A transport robot and a transport method thereof

Abstract

The present invention discloses a handling robot and a handling method thereof, comprising: a mobile chassis, a lifting mechanism arranged on the mobile chassis, a vertical base plate, and a cargo pick-up and placement mechanism arranged on the vertical base plate; the lifting mechanism comprises a lifting frame, two sliding mechanisms arranged on the lifting frame, and a lifting drive module arranged on the lifting frame and adapted to the two sliding mechanisms; the lifting frame is also provided with a plurality of temporary storage shelves with interval divisions; the vertical base plate is installed on the two sliding mechanisms. The present invention can adapt to various sizes and packaging forms of objects to be handled, improve the space utilization rate of the shelves for storing objects, and there is no need to modify the shelves and storage environment; because the cargo pick-up and placement mechanism adopts a vacuum suction cup with a load-bearing tray, and the orientation of the vacuum suction cup can be switched between horizontal and vertical, the packaging form of the objects to be picked up and placed is not limited to a cargo box, and the adjacent objects are placed more compactly, which improves the adaptability of the object pick-up and placement device and the space utilization rate of the shelves.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and in particular to a transport robot and a transport method thereof. Background Art

[0002] Existing handling robots that use a clamping method to grab objects can usually only pick up and place objects packaged in cargo boxes. In actual scenarios, the objects that need to be transported are usually large and small, heavy and light, soft and hard, and existing handling robots cannot adapt to them one by one. In addition, when using existing handling robots, the cargo boxes on each shelf cannot be stacked to prevent the upper cargo box from touching the lower cargo box when moving it, causing it to move or even fall. In addition, a gap needs to be left between two adjacent cargo boxes as the working space of the clamping handling device, which leads to low space utilization of the shelf. In addition, the general method for existing robots to solve the problem of accurate object placement is to use a depth camera to obtain three-dimensional information around the target position and then pick up and place the object (such as Chinese patent CN109927012); due to the low measurement accuracy of the depth camera, the success rate of this type of method in actual application is not high, so it has not been able to achieve industrial application. Summary of the invention

[0003] In view of the problems existing in the prior art, the present invention provides a transport robot and a transport method thereof, which can adapt to various objects to be transported, big or small, heavy or light, soft or hard, and in various packaging forms. At the same time, the space utilization rate of the shelves for storing objects is improved without the need to modify the shelves and the storage environment. In addition, the present invention uses a low-cost laser displacement sensor to achieve accurate and reliable measurement of the storage and retrieval position of objects.

[0004] In order to achieve the above object, the technical solution of the present invention is as follows:

[0005] A transport robot comprises: a mobile chassis, a lifting mechanism arranged on the mobile chassis, a vertical base plate, and a cargo picking and placing mechanism arranged on the vertical base plate;

[0006] The lifting mechanism includes a lifting frame, two sliding mechanisms arranged on the lifting frame, a vertical base plate, and a lifting drive module arranged on the lifting frame and adapted to the two sliding mechanisms; the lifting frame is also provided with a plurality of temporary storage shelves at intervals;

[0007] The vertical base plate is mounted on two sliding mechanisms;

[0008] The output end of the lifting drive module is connected to the vertical base plate, and is used to drive the vertical base plate to rise and fall along the vertical direction of the lifting frame on the two sliding mechanisms;

[0009] The cargo picking and placing mechanism includes: a first robotic arm, a second robotic arm, and a third robotic arm; the first robotic arm is arranged on a vertical substrate; the second robotic arm is arranged on the first robotic arm, and the first robotic arm is used to drive the second robotic arm to rotate and reciprocate; the third robotic arm is arranged on the second robotic arm, and the second robotic arm is used to drive the third robotic arm to perform linear reciprocating motion.

[0010] Preferably, the lifting drive module includes a transmission shaft, a transmission sprocket assembly, and a first driving mechanism; the vertical substrate is connected to the transmission sprocket assembly; a main gear is also provided on the transmission shaft; the output end of the first driving mechanism is connected to the main gear, which can drive the main gear to rotate, and then drive the transmission shaft to rotate, thereby driving the transmission sprocket to lift and lower, and then driving the vertical substrate to lift and lower.

[0011] Preferably, the first robotic arm includes a base, a first bottom plate arranged on the base, two first slide rails and a first driving module installed on the bottom plate, a supporting substrate slidingly connected to the two first slide rails, and a slewing bearing arranged on the supporting substrate; the output end of the first driving module is connected to the supporting substrate, and is used to drive the supporting substrate to make reciprocating motion on the first slide rail.

[0012] Preferably, the second robotic arm comprises a second base plate, a load-bearing tray, two second guide rails and a slider, a second drive module, two slide rails, a third drive module, a drive mechanism and a laser displacement sensor respectively arranged on the second base plate; the second base plate is arranged on a slewing bearing; the load-bearing tray is slidably connected to the two slide rails; the output end of the third drive module is connected to the load-bearing tray, and can drive the load-bearing tray to perform linear reciprocating motion on the two slide rails; the output end of the drive mechanism passes through the second base plate, and the output end of the drive mechanism is also provided with a gear, which is also meshed with the slewing bearing; the end of the second base plate is also provided with the laser displacement sensor, which is placed under the load-bearing tray and is used to measure the position of object placement.

[0013] Preferably, the third robotic arm includes a third base plate, a screw rod, a guide rod connecting plate arranged on the screw rod, guide rods arranged on both sides of the guide rod connecting plate, a guide rod mounting seat, a suction cup mounting seat rotatably connected to the guide rod mounting seat, a plurality of vacuum suction cups arranged on the suction cup mounting seat, a fourth driving module and a vertical mounting plate respectively arranged on the third base plate, one end of the screw rod is connected to the output end of the fourth driving module, and the other end is placed on the vertical mounting plate; the other end of the guide rod passes through the vertical mounting plate and is connected to the guide rod mounting seat; the third base plate is arranged above the load-bearing tray and is connected to the slider, and the second driving module is driven to drive the slider to slide on the second guide rail, thereby driving the third base plate to perform linear reciprocating motion along the second guide rail; a rotary motor is also provided in the suction cup mounting seat, and the rotary motor can drive the suction cup mounting seat to rotate, thereby changing the adsorption direction of the vacuum suction cup.

[0014] Preferably, the lifting frame is also provided with a plurality of temporary storage shelves at intervals.

[0015] Preferably, a vacuum pump body is also provided on the mobile chassis, the vacuum pump body is connected with the vacuum suction cup through a pipeline, and a plurality of battery packs are also provided around the vacuum pump body.

[0016] Preferably, the transport robot also includes two shock-absorbing assemblies installed on the mobile chassis and a driving wheel assembly arranged on the shock-absorbing assemblies, each shock-absorbing assembly includes an upper support plate, a lower support plate, a connecting rod arranged between the upper support plate and the lower support plate, and an elastic assembly sleeved on the connecting rod; the driving wheel assembly is arranged on the lower support plate.

[0017] Preferably, the driving wheel assembly includes a driving mechanism, a driving wheel arranged at the output end of the driving mechanism, and the driving mechanism can drive the driving wheel to rotate, thereby driving the mobile chassis to move; and a plurality of the driven wheels are arranged at the corners of the bottom of the mobile chassis.

[0018] Preferably, the mobile chassis is also provided with a plurality of driven wheels adapted to the driving wheel assembly, and the driven wheels are arranged at the corners of the bottom of the mobile chassis.

[0019] The present invention also provides a method for transporting goods, comprising the following steps of picking up goods:

[0020] Step 1: First, record and save the three-dimensional dimensions of all items in the warehouse according to quantity and arrangement storage method, so that each item corresponds to a storage location, and each item corresponds to the spatial relative position (x, y, z) of the storage location;

[0021] Step 2: The robot receives a pickup instruction, and moves to the side of the storage location corresponding to the goods according to the information of the storage location; the accurate position of the target goods on the target storage location is measured by the laser displacement sensors on the lifting mechanism, the first mechanical arm and the third mechanical arm; the robot calculates the target pickup and placement position through step 1, and the robot moves the third mechanical arm to an empty space on the side of the target pickup and placement position through the lifting mechanism and the first mechanical arm; then the lifting mechanism drives the goods pickup and placement mechanism to move downward until the laser displacement sensor detects the edge of the goods or the upper edge of the shelf, and the first mechanical arm drives the third mechanical arm to move outward until the laser displacement sensor detects the side edge of the goods, and the precise contour of the target goods or the target storage location is measured;

[0022] Step 3: The robot has two ways to absorb the goods according to the situation of the goods:

[0023] Method 1 for picking up goods: For smaller goods, the rotary motor drives the vacuum suction cup to face downward, the robot's third mechanical arm and the guide rod of the third mechanical arm extend the calculated extension amount L, extend to the goods, the lifting drive module drops a height, so that the vacuum suction cup presses the upper surface of the goods, the vacuum pump body is turned on, the vacuum suction cup sucks the goods, the lifting drive module is lifted, the third mechanical arm returns, the second mechanical arm rotates 90 degrees toward the temporary storage shelf of the robot, the lifting drive module is lifted to the designated temporary storage shelf, the third mechanical arm extends, the vacuum suction cup is separated from the goods, and the goods are placed on the robot shelf;

[0024] The second way to pick up goods: for stacked larger goods, the rotary motor drives the vacuum suction cup to face horizontally, and the second robotic arm first extends the load-bearing tray to gently press against the lower layer of goods to be taken out; the robot's third robotic arm and the guide rod of the third robotic arm extend the calculated extension amount L, extend to the side of the goods and stick to them, open the solenoid valve, the vacuum suction cup absorbs the goods, and at the same time the guide rod of the third robotic arm retracts to drag the adsorbed goods onto the load-bearing tray, the third robotic arm and the load-bearing tray continue to retreat, so that the adsorbed goods do not interfere with the lifting drive module when the second robotic arm rotates 90 degrees; finally, the lifting drive module is lifted to the designated temporary storage shelf, the third robotic arm extends, the vacuum suction cup is separated from the goods, and the goods are placed on the robot shelf.

[0025] The technical solution of the present invention has the following beneficial effects: the present invention can adapt to various sizes and packaging forms of objects to be transported, improve the space utilization rate of the shelves for storing objects, and there is no need to modify the shelves and storage environment; because the cargo picking and placing mechanism adopts a vacuum suction cup with a load-bearing tray, and the orientation of the vacuum suction cup can be switched between horizontal and vertical, the packaging form of the objects to be picked up and placed is not limited to the cargo box, and the placement of adjacent objects is more compact, which improves the adaptability of the object picking and placing device and the space utilization rate of the shelves; using a laser displacement sensor to detect the position of the cargo to be picked up and placed is more accurate and less costly than using a depth camera to measure the three-dimensional object position of the cargo to be picked up and placed. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 It is a schematic diagram of the structure of the present invention;

[0027] Figure 2 The structure of the cargo picking and placing mechanism of the present invention is shown in FIG. Figure 1 ;

[0028] Figure 3 The structure of the cargo picking and placing mechanism of the present invention is shown in FIG. Figure 2 ;

[0029] Figure 4 The structure of the cargo picking and placing mechanism of the present invention is shown in FIG. Figure 3 ;

[0030] Figure 5 This is a schematic diagram of the structure of the laser displacement sensor of the present invention;

[0031] Figure 6 The first mechanical arm structure of the present invention is schematically shown in FIG. Figure 1 ;

[0032] Figure 7 The second mechanical arm structure of the present invention is schematically shown in FIG. Figure 2 ;

[0033] Figure 8 The third mechanical arm structure of the present invention is shown in FIG. Figure 3 ;

[0034] Fig. 9 This is a schematic diagram of the installation of the mobile chassis of the present invention;

[0035] Fig.10 It is a schematic diagram of cargo storage of the present invention. DETAILED DESCRIPTION

[0036] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, and should not be construed as limiting the present invention.

[0037] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0038] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0039] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0040] In the present invention, unless otherwise clearly specified and limited, a first feature is “on” or “below” a second feature.

[0041] “Under” may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, the first feature being “above”, “above”, and “above” the second feature includes the first feature being directly above and obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. The first feature being “under”, “below”, and “below” the second feature includes the first feature being directly below and obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0042] Reference Figures 1 to 10 The present invention provides a transport robot, comprising: a mobile chassis 10, a lifting mechanism arranged on the mobile chassis 10, a vertical base plate 50, and a cargo picking and placing mechanism arranged on the vertical base plate 50;

[0043] The lifting mechanism comprises a lifting frame 4 arranged on a mobile chassis 10, two sliding mechanisms 41 arranged on the lifting frame 4, a vertical base plate 50, and a lifting drive module arranged on the lifting frame 4 and adapted to the two sliding mechanisms 41; the lifting frame 4 is also provided with a plurality of temporary storage shelves 70 at intervals;

[0044] The vertical substrate 50 is mounted on the two sliding mechanisms 41 and can slide along the directions of the two sliding mechanisms 41;

[0045] The output end of the lifting drive module is connected to the vertical base plate 50, and is used to drive the vertical base plate 50 to rise and fall along the vertical direction of the lifting frame 4 on the two sliding mechanisms 41;

[0046] The cargo picking and placing mechanism includes: a first robotic arm 61, a second robotic arm 62, and a third robotic arm 63; the first robotic arm 61 is arranged on the vertical substrate 50; the second robotic arm 62 is arranged on the first robotic arm 61, and the first robotic arm 61 is used to drive the second robotic arm 62 to rotate and reciprocate; the third robotic arm 63 is arranged on the second robotic arm 62, and the second robotic arm 62 is used to drive the third robotic arm 63 to perform linear reciprocating motion.

[0047] In this embodiment, the lifting frame 4 is door-shaped, and the sliding guide rails are installed at the two vertical ends of the lifting frame 4. The vertical base plate 50 is installed on the sliding guide rails and can slide along the sliding guide rails. The vertical base plate 50 is connected to the guide rails through a sliding block to facilitate the vertical base plate 5 to slide on the sliding guide rails. The sliding mechanism 41 is set as a sliding guide rail.

[0048] In this embodiment, the lifting drive module is used to lift the cargo pick-up and placement mechanism, so that the cargo pick-up and placement mechanism is lifted and lowered on the lifting frame 4, thereby moving to the temporary storage shelf 70 position, so that the cargo pick-up and placement mechanism picks and places the cargo, and realizes automatic pick-up and placement of the cargo. Compared with manual operation, the work efficiency is high, time-saving and labor-saving. A rotating gear meshing with the main gear is installed on the first driving mechanism 40, which is convenient for driving the main gear to rotate. The vertical base plate 50 is connected to the transmission chain 43 through the fixed plate, and then the vertical base plate 50 can be driven to slide on the two sliding mechanisms 41. The lifting drive module includes a transmission shaft, a transmission sprocket assembly, and a first driving mechanism 40; the vertical base plate 50 is connected to the transmission sprocket assembly; a main gear is also provided on the transmission shaft; the output end of the first driving mechanism 40 is connected to the main gear, which can drive the main gear to rotate, and then drive the transmission shaft to rotate, thereby driving the transmission sprocket assembly to lift and lower, and then drive the vertical base plate to lift and lower along the direction of the two sliding mechanisms 41; the transmission sprocket assembly includes a transmission sprocket 42, and a transmission chain 43 adapted to the transmission sprocket 42; the vertical base plate 50 is connected to the transmission sprocket 42. The first driving mechanism 40 is configured as a lifting motor; the transmission shaft comprises an upper shaft rod and a lower shaft rod, both ends of which are provided with the transmission sprocket 42; and the main gear is disposed on the lower shaft rod.

[0049] In this embodiment, the base 611 is used to support the first bottom plate 610, and the first bottom plate 610 is installed at the bottom of the base 611. The first drive module 620 is installed between the two first slide rails 615. The support base plate 614 is slidably connected to the first slide rail 615 through a sliding block. The first drive module 620 is used to control the forward and backward movement of the second mechanical arm 62. The first drive module 620 includes a first motor and a first screw connected to the first motor. The other end of the first screw is installed on a fixed seat 612, and the fixed seat 612 is installed on the first bottom plate 610. The first screw is connected to the support base plate 614 to provide power for the support base plate 614, so as to facilitate the support base plate 614 makes a reciprocating motion on the first slide rail 615, and a slide rail fixing seat 613 is also installed at the bottom of the first slide rail 615, and the slide rail fixing seat 613 is installed on the first base plate 610; the first mechanical arm 61 includes a base 611, a first base plate 610 arranged on the base 611, two first slide rails 615 and a first driving module 620 installed on the base plate 610, a supporting base plate 614 slidably connected to the two first slide rails 615, and a slewing bearing 616 arranged on the supporting base plate 614; the output end of the first driving module 620 is connected to the supporting base plate 614, and is used to drive the supporting base plate 614 to make a reciprocating motion on the first slide rail 620.

[0050] In this embodiment, two second guide rails 628 are installed on both sides of the second base plate, the second drive module 623 is installed next to a second guide rail 628, the third drive module 623 is installed between the two slide rails, and the drive mechanism 629 is arranged between the two slide rails 624 and placed below the load-bearing tray 625, wherein the second drive module 623 is used to drive the third mechanical arm 63 to slide on the two second guide rails 628, and the third screw rod on the third drive module 623 is connected to the load-bearing tray 625 to drive the load-bearing tray 625 to slide on the slide rail 624, and the load-bearing tray 625 is used to carry The third mechanical arm 63 takes the goods, the second mechanical arm 62 includes a second bottom plate 621, a load-bearing tray 625, a slider 627, two second guide rails 628, a second drive module 623, two slide rails 624, a third drive module 622, and a drive mechanism 628 respectively arranged on the second bottom plate 621; the second bottom plate 621 is arranged on the slewing bearing 616; the slider 627 is arranged on the two second guide rails 628 and connected to the output end of the second drive module 623; the two slide rails 624 are arranged between the two second guide rails 628; The load-bearing tray 625 is slidably connected to the two slide rails 624; the output end of the third driving module 622 is connected to the load-bearing tray 625, and can drive the load-bearing tray 625 to perform linear reciprocating motion on the two slide rails 624; the output end of the driving mechanism 629 is penetrated by the second bottom plate 621, and the output end of the driving mechanism 629 is also provided with a gear 626, and the gear 626 is also engaged with the slewing bearing 616. When the driving mechanism 629 is driven, the gear 626 is driven to rotate, and then the slewing bearing 625 is driven to rotate, thereby driving the entire second robotic arm 6 2 rotates relative to the first mechanical arm 61; the second driving module 623 includes a second motor and a second screw connected to the second motor, which is used to control the forward and backward movement of the third mechanical arm 63; the third driving module 623 includes a third motor and a third screw connected to the third motor, which is used to control the forward and backward movement of the load-bearing tray 625; the driving mechanism 629 is set as a fourth motor; a laser displacement sensor 999 is also provided at the end of the second bottom plate 621, and the laser displacement sensor 999 is placed under the load-bearing tray 625 to measure the position of the object to be taken and placed.

[0051] In this embodiment, the vacuum suction cup 636 is used to absorb the object to be picked up and placed, the fourth driving module 632 is used to control the forward and backward movement of the vacuum suction cup 636, and the rotary motor is used to realize the switching of the suction direction of the vacuum suction cup 636 between the horizontal direction and the vertical direction; the third mechanical arm 63 includes a third bottom plate 631, a screw rod, a guide rod connecting plate 635 arranged on the screw rod, guide rods 634 arranged on both sides of the guide rod connecting plate 635, a guide rod mounting seat 638, a suction cup mounting seat 637 rotatably connected to the guide rod mounting seat 638, and a plurality of vacuum suction cups 636 arranged on the suction cup mounting seat 637, and the fourth driving module 632 and the vertical mounting seat 632 are respectively arranged on the third bottom plate 631. The mounting plate 633, one end of the screw rod is connected to the output end of the fourth drive module 632, and the other end is placed on the vertical mounting plate 633; ​​the other end of the guide rod 634 passes through the vertical mounting plate 633 and is connected to the guide rod mounting seat 638; the third bottom plate 631 is arranged above the load-bearing tray 625 and is connected to the slider 624. The second drive module 623 is driven to drive the slider 627 to slide on the second guide rail 628, and then drive the third bottom plate 631 to make a linear reciprocating motion along the second guide rail 628; a rotary motor is also provided in the suction cup mounting seat 637, and the rotary motor can drive the suction cup mounting seat 637 to rotate, thereby changing the adsorption direction of the vacuum suction cup 636.

[0052] In this embodiment, the temporary storage shelf 70 is used to store goods, the vacuum pump body 80 is used in conjunction with the vacuum suction cup 636 to control the vacuum suction cup 80 to absorb the goods, and the battery pack 90 is used for power supply. The lifting frame 4 is also provided with a plurality of temporary storage shelves 70 at intervals; the mobile chassis 10 is also provided with a vacuum pump body 80, and the vacuum pump body 80 is connected to the vacuum suction cup 636 through a pipeline, and a plurality of battery packs 90 are also provided around the vacuum pump body 80.

[0053] In this embodiment, the shock absorbing assembly 200 is used to reduce shock when the driving wheel assembly 20 is driven to prevent excessive vibration, affect the balance of the body, and cause relatively large noise; the handling robot also includes two shock absorbing assemblies 200 installed on the mobile chassis 10, and a driving wheel assembly 20 arranged on the shock absorbing assembly 200. Each shock absorbing assembly 200 includes an upper support plate, a lower support plate, a connecting rod arranged between the upper support plate and the lower support plate, and an elastic assembly 201 sleeved on the connecting rod; the driving wheel assembly 20 is arranged on the lower support plate; the elastic assembly 201 is configured as a spring.

[0054] The second driving mechanism 21 in this embodiment is used to drive the driving wheel 22 to rotate. The driving wheel assembly 20 is installed between the lifting frame 4 and the battery pack 90, and is used to drive the mobile chassis 10 to move, thereby driving the entire structure to move, and the movement is convenient; the driving wheel assembly 20 includes a second driving mechanism 21 and a driving wheel 22 arranged at the output end of the second driving mechanism 21. The second driving mechanism 21 can drive the driving wheel 22 to rotate, thereby driving the mobile chassis 10 to move; a plurality of the driven wheels 30 are arranged at the corners of the bottom of the mobile chassis 10; the mobile chassis 10 is also provided with a plurality of driven wheels 30 adapted to the driving wheel assembly 20, and the driven wheels 30 are arranged at the corners of the bottom of the mobile chassis 10; the second driving mechanism 21 is set as a fifth motor.

[0055] refer to Fig.10 , we can see that F represents the upper edge of the goods; G represents the target storage location; and H represents the edge of the goods.

[0056] The present invention also provides a transport method, comprising the following steps:

[0057] Step 1: First, record and save the three-dimensional dimensions of all items in the warehouse according to quantity and arrangement storage method, so that each item corresponds to a storage location, and each item corresponds to the spatial relative position (x, y, z) of the storage location;

[0058] Step 2: The robot receives a pickup instruction, and moves to the side of the storage location corresponding to the goods according to the information of the storage location; the robot measures the exact position of the target goods on the target storage location through the laser displacement sensors on the lifting mechanism, the first mechanical arm 61 and the third mechanical arm 63; the robot calculates the target pickup and placement position through step 1, and the robot moves the third mechanical arm 63 to an empty space on the side of the target pickup and placement position through the lifting mechanism and the first mechanical arm 61; then the lifting mechanism drives the goods pickup and placement mechanism to move downward until the laser displacement sensor detects the edge of the goods or the upper edge of the shelf, and the first mechanical arm 61 drives the third mechanical arm 63 to move outward until the laser displacement sensor detects the side edge of the goods, and the precise contour of the target goods or the target storage location is measured;

[0059] Method 1 for picking up goods: For smaller goods, the rotary motor drives the vacuum suction cup 636 to face downward, the third mechanical arm 63 of the robot and the guide rod 634 of the third mechanical arm 63 extend the calculated extension amount L, extend to the goods, the lifting drive module drops a height, so that the vacuum suction cup 636 presses the upper surface of the goods, the vacuum pump body 80 is turned on, the vacuum suction cup 636 sucks the goods, the lifting drive module is lifted, the third mechanical arm 63 returns, the second mechanical arm 62 rotates 90 degrees toward the temporary storage shelf 70 of the robot, the lifting drive module is lifted to the designated temporary storage shelf 70, the third mechanical arm 63 extends, the vacuum suction cup 636 is separated from the goods, and the goods are placed on the robot shelf;

[0060] Method 2 for taking goods: for stacked larger goods, the rotary motor drives the vacuum suction cup 636 to face horizontally, and the second robot arm 62 first extends the load-bearing tray 625 to gently press against the lower layer of goods to be taken out to prevent the lower layer of goods from being dragged out when the upper layer of goods is dragged; the robot's third robot arm 63 and the guide rod 634 of the third robot arm 63 extend the calculated extension amount L, extend to the side of the goods and stick to it, open the solenoid valve, the vacuum suction cup 636 sucks the goods, and at the same time the guide rod 63 of the third robot arm 63 retreats to drag the adsorbed goods onto the load-bearing tray 625; the third robot arm 63 and the tray 625 continue to retreat, so that the adsorbed goods do not interfere with the lifting mechanism when the second robot arm 62 rotates 90 degrees; finally, the lifting drive module is lifted to the designated temporary storage shelf, the third robot arm 63 extends, the vacuum suction cup 636 is separated from the goods, and the goods are placed on the robot shelf.

[0061] The working principle of the present invention is as follows:

[0062] When the robot needs to pick up goods in the warehouse, the ends of the second mechanical arm 62 and the third mechanical arm 63 of the object picking and placing mechanism face perpendicular to the driving direction of the robot; when the robot receives an instruction to pick up a specific object, driven by the mobile chassis 10, the robot moves to the position of the object to be picked up according to a pre-set route, and then the slewing bearing 616 on the first mechanical arm 61 rotates, driving the second mechanical arm 62 and the third mechanical arm to rotate 90° toward the direction of the storage location where the object to be picked up and placed is located; then the second driving module 623 drives the third mechanical arm 63 forward until the vacuum suction cup 636 is pushed onto the surface of the target object;

[0063] When the target object is placed far away and the third robot arm 63 advances to the limit position but still cannot push the vacuum suction cup 636 to the surface of the target object, the fourth driving module 632 on the third robot arm 63 will continue to push the vacuum suction cup 636 to the surface of the target object; after the vacuum suction cup 636 is pushed to the surface of the target object, it adsorbs the object. After the object is adsorbed, if the object is relatively light and the weight is within the adsorption force range of the vacuum suction cup 636, the load-bearing tray 625 on the second robot arm 62 does not extend, and the vacuum suction cup 636 horizontally adsorbs the object, and then retreats to directly move the adsorbed object to the load-bearing tray 625 that has not extended.

[0064] If the object is heavy and the weight exceeds the suction force of the vacuum suction cup 636, and the vacuum suction cup 636 cannot provide sufficient suction support, the third driving module 622 will extend the load-bearing tray 625 to a corresponding stroke according to the size of the adsorbed object. In addition, if the target object is stacked on other objects, directly sucking the target object may touch the lower object and cause it to move or even fall. The load-bearing tray 625 will also extend, and the end of the load-bearing tray 625 will be against the object under the target object to fix it and prevent it from moving or falling. After the load-bearing tray 625 is extended, the fourth driving module 632 drives the vacuum suction cup 636 to retreat, so that the adsorbed object will be pulled onto the load-bearing tray 625 first, and then the second driving module 623 drives the third robot arm 63 to retreat to the initial position;

[0065] When the volume of the picked-up goods is relatively large, and the dimension in the thickness direction is greater than the diameter of the vacuum suction cup 636, the suction direction of the vacuum suction cup 636 is consistent with the horizontal direction of the third robot arm 63, and the object is horizontally sucked. When the picked-up object is relatively thin, such as books and letters, and the thickness is less than the diameter of the vacuum suction cup 636, the rotary motor will change the suction direction of the vacuum suction cup 636, and the suction direction changes from horizontal to vertical downward, and the object is vertically sucked; the rotary bearing 616 of the first robot arm 61 rotates, driving the second robot arm 62 and the third robot arm 63 to rotate 90° in the direction of the lifting mechanism, and the lifting drive module adjusts the height of the object picking and placing device so that the height of the object matches the height of the temporary storage shelf 70 on the lifting mechanism, and then the vacuum suction cup 636 pushes the object onto the temporary storage shelf 70, and the solenoid valve of the vacuum pump body 80 disconnects the vacuum air path, and the object is separated from the vacuum suction cup 636, completing the picking and placing of an object.

[0066] In some embodiments, the first mechanical arm 61 is provided with a first driving module 620 and a first guide rail 615, so that the second mechanical arm 62 can perform a relative linear reciprocating motion relative to the first mechanical arm 61. In this way, when the target object is a box-type package of a larger size, the distance between the target object and the lifting mechanism is increased by the advancement of the second mechanical arm 62, so as to avoid interference between the target object and the lifting mechanism when the object picking and placing device rotates toward the lifting mechanism.

[0067] From the above analysis, it can be seen that the object picking and placing mechanism of this embodiment achieves an additional degree of freedom through the rotary motor to switch the direction of the suction cup and realize the grasping of light and thin objects; at the same time, for objects with large weight and volume, the object picking and placing mechanism of this embodiment adopts a pulling method to drag the object into the load-bearing tray 625. The adsorption force of the suction cup only needs to overcome the friction between the object and the contact surface, rather than the gravity of the object itself. Therefore, the object picking and placing mechanism of this embodiment can pick up and place objects with a much larger size and weight range than other suction cup manipulators.

[0068] The above description is only a preferred embodiment of the present invention, and does not limit the patent scope of the present invention. All equivalent structural changes made by using the contents of the present invention specification and drawings under the inventive concept of the present invention, or directly / indirectly applied in other related technical fields are included in the patent protection scope of the present invention.

Claims

1. A transport robot, characterized in that: include: A mobile chassis, a lifting mechanism arranged on the mobile chassis, and a cargo picking and placing mechanism installed on the lifting mechanism; The lifting mechanism comprises a lifting frame, two sliding mechanisms arranged on the lifting frame, a vertical base plate, and a lifting drive module arranged on the lifting frame and adapted to the two sliding mechanisms; the lifting frame is also provided with a plurality of temporary storage shelves at intervals; The vertical base plate is mounted on two sliding mechanisms; The output end of the lifting drive module is provided with a vertical base plate, and the vertical base plate is lifted and lowered along the vertical direction of the lifting frame on two sliding mechanisms; The cargo picking and placing mechanism comprises: a first mechanical arm, a second mechanical arm, and a third mechanical arm; the first mechanical arm is arranged on the lifting mechanism; The second mechanical arm is arranged on the first mechanical arm, and the first mechanical arm is used to drive the second mechanical arm to rotate and reciprocate; the third mechanical arm is arranged on the second mechanical arm, and the second mechanical arm is used to drive the third mechanical arm to perform linear reciprocating motion; The lifting drive module includes a transmission shaft, a transmission sprocket assembly, and a first driving mechanism; the vertical base plate is connected to the transmission sprocket assembly; a main gear is also provided on the transmission shaft; the output end of the first driving mechanism is connected to the main gear, which can drive the main gear to rotate, thereby driving the transmission shaft to rotate, thereby driving the transmission sprocket to lift, and then driving the vertical base plate to lift; The first mechanical arm comprises a base, a first bottom plate arranged on the base, two first slide rails and a first driving module mounted on the bottom plate, a supporting base plate slidably connected to the two first slide rails, and a slewing bearing arranged on the supporting base plate; the output end of the first driving module is connected to the supporting base plate, and is used to drive the supporting base plate to make a reciprocating motion on the first slide rail; The second robotic arm comprises a second base plate, a load-bearing tray, two second guide rails and a slider respectively arranged on the second base plate, a second drive module, two slide rails, a third drive module, a drive mechanism and a laser displacement sensor; the second base plate is arranged on a slewing bearing; the load-bearing tray is slidably connected to the two slide rails; the output end of the third drive module is connected to the load-bearing tray, and can drive the load-bearing tray to perform linear reciprocating motion on the two slide rails; the output end of the drive mechanism passes through the second base plate, and the output end of the drive mechanism is also provided with a gear, which is also meshed with the slewing bearing; the end of the second base plate is also provided with the laser displacement sensor, which is placed under the load-bearing tray and is used to measure the position of object placement.

2. The handling robot according to claim 1, characterized in that: The third robotic arm includes a third base plate, a screw rod, a guide rod connecting plate arranged on the screw rod, guide rods arranged on both sides of the guide rod connecting plate, a suction cup mounting seat rotatably connected to the guide rod mounting seat, a vacuum suction cup arranged on the suction cup mounting seat, a fourth driving module and a vertical mounting plate respectively arranged on the third base plate, one end of the screw rod is connected to the output end of the fourth driving module, and the other end is placed on the vertical mounting plate; the third base plate is arranged above the load-bearing tray and connected to the slider on the second slide rail. The second driving module is driven to drive the slider to slide on the second guide rail, and then drive the third base plate to make a linear reciprocating motion along the second guide rail; a rotary motor is also provided in the suction cup mounting seat, and the rotary motor can drive the suction cup mounting seat to rotate, thereby changing the adsorption direction of the vacuum suction cup.

3. The handling robot according to claim 1, characterized in that: A vacuum pump body is also arranged on the mobile chassis, and a plurality of storage battery packs are arranged around the vacuum pump body.

4. The handling robot according to claim 3, characterized in that: The handling robot further comprises two shock absorbing components mounted on the mobile chassis and a driving wheel component arranged on the shock absorbing components; the driving wheel component comprises a driving mechanism and a driving wheel arranged at the output end of the driving mechanism.

5. The handling robot according to claim 4, characterized in that: The mobile chassis is also provided with a plurality of driven wheels adapted to the driving wheel assembly, and the driven wheels are arranged at the corners of the bottom of the mobile chassis.

6. A method of transporting, characterized in that: The pickup steps include: Step 1: First, record and save the three-dimensional dimensions of all items in the warehouse according to quantity and arrangement storage method, so that each item corresponds to a storage location, and each item corresponds to the spatial relative position (x, y, z) of the storage location; Step 2: The robot receives a pickup instruction, and moves to the side of the storage location corresponding to the goods according to the information of the storage location; the accurate position of the target goods on the target storage location is measured by the laser displacement sensors on the lifting mechanism, the first mechanical arm and the third mechanical arm; the robot calculates the target pickup and placement position through step 1, and the robot moves the third mechanical arm to an empty space on the side of the target pickup and placement position through the lifting mechanism and the first mechanical arm; then the lifting mechanism drives the goods pickup and placement mechanism to move downward until the laser displacement sensor detects the edge of the goods or the upper edge of the shelf, and the first mechanical arm drives the third mechanical arm to move outward until the laser displacement sensor detects the side edge of the goods, and the precise contour of the target goods or the target storage location is measured; Step 3: The robot has two ways to absorb the goods according to the situation of the goods: Method 1 for picking up goods: For smaller goods, the rotary motor drives the vacuum suction cup to face downward, the robot's third mechanical arm and the guide rod of the third mechanical arm extend the calculated extension amount L, extend to the goods, the lifting drive module drops a height, so that the vacuum suction cup presses the upper surface of the goods, the vacuum pump body is turned on, the vacuum suction cup sucks the goods, the lifting drive module is lifted, the third mechanical arm returns, the second mechanical arm rotates 90 degrees toward the temporary storage shelf of the robot, the lifting drive module is lifted to the designated temporary storage shelf, the third mechanical arm extends, the vacuum suction cup is separated from the goods, and the goods are placed on the robot shelf; The second way to pick up goods: for stacked larger goods, the rotary motor drives the vacuum suction cup to face horizontally, and the second robotic arm first extends the load-bearing tray to gently press against the lower layer of goods to be taken out; the robot's third robotic arm and the guide rod of the third robotic arm extend the calculated extension amount L, extend to the side of the goods and stick to them, open the solenoid valve, the vacuum suction cup absorbs the goods, and at the same time the guide rod of the third robotic arm retracts to drag the adsorbed goods onto the load-bearing tray, the third robotic arm and the load-bearing tray continue to retreat, so that the adsorbed goods do not interfere with the lifting drive module when the second robotic arm rotates 90 degrees; finally, the lifting drive module is lifted to the designated temporary storage shelf, the third robotic arm extends, the vacuum suction cup is separated from the goods, and the goods are placed on the robot shelf.

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