A logistics robot for automatic pick-up and return of goods

Abstract

The present invention relates to the field of robot technology, and particularly relates to a logistics robot for automatic picking up and returning goods, which includes a robot body, a goods bin mechanism, and a control mechanism. The robot body includes a machine head, a fuselage, and a machine base. The goods bin mechanism is arranged inside the fuselage. The goods bin mechanism includes a drawer, a front cover plate of the drawer, and a driving mechanism. A transmission mechanism is arranged inside the drawer. The control mechanism is electrically connected to the driving mechanism and the transmission mechanism respectively. The present invention uses the form of a drawer to move items out of the warehouse, which is convenient for the placement and removal of items. The drawer is pushed out or retracted into the fuselage by the driving mechanism. The front cover plate of the drawer can be opened or closed as the drawer is pushed out or retracted. Opening it can realize the loading and unloading of goods, and closing it can ensure the safety of goods. The automatic loading and unloading of items inside the drawer is achieved through transmission. The entire goods bin mechanism has efficient and reliable mechanical linkage, and has the advantages of high loading and unloading efficiency, reliable operation, large load, saving operation costs and labor costs, etc.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and particularly to a logistics robot for automatically picking up and returning goods. Background Art

[0002] With the progress of society and the development of technology, more and more robots are applied in work and life. With the rapid development of the logistics industry, logistics robots are gradually applied in actual work. However, most of the existing logistics robot transportation warehouses are in the form of cabinets with doors, and there are the following problems: 1. The warehouse cannot be pushed out inside the robot, increasing the working difficulty of the automatic goods dispenser; 2. The warehouse is inside the robot body, and users need to bend down and reach inside to pick up the goods, which brings inconvenience to users when picking up goods; 3. The goods in the warehouse cannot achieve the function of automatic unloading; 4. For both receiving and delivering goods, people need to manually put them into the cabinet and then close the cabinet door. When a customer refuses to accept the goods and returns them, people need to manually take out the goods, increasing the operation workload and labor cost; 5. The power unit has many complex structures. Summary of the Invention

[0003] In order to solve the above problems, the purpose of the present invention is to provide a logistics robot for automatically picking up and returning goods, which can realize the automatic collection and return of goods through a series of mechanical mechanisms, so as to achieve the purpose of unattended collection and return of goods.

[0004] The present invention realizes this purpose through the following technical solutions:

[0005] A logistics robot for automatically picking up and returning goods, comprising a robot body, a goods warehouse mechanism, and a control mechanism. The robot body includes a machine head, a machine body, and a machine base. The goods warehouse mechanism is arranged inside the machine body. The goods warehouse mechanism includes a drawer, a drawer front cover plate for closing or opening the front end of the drawer, and a driving mechanism for driving the drawer to push out or retract. A transmission mechanism for loading and unloading items is arranged inside the drawer. The control mechanism is electrically connected to the driving mechanism and the transmission mechanism respectively. When the drawer is pushed out of the machine body, the drawer front cover plate opens, and the front end of the drawer is in an open state. When the drawer retracts into the machine body, the drawer front cover plate closes, and the drawer is in a closed state.

[0006] Further, the driving mechanism includes a motor, a synchronous belt driven by the motor, and a sliding block connected to the synchronous belt. The sliding block is connected to the bottom of the drawer.

[0007] Further, the driving mechanism further includes a drawer open limit switch and a drawer close limit switch, which are respectively located at both ends of the synchronous belt transmission direction.

[0008] Further, a push plate is arranged at the bottom of the drawer, and the sliding block is connected to the push plate.

[0009] Preferably, a column is provided at the bottom of the drawer, a slot for engaging the column is provided on the push plate, and the drawer and the push plate are fixedly connected by the column.

[0010] Further, a frame is provided inside the fuselage, and the driving mechanism is provided on the frame.

[0011] Further, the front cover plate of the drawer is fixed to the front end of the frame by a rotating shaft fixing block, sliding rods are connected to both sides of the front cover plate of the drawer, sliding columns are provided on both sides of the drawer, and the sliding columns can slide along the sliding rods.

[0012] Further, the transmission mechanism includes a driving motor, a driving shaft, a driven shaft and a transmission belt. A first synchronous pulley and a driving roller are provided on the driving shaft, a driven roller is provided on the driven shaft, the transmission belt is sleeved on the driven roller and the driving roller, a second synchronous pulley is provided at the end of the driving motor, the first synchronous pulley and the second synchronous pulley are connected by a driving synchronous belt, and the driving motor is arranged inside the transmission belt.

[0013] Preferably, the number of the goods storage mechanisms ≥ 2.

[0014] Further, a human-machine interaction device is provided on the machine head, a traveling mechanism is provided on the base, and the control system is also electrically connected to the human-machine interaction device and the traveling mechanism respectively.

[0015] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0016] A logistics robot capable of automatically picking up and returning goods according to the present invention, its goods storage mechanism includes a drawer for storing items and a driving mechanism for driving the drawer to move forward or backward. The drawer form is used to move the items out of the goods storage, which is convenient for putting in and taking out the items. The drawer is pushed out of the fuselage or retracted into the fuselage by the driving mechanism to realize the pushing out and retracting of the drawer; the front cover plate of the drawer can be opened or closed as the drawer is pushed out or retracted. Opening can realize the loading and unloading of goods, and closing can ensure the safety of goods; a transmission mechanism is arranged inside the drawer, and the automatic loading and unloading of the items in the drawer is realized through transmission. The entire goods storage mechanism has efficient and reliable mechanical linkage, and has the advantages of high loading and unloading efficiency, reliable operation, large load, etc., and does not require manual extraction by people, reducing a large amount of operating costs and labor costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic structural diagram of the logistics robot capable of automatically picking up and returning goods according to the present invention.

[0018] Figure 2 It is a schematic structural diagram inside the fuselage according to the present invention.

[0019] Figure 3Schematic diagram of the cargo storage mechanism when the drawer is retracted in the present invention.

[0020] Figure 4 Schematic diagram of the cargo storage mechanism when the drawer is pushed out in the present invention.

[0021] Figure 5 Schematic diagram of the driving mechanism in the present invention.

[0022] Figure 6 Schematic diagram of the assembly of the drawer and the conveyor belt mechanism in the present invention.

[0023] Figure 7 Exploded view schematic diagram of the conveyor belt mechanism in the present invention. Detailed implementation manners

[0024] The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.

[0025] Embodiment 1.

[0026] As Figures 1-4 shown, this embodiment provides a logistics robot capable of automatically picking up and returning goods, including a robot body, a goods storage mechanism, and a control mechanism. The robot body includes a machine head 1, a machine body 2, and a machine base 3. The goods storage mechanism is arranged inside the machine body 2. The goods storage mechanism includes a drawer 4, a drawer front cover plate 5 for closing or opening the front end of the drawer, and a driving mechanism for pushing or retracting the drawer. A transmission mechanism 6 for loading and unloading items is arranged inside the drawer 4. The control mechanism is electrically connected to the driving mechanism and the transmission mechanism 6 respectively. When the drawer 4 is pushed out of the machine body 2, the drawer front cover plate 5 opens, and the front end of the drawer is in an open state. When the drawer 4 retracts into the machine body 2, the drawer front cover plate 5 closes, and the drawer 4 is in a closed state.

[0027] The working principle of a logistics robot capable of automatically picking up and returning goods in the present invention is as follows: When items need to be loaded and unloaded, the control mechanism starts the driving mechanism. The driving mechanism drives the drawer 4 to move forward, thereby pushing the drawer 4 out of the machine body 2. During the process of pushing out the drawer 2, the drawer front cover plate 5 will be pushed open. When the drawer 4 is completely pushed out of the machine body 2, the drawer front cover plate 5 opens, and the front end of the drawer 4 is in an open state. At this time, the control mechanism will control the transmission mechanism 6 to start working. The transmission mechanism 6 will realize the loading and unloading of items. The loading and unloading time can be calculated according to the transmission ratio of the transmission mechanism 6 and set in the control mechanism. After the items are loaded and unloaded, the control mechanism stops powering the transmission mechanism 6 and starts to control the driving mechanism to work. The driving mechanism will drive the drawer 4 to retract. The drawer 4 retracts into the machine body 2, and the drawer front cover plate 5 covers the drawer 4. At this time, the drawer 4 is in a closed state, and the logistics robot can walk along the specified route.

[0028] The present invention uses a drawer form to move items out of the cargo hold, facilitating the loading and unloading of items. The drawer 4 is pushed out of the fuselage 2 or retracted into the fuselage 2 by a driving mechanism to achieve the extension and retraction of the drawer 2. The front cover plate 5 of the drawer can be opened or closed as the drawer 5 is extended or retracted. Opening it enables the loading and unloading of goods, and closing it can ensure the safety of the goods. A transmission mechanism 6 is arranged inside the drawer 5 to achieve the automatic loading and unloading of items inside the drawer 6 through transmission. The entire cargo hold mechanism has efficient and reliable mechanical linkage, with advantages such as high loading and unloading efficiency, reliable operation, and large load. Moreover, it does not require manual removal by humans, reducing a large amount of operating costs and labor costs.

[0029] Among them, as Figure 5 shown, the driving mechanism includes a motor 7, a synchronous belt 8 driven by the motor 7, and a sliding block 9 connected to the synchronous belt 8. The sliding block 9 is connected to the bottom of the drawer 4. During operation, the control mechanism supplies power to the motor 7. The motor 7 drives the synchronous belt 8 to rotate. The rotation of the synchronous belt 8 causes the sliding block 9 to move forward, and the sliding block 9 will drive the drawer 4 forward, thereby realizing the drawer 4 being pushed out of the fuselage 2. On the contrary, if the control mechanism controls the motor 7 to reverse, then under the drive of the synchronous belt 8, the drawer is retracted into the fuselage 2, realizing the automatic opening and closing of the drawer 4 without manual pulling and closing.

[0030] Among them, the driving mechanism further includes a drawer open limit switch 10 and a drawer close limit switch 11. The drawer open limit switch 10 and the drawer close limit switch 11 are respectively located at both ends of the transmission direction of the synchronous belt 8. When the drawer 4 completely exits the fuselage 2, the sliding block 9 touches the drawer open limit switch 10. The drawer open limit switch 10 sends a signal to the control mechanism, and the control mechanism stops supplying power to the motor 7. Then it supplies power to the transmission mechanism 6 to control the transmission mechanism 6 to perform the loading and unloading of items. After the loading and unloading are completed, the control mechanism stops supplying power to the transmission mechanism 6 and instead supplies power to the motor 7, controlling the motor 7 to reverse. The drawer 4 is retracted into the fuselage 2. When the sliding block 9 touches the drawer close limit switch 11, it means that the drawer 4 has completely entered the fuselage 2 and is in a closed state. At this time, the control mechanism will stop supplying power to the motor 7.

[0031] As Figure 6 shown, in order to facilitate the installation, disassembly, and cleaning of the drawer 4, a push plate 12 is detachably connected to the bottom of the drawer 4 through columns 41. The sliding block 9 is fixedly connected to the push plate 12. When the drawer 4 needs to be cleaned, the drawer 4 can be removed from the push plate 12 for cleaning.

[0032] In this embodiment, a frame 13 is provided inside the fuselage 2, the driving mechanism is arranged on the frame 13, and the front drawer cover plate 5 is fixed to the front end of the frame 13 through a rotating shaft fixing block 51. When the drawer 4 is pushed out, the front drawer cover plate 5 slides outwards along the rotating shaft fixing block 51 and finally is parallel to the bottom of the drawer 4. When the drawer 4 is retracted, the front drawer cover plate 5 slides inwards along the rotating shaft fixing block 51 and finally covers the front end of the drawer 4 to close the drawer 4.

[0033] Wherein, sliding rods 14 are connected to both ends of the front drawer cover plate 5, and sliding columns 15 are arranged at both ends of the drawer 4. When the drawer 4 is pushed out and retracted, the sliding columns 15 slide along the sliding rods 14. When the drawer 4 is retracted, the sliding columns 15 on the drawer 4 slide along the sliding rods 14 to delay the closing of the front drawer cover plate 5. After the drawer 4 is retracted into the fuselage 2, the sliding block 9 continues to slide, and the sliding rods 14 pull the front drawer cover plate 5 to close it. When the sliding block 9 slides to the rear drawer closing limit switch 11, the drawer 4 is completely closed.

[0034] As shown in Figure 7 The transmission mechanism 6 includes a driving motor 61, a driving shaft 62, a driven shaft 63 and a transmission belt 64. A first synchronous pulley 65 and a driving roller 66 are arranged on the driving shaft 62, a driven roller 67 is arranged on the driven shaft 63, the transmission belt 64 is sleeved on the driven roller 67 and the driving roller 66, a second synchronous pulley 68 is arranged at the end of the driving motor 61, and the first synchronous pulley 65 and the second synchronous pulley 68 are connected by a driving synchronous belt 69. The driving motor 61 is arranged inside the transmission belt 64. In the present invention, the driving motor 61 of the transmission mechanism 6 is installed inside the transmission belt 64, making full use of the internal space of the transmission belt 64, thus minimizing the height of the entire transmission belt 64. Its structure is simple and is very suitable for installation in a narrow space such as a drawer.

[0035] In the present invention, the number of the goods storage mechanisms is ≥2, and only 2 are shown in the figure. Having multiple drawers can realize the delivery and loading and unloading of multiple items, improve the working efficiency of the logistics robot, and isolate different items to avoid mutual contamination.

[0036] Wherein, a human-machine interaction device is further arranged on the machine head 1, a traveling mechanism is arranged on the machine base 3, and the control system is also electrically connected to the human-machine interaction device and the traveling mechanism respectively, realizing the full-automatic delivery and loading and unloading of items, which is safe, simple, accurate and efficient.

[0037] Those of ordinary skill in the art should understand that the discussion of any of the above embodiments is merely exemplary and is not intended to imply that the scope of the present disclosure (including the claims) is limited to these examples; under the concept of the present invention, the technical features in the above embodiments or different embodiments can also be combined, and there are many other variations in different aspects of the present invention as described above, which are not provided in detail for the sake of brevity. Therefore, any omission, modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. An automatic pick-up and return logistics robot, characterized in that, it includes a robot body, a goods bin mechanism, and a control mechanism. The robot body includes a head, a fuselage, and a base. The goods bin mechanism is arranged inside the fuselage. The goods bin mechanism includes a drawer, a drawer front cover plate for closing or opening the front end of the drawer, a driving mechanism for pushing the drawer out or retracting it. A transmission mechanism for loading and unloading items is arranged inside the drawer. The control mechanism is electrically connected to the driving mechanism and the transmission mechanism respectively. When the drawer is pushed out of the fuselage, the drawer front cover plate opens, and the front end of the drawer is in an open state. When the drawer retracts into the fuselage, the drawer front cover plate closes, and the drawer is in a closed state. The driving mechanism includes a motor, a synchronous belt driven by the motor, and a sliding block connected to the synchronous belt. The sliding block is connected to the bottom of the drawer. The driving mechanism also includes a drawer open limit switch and a drawer close limit switch. The drawer open limit switch and the drawer close limit switch are respectively located at both ends of the synchronous belt transmission direction. A push plate is arranged at the bottom of the drawer, and the sliding block is connected to the push plate.

2. The automatic pick-up and return logistics robot according to claim 1, characterized in that, columns are arranged at the bottom of the drawer, and slot holes for clamping the columns are arranged on the push plate. The drawer and the push plate are fixedly connected through the columns.

3. The automatic pick-up and return logistics robot according to any one of claims 1-2, characterized in that, a frame is arranged inside the fuselage, and the driving mechanism is arranged on the frame.

4. The automatic pick-up and return logistics robot according to claim 3, characterized in that, the drawer front cover plate is fixed to the front end of the frame through a rotating shaft fixing block. Sliding rods are connected to both sides of the drawer front cover plate, and sliding columns are arranged on both sides of the drawer. The sliding columns can slide along the sliding rods.

5. The automatic pick-up and return logistics robot according to claim 1, characterized in that, the transmission mechanism includes a driving motor, a driving shaft, a driven shaft, and a transmission belt. A first synchronous pulley and a driving roller are arranged on the driving shaft. A driven roller is arranged on the driven shaft. The transmission belt is sleeved on the driven roller and the driving roller. A second synchronous pulley is arranged at the end of the driving motor. The first synchronous pulley and the second synchronous pulley are connected through a driving synchronous belt. The driving motor is arranged inside the transmission belt.

6. The automatic pick-up and return logistics robot according to claim 1, characterized in that, the number of the goods bin mechanisms ≥ 2.

7. The automatic pick-up and return logistics robot according to claim 1, characterized in that, a human-machine interaction device is arranged on the head, a traveling mechanism is arranged on the base, and the control mechanism is also electrically connected to the human-machine interaction device and the traveling mechanism respectively.

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