one specific example, as shown in fig. 1, the container handling robot is provided with two trays, specifically, an a tray 40 and a B tray 50 are stacked in a sliding manner in the height direction of the gantry 20 within the gantry 20, wherein the a tray 40 is located below the B tray 50. The tray A40 and the tray B50 are both frame bodies for caching containers. As illustrated in fig. 1, the a tray 40 and the B tray 50 are each a rectangular frame, such as a rectangular or square frame, to ensure stable operation of the frame in the height direction of the gantry 20. The container handling robot is provided with a pickup mechanism 30, and the pickup mechanism 30 is located outside the a tray 40 and the B tray 50 and is slidable in the height direction of the gantry 20.

The at least two separate lifting mechanisms of the container handling robot in the specific example described above comprise: three lifting mechanisms. The three lifting mechanisms are connected with the A tray 40, the B tray 50 and the goods taking mechanism 30 in a one-to-one correspondence mode. The specific connection relationship of the lifting mechanisms is that the A tray 40 is connected with the A lifting mechanisms 41 of the three lifting mechanisms, the B tray 50 is connected with the B lifting mechanisms 51 of the three lifting mechanisms, and the goods taking mechanism 30 is connected with the C lifting mechanisms 31 of the three lifting mechanisms; and the three elevating mechanisms are arranged in the telescopic direction of the pickup mechanism 30 so that the three elevating mechanisms are sequentially dislocated. Specifically, the a lifting mechanism 41 is disposed at the innermost side of the gantry 20 along the cargo retrieving direction of the cargo box handling robot, the B lifting mechanism 51 is disposed at the middle portion of the gantry 20 along the cargo retrieving direction of the cargo box handling robot, and the C lifting mechanism 31 is disposed at the outermost side of the gantry 20 along the cargo retrieving direction of the cargo box handling robot, so that the a pallet 40, the B pallet 50, and the cargo retrieving mechanism 30 can be independently lifted and lowered along the height direction of the gantry 20.

Referring to fig. 2, the pickup mechanism 30 in the embodiment of the present application is a multi-stage telescopic pickup mechanism, and the exemplary multi-stage pickup mechanism may be a two-stage telescopic pickup mechanism, a three-stage telescopic pickup mechanism, a four-stage telescopic pickup mechanism, and other different pickup mechanisms. The two-stage and three-stage mechanisms refer to the number of the telescopic arms, for example, the two-stage telescopic goods taking mechanism refers to a goods taking mechanism with two-stage telescopic arms, and the three-stage telescopic goods taking mechanism refers to a goods taking mechanism with three-stage telescopic arms.

The pickup mechanism 30 is located at the outermost side of the gantry 20, and the protruding direction of the pickup mechanism 30 is toward the pickup direction of the container handling robot. The telescopic direction of the multi-stage telescopic goods taking mechanism is directly towards the goods shelf, goods taking can be completed without turning the goods taking mechanism 30, and the space of the goods taking channel can be effectively reduced. And completing lateral goods taking in the goods taking channel and carrying the goods on the inner side of the goods shelves arranged in four rows in the warehouse. Therefore, the space between the goods shelves is smaller, and the storage density of the warehouse is improved.

In one particular implementation, the pickup mechanism 30 includes: the two telescopic arms are oppositely arranged on the inner side of the door frame 20 and move synchronously, and each telescopic arm comprises a first section arm 32 connected with the C lifting mechanism 31 in a sliding mode, a middle arm 33 connected with the first section arm 32 in a sliding mode and a last section arm 34 connected with the middle arm 33 in a sliding mode. The three arms can slide along the goods taking direction to realize the telescopic arm to stretch along the goods taking direction. And one end of the tail arm 34 far away from the C lifting mechanism 31 is provided with a shifting finger 35, and the shifting finger 35 can be driven by a steering engine to realize the effect of pulling the cargo box. The finger 35 has two positions: a working position and an avoidance position. When the shifting finger 35 works, the steering engine drives the shifting finger 35 to rotate to the horizontal position. The fingers 35 of the two telescopic arms are disposed opposite each other and extend into the space defined by the two telescopic arms so that the container to be handled can be pulled when the telescopic arms are retracted. When avoiding the position, the finger 35 is rotated to the vertical direction to avoid the obstruction when the telescopic arm is inserted into the goods shelf.

With continued reference to fig. 1, the container handling robot further includes a control device, and the control device may be one of a PLC controller and a single chip controller industrial control computer. The control device is used for controlling the lifting mechanism and the goods taking mechanism 30 to work. In particular, the control means is arranged to control the B-pallet 50 to be raised to a position adjacent the top of the portal 20 when the a-pallet 40 and the B-pallet 50 are not carrying a container. If the container handling robot is in the initial working state, the robot carrier 10 moves to the front of the shelf where the container is to be taken, the control device controls the B lifting mechanism 51 to drive the B tray 50 to lift to the top end of the door frame 20, and the maximum container taking moving stroke is set for the shelf a.

In addition, the control device is also used for adjusting the goods receiving condition of the trays according to the working conditions of the two trays during transportation. If the tray a 40 does not receive goods, the control device can control the lifting mechanism a 41 to drive the tray a 40 to be lifted to a shelf layer as high as a goods box to be taken when the control device detects that the tray a 40 does not carry the goods box according to the sensing component on the tray a 40, and the sensing component on the tray a 40 is one of a pressure sensor, an infrared photoelectric sensor or a position sensor of the signal connection control device. It should be specifically noted that when the sensing component detects whether the container bearing information exists on the tray a 40, the control device controls the corresponding lifting mechanism to lift, which are common technical means in the existing control field, and are not described herein in any more detail.

After the A pallet 40 rises to the height equal to the height of the box to be taken, the control device controls the C lifting mechanism 31 to drive the taking mechanism 30 to rise to the position 2cm-5cm above the A pallet 40, the control device controls the multistage telescopic taking mechanism 30 to gradually extend on two sides of the box, and the shifting fingers 35 are controlled to be in the avoidance position. And controls the fingers 35 on both sides to be in the operative position when the end arm 34 extends to the rear of the container, to effect a stop behind the container, and when the multi-stage telescopic pick-up mechanism 30 is retracted, the fingers 35 pull the container onto the a-tray 40. After the sensing assembly on the a-pallet 40 detects the information of the loaded container, the control device controls the a-pallet 40 to move to a position close to the robot carrier 10 to lower the center of gravity of the container handling robot and improve the stability.

In addition, the control device also comprises a step of controlling the B tray 50 to rise to the same height as the height of the box to be taken after the A tray 40 is close to the position of the robot carrier 10, repeating the above goods taking process, and controlling the goods taking mechanism 30 to take the box to the B tray 50 again to finish the secondary box taking work.

When the container handling robot reaches the manual picking position, the B pallet 50 lifts the container to a height suitable for manual picking, and after picking is completed, the B pallet 50 lifts to a high point. At this point the a-pallet 40 is raised with the container to a height suitable for manual picking and picking is again completed. The picking process accords with ergonomics and the picking efficiency is higher. The above control can also be automatically controlled or manually controlled by a control device, and the specific control mode is a common control mode in the prior art and is not described herein again.

As can be seen from the above description, the container transfer robot provided in the present invention reduces the volume of the container transfer robot through at least one goods taking mechanism 30 and at least one pallet arranged on the gantry 20, improves the storage density of the warehouse, and the goods taking mechanism 30 laterally takes goods without rotating, thereby reducing the goods taking time. And the packing box can descend to the position that is fit for artifical the picking, improves and selects efficiency.

The above description is only exemplary of the present invention and should not be construed as limiting the present invention, and any modifications, equivalents and improvements made within the spirit and principles of the present invention are intended to be included within the scope of the present invention.

Claims

1. A container handling robot, comprising: the robot carrier is arranged on a portal frame of the robot carrier; at least two separate lifting mechanisms arranged side by side on the gantry; further comprising: at least one pick-up mechanism and at least one pallet connected to and driven by the at least two separate lifting mechanisms, respectively.

2. The container handling robot of claim 1, wherein there are two trays, and the two trays are arranged in a height direction of the gantry;

the at least two independent lifting mechanisms comprise two lifting mechanisms which correspondingly drive the two trays one by one.

3. A container handling robot as claimed in claim 2 wherein each lifting mechanism is a rack and pinion mechanism, a lead screw mechanism or a timing belt mechanism.

4. A container handling robot according to any one of claims 1 to 3 wherein the at least two separate lifting mechanisms are aligned in the telescopic direction of the pick mechanism.

5. A container handling robot as claimed in any one of claims 1 to 3 wherein each pick mechanism is a multi-stage telescopic pick mechanism.

6. The container handling robot of claim 5, wherein the direction of extension of each pick mechanism is toward the pick direction of the container handling robot.

7. A container handling robot as claimed in any one of claims 1 to 3 further comprising control means for controlling the pick mechanism to pick a container when the tray adjacent the robotic carrier is not carrying a container, and to first place a container on the tray adjacent the robotic carrier.

8. A container handling robot as claimed in claim 7 wherein a sensing assembly is provided adjacent the tray of the robot carrier;

the control device is used for controlling the goods taking mechanism to take goods when the sensing assembly does not detect the goods box, and the goods box is firstly placed on the tray close to the robot carrier.

9. A container handling robot according to claim 8 wherein the control means is further arranged to control the pallet to move to a position adjacent the robotic carrier after it has carried a container adjacent the robotic carrier.

10. A container handling robot as claimed in claim 8, wherein the control means further comprises controlling the tray remote from the robot carrier to be raised to a position adjacent the top of the mast when the two trays are not carrying containers.