Logistics transfer robot with telescopic mechanical arm

Abstract

The invention relates to the technical field of carrying robots, in particular to a logistics carrying robot with a telescopic mechanical arm, the logistics carrying robot comprises a movable base and a discharging top frame, a lifting electric cylinder is fixedly arranged at the top of the movable base, and the discharging top frame is fixedly arranged at the top end of the driving end of the lifting electric cylinder. The left side and the right side of a logistics piece are limited in an attached mode through the first rotating arm and the second rotating arm, the front side and the rear side of the logistics piece are limited through the movable arm, the limiting height can be adjusted according to the height of the logistics piece, clamping limiting can be achieved by changing the position of the movable arm, and due to the flexible and accurate peripheral limiting design, the practicability is high. According to the logistics piece carrying device, the logistics pieces in regular shapes or irregular shapes can be firmly fixed in the carrying process, displacement of the logistics pieces caused by jolting, acceleration or steering in the carrying process is avoided, the position stability of the logistics pieces in the whole carrying process is effectively guaranteed, and the reliability of carrying operation is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of handling robots, in particular to a logistics handling robot with a telescopic mechanical arm. Background Art

[0002] With the continued growth of global trade and the rapid development of e-commerce, the logistics industry is facing an increasing demand for cargo handling and processing. Traditional manual handling methods are gradually unable to meet the requirements of large-scale, fast-paced logistics operations in terms of efficiency, accuracy and labor intensity. In order to improve the automation level of logistics handling, reduce labor costs and improve overall operational efficiency, logistics handling robots have come into being. These robots need to have the ability to move accurately in complex logistics environments, efficiently handle various types of goods, and operate stably and reliably to adapt to the handling tasks of different types of goods and the diversity of warehouse layouts.

[0003] However, many existing logistics handling robots still have some shortcomings in their structural design. For example, in terms of mobile drive, some robots are not flexible enough in turning, and it is difficult to quickly and accurately adjust the direction in narrow shelf aisles or complex warehouse layouts, resulting in an unoptimized handling path and limited work efficiency; in terms of cargo placement stability, some robots only rely on simple platforms to carry cargo, lacking effective anti-sway and adaptive support structures. During the handling process, the cargo is easily displaced or even dropped due to the acceleration, deceleration or turning of the robot, increasing the risk of damage to the cargo; in addition, for cargo of different shapes, sizes and weights, the existing robots are often not flexible and diverse in clamping and limiting methods, and cannot well meet the handling needs of various cargoes, affecting the versatility and practicality of the robots.

[0004] To this end, we propose a logistics handling robot with a telescopic robotic arm. Summary of the invention

[0005] In view of the deficiencies in the prior art, the present invention provides a logistics handling robot with a telescopic mechanical arm, which is used to solve the above-mentioned technical defects.

[0006] To achieve the above objectives, the present invention is implemented through the following technical solutions: a logistics handling robot with a telescopic mechanical arm, comprising a mobile base and a material discharging top frame, a lifting electric cylinder is fixedly arranged on the top of the mobile base, and a material discharging top frame is fixedly arranged on the top of the driving end of the lifting electric cylinder, a driving component is arranged at the bottom of the mobile base, and power supply components are arranged on the left and right sides of the inside of the mobile base, telescopic components are arranged on the left and right sides of the inside of the material discharging top frame, and a stabilizing component is also arranged on the front and rear sides of the bottom of the material discharging top frame;

[0007] The driving assembly includes a driving frame, a movable groove is provided in the middle of the bottom of the movable base, and a movable base is slidably provided inside the movable groove, a rotating plate is rotatably provided at the bottom of the movable base, a driving frame is fixedly provided at the bottom of the rotating plate, and two movable wheels are rotatably provided on both sides of the driving frame, servo electric cylinders 1 are fixedly provided on both sides of the top of the inner wall of the movable groove, and the driving ends of the two servo electric cylinders 1 are fixedly connected to the top of the movable base, a steering motor is fixedly provided on the top of the movable base, and the bottom end of the output shaft of the steering motor is fixedly connected to the inside of the rotating plate;

[0008] The telescopic assembly includes an extension frame, and sliding grooves are provided on the left and right sides of the discharge top frame, and a linear slide rail is fixedly provided on the front and rear sides of the inner walls of the two sliding grooves. Extension frames are slidably provided inside the two sliding grooves, and the front and rear sides of the two extension frames are slidably connected to the linear slide rail on the front and rear sides respectively.

[0009] Preferably, the tops of the two extension frames are each provided with a plurality of mounting grooves, and the bottoms of the inner walls of the plurality of mounting grooves are each fixedly provided with a linear slide rail 2, a slider 1 is slidably provided on the top of the linear slide rail 2, and a rotating arm 1 is rotatably provided on the top of the slider 1 through an electric rotating shaft.

[0010] Preferably, a linear slide rail three is fixedly provided inside the rotating arm one, and a slider two is slidably provided on one side of the linear slide rail three, a micro electric cylinder one is fixedly provided on one side of the slider two, and an electric rotating frame is fixedly provided on the driving end of the micro electric cylinder one, a rotating arm two is fixedly provided on one side of the electric rotating frame, and a linear slide rail four is also fixedly provided inside the rotating arm two, a slider three is slidably provided on one side of the linear slide rail four, and a movable arm is provided inside the slider three which rotates through an electric rotating shaft.

[0011] Preferably, the stabilizing component includes two servo electric cylinders 2, the front and rear sides of the bottom of the discharge top frame are fixedly provided with connecting blocks 1, and the interiors of the two connecting blocks 1 are rotatably provided with servo electric cylinders 2, one side of the two connecting blocks 1 is fixedly provided with a rotating motor, and one end of the output shaft of the two rotating motors is respectively connected to the interiors of the two servo electric cylinders 2, the front and back sides of the movable base are slidably provided with telescopic frames, and the tops of the two telescopic frames are rotatably provided with connecting blocks 2, and the driving ends of the two servo electric cylinders 2 are respectively fixedly connected to the tops of the two connecting blocks 2.

[0012] Preferably, universal wheels are rotatably provided around the bottom of the movable base and the bottoms of the two telescopic frames, and the surfaces of several universal wheels are in contact with the surface of the ground.

[0013] Preferably, a support assembly is also provided in the middle part of the interior of the discharge top frame, and the support assembly includes a support frame, a groove is provided in the middle part of the top of the discharge top frame, and a support frame is slidably provided inside the groove, two micro electric cylinders 2 are fixedly provided at the bottom of the inner wall of the groove, and the driving ends of the two micro electric cylinders 2 are fixedly connected to the bottom of the support frame, and a plurality of ball bearings are also rotatably provided on the top of the support frame.

[0014] Preferably, the power supply component includes an active power source, power supply assembly cavities are provided on the left and right sides of the mobile base, and active power sources are movably provided inside the two power supply assembly cavities, flip covers are rotatably provided on the left and right sides of the mobile base, and one side of the two flip covers is respectively in contact with one side of the two active power sources, and radar cameras are also symmetrically provided on the left and right sides of the top of the mobile base.

[0015] Compared with the prior art, it has the following beneficial effects:

[0016] 1. In the present invention, the movable base is controlled to move up and down in the movable groove by a servo electric cylinder, and the contact state between the movable wheel and the ground can be flexibly switched. When movement is required, the movable wheel inside the driving frame is lowered to contact the ground, and then the driving motor drives the movable wheel to rotate to realize the displacement drive of the robot. This design avoids the inconvenience of traditional fixed wheel drive in some special scenarios. For example, in narrow passages or handling routes that require frequent start and stop, the start and stop and speed of the robot can be controlled more accurately, thereby improving the movement efficiency. In addition, the combination of the steering motor and the rotating plate provides a high degree of accuracy for the steering of the robot. Before the displacement drive in different directions, the steering motor can accurately adjust the angle of the rotating plate, so that the movable wheel in the driving frame is directed to the target displacement direction. Compared with the traditional differential steering or relatively simple steering structure, this design can achieve a smaller radius turn in a complex logistics warehouse layout, better adapt to various shelf arrangements and channel directions, reduce path loss and time waste during the steering process, greatly improve the maneuverability and flexibility of the robot in a small space, and enable the robot to shuttle between dense shelves more efficiently for cargo handling operations.

[0017] 2. When the logistics items are placed on the top of the unloading frame, the rotating motor of the logistics handling robot drives the servo electric cylinder 2 to rotate and extend, driving the telescopic frame to extend to the front and rear sides. In this way, the servo electric cylinder 2 on the front and rear sides is utilized to form a stable triangular support structure with the mobile base, the unloading frame and the telescopic frame. When handling heavier logistics items or those with a higher center of gravity, this triangular support can effectively prevent the unloading frame from shaking or tilting due to uneven force on the front and rear sides, greatly reducing the risk of goods falling or being damaged, and ensuring the safety and stability of the handling process.

[0018] 3. When placing logistics parts, the linear slide rail 1 controls the sliding of the extension frame, the electric rotating shaft controls the flipping of the rotating arm 1, the micro electric cylinder 1 pushes the electric rotating frame to drive the rotating arm 2 to move, and the electric rotating shaft controls the flipping of the movable arm, so as to finally realize the fitting limit of the rotating arm 1 and the rotating arm 2 on the left and right sides of the logistics parts, and the limit of the front and back sides of the logistics parts by the movable arm. In addition, the limit height can be adjusted according to the height of the logistics parts, and the engagement limit can be achieved by changing the position of the movable arm. This flexible and precise all-round limit design can firmly fix both regular and irregular shaped logistics parts during the transportation process, avoiding the displacement of logistics parts due to bumps, acceleration or turning during the transportation process, effectively ensuring the position stability of the logistics parts during the entire transportation process, and improving the reliability of the transportation operation.

[0019] 4. In the present invention, the micro-electric cylinder 2 in the groove drives the support frame to rise, so that the ball contacts the bottom of the logistics part and reserves a gap. When the rotating arm 1 pushes the logistics part to calibrate the center position, the ball provides rolling support, reducing the friction resistance between the logistics part and the discharge top frame, making the position adjustment smoother. This not only improves the efficiency of position adjustment, but also avoids surface scratches or damage that may be caused by forcibly pushing the logistics part, and helps to accurately place the logistics part in the ideal position of the discharge top frame before handling, so as to better maintain overall balance and stability during subsequent handling, and reduce the handling risk caused by position deviation.

[0020] 5. In the present invention, the active power sources on the left and right sides of the mobile base are used as energy supply units to provide power support for various functions of the robot during normal operation, and the radar cameras symmetrically arranged on the left and right sides play an intelligent recognition role in the movement of the robot, helping the robot to better plan paths and avoid obstacles, thereby improving working flexibility and autonomy; when the power supply is insufficient and needs to be replaced, the design of the flip cover makes the replacement operation of the active power supply extremely convenient and fast. This method of quickly replacing the power supply significantly reduces the standby time of the robot, enables the robot to resume working status faster, improves the overall work efficiency, and ensures the continuity of logistics handling operations. It is especially suitable for scenarios with high logistics operation intensity and high requirements on equipment operating time.

[0021] Other features and advantages of the present invention will be set forth in the following description, and in part will become apparent from the description, or may be understood through implementation of the present invention. The objects and other advantages of the present invention may be realized and obtained through the structures indicated in the description and the drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 This is a schematic diagram of a logistics handling robot structure with a telescopic mechanical arm according to an embodiment of the present invention;

[0023] Figure 2 A schematic diagram of a stable assembly structure according to an embodiment of the present invention;

[0024] Figure 3 A schematic diagram of a driving component structure according to an embodiment of the present invention;

[0025] Figure 4 It is a schematic diagram of a deployment structure of a rotating arm according to an embodiment of the present invention;

[0026] Figure 5 A schematic diagram of the unfolding structure of the telescopic assembly according to an embodiment of the present invention;

[0027] Figure 6 A schematic diagram of a supporting assembly structure according to an embodiment of the present invention;

[0028] Figure 7 It is a schematic diagram of the structure of the rotating arm 1, the rotating arm 2 and the movable arm according to an embodiment of the present invention;

[0029] Figure 8 It is a schematic diagram of the power supply component structure according to an embodiment of the present invention.

[0030] In the figure, 1, movable base; 2, lifting electric cylinder; 3, unloading top frame; 4, movable slot; 5, movable base; 6, rotating plate; 7, driving frame; 8, servo electric cylinder 1; 9, steering motor; 10, connecting block 1; 11, servo electric cylinder 2; 12, rotating motor; 13, connecting block 2; 14, telescopic frame; 15, universal wheel; 16, sliding slot; 17, linear slide rail 1; 18, extension frame; 19, installation slot; 20, linear Slide rail 2; 21. Slider 1; 22. Rotating arm 1; 23. Linear slide rail 3; 24. Slider 2; 25. Micro electric cylinder 1; 26. Electric rotating frame; 27. Rotating arm 2; 28. Linear slide rail 4; 29. ​​Slider 3; 30. Movable arm; 31. Groove; 32. Micro electric cylinder 2; 33. Support frame; 34. Ball bearing; 35. Power supply assembly cavity; 36. Movable power supply; 37. Flip cover; 38. Radar camera. DETAILED DESCRIPTION

[0031] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0032] Embodiment 1:

[0033] See also Figures 1 to 8As shown, a logistics handling robot with a telescopic mechanical arm comprises a mobile base 1 and a material discharging top frame 3, a lifting electric cylinder 2 is fixedly arranged on the top of the mobile base 1, and a material discharging top frame 3 is fixedly arranged on the top of the driving end of the lifting electric cylinder 2, a driving component is arranged at the bottom of the mobile base 1, and power supply components are arranged on the left and right sides of the inside of the mobile base 1, telescopic components are arranged on the left and right sides of the inside of the material discharging top frame 3, and a supporting component is also arranged in the middle of the inside of the material discharging top frame 3, and a stabilizing component is also arranged on the front and rear sides of the bottom of the material discharging top frame 3, and the front and rear stability of the top of the material discharging top frame 3 during logistics handling is improved by the stabilizing component;

[0034] Specifically, the driving assembly includes a driving frame 7, a movable groove 4 is provided in the middle of the bottom of the movable base 1, and a movable base 5 is slidably provided inside the movable groove 4, a rotating plate 6 is rotatably provided at the bottom of the movable base 5, and the driving frame 7 is fixedly provided at the bottom of the rotating plate 6, and two moving wheels are provided on both sides of the driving frame 7 to rotate through a driving motor;

[0035] Servo electric cylinders 8 are fixedly arranged on both sides of the top of the inner wall of the movable groove 4, and the driving ends of the two servo electric cylinders 8 are fixedly connected to the top of the movable base 5. A steering motor 9 is fixedly arranged on the top of the movable base 5, and the bottom end of the output shaft of the steering motor 9 is fixedly connected to the inside of the rotating plate 6;

[0036] It should be noted that when the logistics handling robot is driven to move, the movable base 5 is controlled to move downward inside the movable groove 4 through the driving ends of the two servo electric cylinders 8 until the bottom of the two moving wheels inside the driving frame 7 are in contact with the ground, and the two moving wheels are driven to rotate to realize the displacement drive of the logistics handling robot. When the logistics handling robot is driven to move in different directions, the output shaft of the steering motor 9 is first used to control the rotating plate 6 to rotate at the bottom of the movable base 5, and the two moving wheels inside the driving frame 7 are adjusted to the displacement direction, and then the movable base 5 is controlled to move downward through the driving ends of the two servo electric cylinders 8 to cooperate with the two moving wheels inside the driving frame 7 to drive the logistics handling robot for displacement.

[0037] In a specific embodiment, the logistics handling robot proposed in the present invention controls the movable base 5 to move up and down in the movable groove 4 through the servo electric cylinder 8 during normal movement, and can flexibly switch the contact state between the moving wheels and the ground. When movement is required, the moving wheels inside the driving frame 7 are lowered to contact the ground, and then the driving motor drives the moving wheels to rotate to realize the displacement drive of the robot. This design avoids the inconvenience of traditional fixed wheel drive in some special scenarios. For example, in narrow passages or handling routes that require frequent starts and stops, the start and stop and speed of the robot can be controlled more accurately, thereby improving the moving efficiency. In addition, by steering the motor 9 and the rotating The combination of the moving plate 6 provides a high degree of precision for the steering of the robot. Before displacement driving in different directions, the steering motor 9 can accurately adjust the angle of the rotating plate 6, so that the moving wheel in the driving frame 7 is oriented toward the target displacement direction. Compared with the traditional steering structure relying on differential steering or a relatively simple steering structure, this design can achieve a smaller radius of turning in a complex logistics warehouse layout, better adapt to various shelf arrangements and channel directions, reduce path loss and time waste during the steering process, greatly improve the robot's maneuverability and flexibility in a small space, and enable the robot to more efficiently shuttle between dense shelves to perform cargo handling operations.

[0038] Furthermore, the stabilizing component includes two servo electric cylinders 11, the front and rear sides of the bottom of the material discharge top frame 3 are fixedly provided with connecting blocks 10, and the interiors of the two connecting blocks 10 are rotatably provided with servo electric cylinders 11, one side of the two connecting blocks 10 is fixedly provided with rotating motors 12, and one end of the output shafts of the two rotating motors 12 are respectively connected to the interiors of the two servo electric cylinders 11, the front and back sides of the mobile base 1 are slidably provided with telescopic frames 14, and the tops of the two telescopic frames 14 are rotatably provided with connecting blocks 13, and the driving ends of the two servo electric cylinders 11 are respectively fixedly connected to the tops of the two connecting blocks 13;

[0039] Universal wheels 15 are rotatably arranged around the bottom of the mobile base 1 and the bottoms of the two telescopic frames 14, and the surfaces of several universal wheels 15 are in contact with the surface of the ground;

[0040] It should be noted that when carrying out logistics handling, by placing the logistics pieces on the top of the unloading top frame 3, the two servo electric cylinders 11 are controlled by the output shafts of the two rotating motors 12 to rotate forward and rearward respectively, and at the same time, the driving ends of the two servo electric cylinders 11 are extended, and the driving ends of the two servo electric cylinders 11 cooperate with the two connecting blocks 13 to drive the two telescopic frames 14 on the front and rear sides to extend forward and rearward respectively, and the two servo electric cylinders 11 on the front and rear sides are combined with the mobile base 1, the unloading top frame 3 and the telescopic frame 14 to form a triangular support, thereby greatly improving the stability of the logistics handling robot when placing logistics pieces.

[0041] In a specific embodiment, when the logistics handling robot in the present invention places the logistics items on the top of the unloading top frame 3, the rotating motor 12 drives the servo electric cylinder 2 11 to rotate and extend, driving the telescopic frame 14 to extend to the front and rear sides. In this way, the servo electric cylinder 2 11 on the front and rear sides is used to form a stable triangular support structure with the mobile base 1, the unloading top frame 3 and the telescopic frame 14. When handling heavier logistics items or those with a higher center of gravity, this triangular support can effectively prevent the unloading top frame 3 from shaking or tilting due to uneven force on the front and rear sides, greatly reducing the risk of goods falling or being damaged, and ensuring the safety and stability of the handling process.

[0042] Embodiment 2:

[0043] Specifically, the telescopic assembly includes an extension frame 18, and the left and right sides of the material discharge top frame 3 are provided with sliding grooves 16, and the front and rear sides of the inner walls of the two sliding grooves 16 are fixedly provided with linear slide rails 17, and the extension frames 18 are slidably provided inside the two sliding grooves 16, and the front and rear sides of the two extension frames 18 are respectively slidably connected with the linear slide rails 17 on the front and rear sides;

[0044] Further, the tops of the two extension frames 18 are each provided with a plurality of mounting grooves 19, and the bottoms of the inner walls of the plurality of mounting grooves 19 are each fixedly provided with a linear slide rail 20, a slider 1 21 is slidably provided on the top of the linear slide rail 20, and a rotating arm 1 22 is rotatably provided on the top of the slider 1 21 through an electric rotating shaft, a linear slide rail 3 23 is fixedly provided inside the rotating arm 1 22, and a slider 24 is slidably provided on one side of the linear slide rail 3 23, a micro electric cylinder 1 25 is fixedly provided on one side of the slider 24, and an electric rotating frame 26 is fixedly provided on the driving end of the micro electric cylinder 1 25, a rotating arm 27 is fixedly provided on one side of the electric rotating frame 26, and a linear slide rail 4 28 is also fixedly provided inside the rotating arm 27, a slider 3 29 is slidably provided on one side of the linear slide rail 4 28, and a movable arm 30 is rotatably provided inside the slider 3 29 through an electric rotating shaft;

[0045] It should be noted that when placing logistics parts, the extension frame 18 is controlled to slide to the two sides of the discharge top frame 3 through the linear slide rail 17 inside the two sliding grooves 16, and the rotating arm 22 is controlled to flip through the electric rotating shaft inside the slider 21 to form a 90-degree angle between the rotating arm 22 and the extension frame 18. Then, the driving end of the micro-electric cylinder 25 on one side of the slider 24 is controlled to control the electric rotating frame 26 to push to one side of the rotating arm 22, so that the rotating arm 27 is pushed out from the inside of the rotating arm 22, and then the rotating arm 27 is controlled to rotate by the electric rotating frame 26. Finally, the movable arm 30 is controlled to flip by the electric rotating shaft inside the two sliders 3 29 on the front and rear sides to form a 90-degree angle between the movable arm 30 and the rotating arm 2 27, and the movable arms 30 on the front and rear sides are controlled by the linear slide rail 4 28 to move to the front and rear sides of the logistics parts. The two sides of the logistics part are approached, and the linear slide rails 20 on the left and right sides are used to control the slider 21 to approach the left and right side surfaces of the logistics part. Finally, the left and right sides of the logistics part are fitted and limited by the rotating arms 22 and the rotating arms 27 on the left and right sides. At the same time, the front and back sides of the logistics part are limited by four movable arms 30. The telescopic components arranged on both sides are used to limit the logistics part on all sides on the top of the discharge top frame 3, and the height of the limit on all sides can be adjusted according to the height of the logistics part, so as to ensure the stability of the logistics part during the transportation process to the greatest extent. Through the flexible regulation of the telescopic component structure on the left and right sides, not only the clamping limit of the logistics part can be realized, but also the locking limit of the logistics part can be realized by inserting the movable arm 30 into the interior of the logistics part. By controlling the position of the left and right movable arms 30 relative to the logistics part, the transportation stability of the logistics part can be further improved.

[0046] In a specific embodiment, when placing logistics items, the linear slide rail 17 controls the sliding of the extension frame 18, the electric rotating shaft controls the flipping of the rotating arm 12, the micro electric cylinder 125 pushes the electric rotating frame 26 to drive the rotating arm 27 to move, and the electric rotating shaft controls the flipping of the movable arm 30, thereby finally realizing the fitting limit of the rotating arm 1 22 and the rotating arm 2 27 on the left and right sides of the logistics items, and the limit of the front and back sides of the logistics items by the movable arm 30. In addition, the limit height can be adjusted according to the height of the logistics items, and the locking limit can be achieved by changing the position of the movable arm 30. This flexible and precise all-round limit design can firmly fix both regular and irregular shaped logistics items during the transportation process, thereby avoiding the displacement of the logistics items due to bumps, acceleration or turning during the transportation process, effectively ensuring the position stability of the logistics items during the entire transportation process, and improving the reliability of the transportation operation.

[0047] Embodiment 3:

[0048] Further, in order to facilitate the centering adjustment of the position of the logistics parts on the top of the material discharge top frame 3, the support assembly includes a support frame 33, a groove 31 is provided in the middle of the top of the material discharge top frame 3, and the support frame 33 is slidably provided inside the groove 31, two micro-electric cylinders 32 are fixedly provided at the bottom of the inner wall of the groove 31, and the driving ends of the two micro-electric cylinders 32 are fixedly connected to the bottom of the support frame 33, and a plurality of balls 34 are also rotatably provided on the top of the support frame 33;

[0049] It should be noted that when the position of the logistics piece is adjusted at the top of the discharge top frame 3, the driving ends of the two micro-electric cylinders 2 32 are used to control the support frame 33 to move upward until a plurality of ball bearings 34 on the top of the support frame 33 are in contact with the bottom of the logistics piece, while a certain gap is left between the bottom of the logistics piece and the top of the discharge top frame 3. When the logistics piece is pushed for center position calibration by the left and right rotating arms 22, the bottom of the logistics piece is supported by the plurality of ball bearings 34 on the top of the support frame 33 for rolling support, thereby improving the smoothness of the logistics piece when adjusting its position. After the center position of the logistics piece is calibrated at the top of the discharge top frame 3, the stability of the logistics piece during transportation can be greatly improved.

[0050] In a specific embodiment, the micro-electric cylinder 2 32 in the groove 31 of the present invention drives the support frame 33 to rise, so that the ball 34 contacts the bottom of the logistics piece and reserves a gap. When the rotating arm 1 22 pushes the logistics piece to calibrate the center position, the ball 34 provides rolling support, reducing the friction resistance between the logistics piece and the discharge top frame 3, making the position adjustment smoother. This not only improves the efficiency of position adjustment, but also avoids surface scratches or damage that may be caused by forcibly pushing the logistics piece, and helps to accurately place the logistics piece in the ideal position of the discharge top frame 3 before handling, so as to better maintain overall balance and stability during subsequent handling, and reduce the handling risk caused by position deviation.

[0051] Further, the power supply assembly includes an active power supply 36, power supply assembly cavities 35 are provided on the left and right sides of the mobile base 1, and active power supplies 36 are movably provided inside the two power supply assembly cavities 35, flip covers 37 are rotatably provided on the left and right sides of the mobile base 1, and one side of the two flip covers 37 is respectively in contact with one side of the two active power supplies 36, and radar cameras 38 are also symmetrically provided on the left and right sides of the top of the mobile base 1;

[0052] It should be noted that the logistics handling robot is powered by two active power supplies 36 arranged inside the mobile base 1, and the moving path is intelligently identified by radar cameras 38 symmetrically arranged on the left and right sides, thereby improving the working flexibility of the logistics handling robot. When replacing the power supply, the two flip covers 37 can be opened to quickly replace the active power supply 36, thereby reducing the standby time of the logistics handling robot and improving the working efficiency of the logistics handling robot.

[0053] In a specific embodiment, the present invention uses the active power supply 36 on the left and right sides of the mobile base 1 as an energy supply unit to provide power support for various functions of the robot during normal operation, and the radar cameras 38 symmetrically arranged on the left and right sides play an intelligent recognition role in the movement of the robot, helping the robot to better plan the path and avoid obstacles, thereby improving work flexibility and autonomy; when the power supply is insufficient and needs to be replaced, the design of the flip cover 37 makes the replacement operation of the active power supply 36 extremely convenient and fast. This method of quickly replacing the power supply significantly reduces the standby time of the robot, enables the robot to resume working status faster, improves the overall work efficiency, and ensures the continuity of logistics handling operations. It is particularly suitable for scenarios with high logistics operation intensity and high requirements on equipment operating time.

[0054] Embodiment 4:

[0055] Specifically, this embodiment also discloses a working method of a logistics handling robot with a telescopic mechanical arm, comprising the following steps:

[0056] When the logistics handling robot needs to be moved, first, the driving ends of the two servo electric cylinders 8 drive the movable base 5 to move downward inside the movable groove 4, so that the bottoms of the two moving wheels inside the driving frame 7 are in contact with the ground, and then the driving motor drives the moving wheels to rotate to realize the displacement drive of the robot; when the displacement direction needs to be changed, the output shaft of the steering motor 9 drives the rotating plate 6 to rotate the angle at the bottom of the movable base 5, adjusts the two moving wheels inside the driving frame 7 to the target displacement direction, and then controls the movable base 5 to move downward again through the driving ends of the two servo electric cylinders 8, and cooperates with the moving wheels to complete the displacement drive in different directions;

[0057] When performing logistics handling operations and placing logistics items on the top of the material discharging top frame 3, the output shaft of the rotating motor 12 drives the servo electric cylinder 2 11 to rotate forward and backward respectively, and at the same time, the driving end of the servo electric cylinder 2 11 extends out, and the driving end of the servo electric cylinder 2 11 cooperates with the connecting block 2 13 to drive the front and rear telescopic frames 14 to extend forward and backward respectively. The front and rear servo electric cylinders 2 11 are combined with the mobile base 1, the material discharging top frame 3 and the telescopic frame 14 to form a triangular support structure, thereby greatly improving the stability of the robot when placing logistics items;

[0058] When placing the logistics parts, the linear slide rail 17 inside the sliding groove 16 drives the extension frame 18 to slide to the two sides of the discharge top frame 3, and the electric rotating shaft inside the slider 21 drives the rotating arm 22 to flip, so that it forms a 90-degree angle with the extension frame 18. Then, the driving end of the micro-electric cylinder 25 on one side of the slider 24 pushes the electric rotating frame 26 to push the rotating arm 27 out from the inside of the rotating arm 1 22, and then the electric rotating frame 26 controls the rotating arm 27 to rotate. Finally, the electric rotating shaft inside the slider 3 29 on the front and rear sides controls the movable arm 30 to flip, so that it forms a 90-degree angle with the rotating arm 27. Angle, the front and rear movable arms 30 are controlled by the linear slide rail 4 28 to approach the front and rear side surfaces of the logistics piece, and the left and right linear slide rails 20 are used to control the slider 1 21 to approach the left and right side surfaces of the logistics piece. The left and right rotating arms 1 22 cooperate with the rotating arm 2 27 to fit and limit the left and right sides of the logistics piece. The front and rear sides are limited by four movable arms 30 to achieve the limitation of the logistics piece on the top of the discharge top frame 3. The limit height can be adjusted according to the height of the logistics piece. The position of the movable arm 30 can also be controlled to insert it into the logistics piece to achieve the clamping limit, thereby improving the handling stability.

[0059] When the position of the logistics piece is adjusted on the top of the discharge top frame 3, the driving ends of the two micro-electric cylinders 2 32 drive the support frame 33 to move upward until a number of balls 34 on the top of the support frame 33 contact the bottom of the logistics piece, so that a certain gap is left between the bottom of the logistics piece and the top of the discharge top frame 3. When the rotating arms 22 on the left and right sides push the logistics piece to calibrate the center position, the balls 34 on the top of the support frame 33 roll and support the bottom of the logistics piece, thereby improving the smoothness of the position adjustment. After calibration, the stability of the logistics piece during handling can be improved.

[0060] In addition, the logistics handling robot is powered by two active power supplies 36 inside the mobile base 1. The moving path is intelligently identified by radar cameras 38 symmetrically arranged on the left and right sides, thereby improving the working flexibility of the robot. When the power supply needs to be replaced, the flip cover 37 can be opened to quickly replace the active power supply 36, thereby reducing the standby time of the robot and improving work efficiency.

[0061] Meanwhile, the contents not described in detail in this specification belong to the prior art known to those skilled in the art.

[0062] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0063] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A logistics handling robot with a telescopic mechanical arm, comprising a mobile base (1) and a material discharge top frame (3), wherein a lifting electric cylinder (2) is fixedly arranged on the top of the mobile base (1), and a material discharge top frame (3) is fixedly arranged on the top of the driving end of the lifting electric cylinder (2), characterized in that: A driving assembly is arranged at the bottom of the mobile base (1), and power supply assemblies are arranged on the left and right sides of the mobile base (1), telescopic assemblies are arranged on the left and right sides of the material discharge top frame (3), and stabilizing assemblies are arranged on the front and rear sides of the bottom of the material discharge top frame (3); The driving assembly comprises a driving frame (7), a movable groove (4) is provided in the middle of the bottom of the movable base (1), and a movable base (5) is slidably provided inside the movable groove (4), a rotating plate (6) is rotatably provided at the bottom of the movable base (5), a driving frame (7) is fixedly provided at the bottom of the rotating plate (6), and two moving wheels are rotatably provided on both sides of the driving frame (7), servo electric cylinders (8) are fixedly provided on both sides of the top of the inner wall of the movable groove (4), and the driving ends of the two servo electric cylinders (8) are fixedly connected to the top of the movable base (5), a steering motor (9) is fixedly provided on the top of the movable base (5), and the bottom end of the output shaft of the steering motor (9) is fixedly connected to the inside of the rotating plate (6); The telescopic assembly comprises an extension frame (18), the left and right sides of the discharge top frame (3) are provided with sliding grooves (16), and the front and rear sides of the inner walls of the two sliding grooves (16) are fixedly provided with linear slide rails (17), the extension frames (18) are slidably provided inside the two sliding grooves (16), and the front and rear sides of the two extension frames (18) are respectively slidably connected with the linear slide rails (17) on the front and rear sides.

2. A logistics handling robot with a telescopic mechanical arm according to claim 1, characterized in that: The tops of the two extension frames (18) are each provided with a plurality of mounting grooves (19), and the bottoms of the inner walls of the plurality of mounting grooves (19) are each fixedly provided with a linear slide rail 2 (20), a slider 1 (21) is slidably provided on the top of the linear slide rail 2 (20), and a rotating arm 1 (22) is rotatably provided on the top of the slider 1 (21) via an electric rotating shaft.

3. A logistics handling robot with a telescopic mechanical arm according to claim 2, characterized in that: A linear slide rail 3 (23) is fixedly arranged inside the rotating arm 1 (22), and a slider 2 (24) is slidably arranged on one side of the linear slide rail 3 (23), a micro electric cylinder 1 (25) is fixedly arranged on one side of the slider 2 (24), and an electric rotating frame (26) is fixedly arranged on the driving end of the micro electric cylinder 1 (25), a rotating arm 2 (27) is fixedly arranged on one side of the electric rotating frame (26), and a linear slide rail 4 (28) is also fixedly arranged inside the rotating arm 2 (27), a slider 3 (29) is slidably arranged on one side of the linear slide rail 4 (28), and a movable arm (30) is rotatably arranged inside the slider 3 (29) through an electric rotating shaft.

4. The logistics handling robot with a telescopic mechanical arm according to claim 1, characterized in that: The stabilizing component comprises two servo electric cylinders (11), the front and rear sides of the bottom of the material discharge top frame (3) are fixedly provided with connection blocks (10), and the interiors of the two connection blocks (10) are rotatably provided with servo electric cylinders (11), one side of the two connection blocks (10) is fixedly provided with a rotating motor (12), and one end of the output shaft of the two rotating motors (12) is respectively connected to the interior of the two servo electric cylinders (11), the front and back sides of the movable base (1) are slidably provided with telescopic frames (14), and the tops of the two telescopic frames (14) are rotatably provided with connection blocks (13), and the driving ends of the two servo electric cylinders (11) are respectively fixedly connected to the tops of the two connection blocks (13).

5. The logistics handling robot with a telescopic mechanical arm according to claim 4, characterized in that: Universal wheels (15) are rotatably arranged around the bottom of the mobile base (1) and the bottoms of the two telescopic frames (14), and the surfaces of a plurality of universal wheels (15) are in contact with the surface of the ground.

6. The logistics handling robot with a telescopic mechanical arm according to claim 1, characterized in that: A support assembly is also provided in the middle of the discharge top frame (3), and the support assembly includes a support frame (33). A groove (31) is provided in the middle of the top of the discharge top frame (3), and a support frame (33) is slidably provided inside the groove (31). Two micro electric cylinders (32) are fixedly provided at the bottom of the inner wall of the groove (31), and the driving ends of the two micro electric cylinders (32) are fixedly connected to the bottom of the support frame (33). A plurality of balls (34) are also rotatably provided at the top of the support frame (33).

7. The logistics handling robot with a telescopic mechanical arm according to claim 1, characterized in that: The power supply component includes an active power source (36), power source assembly cavities (35) are provided on the left and right sides of the mobile base (1), and active power sources (36) are movably provided inside the two power source assembly cavities (35), flip covers (37) are rotatably provided on the left and right sides of the mobile base (1), and one side of the two flip covers (37) is in contact with one side of the two active power sources (36) respectively, and radar cameras (38) are symmetrically provided on the left and right sides of the top of the mobile base (1).

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