CN-122009707-A - Primary and secondary climbs a robot

CN122009707ACN 122009707 ACN122009707 ACN 122009707ACN-122009707-A

Abstract

The invention discloses a primary-secondary climbing frame robot, which comprises an AGV guide vehicle, wherein the AGV guide vehicle is provided with a robot body, the robot body is provided with a material taking mechanism and a climbing mechanism, the primary-secondary climbing frame robot further comprises a climbing rail, a fixed protrusion is arranged on the climbing rail, the climbing mechanism comprises a climbing arm, a first driving synchronous wheel and a first driven synchronous wheel are rotatably connected to the climbing arm, a first synchronous belt is in transmission connection with the first driving synchronous wheel and the first driven synchronous wheel, a movable protrusion is arranged on the first synchronous belt, the first driving synchronous wheel is in transmission connection with a first motor, the left side and/or the right side of the first synchronous belt are/is provided with guide wheels arranged on the climbing arm, at least two first guide wheels which are arranged at intervals up and down and roll up and down on the climbing rail are rotatably connected to the guide wheels, and the first guide wheels are arranged on one side of the climbing rail back to the fixed protrusion. The climbing robot has the characteristics of high climbing efficiency and strong flexibility, and is perfect in overall function and strong in practicability.

Inventors

WU XIANG
WEI LI
LI LIANRUI
CHEN JINQING

Assignees

嘉兴必威智能装备有限公司

Dates

Publication Date: 20260512
Application Date: 20251230

Claims (10)

1. The utility model provides a primary and secondary climbs frame robot, its characterized in that, including the AGV guided vehicle, the AGV is loaded with the separable robot body with it on the guided vehicle, is equipped with feeding mechanism and climbing mechanism on the robot body, still including setting up on the goods shelves and doing the climbing rail that extends from top to bottom, it is equipped with a plurality of fixed archs of making equidistant arrangement along its extending track to climb the rail, climbing mechanism includes the climbing arm, rotates on the climbing arm and is connected with first initiative synchronizing wheel and first driven synchronizing wheel, first driven synchronizing wheel with the transmission is connected with first synchronous belt on the first initiative synchronizing wheel, is arranged on the first synchronous belt a plurality of movable archs of making equidistant arrangement along its extending track, adjacent two the distance between the movable archs equals adjacent two fixed archs, the transmission is connected with the first motor of control action on the first initiative synchronizing wheel, and first motor is established on the climbing arm, left side and/or the right side of first synchronizing belt are equipped with the wheel carrier of establishing on the climbing arm, rotate on the wheel carrier and be connected with at least two and make the lower spacer arrangement and climb the first back of the rail and establish the first back of the guide pulley on the rail.
2. The primary and secondary climbing robot according to claim 1, wherein a lifter provided at a bottom of the robot body or a top of the AGV guide is provided between the robot body and the AGV guide.
3. The primary-secondary climbing frame robot according to claim 2, wherein the elevator comprises a scissor lift or a rigid chain elevator.
4. The primary-secondary climbing frame robot according to any one of claims 1 to 3, wherein the robot body is further provided with an adjusting mechanism for controlling the climbing mechanism to horizontally move left and right; The adjusting mechanism comprises an adjusting frame, a second driving synchronous wheel and a second driven synchronous wheel which are arranged left and right are rotationally connected on the adjusting frame, the second driven synchronous wheel is in transmission connection with a second synchronous belt on the second driving synchronous wheel, a fixed block is arranged on the second synchronous belt and is connected with the climbing mechanism, a second motor for controlling rotation is in transmission connection with the second driving synchronous wheel, and the second motor is arranged on the adjusting frame.
5. The primary-secondary climbing frame robot according to claim 4, wherein the adjusting frame is further provided with a linear guide rail extending leftwards and rightwards, the linear guide rail is slidably connected with a linear slider, and the linear slider is connected with the climbing mechanism.
6. The primary-secondary climbing frame robot according to claim 1, wherein the climbing rail is provided with a limiting groove which is concave and extends up and down, the upper end and the lower end of the limiting groove are both communicated with the outside, the fixing protrusion is arranged at the bottom of the limiting groove, and a second guide wheel which is rotationally connected to the climbing arm is arranged in the limiting groove.
7. The primary and secondary climbing frame robot according to claim 1, wherein a fixed baffle plate arranged on the climbing arm is arranged between the first driving synchronous wheel and the first driven synchronous wheel, a movable baffle plate is arranged at one end of the fixed baffle plate, which faces the movable protrusion, a guide post is connected to the fixed baffle plate in a sliding manner, a drooping traction rope is arranged at the other end of the guide post, a compression spring with one end propping against the fixed baffle plate and the other end propping against the movable baffle plate is sleeved on the guide post, the first synchronous belt is arranged outside the fixed baffle plate and the movable baffle plate in a surrounding manner, and the movable baffle plate is clung to the first synchronous belt.
8. The master-slave climbing robot according to claim 7, wherein a brake rail extending up and down along an extending track of the climbing rail is arranged on a side portion of the climbing rail, a brake wheel rolling on the brake rail is arranged on the brake rail, a swing rod is rotatably connected to the climbing arm, one end of the swing rod is connected with the traction rope, and the brake wheel is rotatably connected to the other end of the swing rod.
9. The primary-secondary climbing frame robot according to claim 1, wherein the number of climbing mechanisms is two, and the climbing mechanisms are symmetrically arranged on the left side and the right side of the material taking mechanism.
10. The primary-secondary climbing frame robot according to claim 1, wherein the reclaiming mechanism comprises a reclaiming fork and a linear module controlled to move back and forth.

Description

Primary and secondary climbs a robot Technical Field The invention relates to the technical field of warehouse logistics automation, in particular to a primary-secondary climbing frame robot. Background In the field of warehouse logistics, three-dimensional storage and efficient access are key for improving space utilization, and a climbing robot is core equipment for high-level shelf automation operation. Most of the existing climbing robots are of integrated structures with fixed moving chassis and climbing mechanisms, so that climbing parts need to bear the composite weight of the whole robot, the material taking mechanism and goods, and load pressure is outstanding. In order to drive a heavy machine body to climb, the existing equipment is required to be provided with a high-power motor and a high-strength transmission part, so that the manufacturing cost and the energy consumption are increased, and the problems of rapid part abrasion, low precision and the like caused by overhigh load are easily caused. Meanwhile, the integrated structure ensures that the robot has poor movement flexibility, the transfer between shelves is inconvenient, and any mechanism fault leads to the shutdown of the whole machine, thereby affecting the operation continuity. Therefore, new structures are needed to reduce climbing loads and optimize power configurations. Accordingly, the invention provides the primary-secondary climbing frame robot. Disclosure of Invention The invention aims to overcome the defects in the prior art and provide the primary-secondary climbing frame robot which has the characteristics of high climbing efficiency and strong flexibility. The invention aims to solve the technical problems, and the primary-secondary climbing frame robot comprises an AGV guide vehicle, wherein the AGV guide vehicle is provided with a robot body which can be separated from the AGV guide vehicle, the robot body is provided with a material taking mechanism and a climbing mechanism, the robot body further comprises a climbing rail which is arranged on a goods shelf and extends up and down, the climbing rail is provided with a plurality of fixed bulges which are arranged at equal intervals along the extending track of the climbing rail, the climbing mechanism comprises a climbing arm, the climbing arm is rotationally connected with a first driving synchronous wheel and a first driven synchronous wheel, the first driven synchronous wheel and the first driving synchronous wheel are in transmission connection with a first synchronous belt, the first synchronous belt is arranged on the first synchronous belt and is provided with a plurality of movable bulges which are arranged at equal intervals along the extending track of the first synchronous wheel, the distance between two adjacent movable bulges is equal to the distance between two adjacent fixed bulges, the first driving synchronous wheel is in transmission connection with a first motor which is controlled to rotate, the first motor is arranged on the climbing arm, the left side and/or the right side of the first synchronous belt is provided with a guide wheel frame which is arranged on the climbing arm, and the first guide wheel is arranged on the back of the first rail at least one side of the first rail. The invention is further arranged that a lifter arranged at the bottom of the robot body or the top of the AGV is arranged between the robot body and the AGV. The invention is further arranged that the elevator comprises a scissor lift or a rigid chain elevator. The invention is further provided with an adjusting mechanism for controlling the climbing mechanism to horizontally move left and right; The adjusting mechanism comprises an adjusting frame, a second driving synchronous wheel and a second driven synchronous wheel which are arranged left and right are rotationally connected on the adjusting frame, the second driven synchronous wheel is in transmission connection with a second synchronous belt on the second driving synchronous wheel, a fixed block is arranged on the second synchronous belt and is connected with the climbing mechanism, a second motor for controlling rotation is in transmission connection with the second driving synchronous wheel, and the second motor is arranged on the adjusting frame. The invention is further characterized in that the adjusting frame is also provided with a linear guide rail which extends leftwards and rightwards, the linear guide rail is connected with a linear sliding block in a sliding manner, and the linear sliding block is connected with the climbing mechanism. The invention is further characterized in that the climbing rail is provided with a limiting groove which is concave and extends up and down, the upper end and the lower end of the limiting groove are both communicated with the outside, the fixing protrusion is arranged at the bottom of the limiting groove, and the limiting groove is internally provided with a second gu