Intelligent goods carrying robot for sparassis crispa refrigerated storage

Abstract

The invention discloses an intelligent goods carrying robot for a sparassis crispa cold storage, and relates to the technical field of sparassis crispa carrying, the intelligent goods carrying robot comprises a chassis, a detachable sealing cover is mounted at the upper end of the chassis, and a control system is mounted at the upper end of the sealing cover. According to the invention, the two-degree-of-freedom design of rotation and overturning is adopted, so that any posture adjustment of goods in a three-dimensional space is realized; the two sets of telescopic assemblies are independently adjusted and are compatible with various packaging rulers, multi-direction and multi-angle goods taking and placing are achieved, the coverage range is wide, the goods taking coverage range can be enlarged, manual auxiliary goods placing adjustment is not needed, the operation efficiency is improved, meanwhile, full-process automatic operation is achieved, the carrying efficiency is improved, and harm to workers is prevented. By means of the structural design, the robot achieves full-process automation of goods carrying of the sparassis crispa refrigerated storage, has remarkable performance in the aspects of improving operation efficiency, reducing loss and adapting to special environments, and has high practicability and economical efficiency.

Description

Technical Field

[0001] The present invention relates to the technical field of hydrangea mushroom transportation, and in particular to an intelligent cargo transportation robot for a hydrangea mushroom cold storage. Background Art

[0002] As a rare edible fungus, hydrangea mushrooms are highly sought after for their rich nutritional value and unique taste. However, their short shelf life and extreme sensitivity to storage conditions present numerous challenges during storage and handling. After harvesting, hydrangea mushrooms must be stored at a low temperature of 0-5°C, with a relative humidity of 85% to 95% to slow respiration and water loss, thereby extending their shelf life. If the storage temperature fluctuates by more than ±2°C, or if the humidity deviates from the optimal range, mold and decay will accelerate, leading to a decline in quality and even loss of commercial value.

[0003] However, in the existing technology, in the traditional hydrangea cold storage cargo handling process, some projects still rely on manual operation. However, the low temperature environment has a great impact on the physical health of the porters. The workers need to wear heavy cold-proof equipment, which not only reduces the flexibility of operation, but also greatly reduces the handling efficiency. In a low temperature environment, the efficiency of manual handling is lower than that in a normal temperature environment, and workers working in a low temperature environment for a long time are prone to occupational diseases such as frostbite and joint pain, which increases the employment risk and cost of the enterprise. Therefore, an intelligent cargo handling robot for hydrangea cold storage is proposed. Summary of the Invention

[0004] The purpose of the present invention is to provide an intelligent cargo handling robot for a shiitake mushroom cold storage to solve the problems raised by the above background technology.

[0005] To achieve the above objectives, the present invention provides the following technical solutions: an intelligent cargo handling robot for a Hydrangea globulus cold storage, comprising a chassis, a detachable sealing cover mounted on the upper end of the chassis, a control system mounted on the upper end of the sealing cover, support rods mounted on both ends of the sealing cover, laser radars mounted on the upper ends of two sets of support rods, anti-slip movement mechanisms mounted on both sides of the chassis for driving the chassis to move, and a handling mechanism mounted on the upper end of the sealing cover; The transport mechanism includes a height adjustment component, a rotating component is provided at the upper end of the height adjustment component, a flip component is provided on one side of the rotating component, two groups of telescopic components are provided inside the flip component, a first moving component is provided at one end of the flip component for adjusting the position of one group of telescopic components, a second moving component is provided at the upper end of the flip component for adjusting the position of the other group of telescopic components, flexible clamping claw components are provided at the lower ends of the two groups of telescopic components, infrared sensor components are provided on both sides of the flip component, and intelligent recognition sensors are provided at the lower ends of the two groups of telescopic components; The turning assembly comprises a long frame, and two groups of guide rods are installed inside the long frame.

[0006] Preferably, the height adjustment assembly includes a support frame, a telescopic rod No. 1 is installed at the inner bottom end of the support frame, a support plate is provided at the upper end of the support frame, the lower end of the support frame is fixed to the inner bottom end of the chassis, the protruding end of the telescopic rod No. 1 is fixed to the lower end of the support plate, and the telescopic rod No. 1 is connected to the control system signal.

[0007] Preferably, the rotating component includes a placement frame, a turntable is rotatably installed on the upper end of the placement frame, a vertical seat is installed on the upper end of the turntable, a servo motor is installed inside the placement frame, a rotating rod is rotatably installed on the upper end of the placement frame, the lower end of the placement frame is fixed to the upper end of the support plate, the upper end of the rotating rod is fixed to the lower end of the turntable, the lower end of the rotating rod is fixed to the output end of the servo motor, and the servo motor is connected to the control system signal.

[0008] Preferably, a round shaft seat is installed on the upper end of the vertical seat, a long rod is rotatably installed inside the round shaft seat, a tripod plate is installed on the outer wall of the long rod, a No. 2 telescopic rod is rotatably installed on the protrusion at one end of the vertical seat, an arc-shaped long hole is opened through one side of the tripod plate, a movable slider is slidably installed inside the arc-shaped long hole, a connecting head is rotatably installed on one end of the movable slider, one end of the long rod is fixed to one end of the long frame, the lower end of the connecting head is fixed to the protruding end of the No. 2 telescopic rod, and the No. 2 telescopic rod is connected to the control system signal.

[0009] Preferably, the telescopic assembly includes two groups of slides, a connecting recess is installed in the middle of the two groups of slides, a No. 3 telescopic rod is installed through the upper end of the connecting recess, a vertical slider is slidingly provided inside the connecting recess, a movable plate is installed at the protruding end of the No. 3 telescopic rod, the lower end of the vertical slider is fixed to the upper end of the movable plate, every two groups of slides are slidingly arranged with the outer wall of a group of guide rods, and the two groups of No. 3 telescopic rods are connected to the control system signal.

[0010] Preferably, the No. 1 moving component includes a No. 4 telescopic rod, and the outer walls of the two groups of guide rods are fixedly installed with a fixed long plate. One end of the No. 4 telescopic rod is fixed to one end of the fixed long plate, and the protruding end of the No. 4 telescopic rod passes through one end of the fixed long plate and is fixed to one end of one group of connecting recesses.

[0011] Preferably, the No. 2 moving component includes a connecting frame plate, wherein a fixed frame plate is installed on the outer wall of one group of the guide rods, a No. 5 telescopic rod is installed on one end of the connecting frame plate, one end of the connecting frame plate is fixed to one side of another group of connecting recesses, the protruding end of the No. 5 telescopic rod passes through one end of the connecting frame plate and is fixed to one end of the fixed frame plate, and the No. 5 telescopic rod is connected to the control system signal.

[0012] Preferably, the upper ends of the two groups of flexible clamping jaw assemblies and the two groups of intelligent identification sensors are respectively fixed to the lower ends of the two groups of movable plates, and the two groups of infrared sensor assemblies, the two groups of flexible clamping jaw assemblies and the two groups of intelligent identification sensors are all connected to the control system signal.

[0013] Preferably, the anti-slip moving mechanism includes two groups of batteries, two groups of transmission rods are rotatably installed on both sides of the chassis, and the outer wall of each group of transmission rods is installed with anti-slip wheels. Four groups of stepper motors are installed inside the chassis, and the output ends of the four groups of stepper motors are respectively fixed to one end of the four groups of transmission rods. The lower ends of the two groups of batteries are fixed to the inner bottom end of the chassis, and every two groups of stepper motors are electrically connected to a group of batteries. The four groups of stepper motors and the two groups of batteries are all connected to the control system signal.

[0014] Preferably, two groups of support stands are installed on the upper end of the sealing cover, and both groups of laser radars are connected to the control system signal.

[0015] Compared with the prior art, the present invention has the following beneficial effects: 1. In the present invention, by setting up a handling mechanism and a dual-degree-of-freedom design of rotation + flipping, arbitrary posture adjustment of goods in three-dimensional space can be achieved; two sets of telescopic components are adjusted independently and are compatible with a variety of packaging sizes, realizing multi-directional and multi-angle picking and placing of goods, with a wide coverage range, which can improve the picking coverage range and eliminate the need for manual assistance to adjust the placement of goods, thereby improving work efficiency. At the same time, the entire process is automated, which improves handling efficiency and prevents harm to workers; through the above structural design, the robot realizes the full process automation of cargo handling in the hydrangea cold storage, and performs significantly in improving work efficiency, reducing losses and adapting to special environments, and has strong practicality and economy.

[0016] 2. In the present invention, by setting up an anti-skid moving mechanism, the special texture design of the anti-skid wheel and the independent motor drive, the grip on the frosted ground is ensured, and the low-temperature frosted ground is prevented from slipping; the dual batteries are independently powered to achieve redundant backup, the stepping motor supports stepless speed regulation, and the start and stop are smooth, meeting the needs of long-term continuous operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 This is a schematic diagram of the three-dimensional structure of an intelligent cargo handling robot for a cold storage of hydrangea mushrooms according to the present invention; Figure 2 This is a front structural schematic diagram of an intelligent cargo handling robot for a Hydrangea globulus cold storage according to the present invention; Figure 3 This is a three-dimensional diagram of the handling mechanism of an intelligent handling robot for cargo in a cold storage for hydrangea mushrooms according to the present invention; Figure 4 This is a bottom view of the rotating assembly and flipping assembly of an intelligent cargo handling robot for hydrangea cold storage of the present invention; Figure 5 This is a three-dimensional diagram of a portion of the handling mechanism of an intelligent handling robot for cargo in a cold storage of hydrangea mushrooms according to the present invention; Figure 6 This is a schematic structural diagram of a telescopic component and a flexible gripper component of an intelligent cargo handling robot for a hydrangea cold storage; Figure 7 This is a schematic diagram of the chassis and sealing cover structure of an intelligent cargo handling robot for a Hydrangea globulus cold storage according to the present invention; Figure 8 This is a top view of the chassis of an intelligent cargo handling robot for a hydrangea cold storage according to the present invention.

[0018] In the figure: 1. chassis; 11. sealing cover; 12. control system; 13. support frame; 14. support rod; 15. laser radar; 2. anti-skid moving mechanism; 21. transmission rod; 22. anti-skid wheel; 23. battery; 24. stepper motor; 3. transport mechanism; 31. height adjustment assembly; 311. support frame; 312. No. 1 telescopic rod; 313. support plate; 32. rotation assembly; 321. placement frame; 322. turntable; 323. vertical seat; 324. servo motor; 325. rotating rod; 33. flip assembly; 331. round shaft seat; 332. long rod; 333. triangle Shelf; 334, telescopic rod No. 2; 335, arc-shaped long hole; 336, movable slider; 337, connector; 338, long frame; 339, guide rod; 34, telescopic assembly; 341, slide; 342, connecting recess; 343, telescopic rod No. 3; 344, vertical slider; 345, movable plate; 35, mobile assembly No. 1; 351, fixed long plate; 352, telescopic rod No. 4; 36, mobile assembly No. 2; 361, fixed shelf; 362, connecting shelf; 363, telescopic rod No. 5; 37, flexible clamping claw assembly; 38, infrared sensor assembly; 39, intelligent recognition sensor. DETAILED DESCRIPTION

[0019] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the implementation regulations described are only part of the embodiments of the present invention, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0020] Example 1: Reference Figure 1 、 Figure 2 、 Figure 3 、 Figure 4 、 Figure 5 、 Figure 6 、 Figure 7 and Figure 8 The figure shows an intelligent cargo handling robot for a shiitake mushroom cold storage, comprising a chassis 1, a removable sealing cover 11 mounted on the upper end of the chassis 1, a control system 12 mounted on the upper end of the sealing cover 11, support rods 14 mounted on both ends of the sealing cover 11, laser radars 15 mounted on the upper ends of the two sets of support rods 14, anti-skid moving mechanisms 2 mounted on both sides of the chassis 1 for driving the chassis 1 to move, and a handling mechanism 3 mounted on the upper end of the sealing cover 11; The transport mechanism 3 includes a height adjustment component 31, a rotating component 32 is provided at the upper end of the height adjustment component 31, a flip component 33 is provided on one side of the rotating component 32, two groups of telescopic components 34 are provided inside the flip component 33, a first moving component 35 is provided at one end of the flip component 33 for adjusting the position of one group of telescopic components 34, a second moving component 36 is provided at the upper end of the flip component 33 for adjusting the position of the other group of telescopic components 34, and flexible clamping claw components 37 are provided at the lower ends of the two groups of telescopic components 34. Infrared sensor components 38 are provided on both sides of the flip component 33, and intelligent recognition sensors 39 are provided at the lower ends of the two groups of telescopic components 34. The flip assembly 33 includes a long frame 338 , and two sets of guide rods 339 are installed inside the long frame 338 ; The height adjustment assembly 31 includes a support frame 311, a first telescopic rod 312 is mounted on the inner bottom end of the support frame 311, a support plate 313 is provided on the upper end of the support frame 311, the lower end of the support frame 311 is fixed to the inner bottom end of the chassis 1, the extended end of the first telescopic rod 312 is fixed to the lower end of the support plate 313, and the first telescopic rod 312 is connected to the control system 12 for signal communication; The rotating assembly 32 includes a placement frame 321, a turntable 322 is rotatably mounted on the upper end of the placement frame 321, a vertical seat 323 is mounted on the upper end of the turntable 322, a servo motor 324 is mounted inside the placement frame 321, a rotating rod 325 is rotatably mounted on the upper end of the placement frame 321, the lower end of the placement frame 321 is fixed to the upper end of the support plate 313, the upper end of the rotating rod 325 is fixed to the lower end of the turntable 322, and the lower end of the rotating rod 325 is fixed to the output end of the servo motor 324, and the servo motor 324 is connected to the control system 12 for signal transmission; A round shaft seat 331 is mounted on the upper end of the vertical seat 323, a long rod 332 is rotatably mounted inside the round shaft seat 331, a tripod plate 333 is mounted on the outer wall of the long rod 332, a second telescopic rod 334 is rotatably mounted on a protruding portion of one end of the vertical seat 323, an arc-shaped long hole 335 is penetrated through one side of the tripod plate 333, a movable slider 336 is slidably mounted inside the arc-shaped long hole 335, a connector 337 is rotatably mounted on one end of the movable slider 336, one end of the long rod 332 is fixed to one end of the long frame 338, the lower end of the connector 337 is fixed to the protruding end of the second telescopic rod 334, and the second telescopic rod 334 is connected to the control system 12 for signal communication; The telescopic assembly 34 includes two sets of slides 341. A connecting recess 342 is installed in the middle of the two sets of slides 341. A third telescopic rod 343 is installed through the upper end of the connecting recess 342. A vertical slider 344 is slidably installed inside the connecting recess 342. A movable plate 345 is installed on the extended end of the third telescopic rod 343. The lower end of the vertical slider 344 is fixed to the upper end of the movable plate 345. Each two sets of slides 341 are slidably installed on the outer wall of a set of guide rods 339. Both sets of third telescopic rods 343 are connected to the control system 12 for signal communication. The first moving assembly 35 includes a fourth telescopic rod 352. A fixed long plate 351 is fixedly mounted on the outer wall of the two sets of guide rods 339. One end of the fourth telescopic rod 352 is fixed to one end of the fixed long plate 351. The extended end of the fourth telescopic rod 352 passes through one end of the fixed long plate 351 and is fixed to one end of one set of connecting recesses 342. The second moving assembly 36 includes a connecting frame 362, wherein a fixed frame 361 is mounted on the outer wall of one set of guide rods 339. A fifth telescopic rod 363 is mounted on one end of the connecting frame 362. One end of the connecting frame 362 is fixed to one side of another set of connecting recesses 342. The extended end of the fifth telescopic rod 363 passes through one end of the connecting frame 362 and is fixed to one end of the fixed frame 361. The fifth telescopic rod 363 is connected to the control system 12 for signal communication. The upper ends of the two sets of flexible clamping jaw assemblies 37 and the two sets of intelligent identification sensors 39 are respectively fixed to the lower ends of the two sets of movable plates 345, and the two sets of infrared sensor assemblies 38, the two sets of flexible clamping jaw assemblies 37 and the two sets of intelligent identification sensors 39 are all connected to the control system 12 for signal transmission; Two sets of support frames 13 are installed on the upper end of the sealing cover 11 , and both sets of laser radars 15 are connected to the control system 12 for signal transmission.

[0021] In this embodiment, the chassis 1 is integrally formed of 304 stainless steel with reinforcement ribs added to the bottom. It can accommodate 50-500 kg of hydrangea mushroom packaging. The interior is divided into independent compartments, which respectively accommodate the drive components and power supply system of the anti-slip moving mechanism 2. The compartments are separated by sealing strips and have a waterproof rating of IP65. The removable sealing cover 11 is composed of a transparent polycarbonate plate and a metal frame. A magnetic sealing strip is embedded inside the frame, which precisely engages with the slots of the chassis 1. The cover surface is sprayed with an anti-fog coating, which does not adhere to condensation water in an environment of -5°C to 10°C, making it easy to observe the status of the internal components. Two sets of support brackets 13 are symmetrically installed on the upper end to assist in fixing the pipelines of the transport mechanism 3 to prevent entanglement during movement. The two sets of support rods 14 and laser radar 15 are made of aluminum alloy. The bottom is fixed to the sealing cover 11 by a flange. The laser radar 15 is installed on the top. The radar lens is equipped with an automatic heating and defrosting module to maintain scanning accuracy in an environment with a humidity of 85% to 95%, forming a closed-loop navigation with the control system 12; The support frame 311 of the height adjustment assembly 31 is a rectangular steel structure with a number one telescopic rod 312 nested inside. It adopts a ball screw drive. A reinforcing rib is installed at the bottom of the support plate 313, and a buffer spring is provided at the connection end with the telescopic rod to avoid rigid impact during lifting; The placement frame 321 of the rotating assembly 32 is fixed to the support plate 313 by bolts. The internal servo motor 324 drives the rotating rod 325 through the harmonic reducer, driving the turntable 322 to achieve 360° continuous rotation. The contact surface between the turntable 322 and the placement frame 321 is embedded with a wear-resistant ring (made of polytetrafluoroethylene); The tilting assembly 33 has a built-in self-lubricating bearing on the circular shaft seat 331. The long rod 332 can rotate ±90° around its axis. The tripod plate 333 is welded to the long rod 332. The movable slider 336 in the arc-shaped slot 335 is connected to the connector 337 via a bearing. When the second telescopic rod 334 is extended or retracted, the slider slides along the arc-shaped slot, driving the long rod 332 and the long frame 338 to achieve a smooth tilting, preventing the cargo from falling due to centrifugal force. The telescopic assembly 34 and two sets of movable and adjustable slides 341 (made of polymer wear-resistant material) slide along the guide rod 339 without any jamming. The third telescopic rod 343 pushes the vertical slider 344 to drive the movable plate 345 up and down, meeting the requirements of picking and placing shelves with a height of 10cm to 60cm. The fourth telescopic rod 352 of the first movable assembly 35 can drive one set of telescopic assemblies 34 to move horizontally. The fifth telescopic rod 363 of the second movable assembly 36 drives the other set of telescopic assemblies 34 to adjust independently through the connecting shelf plate 362 to adapt to turnover boxes of different specifications. End effector and sensing system: The flexible gripper assembly 37 is made of silicone material, with built-in pressure sensors on the fingertips, which can automatically adjust the gripping force according to the weight of the cargo. The intelligent recognition sensor 39 (including a 3D camera and near-infrared module) and the infrared sensor assembly 38 are installed on both sides of the long frame 338 to detect the edge position of the cargo; The control system 12 integrates an industrial-grade PLC and a touch screen, and has a built-in low-temperature adapter chip. It can simultaneously receive signals from the laser radar 15, the infrared sensor assembly 38, and the intelligent recognition sensor 39, and send control instructions to each motor and telescopic rod to achieve full-process automation. The system supports USB flash drive upgrades and remote networking. Through the above structural design, the robot realizes the full process automation of cargo handling in the shiitake mushroom cold storage, and performs significantly in improving operational efficiency, reducing losses and adapting to special environments, and is highly practical and economical.

[0022] Example 2: According to Figure 1 、 Figure 2 、 Figure 7 and Figure 8 As shown, the anti-skid movement mechanism 2 includes two groups of batteries 23, two groups of transmission rods 21 are rotatably installed on both sides of the chassis 1, and the outer wall of each group of transmission rods 21 is installed with anti-skid wheels 22. Four groups of stepper motors 24 are installed inside the chassis 1, and the output ends of the four groups of stepper motors 24 are respectively fixed to one end of the four groups of transmission rods 21. The lower ends of the two groups of batteries 23 are fixed to the bottom end of the interior of the chassis 1. Every two groups of stepper motors 24 are electrically connected to one group of batteries 23, and the four groups of stepper motors 24 and the two groups of batteries 23 are all connected to the control system 12 signal.

[0023] In this embodiment, the transmission and travel components: the ends of the four transmission rods 21 are connected to the chassis 1 through deep groove ball bearings, and the outer wall is shrink-fitted with anti-skid wheels 22, and the ground contact area is increased compared to ordinary tires; Drive and power supply system: Four sets of stepper motors 24 are low-temperature-compatible models, connected to the transmission rod 21 through a planetary gear reducer, and two sets of batteries 23 are independently powered. Each set is responsible for two motors on the same side. When one set fails, it automatically switches to the other set. The anti-skid moving mechanism 2 is driven by the anti-skid wheels 22 and the independent stepping motor 24 to ensure that the ground is not slipping on low-temperature frosted surfaces. The batteries 23 are grouped to provide power to improve the endurance stability and meet the needs of long-term continuous operation.

[0024] The device's usage and working principle are as follows: When the cold storage management system issues a handling task (such as picking up goods from shelf A and delivering them to area B), the command is transmitted to the robot's control system 12 via the wireless communication module. The control system 12 first performs a self-check, including checking the battery level of the battery 23 (if it is less than 20%, it will automatically prioritize going to the charging base station), the standby status of each motor and telescopic rod, and the signal stability of the sensor. After the self-check passes, the system calls a preset cold storage electronic map, combines it with the environmental data scanned in real time by the laser radar 15, generates an initial path plan, and activates the anti-slip movement mechanism 2 to enter the standby state. Then, environmental perception and path correction: Two sets of laser radars 15 mounted on top of the support pole 14 continuously scan the surrounding environment at a frequency of 10Hz, transmitting 360° point cloud data with no blind spots to the control system 12 every second. The system uses the SLAM (Simultaneous Localization and Mapping) algorithm to compare the real-time scanning data with the electronic map to accurately locate the robot's current position. If a temporary obstacle is detected, the control system 12 immediately initiates dynamic path planning and recalculates the optimal detour route to ensure safe movement. Anti-skid drive control: The control system 12 sends instructions to the four sets of stepper motors 24 of the anti-skid movement mechanism 2 according to the planned path. The stepper motors 24 drive the transmission rods 21 through the planetary gear reducer to rotate, driving the anti-skid wheels 22 to roll. On frosty ground, steering can be achieved by adjusting the speed difference between the two motors. The side slip is controlled within 5mm. Dual batteries 23 independently power the motors on the same side. If one set fails, the system instantly switches to the other set to ensure continuous movement. Finally, when the robot arrives at the target shelf area, the control system 12 instructs the transport mechanism 3 to start, and the telescopic rod 312 of the height adjustment assembly 31 extends, raising the support plate 313 to the height flush with the target shelf. At the same time, the servo motor 324 of the rotation assembly 32 drives the turntable 322 to rotate, so that the flip assembly 33 is aligned with the position of the goods. At this time, the infrared sensor assemblies 38 installed on both sides of the long frame 338 start working, detecting the edge position of the goods by emitting infrared signals. The intelligent recognition sensor 39 (3D camera + near-infrared module) is activated simultaneously. The 3D camera constructs a three-dimensional point cloud model of the cargo packaging and analyzes the degree of packaging deformation. The near-infrared module penetrates the deformed packaging, captures the characteristic spectral peaks of the hydrangea mushroom, and compares them with the batch information in the database to confirm the specifications and status of the cargo. The recognition results are fed back to the control system 12 in real time. If the information matches, the capture process begins; otherwise, an alarm is issued and manual confirmation is required. Grasping parameter calculation: The control system 12 automatically calculates the gripping force and gripping position of the flexible gripper assembly 37 based on the cargo size, weight, and packaging deformation data obtained by the intelligent recognition sensor 39. The fourth telescopic rod 352 of the first mobile assembly 35 and the fifth telescopic rod 363 of the second mobile assembly 36 are respectively actuated to drive the two telescopic assemblies 34 to slide along the guide rod 339, adjusting the gripper spacing to accommodate turnover boxes of different specifications. Precise grasping execution: The third telescopic rod 343 of the telescopic assembly 34 extends, pushing the movable plate 345 downward, allowing the flexible gripper assembly 37 to approach the cargo. The pressure sensor at the gripper fingertip monitors the contact force in real time. When the preset value is reached, the gripper stops descending. The silicone gripper naturally adheres to the packaging surface to avoid damage. After the grasping is completed, the third telescopic rod 343 retracts, lifting the cargo to a safe height. Posture adjustment: If the goods need to be turned over (for example, from horizontal stacking to vertical placement), the second telescopic rod 334 of the turning assembly 33 is extended and retracted, and the movable slider 336 slides along the arc-shaped long hole 335, driving the long rod 332 to cause the long frame 338 to turn smoothly. The rotating assembly 32 simultaneously adjusts the angle of the turntable 322 to ensure that the posture of the goods meets the placement requirements; After grabbing the goods, the control system 12 instructs the anti-slip moving mechanism 2 to move to the target placement area according to the planned path. During the movement, the height adjustment component 31 keeps the height of the goods stable to avoid collision with the shelf or the ground. After arriving at the destination, the height adjustment, rotation alignment and other actions are repeated. The telescopic component 34 descends and the pressure of the clamp is released to place the goods steadily in the designated position. After the placement is completed, the infrared sensor component 38 detects again to confirm that the goods have been placed correctly, and the clamp is retracted and reset.

[0025] Although the present invention has been described in detail with reference to the aforementioned embodiments, it is still possible for those skilled in the art to modify the technical solutions described in the aforementioned embodiments, or to make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. An intelligent cargo handling robot for a hydrangea cold storage, comprising a chassis (1), characterized in that: A detachable sealing cover (11) is installed at the upper end of the chassis (1), a control system (12) is installed at the upper end of the sealing cover (11), support rods (14) are installed at both ends of the sealing cover (11), and laser radars (15) are installed at the upper ends of two groups of support rods (14). Anti-skid moving mechanisms (2) are provided on both sides of the chassis (1) for driving the chassis (1) to move, and a transport mechanism (3) is provided at the upper end of the sealing cover (11); The transport mechanism (3) includes a height adjustment component (31), a rotating component (32) is provided at the upper end of the height adjustment component (31), a flip component (33) is provided on one side of the rotating component (32), two groups of telescopic components (34) are provided inside the flip component (33), a first moving component (35) is provided at one end of the flip component (33) for adjusting the position of one group of telescopic components (34), a second moving component (36) is provided at the upper end of the flip component (33) for adjusting the position of the other group of telescopic components (34), the lower ends of the two groups of telescopic components (34) are both provided with flexible clamping claw components (37), the two sides of the flip component (33) are both provided with infrared sensor components (38), and the lower ends of the two groups of telescopic components (34) are both provided with intelligent recognition sensors (39); The turnover assembly (33) comprises a long frame (338), and two sets of guide rods (339) are installed inside the long frame (338).

2. The intelligent cargo handling robot for hydrangea cold storage according to claim 1, characterized in that: The height adjustment assembly (31) comprises a support frame (311), a first telescopic rod (312) is mounted on the inner bottom end of the support frame (311), a support plate (313) is provided on the upper end of the support frame (311), the lower end of the support frame (311) is fixed to the inner bottom end of the chassis (1), the extended end of the first telescopic rod (312) is fixed to the lower end of the support plate (313), and the first telescopic rod (312) is connected to the control system (12) for signal communication.

3. The intelligent cargo handling robot for hydrangea cold storage according to claim 2, characterized in that: The rotating assembly (32) includes a placement frame (321), a turntable (322) is rotatably mounted on the upper end of the placement frame (321), a vertical seat (323) is mounted on the upper end of the turntable (322), a servo motor (324) is mounted inside the placement frame (321), a rotating rod (325) is rotatably mounted on the upper end of the placement frame (321), the lower end of the placement frame (321) is fixed to the upper end of the support plate (313), the upper end of the rotating rod (325) is fixed to the lower end of the turntable (322), the lower end of the rotating rod (325) is fixed to the output end of the servo motor (324), and the servo motor (324) is connected to the control system (12) for signal communication.

4. The intelligent cargo handling robot for hydrangea cold storage according to claim 3, characterized in that: A circular shaft seat (331) is installed at the upper end of the vertical seat (323), a long rod (332) is rotatably installed inside the circular shaft seat (331), a tripod plate (333) is installed on the outer wall of the long rod (332), a second telescopic rod (334) is rotatably installed on a protruding portion at one end of the vertical seat (323), an arc-shaped long hole (335) is opened through one side of the tripod plate (333), a movable slider (336) is slidably installed inside the arc-shaped long hole (335), a connector (337) is rotatably installed at one end of the movable slider (336), one end of the long rod (332) is fixed to one end of the long frame (338), the lower end of the connector (337) is fixed to the protruding end of the second telescopic rod (334), and the second telescopic rod (334) is connected to the control system (12) for signal connection.

5. The intelligent cargo handling robot for hydrangea cold storage according to claim 4, characterized in that: The telescopic assembly (34) includes two groups of slides (341), a connecting recess (342) is installed in the middle of the two groups of slides (341), a third telescopic rod (343) is installed through the upper end of the connecting recess (342), a vertical slider (344) is slidably provided inside the connecting recess (342), a moving plate (345) is installed at the protruding end of the third telescopic rod (343), the lower end of the vertical slider (344) is fixed to the upper end of the moving plate (345), each two groups of slides (341) are slidably provided with the outer wall of a group of guide rods (339), and the two groups of the third telescopic rods (343) are both connected to the control system (12) signal.

6. The intelligent cargo handling robot for hydrangea cold storage according to claim 1, characterized in that: The first moving assembly (35) includes a fourth telescopic rod (352), and the outer walls of the two groups of guide rods (339) are fixedly mounted with a fixed long plate (351), one end of the fourth telescopic rod (352) is fixed to one end of the fixed long plate (351), and the extended end of the fourth telescopic rod (352) passes through one end of the fixed long plate (351) and is fixed to one end of one group of connecting recesses (342).

7. The intelligent cargo handling robot for hydrangea cold storage according to claim 1, characterized in that: The second moving assembly (36) includes a connecting frame plate (362), wherein the outer wall of one group of the guide rods (339) is installed with a fixed frame plate (361), one end of the connecting frame plate (362) is installed with a fifth telescopic rod (363), one end of the connecting frame plate (362) is fixed to one side of another group of connecting recesses (342), the extended end of the fifth telescopic rod (363) passes through one end of the connecting frame plate (362) and is fixed to one end of the fixed frame plate (361), and the fifth telescopic rod (363) is connected to the control system (12) by signal.

8. The intelligent cargo handling robot for hydrangea cold storage according to claim 1, characterized in that: The upper ends of the two groups of flexible clamping claw assemblies (37) and the two groups of intelligent identification sensors (39) are respectively fixed to the lower ends of the two groups of movable plates (345), and the two groups of infrared sensor assemblies (38), the two groups of flexible clamping claw assemblies (37) and the two groups of intelligent identification sensors (39) are all connected to the control system (12) by signal.

9. The intelligent cargo handling robot for hydrangea cold storage according to claim 1, characterized in that: The anti-skid movement mechanism (2) includes two groups of batteries (23), two groups of transmission rods (21) are rotatably installed on both sides of the chassis (1), and the outer wall of each group of transmission rods (21) is installed with an anti-skid wheel (22), and four groups of stepper motors (24) are installed inside the chassis (1), and the output ends of the four groups of stepper motors (24) are respectively fixed to one end of the four groups of transmission rods (21), and the lower ends of the two groups of batteries (23) are fixed to the bottom end of the inside of the chassis (1), and every two groups of stepper motors (24) are electrically connected to one group of batteries (23), and the four groups of stepper motors (24) and the two groups of batteries (23) are all connected to the control system (12) by signal.

10. The intelligent cargo handling robot for hydrangea cold storage according to claim 1, characterized in that: Two groups of support stands (13) are installed on the upper end of the sealing cover (11), and both groups of laser radars (15) are connected to the control system (12) for signal transmission.

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