A smart handling robot for hydrangea cold storage

Abstract

This invention discloses an intelligent cargo handling robot for hydrangea cold storage, relating to the field of hydrangea handling technology. It includes a chassis with a detachable sealing cover mounted on its upper end, and a control system mounted on the upper end of the sealing cover. This invention features a dual-degree-of-freedom design of rotation and flipping, enabling arbitrary posture adjustment of goods in three-dimensional space. Two sets of telescopic components are independently adjustable, compatible with various packaging sizes, allowing for multi-directional and multi-angle loading and unloading with a wide coverage area. This improves the retrieval coverage range, eliminates the need for manual assistance in adjusting cargo placement, and enhances operational efficiency. Simultaneously, the fully automated operation improves handling efficiency and prevents injury to workers. Through the above structural design, the robot achieves full automation of cargo handling in hydrangea cold storage, demonstrating significant improvements in operational efficiency, reduced losses, and adaptability to special environments, exhibiting strong practicality and economic efficiency.

Description

Technical Field

[0001] This invention relates to the field of hydrangea handling technology, specifically to an intelligent handling robot for hydrangea cold storage goods. Background Technology

[0002] Hydrangea mushrooms, a rare edible fungus, are highly sought after in the market due to their rich nutritional value and unique taste. However, their short shelf life and extreme sensitivity to storage conditions pose significant challenges to warehousing and handling. After harvesting, hydrangea mushrooms need to be stored at a low temperature of 0-5℃, while maintaining a relative humidity of 85%–95% to slow down respiration and moisture loss, thus extending their shelf life. If the storage temperature fluctuates by more than ±2℃, or the humidity deviates from the suitable range, it will accelerate mold and rot, leading to a decline in quality and even rendering them uncommercial.

[0003] However, in the existing technology, some processes in the traditional handling of goods in hydrangea cold storage still rely on manual operation. However, the low temperature environment has a significant impact on the health of the handling workers. Workers need to wear heavy cold-proof equipment, which not only reduces the flexibility of operation, but also greatly reduces the handling efficiency. In low temperature environments, the efficiency of manual handling is lower than that in normal temperature environments. Moreover, workers who work in low temperature environments for a long time are prone to occupational diseases such as frostbite and joint pain, which increases the labor risk and cost of enterprises. Therefore, an intelligent handling robot for hydrangea cold storage is proposed. Summary of the Invention

[0004] The purpose of this invention is to provide an intelligent handling robot for hydrangea cold storage to solve the problems mentioned in the background art.

[0005] To achieve the above objectives, the present invention provides the following technical solution: an intelligent handling robot for hydrangea cold storage, comprising a chassis, a detachable sealing cover installed on the upper end of the chassis, a control system installed on the upper end of the sealing cover, support rods installed at both ends of the sealing cover, laser radar installed at the upper ends of the two sets of support rods, anti-slip moving mechanisms provided on both sides of the chassis for driving the chassis to move, and a handling mechanism provided on the upper end of the sealing cover;

[0006] The conveying mechanism includes a height adjustment component, a rotating component at the upper end of the height adjustment component, a flipping component on one side of the rotating component, two sets of telescopic components inside the flipping component, a first moving component at one end of the flipping component for adjusting the position of one set of telescopic components, a second moving component at the upper end of the flipping component for adjusting the position of the other set of telescopic components, flexible gripper components at the lower ends of both sets of telescopic components, infrared sensor components on both sides of the flipping component, and intelligent recognition sensors at the lower ends of both sets of telescopic components.

[0007] The flipping assembly includes a long frame, inside which two sets of guide rods are installed.

[0008] Preferably, the height adjustment component includes a support frame, a first telescopic rod is installed at the bottom of the inner side of the support frame, a support plate is provided at the upper side of the support frame, the lower side of the support frame is fixed to the bottom of the inner side of the chassis, the extended end of the first telescopic rod is fixed to the lower end of the support plate, and the first telescopic rod is signal-connected to the control system.

[0009] Preferably, the rotating assembly includes a placement frame, a turntable rotatably mounted on the upper end of the placement frame, a vertical base mounted on the upper end of the turntable, a servo motor installed inside the placement frame, a rotating rod rotatably mounted on the upper end of the placement frame, the lower end of the placement frame fixed to the upper end of a support plate, the upper end of the rotating rod fixed to the lower end of the turntable, the lower end of the rotating rod fixed to the output end of the servo motor, and the servo motor being signal-connected to the control system.

[0010] Preferably, a round shaft seat is installed at the upper end of the vertical base, 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 second telescopic rod is rotatably installed on the protruding part of one end of the vertical base, 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 connector is rotatably installed at 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 connector is fixed to the protruding end of the second telescopic rod, and the second telescopic rod is signal-connected to the control system.

[0011] Preferably, the telescopic assembly includes two sets of slides, with a connecting recess installed between the two sets of slides. A third telescopic rod is installed through the upper end of the connecting recess. A vertical slider is slidably arranged inside the connecting recess. A movable plate is installed at the extended end of the third telescopic rod. The lower end of the vertical slider is fixed to the upper end of the movable plate. Every two sets of slides are slidably arranged with the outer wall of a set of guide rods. Both sets of the third telescopic rods are connected to the control system signal.

[0012] Preferably, the first moving component includes a fourth telescopic rod, and a fixed long plate is fixedly installed on the outer wall of the two sets of guide rods. One end of the fourth telescopic rod is fixed to one end of the fixed long plate, and the protruding end of the fourth telescopic rod passes through one end of the fixed long plate and is fixed to one end of one set of connecting recesses.

[0013] Preferably, the second moving component includes a connecting frame plate, wherein a fixed frame plate is installed on the outer wall of a set of guide rods, a fifth telescopic rod is installed at one end of the connecting frame plate, one end of the connecting frame plate is fixed to one side of another set of connecting recesses, the protruding end of the fifth telescopic rod passes through one end of the connecting frame plate and is fixed to one end of the fixed frame plate, and the fifth telescopic rod is signal-connected to the control system.

[0014] Preferably, the upper ends of the two sets of flexible gripper assemblies and the two sets of intelligent recognition sensors are respectively fixed to the lower ends of the two sets of moving plates, and the two sets of infrared sensor assemblies, the two sets of flexible gripper assemblies and the two sets of intelligent recognition sensors are all connected to the control system signal.

[0015] Preferably, the anti-slip movement mechanism includes two sets of batteries, two sets of transmission rods are rotatably mounted on both sides of the chassis, and anti-slip wheels are installed on the outer wall of each set of transmission rods. Four sets of stepper motors are installed inside the chassis, and the output ends of the four sets of stepper motors are respectively fixed to one end of the four sets of transmission rods. The lower ends of the two sets of batteries are fixed to the inner bottom of the chassis. Every two sets of stepper motors are electrically connected to one set of batteries, and the four sets of stepper motors and the two sets of batteries are all connected to the control system signal.

[0016] Preferably, the upper end of the sealing cover is equipped with two sets of support frames, and both sets of lidar are connected to the control system signal.

[0017] Compared with the prior art, the beneficial effects of the present invention are:

[0018] 1. In this invention, by setting up a handling mechanism with a dual-degree-of-freedom design of rotation and flipping, the arbitrary posture adjustment of goods in three-dimensional space can be achieved; two sets of telescopic components can be adjusted independently, compatible with various packaging sizes, and realize multi-directional and multi-angle picking and placing of goods with a wide coverage range, which can improve the picking coverage range, eliminate the need for manual assistance in adjusting the placement of goods, improve work efficiency, and at the same time, the fully automated operation improves handling efficiency and prevents injury to workers; through the above structural design, the robot realizes the full automation of the handling of goods in the hydrangea cold storage, which shows significant performance in improving work efficiency, reducing losses and adapting to special environments, and has strong practicality and economy.

[0019] 2. In this invention, by setting up an anti-slip moving mechanism, the special texture design of the anti-slip wheel and the independent motor drive, the grip of the frosty ground is ensured, and the low-temperature frosty ground does not slip; the dual batteries provide independent power supply to achieve redundancy backup, and the stepper motor supports stepless speed regulation, and the start and stop are smooth, meeting the needs of long-term continuous operation. Attached Figure Description

[0020] Figure 1 This is a three-dimensional structural schematic diagram of an intelligent cargo handling robot for hydrangea cold storage according to the present invention;

[0021] Figure 2 This is a front structural schematic diagram of an intelligent cargo handling robot for hydrangea cold storage according to the present invention;

[0022] Figure 3 This is a perspective view of the handling mechanism of an intelligent handling robot for hydrangea cold storage, according to the present invention.

[0023] Figure 4 This is a bottom view of the rotating and flipping components of an intelligent cargo handling robot for hydrangea cold storage according to the present invention;

[0024] Figure 5 This is a perspective view of part of the handling mechanism of an intelligent handling robot for hydrangea cold storage, according to the present invention.

[0025] Figure 6 This is a schematic diagram of the telescopic component and flexible gripper component of an intelligent handling robot for hydrangea cold storage, according to the present invention.

[0026] Figure 7 This is a schematic diagram of the chassis and sealing cover structure of an intelligent handling robot for hydrangea cold storage according to the present invention;

[0027] Figure 8 This is a top view of the chassis of an intelligent handling robot for hydrangea cold storage, according to the present invention.

[0028] In the diagram: 1. Chassis; 11. Sealing cover; 12. Control system; 13. Support frame; 14. Support rod; 15. LiDAR; 2. Anti-slip moving mechanism; 21. Transmission rod; 22. Anti-slip wheel; 23. Battery; 24. Stepper motor; 3. Handling mechanism; 31. Height adjustment assembly; 311. Support frame; 312. Telescopic rod No. 1; 313. Support plate; 32. Rotating assembly; 321. Placement frame; 322. Turntable; 323. Vertical seat; 324. Servo motor; 325. Rotating rod; 33. Tilting assembly; 331. Round shaft seat; 332. Long rod; 333. Triangular... 334. Frame plate; 335. No. 2 telescopic rod; 336. Arc-shaped elongated hole; 337. Movable slider; 338. Connector; 339. Long frame; 34. Guide rod; 35. Telescopic assembly; 36. Slide seat; 37. Connecting recess; 38. No. 3 telescopic rod; 39. Vertical slider; 30. Moving plate; 30. No. 1 moving assembly; 31. Fixed long plate; 32. No. 4 telescopic rod; 36. No. 2 moving assembly; 37. Fixed frame plate; 38. Connecting frame plate; 39. No. 5 telescopic rod; 30. Flexible gripper assembly; 31. Infrared sensor assembly; 32. Intelligent recognition sensor. Detailed Implementation

[0029] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0030] Example 1: Refer to Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 , Figure 7 and Figure 8 As shown: A smart handling robot for goods in a cold storage of hydrangea mushrooms includes a chassis 1, a detachable sealing cover 11 installed on the upper end of the chassis 1, a control system 12 installed on the upper end of the sealing cover 11, support rods 14 installed on both ends of the sealing cover 11, and laser radar 15 installed on the upper ends of the two sets of support rods 14. Anti-slip moving mechanisms 2 are provided on both sides of the chassis 1 to drive the chassis 1 to move. A handling mechanism 3 is provided on the upper end of the sealing cover 11.

[0031] The conveying 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 flipping component 33 is provided on one side of the rotating component 32. Two sets of telescopic components 34 are provided inside the flipping component 33. A first moving component 35 is provided at one end of the flipping component 33 for adjusting the position of one set of telescopic components 34. A second moving component 36 is provided at the upper end of the flipping component 33 for adjusting the position of the other set of telescopic components 34. Flexible gripper components 37 are provided at the lower ends of both sets of telescopic components 34. Infrared sensor components 38 are provided on both sides of the flipping component 33. Intelligent recognition sensors 39 are provided at the lower ends of both sets of telescopic components 34.

[0032] The flipping assembly 33 includes a long frame 338, and two sets of guide rods 339 are installed inside the long frame 338;

[0033] The height adjustment assembly 31 includes a support frame 311, a first telescopic rod 312 is installed at the bottom of the inner side of the support frame 311, a support plate 313 is provided at the upper side of the support frame 311, the lower side of the support frame 311 is fixed to the bottom of the inner side 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 via signal.

[0034] The rotating assembly 32 includes a placement frame 321, a turntable 322 rotatably mounted on the upper end of the placement frame 321, a vertical base 323 mounted on the upper end of the turntable 322, a servo motor 324 installed inside the placement frame 321, a rotating rod 325 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 signal-connected to the control system 12.

[0035] A round shaft seat 331 is installed on the upper end of the vertical seat 323. A long rod 332 is rotatably installed inside the round 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 the protruding part of 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 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. The second telescopic rod 334 is connected to the control system 12 via signal.

[0036] The telescopic assembly 34 includes two sets of slides 341, with a connecting recess 342 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 arranged inside the connecting recess 342. A movable plate 345 is installed at 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 pair of slides 341 is slidably arranged on the outer wall of a set of guide rods 339. Both sets of third telescopic rods 343 are signal connected to the control system 12.

[0037] The first moving component 35 includes a fourth telescopic rod 352. A fixed long plate 351 is fixedly installed 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.

[0038] The second moving component 36 includes a connecting frame plate 362, on which a fixed frame plate 361 is installed on the outer wall of a set of guide rods 339. A fifth telescopic rod 363 is installed at one end of the connecting frame plate 362. One end of the connecting frame plate 362 is fixed to one side of another set of connecting recesses 342. The protruding 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. The fifth telescopic rod 363 is signal-connected to the control system 12.

[0039] The upper ends of the two sets of flexible gripper assemblies 37 and the two sets of intelligent recognition sensors 39 are respectively fixed to the lower ends of the two sets of moving plates 345. The two sets of infrared sensor assemblies 38, the two sets of flexible gripper assemblies 37 and the two sets of intelligent recognition sensors 39 are all connected to the control system 12 via signals.

[0040] Two sets of support frames 13 are installed on the upper end of the sealing cover 11, and both sets of lidar 15 are connected to the control system 12 via signals.

[0041] In this embodiment, the chassis 1 is integrally formed of 304 stainless steel, with added reinforcing ribs at the bottom, which can be used to package 50-500kg of hydrangea mushrooms. Its interior is divided into independent compartments, which respectively house the drive components and power supply system of the anti-slip moving mechanism 2. The compartments are separated by sealing strips, and the waterproof rating reaches IP65.

[0042] The detachable sealing cover 11 is composed of a transparent polycarbonate plate and a metal frame. A magnetic sealing strip is embedded in the inner side of the frame, which precisely engages with the slot of the chassis 1. The surface of the cover is sprayed with an anti-fog coating, so that no condensation water adheres in an environment of -5℃ to 10℃, making it easy to observe the status of internal components. Two sets of support frames 13 are symmetrically installed at the top to help fix the pipelines of the handling mechanism 3 and prevent them from getting tangled during movement.

[0043] The two sets of support rods 14 and lidar 15 are made of aluminum alloy. The bottom is fixed to the sealing cover 11 by a flange, and the lidar 15 is installed on the top. The lidar lens is equipped with an automatic heating and defrosting module to maintain scanning accuracy in an environment with 85% to 95% humidity, and forms a closed-loop navigation with the control system 12.

[0044] The height adjustment component 31 support frame 311 is a rectangular steel structure, with a first telescopic rod 312 nested inside. It adopts ball screw transmission. The bottom of the support plate 313 is equipped with reinforcing ribs, and the connection end with the telescopic rod is equipped with a buffer spring to avoid rigid impact during lifting.

[0045] The rotating component 32 and the placement frame 321 are fixed to the support plate 313 by bolts. The internal servo motor 324 drives the rotating rod 325 through the harmonic reducer, which drives 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).

[0046] The flipping assembly 33 has a self-lubricating bearing built into the round shaft seat 331. The long rod 332 can rotate ±90° around the shaft. The tripod plate 333 is welded and fixed to the long rod 332. The movable slider 336 in the arc-shaped long hole 335 is connected to the connector 337 through the bearing. When the second telescopic rod 334 extends or retracts, it drives the long rod 332 to drive the long frame 338 to achieve a smooth flipping, preventing the goods from falling due to centrifugal force.

[0047] The telescopic component 34 and the two sets of sliding blocks 341 (made of high 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 moving plate 345 to rise and fall, meeting the retrieval and placement needs of shelf heights of 10cm to 60cm. The fourth telescopic rod 352 of the first moving component 35 can drive one set of telescopic components 34 to move laterally. The fifth telescopic rod 363 of the second moving component 36 drives another set of telescopic components 34 to adjust independently through the connecting shelf plate 362, adapting to turnover boxes of different specifications.

[0048] End-efficiency execution and sensing system: The flexible gripper assembly 37 is made of silicone material, with a built-in pressure sensor in the fingertip, which can automatically adjust the gripping force according to the weight of the goods. The intelligent recognition sensor 39 (including a 3D camera and a 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 goods.

[0049] The control system 12 integrates an industrial-grade PLC and a touch screen, with a built-in low-temperature adapter chip. It can simultaneously receive signals from the lidar 15, the infrared sensor assembly 38, and the intelligent identification sensor 39, and send control commands to each motor and telescopic rod to achieve fully automated operation. The system supports USB flash drive upgrades and remote networking.

[0050] Through the above structural design, the robot has achieved full automation of the cargo handling process in the hydrangea cold storage. It has shown remarkable performance in improving operational efficiency, reducing losses, and adapting to special environments, and has strong practicality and economy.

[0051] Example 2: According to Figure 1 , Figure 2 , Figure 7 and Figure 8 As shown, the anti-slip movement mechanism 2 includes two sets of batteries 23. Two sets of transmission rods 21 are rotatably mounted on both sides of the chassis 1. Anti-slip wheels 22 are installed on the outer wall of each set of transmission rods 21. Four sets of stepper motors 24 are installed inside the chassis 1. The output ends of the four sets of stepper motors 24 are fixed to one end of the four sets of transmission rods 21 respectively. The lower ends of the two sets of batteries 23 are fixed to the bottom of the chassis 1. Every two sets of stepper motors 24 are electrically connected to one set of batteries 23. All four sets of stepper motors 24 and two sets of batteries 23 are connected to the control system 12 via signals.

[0052] In this embodiment, the transmission and walking components are: four sets of transmission rods 21 connected to the chassis 1 at both ends by deep groove ball bearings, and the outer wall heat-fitted anti-slip wheels 22, which increase the ground contact area compared to ordinary tires;

[0053] Drive and power supply system: Four sets of stepper motors 24 adopt low temperature adapted models and are connected to the transmission rod 21 through planetary gear reducers. Two sets of batteries 23 provide independent power supply, each set is responsible for two motors on the same side, and automatically switches to the other set when one set fails.

[0054] The anti-slip movement mechanism 2 is driven by anti-slip wheels 22 and independent stepper motors 24 to ensure that the ground does not slip when it is frosty in low temperature. The batteries 23 provide group power supply to improve the stability of the battery life and meet the needs of long-term continuous operation.

[0055] The usage and working principle of this device: 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 instruction is transmitted to the robot's control system 12 through the wireless communication module. The control system 12 first performs a self-check, including checking the power of the battery 23 (if it is below 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 sensors. After the self-check is passed, the system calls up the preset cold storage electronic map, combines it with the environmental data scanned in real time by the lidar 15, generates an initial path plan, and activates the anti-slip movement mechanism 2 to enter the standby state.

[0056] Then, environmental perception and path correction: Two sets of lidar 15 installed at the top of the support rod 14 continuously scan the surrounding environment at a frequency of 10Hz, transmitting 360° point cloud data without blind spots to the control system 12 every second. The system compares the real-time scan data with the electronic map through the SLAM (Simultaneous Localization and Mapping) algorithm to accurately locate the robot's current position. If a temporary obstacle is detected, the control system 12 immediately starts dynamic path planning and recalculates the optimal detour route to ensure safe movement.

[0057] Anti-slip drive control: The control system 12 sends commands to the four sets of stepper motors 24 of the anti-slip moving mechanism 2 according to the planned path. The stepper motors 24 drive the transmission rod 21 to rotate through the planetary gear reducer, which drives the anti-slip wheel 22 to roll. On the frosty ground, the steering can be achieved by adjusting the speed difference between the two motors. The side slip is controlled within 5mm. The 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 the continuity of movement.

[0058] Finally, when the robot arrives at the target shelf area, the control system 12 instructs the handling mechanism 3 to start, the first telescopic rod 312 of the height adjustment component 31 extends, raising the support plate 313 to the same height as the target shelf. At the same time, the servo motor 324 of the rotating component 32 drives the turntable 322 to rotate, so that the flipping component 33 is aligned with the location of the goods. At this time, the infrared sensor components 38 installed on both sides of the long frame 338 start to work, detecting the edge position of the goods by emitting infrared signals.

[0059] The intelligent identification sensor 39 (3D camera + near-infrared module) is activated simultaneously. The 3D camera constructs a three-dimensional point cloud model of the goods 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, compares them with the batch information in the database, confirms the specifications and status of the goods, and feeds the identification results back to the control system 12 in real time. If the information matches, the grasping process is initiated; otherwise, an alarm is issued and manual confirmation is awaited.

[0060] Grasping parameter calculation: The control system 12 automatically calculates the clamping force and gripping position of the flexible gripper assembly 37 based on the cargo size, weight and packaging deformation data obtained by the intelligent identification sensor 39. The fourth telescopic rod 352 of the first moving assembly 35 and the fifth telescopic rod 363 of the second moving assembly 36 are activated respectively, driving the two sets of telescopic assemblies 34 to slide along the guide rod 339, adjusting the gripper spacing to adapt to different specifications of turnover boxes.

[0061] Precise gripping execution: The third telescopic rod 343 of the telescopic component 34 extends, pushing the moving plate 345 down, so that the flexible gripper component 37 is close to the goods. The pressure sensor at the tip of the gripper monitors the contact force in real time. When the preset value is reached, the descent stops. The silicone gripper naturally fits the packaging surface to avoid damage. After gripping, the third telescopic rod 343 retracts, raising the goods to a safe height.

[0062] Posture adjustment: If the goods need to be flipped (such as from horizontal stacking to vertical placement), the second telescopic rod 334 of the flipping component 33 extends and retracts, and slides along the arc-shaped long hole 335 through the movable slider 336, driving the long rod 332 to drive the long frame 338 to flip smoothly. The rotating component 32 synchronously adjusts the angle of the turntable 322 to ensure that the posture of the goods meets the placement requirements.

[0063] 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 and alignment actions are repeated. The goods are placed smoothly in the designated position by the descent of the telescopic component 34 and the pressure release of the gripper. After placement, the infrared sensor component 38 detects again to confirm that the goods have been placed correctly, and the gripper retracts and resets.

[0064] Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A smart handling robot for goods in a hydrangea cold storage, comprising a chassis (1), characterized in that: A detachable sealing cover (11) is installed on the upper end of the chassis (1). A control system (12) is installed on the upper end of the sealing cover (11). Support rods (14) are installed on both ends of the sealing cover (11). A laser radar (15) is installed on the upper end of both sets of support rods (14). Anti-slip moving mechanisms (2) are provided on both sides of the chassis (1) to drive the chassis (1) to move. A conveying mechanism (3) is provided on the upper end of the sealing cover (11). The conveying 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 flipping component (33) is provided on one side of the rotating component (32), two sets of telescopic components (34) are provided inside the flipping component (33), a first moving component (35) is provided at one end of the flipping component (33) for adjusting the position of one set of telescopic components (34), a second moving component (36) is provided at the upper end of the flipping component (33) for adjusting the position of the other set of telescopic components (34), a flexible gripper component (37) is provided at the lower end of both sets of telescopic components (34), an infrared sensor component (38) is provided on both sides of the flipping component (33), and an intelligent recognition sensor (39) is provided at the lower end of both sets of telescopic components (34). The flipping assembly (33) includes a long frame (338), and two sets of guide rods (339) are installed inside the long frame (338). The rotating assembly (32) includes a placement frame (321), a turntable (322) is rotatably mounted on the upper end of the placement frame (321), and a vertical base (323) is mounted on the upper end of the turntable (322); a round shaft seat (331) is mounted on the upper end of the vertical base (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), and a second telescopic rod (33) is rotatably mounted on the protruding part of one end of the vertical base (323). 4) An arc-shaped long hole (335) is provided 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 extended end of the second telescopic rod (334). The second telescopic rod (334) is signal connected to the control system (12). The telescopic assembly (34) includes two sets of slides (341), with a connecting recess (342) installed between 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 arranged inside the connecting recess (342). A moving plate (345) is installed at 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 moving plate (345). Each pair of slides (341) is slidably arranged on the outer wall of a set of guide rods (339). Both sets of the third telescopic rods (343) are connected to the control system (12) via signals.

2. The intelligent handling robot for hydrangea cold storage goods according to claim 1, characterized in that: The height adjustment component (31) includes a support frame (311), a telescopic rod (312) is installed at the bottom of the inner side of the support frame (311), a support plate (313) is provided at the upper side of the support frame (311), the lower side of the support frame (311) is fixed to the bottom of the inner side of the chassis (1), the extended end of the telescopic rod (312) is fixed to the lower end of the support plate (313), and the telescopic rod (312) is signal connected to the control system (12).

3. The intelligent handling robot for hydrangea cold storage goods according to claim 1, characterized in that: A servo motor (324) is installed inside the placement frame (321). A rotating rod (325) is rotatably installed 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). The servo motor (324) is connected to the control system (12) via signal.

4. The intelligent handling robot for hydrangea cold storage goods according to claim 1, characterized in that: The first moving component (35) includes a fourth telescopic rod (352). The outer walls of the two sets 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). The protruding 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).

5. The intelligent handling robot for hydrangea cold storage goods according to claim 1, characterized in that: The second moving component (36) includes a connecting frame plate (362), wherein a fixed frame plate (361) is installed on the outer wall of a set of guide rods (339), a fifth telescopic rod (363) is installed at one end of the connecting frame plate (362), one end of the connecting frame plate (362) is fixed to one side of another set of connecting recesses (342), the protruding 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 signal connected to the control system (12).

6. The intelligent handling robot for hydrangea cold storage goods according to claim 1, characterized in that: The upper ends of the two sets of flexible gripper assemblies (37) and the two sets of intelligent identification sensors (39) are respectively fixed to the lower ends of the two sets of moving plates (345). The two sets of infrared sensor assemblies (38), the two sets of flexible gripper assemblies (37) and the two sets of intelligent identification sensors (39) are all connected to the control system (12) via signals.

7. The intelligent handling robot for hydrangea cold storage goods according to claim 1, characterized in that: The anti-slip moving mechanism (2) includes two sets of batteries (23). Two sets of transmission rods (21) are rotatably installed on both sides of the chassis (1). Anti-slip wheels (22) are installed on the outer wall of each set of transmission rods (21). Four sets of stepper motors (24) are installed inside the chassis (1). The output ends of the four sets of stepper motors (24) are respectively fixed to one end of the four sets of transmission rods (21). The lower ends of the two sets of batteries (23) are fixed to the bottom of the chassis (1). Every two sets of stepper motors (24) are electrically connected to one set of batteries (23). The four sets of stepper motors (24) and the two sets of batteries (23) are all connected to the control system (12) via signals.

8. The intelligent handling robot for hydrangea cold storage goods according to claim 1, characterized in that: Two sets of support frames (13) are installed on the upper end of the sealing cover (11), and both sets of lidar (15) are connected to the control system (12) via signal.

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