CN215286573U

CN215286573U - Transfer robot and warehouse logistics system

Info

Publication number: CN215286573U
Application number: CN202121532346.8U
Authority: CN
Inventors: 王启铭
Original assignee: Beijing Jizhijia Technology Co Ltd
Current assignee: Beijing Jizhijia Technology Co Ltd
Priority date: 2021-07-07
Filing date: 2021-07-07
Publication date: 2021-12-24
Anticipated expiration: 2031-07-07

Abstract

The utility model belongs to the technical field of the storage commodity circulation, a transfer robot and storage commodity circulation system is specifically disclosed. Wherein, transfer robot includes: moving the chassis; the stand is arranged on the movable chassis, and the lower end of the stand is rotatably connected with the movable chassis so as to enable the stand to be switched between a vertical state and a substantially horizontal state; and the container conveying mechanism is arranged on the vertical frame in a lifting manner and is used for taking and placing the containers on the storage container. The warehouse logistics system comprises the carrying robot. The utility model discloses a transfer robot and storage logistics system can improve transfer robot's packaging efficiency, reduces transfer robot's equipment cost.

Description

Transfer robot and warehouse logistics system

Technical Field

The utility model relates to a storage logistics technical field especially relates to a transfer robot and storage logistics system.

Background

With the continuous development of robotics, communication technologies and the like, the traditional manual-oriented warehouse logistics management is gradually changed into robot-oriented intelligent warehouse management.

The transfer robot is a can be used for carrying the material, in order to realize selecting of material, the intelligent robot of operation such as loading or pile up neatly, it is including the removal chassis that can independently remove usually, set up the frame of keeping in on removing the chassis and set up on the goods shelves of keeping in and can carry out the flexible packing box transmission device of level, packing box transmission device can realize the transfer of packing box between frame and the goods shelves of keeping in, and packing box transmission device can be on the frame of keeping in vertical lift, in order to realize the transport to lieing in high-rise packing box.

The transfer robot provided by the prior art needs to transfer the containers on the shelves or store the containers on the shelves, so the height of the temporary storage rack on the transfer robot is generally consistent with the height of the shelves in the warehouse. This kind of setting, though can make transfer robot can pick up the packing box of higher level, improves the storage and utilization space, but the high increase of frame of keeping in can show the equipment and the debugging degree of difficulty increase that cause transfer robot, and packaging efficiency is lower, the corresponding increase of assembly cost.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a transfer robot reduces transfer robot's the equipment degree of difficulty and assembly cost, improves transfer robot's packaging efficiency.

Another object of the utility model is to provide a warehouse logistics system reduces warehouse logistics system's construction cost, improves warehouse logistics system's efficiency of buildding.

In order to achieve the above purpose, the utility model adopts the following technical scheme:

a transfer robot comprising:

moving the chassis;

the stand is arranged on the movable chassis, and the lower end of the stand is rotatably connected with the movable chassis so as to enable the stand to be switched between a vertical state and a substantially horizontal state;

and the container conveying mechanism is arranged on the vertical frame in a lifting manner and is used for taking and placing the containers on the storage container.

As a preferred technical scheme of transfer robot, the grudging post includes along the at least two support body segmentation of direction of height concatenation setting, is located the below the support body segmentation the lower extreme with remove the chassis and rotate and be connected.

As a transfer robot's preferred technical scheme, every the support body segmentation all includes along relative and two support frames that the interval set up of first direction, every the support frame all includes along relative and two bracing pieces that the interval set up of second direction and connect in two connecting rod between the bracing piece, adjacent two the correspondence of support body segmentation the bracing piece concatenation, the second direction with first direction is perpendicular.

As an optimal technical scheme of the transfer robot, the vertical frame further comprises a connecting rod, the supporting rod is a hollow rod, two ends of the connecting rod are respectively inserted into two adjacent support body sections in the supporting rod, and the connecting rod is detachably connected with the corresponding supporting rod.

As a transfer robot's preferred technical scheme, the length of support body segmentation along first direction is greater than the length of support body segmentation along the second direction, and is a plurality of when the support body segmentation is not spliced, a plurality of the support body segmentation can be followed the second direction set up side by side in on the removal chassis.

As an optimal technical scheme of the transfer robot, the transfer robot further comprises a lifting mechanism, the lifting mechanism comprises a lifting frame and a driving transmission assembly, the cargo box transmission mechanism is detachably arranged on the lifting frame, and the driving transmission assembly is used for driving the lifting frame to move along the length direction of the vertical frame.

As a preferable mode of the transfer robot, the drive transmission assembly includes:

the lifting driving motor is arranged on the lifting frame;

the driving chain wheel is in transmission connection with an output shaft of the lifting driving motor;

the driven chain wheels are rotatably arranged on the lifting frame, one driven chain wheel is arranged on each of the upper side and the lower side of the driving chain wheel, and the centers of the driving chain wheel and the two driven chain wheels are not positioned on the same straight line;

the chain, its edge the length direction of grudging post arranges, just the both ends of chain with the connection can be dismantled to the grudging post, the chain is in proper order by-pass one driven sprocket, drive sprocket and another driven sprocket.

As a transfer robot's preferred technical scheme, the grudging post includes along the relative and two sets of support frames of interval setting of first direction, the crane includes the edge two installation grillages that the relative and interval of first direction set up, installation grillages with correspond the side support frame sliding connection.

As a transfer robot's preferred technical scheme, elevating system includes first leading wheel, first leading wheel rotate install in on the installation grillage, just the support frame is towards another a side of support frame with first leading wheel rolling contact, every all be provided with on the installation grillage first leading wheel.

As a transfer robot's preferred technical scheme, every the support frame all includes along the relative just two bracing pieces that the interval set up of second direction, elevating system still includes the second leading wheel, the second leading wheel rotate install in on the installation grillage, the second leading wheel and one the bracing piece is towards another the one side rolling contact of bracing piece, and each side the bracing piece all corresponds and is provided with the second leading wheel.

As an optimal technical scheme of transfer robot, transfer robot still includes a plurality of baffle of keeping in, a plurality of the baffle of keeping in is followed the extending direction interval of grudging post sets up, the baffle of keeping in with the connection can be dismantled to the grudging post.

As an optimal technical scheme of transfer robot, the grudging post includes along relative and two sets of support frames of interval setting of first direction, still including connecting in two sets of locating lever between the support frame, the locating lever with the baffle one-to-one of keeping in sets up, the one end of baffle of keeping in with the connection can be dismantled to the locating lever, keep in the other end of baffle along keeping away from the direction of grudging post extends.

As a preferable technical solution of the transfer robot, each of the frame body segments is detachably connected with an auxiliary support portion, and when the vertical frame is in the substantially horizontal state, the auxiliary support portion is supported on the ground.

A warehouse logistics system comprising a transfer robot as described above.

The beneficial effects of the utility model reside in that:

the transfer robot provided by the utility model can realize the switching between the approximately horizontal state and the vertical state of the vertical frame by rotationally connecting the lower end of the vertical frame with the movable chassis, thereby enabling the transfer robot to be in the vertical state in the normal use process and realizing the transfer of a cargo box; when the transfer robot is assembled, the vertical frame is first set in a substantially horizontal state, the structure such as the container transfer mechanism is assembled to the vertical frame, one end of the vertical frame is rotatably connected to the movable chassis, and the vertical frame is set in a vertical state by rotating the vertical frame, whereby the transfer robot can be assembled. Namely, the utility model provides a transfer robot can realize when the grudging post is in roughly horizontal state, to the equipment of grudging post upper structure, avoids the high altitude construction that the grudging post height was too high to cause, reduces the equipment degree of difficulty and assembly cost, improves the packaging efficiency.

The utility model provides a storage logistics system through adopting foretell transfer robot, can improve storage logistics system's the efficiency of buildding, reduces storage logistics system's the cost of buildding, improves storage logistics system's operating efficiency.

Drawings

Fig. 1 is a schematic structural view of a transfer robot provided in an embodiment of the present invention when a stand is in a vertical state;

fig. 2 is a schematic structural view of a transfer robot according to an embodiment of the present invention when a stand is in a substantially horizontal state;

fig. 3 is a schematic structural view of a transfer robot according to an embodiment of the present invention in an assembled and transferred state;

fig. 4 is a schematic view of a split structure of the stand according to an embodiment of the present invention;

fig. 5 is a schematic view of a partial structure of the stand and the lifting mechanism according to the embodiment of the present invention;

fig. 6 is a schematic structural diagram of a lifting mechanism provided in an embodiment of the present invention;

fig. 7 is a schematic structural diagram of a temporary storage partition according to an embodiment of the present invention.

The figures are labeled as follows:

1. erecting a frame; 11. the frame body is segmented; 111. a support frame; 1111. a support bar; 1112. a connecting rod; 1113. a connecting seat; 112. a chassis; 113. a top frame; 114. positioning a rod; 12. a connecting rod;

2. a lifting mechanism; 21. a lifting frame; 211. installing a plate frame; 2111. a main mounting plate; 2112. a hem part; 2113. a sprocket mounting seat; 212. mounting a transverse frame; 22. a lifting drive motor; 23. a drive sprocket; 24. a driven sprocket; 25. a chain; 26. a synchronous drive assembly; 261. a driving pulley; 262. a driven pulley; 263. a synchronizing shaft; 264. a synchronous belt; 27. a first guide wheel; 28. a second guide wheel;

3. a container conveying mechanism; 4. moving the chassis; 41. a drive wheel; 5. temporarily storing the clapboard; 51. a framework; 52. a baffle plate; 53. temporarily storing the board; 54. mounting a rod; 55. and (7) installing the block.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.

In the description of the present invention, unless expressly stated or limited otherwise, the terms "connected," "connected," and "fixed" are to be construed broadly, e.g., as meaning permanently connected, detachably connected, or integral to one another; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.

In the present disclosure, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may comprise direct contact between the first and second features, or may comprise contact between the first and second features not directly. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.

In the description of the present embodiment, the terms "upper", "lower", "right", etc. are used in an orientation or positional relationship based on that shown in the drawings only for convenience of description and simplicity of operation, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used only for descriptive purposes and are not intended to have a special meaning.

As shown in fig. 1-2, the present embodiment provides a transfer robot for carrying, picking and placing containers, which is mainly applied to the warehouse logistics industry, and is used for picking, placing and transporting containers with ordered goods or express delivery stored therein, so as to implement order-based picking or loading operation. The present invention can also be applied to other places where containers or goods need to be transported, and the application to the transport robot in the present embodiment is only an example, and the present embodiment does not specifically limit this.

Specifically, the transfer robot provided in this embodiment includes a moving chassis 4, a stand 1, a container conveying mechanism 3, and a lifting mechanism 2. Wherein, the mobile chassis 4 has an autonomous mobile function; the stand 1 is arranged on the movable chassis 4, and one end of the stand 1 is rotatably connected with the movable chassis 4, so that the stand 1 can be switched between a vertical state and a substantially horizontal state; the container conveying mechanism 3 is arranged on the vertical frame 1 in a lifting way through the lifting mechanism 2 and is used for realizing the conveying of containers between the vertical frame 1 and the inventory containers.

According to the transfer robot provided by the embodiment, the lower end of the stand 1 is rotatably connected with the movable chassis 4, so that the stand 1 can be switched between a substantially horizontal state and a vertical state, the transfer robot can be in the vertical state in the normal use process, and the cargo box can be transferred; when the transfer robot is assembled, the vertical frame 1 is first set in a substantially horizontal state, the lifting mechanism 2, the container transfer mechanism 3, and other structures are assembled to the vertical frame 1, and then one end of the vertical frame 1 is rotatably connected to the movable chassis 4, and the vertical frame 1 is set in a vertical state by rotating the vertical frame 1, whereby the transfer robot can be assembled. That is, the transfer robot according to the present embodiment can assemble the upper structure of the stand 1 when the stand 1 is in a substantially horizontal state, thereby avoiding the high-altitude work due to the excessively high height of the stand 1, reducing the assembly difficulty and the assembly cost, and improving the assembly efficiency.

It should be noted that, the vertical frame is in a substantially horizontal state in the above and below, which means that the length direction of the vertical frame is parallel to the horizontal direction, or there is a small included angle between the length direction of the vertical frame and the horizontal direction, for example, there is an included angle of 20 ° or less.

Specifically, the mobile chassis 4 includes a chassis body and a driving wheel mechanism disposed at the bottom of the chassis body, and the driving wheel mechanism is used for realizing the movement of the mobile chassis 4. The driving wheel mechanism may adopt a differential driving mode, and specifically includes a driving wheel motor, two driving wheels 41 disposed at the bottom of the chassis body, and a connecting assembly connecting the driving wheel motor and the two driving wheels 41. The two driving wheels 41 are respectively arranged on two sides of the chassis body, the motor of the driving wheel 41 is arranged in the chassis body, and the rotating output shaft of the motor is connected with the driving wheels 41 and drives the driving wheels 41 to move, so that the linear or turning motion of the movable chassis 4 is realized.

In this embodiment, the driving wheel mechanisms are disposed on two sides of the middle portion of the movable chassis 4, which is beneficial to improving the motion stability of the movable chassis 4. A plurality of universal driven wheels can be further arranged on the chassis body, if a pair of universal driven wheels can be respectively arranged at the front part and the rear part of the chassis body, and two pairs of universal driven wheels are symmetrically arranged relative to a pair of driving wheels 41, so that the stable motion of the movable chassis 4 is favorably improved, especially the turning motion stability of the movable chassis 4 is favorably improved, and the movable chassis 4 is prevented from toppling to one side in the motion process.

The drive wheel mechanism can also adopt other mechanisms capable of driving the chassis body to move, the embodiment does not limit the specific form of the drive wheel mechanism, and does not limit the specific structure of the movable chassis 4, so long as the structure capable of driving the stand 1 to move can be realized, such as the existing robot structure and the like.

For realizing that removal chassis 4 is connected with the rotation of grudging post 1, the up end that removes chassis 4 is provided with the rotation connecting block, rotates the connecting block and can dismantle with removal chassis 4 and be connected, and has seted up first shaft hole on the rotation connecting block. The lower extreme of grudging post 1 is connected with the connecting block, has seted up the second shaft hole on the connecting block, and first shaft hole is just right with the second shaft hole, and just first shaft hole and second pivot hole wear to be equipped with the pivot, and the pivot extends along first direction, and grudging post 1 can revolute the axis rotation of axle.

In this embodiment, the connecting block is provided with two along the second direction interval, rotates connecting block and pivot and all sets up with the connecting block one-to-one, and the connecting block is installed in grudging post 1 along first direction both ends to reduce and interfere. It should be understood that the above-mentioned rotary connection structure of the movable chassis 4 and the stand 1 is only an exemplary structure, and any structure that can realize the rotary connection of the stand 1 and the movable chassis 4 to realize the switching of the stand 1 between the vertical state and the substantially horizontal state in the prior art is within the scope of the present invention.

The stand 1 can be switched between the vertical state and the substantially horizontal state by manually rotating the stand 1, or can be automatically driven by a rotary drive device. The rotary driving device is preferably arranged independently relative to the transfer robot, and is detachably connected with the stand 1, so that the rotary driving device can be detached from the transfer robot after the transfer robot is assembled and debugged, the transfer robot is prevented from carrying the rotary driving device to work, the load of the transfer robot is reduced, and the use flexibility of the rotary driving device is improved.

The rotary driving device preferably adopts a piston cylinder for driving, a cylinder body of the piston cylinder is fixed on the ground of the carrying robot through a mounting bracket so as to fix the cylinder body relative movement chassis 4, the tail end of the piston rod is detachably connected to the vertical frame 1, and the piston rod is arranged at a set included angle relative to the horizontal direction so as to drive the vertical frame 1 to rotate through the extension action of the piston rod.

It should be noted that the structure of the above-mentioned rotation driving device is only an exemplary structure, and in other embodiments, the rotation of the stand 1 may also be realized by adopting the structural form of the existing other rotation driving device, for example, a rotating motor is directly connected or is connected to the rotating shaft through a transmission assembly, so as to drive the rotating shaft to rotate, thereby driving the stand 1 to rotate, and the like. The structure that can realize the pivoted rotary drive device of the great structure of length dimension now is comparatively common, the utility model discloses do not specifically limit to this.

In order to ensure the structural stability of the vertical frame 1 in the vertical state, the transfer robot further comprises a locking assembly for locking the relative position of the vertical frame 1 and the movable chassis 4 when the vertical frame 1 is in the vertical state. Preferably, in this embodiment, the locking assembly includes a plurality of screws, the upper end surface of the movable chassis 4 is provided with a threaded hole, the lower end of the stand 1 is provided with a connection through hole, and the movable chassis 4 is fastened and connected with the stand 1 through the screws penetrating through the threaded hole and the connection through hole. That is, when the stand 1 is in the horizontal position, the stand 1 and the mobile chassis 4 are rotatably connected by the rotating shaft, and when the stand 1 is in the vertical state, the stand 1 and the mobile chassis 4 are fastened by the screw.

As shown in fig. 1 to 4, in order to further reduce the processing and assembling difficulty of the transfer robot and improve the convenience of taking and placing the high-rise inventory container, it is preferable that the stand 1 includes at least two frame sections 11 spliced along the extending direction, two adjacent frame sections 11 are detachably connected, and the lower end of the frame section 11 located at the lowest layer is rotatably connected to the moving chassis 4. This kind of setting, when the height of grudging post 1 is higher, can be through setting grudging post 1 to the support body segmentation 11 of a plurality of concatenations, can shorten every support body segmentation 11's length to reduce grudging post 1's processing, transport and the equipment degree of difficulty, improve the convenience and the stability of transport before the equipment.

In this embodiment, the frame body segment 11 is provided three, but the present invention is not limited thereto, and the number of the frame body segment 11 may be specifically set according to the total length of the vertical frame 1. Preferably, the height of each rack section 11 is between 1m and 2m, facilitating the handling of each rack section 11.

Further, the size of each frame section 11 in a first direction is larger than the size of the frame section 11 in a second direction, which is perpendicular to the first direction. When the plurality of frame segments 11 are not spliced, the plurality of frame segments 11 may be arranged side by side on the moving chassis 4 along the second direction. This kind of setting can all place support body segmentation 11 isotructures on removing chassis 4, through the removal that removes chassis 4, carries to treat that support body segmentation 11 of equipment etc. remove to the equipment station, improves the transport convenience of the last part of transfer robot to further reduce assembly cost, improve the packaging efficiency.

To improve the ease of placement of the shelf body sections 11 on the moving chassis 4, the dimension of the moving chassis 4 in the first direction is smaller than the dimension of the moving chassis 4 in the second direction, and more preferably, the dimension of the moving chassis 4 in the second direction is greater than 1.5 times its dimension in the first direction.

Further, the two side surfaces of the movable chassis 4 oppositely arranged along the first direction are arranged in parallel and at intervals, and the side surfaces are perpendicular to the second direction, so that the arrangement space of the stand 1 can be ensured, and the structure compactness is improved. Two opposite and spaced sides of the moving chassis 4 along the second direction are cambered surfaces, and two ends of the cambered surfaces are respectively connected with two parallel sides to improve the appearance attractiveness of the moving chassis 4.

For the stability that sets up of improvement grudging post 1 when roughly the horizontality, all be provided with the auxiliary supporting portion on every support body segmentation 11, when the grudging post is in roughly the horizontality, the auxiliary supporting portion supports in ground, avoids the unsettled problem of setting up the support body segmentation 11 easy crooked that causes of tip of support body segmentation 11, improves support body segmentation 11's stability of arranging to make things convenient for the equipment of grudging post 1 and the installation of other structures on grudging post 1 more. More preferably, the auxiliary support portion is detachably connected to the frame body segment 11, so that the auxiliary support portion can be detached from the frame body segment 11 after the transfer robot is assembled, and the situation that the auxiliary support portion is arranged to influence the transfer operation of the transfer robot on the cargo box is avoided.

In order to facilitate the transportation of the containers by the container transportation mechanism 3, each frame body segment 11 includes two support frames 111 disposed along the first direction and at an interval, and a space for the container transportation mechanism 3 to move is formed between the two support frames 111. The frame body section 11 located at the lowest part further comprises a base frame 112 connected between the bottom ends of the two support frames 111, and the base frame 112 is arranged on the upper end surface of the movable chassis 4 so as to increase the contact area with the movable chassis 4 and improve the assembly stability and connection reliability of the vertical frame 1 and the movable chassis 4. Further, be located the support body segmentation 11 of the top still including connecting the roof-rack 113 between two support frames 111 both ends, the setting of roof-rack 113 for when preventing that grudging post 1 is too high, rock relatively between two support frames 111, further improve the stability of grudging post 1.

In this embodiment, preferably, each support bracket 111 includes two support rods 1111 disposed at intervals and opposite to each other along the second direction, a connecting rod 1112 is connected between the two support rods 1111, and the connecting rod 1112 is disposed at intervals along the length direction of the support rods 1111. This kind of setting can lighten the weight and the cost of setting of support frame 111 when guaranteeing the structural strength and the rigidity of support frame 111. Preferably, the support rod 1111 and the connecting rod 1112 are both made of square steel to further simplify the machining.

For the convenience of being connected between improving two support body segmentation 11, the tip of every support frame 111 all is connected with connecting seat 1113, connecting seat 1113 have with concatenation direction vertically connecting plate, the connecting plate butt of the concatenation department of two support body segmentation 11 that link to each other, and two connecting plates of laminating relatively pass through the bolt and can dismantle the connection. In other embodiments, two adjacent frame segments 11 may also be connected by other connecting structures, for example, a butt connecting rod is disposed between the ends of two supporting frames 111, and the butt connecting rods of two adjacent frame segments 11 are connected detachably by bolts.

Further, grudging post 1 still includes connecting rod 12, and bracing piece 1111 is hollow pole, and the both ends of connecting rod 12 are pegged graft respectively in the bracing piece 1111 of two adjacent support body segmentation 11, and connecting rod 12 all can be dismantled with the bracing piece 1111 that corresponds and be connected. Through setting up connecting rod 12, can improve connection stability and reliability between two adjacent support body segmentation 11, improve the structural strength and the rigidity of two support body segmentation 11 concatenation departments.

It will be appreciated that in other embodiments, the frame section 11 may have other structures, for example, the main bodies of the two support frames 111 of the frame section 11 may have a plate-like structure, as long as the installation, support and operation of the entire container conveying mechanism 3 and the lifting mechanism 2 can be realized.

As shown in fig. 5 and 6, in this embodiment, the lifting mechanism 2 includes a lifting frame 21 and a driving transmission assembly, the driving transmission assembly can drive the lifting frame 21 to move along the height direction of the vertical frame 1, and the container transmission mechanism 3 can be detachably disposed on the lifting frame 21. This kind of setting makes things convenient for the installation and the dismantlement of packing box transmission device 3, can make 3 whole equipment backs of packing box transmission device finish, installs on crane 21 again, improves packing box transmission device 3's installation effectiveness.

Preferably, the drive transmission assembly is a chain transmission, which includes a lifting drive motor 22 and a sprocket chain assembly including a drive sprocket 23, a driven sprocket 24 and a chain 25. The lifting driving motor 22 is installed on the lifting frame 21, and the driving shaft thereof is arranged along the first direction; the driving chain wheel 23 is in transmission connection with a driving shaft of the lifting driving motor 22; two driven sprockets 24 are arranged, the two driven sprockets 24 are respectively positioned at the upper side and the lower side of the driving sprocket 23, and the centers of the two driving sprockets 23 and the two driven sprockets 24 are not positioned on the same straight line; the chain 25 is arranged along the extending direction of the vertical frame 1, the upper end and the lower end of the chain 25 are fixedly arranged on the vertical frame 1, the chain 25 is sequentially wound on one driven sprocket 24, the driving sprocket 23 and the other driven sprocket 24, and therefore the chain 25 forms an omega-shaped structure at the driving sprocket 23 and the driven sprocket 24.

Above-mentioned drive transmission assembly's structure setting can make chain 25 fixed mounting on grudging post 1 to in elevating system 2 operation in-process, chain 25 keeps the stable state in position, and chain 25 can be assembled when grudging post 1 is in horizontal position promptly, and lift driving motor 22, crane 21 etc. can assemble in the bottom of grudging post 1 when grudging post 1 is in vertical position, reduce the assembly degree of difficulty, improve the assembly convenience.

Preferably, the chain wheel and chain assembly is arranged on the supporting frames 111 at two sides (the supporting frames 111 of the plurality of frame segments 11 at the same side form a group of supporting frames) respectively, so as to improve the stability and reliability of the lifting transmission. Furthermore, the lifting driving motor 22 is connected with the two driving sprockets 23 on the two sides through the synchronous transmission assembly 26 in a transmission manner, so that the number of the lifting driving motors 22 is reduced, and the transmission synchronism of the sprocket chain assemblies on the two sides is improved. In other embodiments, the lift drive motor 22 may be provided one for each sprocket chain assembly.

The synchronous transmission assembly 26 includes a synchronous shaft 263 horizontally disposed along a first direction, a driving pulley 261 sleeved on a driving shaft of the lifting driving motor 22, a driven pulley 262 sleeved on the synchronous shaft 263, and a synchronous belt 264 wound around the driving pulley 261 and the driven pulley 262, wherein two driving sprockets 23 are respectively sleeved on two ends of the synchronous shaft 263. The rotation of the lifting driving motor 22 is transmitted to the synchronous belt 264 through the driving pulley 261, and is transmitted to the synchronous shaft 263 through the synchronous belt 264 and the driven pulley 262, so as to drive the synchronous shaft 263 to rotate, i.e. to drive the driving sprocket 23 sleeved on the synchronous shaft 263 to rotate.

In this embodiment, by using the chain transmission structure as the lifting mechanism 2, the cost of the lifting mechanism 2 can be reduced, the assembly and maintenance of the lifting driving mechanism are facilitated, and the service life of the lifting mechanism 2 is prolonged. In other embodiments, the chain wheel and chain assembly can be replaced by other lifting transmission assemblies capable of converting the rotation of the motor into linear operation, such as a gear rack assembly, a lead screw nut assembly and the like.

For the installation of convenient drive transmission assembly, crane 21 includes relative and two installation grillages 211 that the interval set up and connect the installation crossbearer 212 between two installation grillages 211, and lift driving motor 22 installs on installation crossbearer 212, and the both ends of synchronizing shaft 263 are rotated and are installed on two installation grillages 211, and driven sprocket 24 rotates and installs on the installation grillages 211 that corresponds the side.

The mounting plate bracket 211 mainly includes a main mounting plate 2111, the main mounting plate 2111 is perpendicular to the first direction, and four sides thereof are bent inward to form folded portions 2112. The mounting plate frame 211 further comprises a sprocket mounting seat 2113 opposite to and spaced from the main mounting plate 2111, the sprocket mounting seat 2113 is detachably connected with the flanging part 2112, the driven sprocket 24 is rotatably mounted on the sprocket mounting seat 2113, and the driven sprocket 24 is located between the sprocket mounting seat 2113 and the main mounting plate 2111. This kind of setting can shelter from driven sprocket 24, prevents that packing box transmission device 3 or external structure from causing colliding with driven sprocket 24.

In order to further improve the operation stability of the lifting mechanism 2, the lifting mechanism 2 further comprises a lifting guide assembly, and the mounting plate frame 211 is slidably connected with the support frame 111 on the corresponding side through the lifting guide assembly.

Specifically, in this embodiment, the lift guiding assembly includes a first guiding wheel set, the first guiding wheel set includes a first guiding wheel 27, the first guiding wheel 27 is rotatably installed on the installation plate frame 211, and the rotation axis of the first guiding wheel 27 is arranged along the second direction, the first guiding wheel 27 and the supporting rod 1111 are in rolling contact towards one side of the supporting frame 111 on the other side, and each supporting frame 111 is correspondingly provided with the first guiding wheel set. The arrangement of first leading wheel 27 can realize crane 21 along the spacing of first direction, and further improves direction stability and reliability.

Preferably, the main mounting plate 2111 is provided with an avoiding opening, the rotating shaft of the first guide wheel 27 is located at the inner side of the main mounting plate 2111, and part of the first guide wheel 27 is exposed at the outer side of the main mounting plate 2111 through the avoiding opening and is in rolling contact with the supporting rod 1111. By avoiding the opening, the size of the first guide wheel 27 can be reduced, and meanwhile, the distance between the main mounting plate 2111 and the supporting rod 1111 can also be reduced, so that the space between the two main mounting plates 2111 is increased, the structure compactness is improved, and the structural interference between the main mounting plates and the container transmission mechanism 3 is reduced. In other embodiments, the first guide wheel 27 may be mounted directly to the outside of the main mounting plate 2111.

Further, the lifting guide assembly further comprises a second guide wheel set, the second guide wheel set comprises at least two second guide wheels 28, the second guide wheels 28 are rotatably installed on one side, far away from the other mounting plate frame 211, of the mounting plate frame 211, the rotating axis of the second guide wheels 28 is arranged along the first direction, and the at least two second guide wheels 28 are in rolling contact with the side walls, opposite to the two supporting rods 1111, of the supporting frame 111 respectively. The setting of second leading wheel 28 can avoid crane 21 relative grudging post 1 to move along the second direction, improves crane 21's motion stationarity.

Further, the supporting rods 1111 on each side (a plurality of supporting rods arranged side by side along the extending direction of the supporting rods are a group of supporting rods) can be correspondingly provided with two or more second guide wheels 28, the number of the second guide wheels 28 on the supporting rods 1111 on the two sides can be the same or different, and the supporting rods 1111 on each side can be just arranged or arranged in a staggered manner in the extending direction of the supporting rods 1111 as long as at least one second guide wheel 28 is correspondingly arranged on each supporting rod 1111.

In this embodiment, each of the first guide wheel 27 and the second guide wheel 28 includes a mounting shaft, a bearing sleeved on the mounting shaft, and a roller sleeved outside the bearing, the roller is fixed to an outer ring of the bearing, and the mounting shaft is fixed to an inner ring of the bearing. In other embodiments, the first guide wheel 27 and the second guide wheel 28 may also adopt other existing roller structures, and this embodiment does not further limit this.

The packing box transmission device 3 is detachably mounted on the crane 21, and the packing box transmission device 3 can adopt the structure in patent application 202010524246.4, also can adopt the structure of other packing box transmission devices 3, the utility model discloses do not specifically limit the structure of packing box transmission device 3.

Further, as shown in fig. 1 and 7, the transfer robot further includes a plurality of temporary storage partition plates 5, the plurality of temporary storage partition plates 5 are arranged at intervals along the extending direction of the vertical frame 1, and the temporary storage partition plates 5 are detachably connected with the vertical frame 1. Through setting up the baffle 5 of keeping in that can dismantle the connection with grudging post 1, can assemble baffle 5 of keeping in again after the installation finishes under the horizontality at grudging post 1, improve the packaging efficiency.

Preferably, a plurality of temporary storage partitions 5 are all mounted on the lowermost shelf segment 11, and in the initial mounting state, the container transfer mechanism 3 and the temporary storage partitions 5 are respectively located on two opposite sides of the vertical shelf 1. This kind of setting can be in the equipment baffle 5 of keeping in when vertical state at grudging post 1 to avoid grudging post 1 when carrying out the state switching, cause to scratch baffle 5 of keeping in. And the temporary storage baffle 5 is arranged on the frame body segment 11 of the lower layer, and can be directly installed manually, so that the installation is more rapid and convenient, and the whole gravity center of the transfer robot after the assembly is finished can be reduced.

In this embodiment, the temporary storage partition plates 5 are provided with six, and in other embodiments, the number and the positions of the temporary storage partition plates 5 may be specifically limited according to requirements.

As shown in fig. 7, the temporary storage partition 5 includes a frame 51, a temporary storage plate 53 covering the upper surface of the frame 51, and a baffle 52 surrounding the temporary storage plate 53 and the frame 51, the upper side edge of the baffle 52 is higher than the upper surface of the temporary storage plate 53 to prevent the container from dropping from the temporary storage plate 53, and the frame 51 can enhance the overall structural strength and rigidity of the temporary storage partition 5. The frame 51 is preferably, but not limited to, a rectangular, an E-shaped structure, etc.

The baffle 52 is a U-shaped structure, and the baffle 52 and the temporary storage plate 53 surround to form an accommodating space with one side open. In order to facilitate the installation of the temporary storage partition board 5 and the vertical frame 1, the temporary storage partition board 5 further comprises an installation rod 54, and the installation rod 54 is arranged at the opening end of the accommodating space and connected below the temporary storage board 53. The positioning rods 114 are connected between the two support frames 111 of the lowermost frame segment 11, the positioning rods 114 are arranged at intervals along the height direction of the vertical frame 1, the positioning rods 114 and the temporary storage partition plates 5 are arranged in a one-to-one correspondence manner, and the positioning rods 114 are detachably connected with the mounting rods 54.

The mounting bar 54 is preferably of square steel construction to reduce weight while increasing the structural rigidity of the mounting bar 54. In order to improve the convenience of connecting the installation rod 54 and the positioning rod 114, the installation blocks 55 are inserted into the two ends of the installation rod 54, the installation blocks 55 are of a solid structure, and the installation rod 54 is detachably connected with the positioning rod 114 through the installation blocks 55. The installation of installation piece 55 can improve the convenience of being connected and the connection reliability of baffle 5 and grudging post 1 of keeping in.

The utility model also provides a warehouse logistics system, including foretell transfer robot. And the warehouse logistics system that this embodiment provided, through adopting foretell transfer robot, can improve warehouse logistics system's the efficiency of building, reduce warehouse logistics system's the cost of building, improve warehouse logistics system's operating efficiency.

It should be noted that the foregoing is only a preferred embodiment of the present invention and the technical principles applied. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail with reference to the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the scope of the present invention.

Claims

1. A transfer robot, characterized by comprising:

a mobile chassis (4);

a stand (1) which is provided on the mobile chassis (4), wherein the lower end of the stand (1) is rotatably connected to the mobile chassis (4) so that the stand (1) can be switched between a vertical state and a substantially horizontal state;

the container conveying mechanism (3) is arranged on the vertical frame (1) in a lifting manner and is used for taking and placing containers on the storage container.

2. A transfer robot as claimed in claim 1, wherein the stand (1) comprises at least two frame sections (11) arranged in a height direction in a splicing manner, two adjacent frame sections (11) are detachably connected, and the lower end of the lowermost frame section (11) is rotatably connected with the movable chassis (4).

3. A transfer robot as claimed in claim 2, wherein each rack section (11) comprises two support frames (111) oppositely and spaced apart in a first direction, each support frame (111) comprises two support bars (1111) oppositely and spaced apart in a second direction and a connecting rod (1112) connected between the two support bars (1111), the corresponding support bars (1111) of two adjacent rack sections (11) are spliced, and the second direction is perpendicular to the first direction.

4. A transfer robot as claimed in claim 3, wherein the stand (1) further comprises a connecting rod (12), the supporting rods (1111) are hollow rods, both ends of the connecting rod (12) are respectively inserted into the supporting rods (1111) of two adjacent rack sections (11), and the connecting rods (12) are detachably connected with the corresponding supporting rods (1111).

5. A transfer robot as claimed in claim 2, wherein the length of the frame segments (11) in a first direction is larger than the length of the frame segments (11) in a second direction, and wherein a number of frame segments (11) can be arranged side by side on the moving chassis (4) in the second direction when a number of frame segments (11) are not spliced.

6. The transfer robot of claim 1, further comprising a lifting mechanism (2), wherein the lifting mechanism (2) comprises a lifting frame (21) and a driving transmission assembly, the container transfer mechanism (3) is detachably arranged on the lifting frame (21), and the driving transmission assembly is used for driving the lifting frame (21) to move along the length direction of the vertical frame (1).

7. The transfer robot of claim 6, wherein the drive transmission assembly comprises:

the lifting driving motor (22) is arranged on the lifting frame (21);

the driving chain wheel (23) is in transmission connection with an output shaft of the lifting driving motor (22);

the driven chain wheels (24) are rotatably arranged on the lifting frame (21), the upper side and the lower side of the driving chain wheel (23) are respectively provided with one driven chain wheel, and the centers of the driving chain wheel (23) and the two driven chain wheels (24) are not positioned on the same straight line;

the chain (25) is arranged along the length direction of the vertical frame (1), the two ends of the chain (25) are detachably connected with the vertical frame (1), and the chain (25) sequentially bypasses the driven chain wheel (24), the driving chain wheel (23) and the other driven chain wheel (24).

8. A transfer robot as claimed in claim 6, wherein the stand (1) comprises two sets of support frames (111) arranged oppositely and spaced apart in a first direction, the crane (21) comprises two mounting ledge frames (211) arranged oppositely and spaced apart in the first direction, the mounting ledge frames (211) being slidably connected to the support frames (111) on the corresponding side.

9. A handling robot as claimed in claim 8, characterised in that said lifting mechanism (2) comprises first guide wheels (27), said first guide wheels (27) being rotatably mounted on said mounting plate brackets (211) with said support frame (111) in rolling contact with said first guide wheels (27) towards one side of the other support frame (111), said first guide wheels (27) being provided on each of said mounting plate brackets (211).

10. A transfer robot as claimed in claim 8, wherein each support frame (111) comprises two support bars (1111) opposite and spaced apart in a second direction, the lifting mechanism (2) further comprises a second guide wheel (28), the second guide wheel (28) is rotatably mounted on the mounting plate frame (211), the second guide wheel (28) is in rolling contact with a side of one support bar (1111) facing the other support bar (1111), and the support bar (1111) of each side is correspondingly provided with the second guide wheel (28).

11. The transfer robot of claim 1, further comprising a plurality of temporary storage partitions (5), wherein the plurality of temporary storage partitions (5) are arranged at intervals along the extending direction of the vertical frame (1), and the temporary storage partitions (5) are detachably connected with the vertical frame (1).

12. A transfer robot as claimed in claim 11, wherein the vertical frame (1) comprises two sets of supporting frames (111) which are arranged oppositely and at intervals along a first direction, and further comprises a positioning rod (114) connected between the two sets of supporting frames (111), the positioning rod (114) and the temporary storage partition (5) are arranged in a one-to-one correspondence manner, one end of the temporary storage partition (5) is detachably connected with the positioning rod (114), and the other end of the temporary storage partition (5) extends along a direction away from the vertical frame (1).

13. A transfer robot as claimed in claim 2, wherein each of the frame sections (11) has an auxiliary support detachably attached thereto, said auxiliary support being supported on the ground when the stand (1) is in the substantially horizontal position.

14. A warehouse logistics system, characterized by comprising the transfer robot of any one of claims 1-13.