Warehouse logistics transfer robot

Abstract

The invention discloses a warehouse logistics transfer robot, and relates to the technical field of logistics transfer. A touch screen is installed on one side of the vehicle body, a weight measuring piece is installed in the middle of the top end of the vehicle body, a chassis is arranged on the top of the weight measuring piece, a horizontal rotating assembly is installed at the top end of the chassis, a clamping mechanism is installed at the top end of the horizontal rotating assembly, the horizontal rotating assembly is used for rotating the clamping mechanism, and a distance measuring assembly is installed on one side of the top end of the clamping mechanism. The top of the vehicle body is fixedly connected with a top plate, one side of the top plate is provided with a laser radar, the bottom of the vehicle body is provided with a driving mechanism, and the driving mechanism comprises a plurality of omnidirectional wheels. According to the method, the warehousing sorting program is combined, and the moving distance of the robot is reduced, so that the cargo carrying warehousing efficiency of the robot is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of logistics handling, and in particular to a warehousing logistics handling robot. Background Art

[0002] Logistics handling robots are key technical equipment in intelligent logistics systems and are widely used in warehouses, sorting centers, and transportation to perform operations such as cargo transfer and handling. These robots integrate advanced technologies such as artificial intelligence, navigation technology, and mechanical design to independently complete logistics tasks and significantly improve the efficiency and accuracy of logistics transportation.

[0003] The patent specification with publication number CN115924370B discloses a logistics handling robot, including a robot mobile chassis and a lifting and rotating mechanism, the lifting and rotating mechanism includes a lifting and rotating cross rod, the top of the lifting and rotating cross rod is fixedly connected to a circular pallet, a rotating disc is arranged on the top of the robot mobile chassis, a fixing mechanism is arranged between the circular pallet and the rotating disc, the fixing mechanism includes an annular sealed air pressure chamber, the top of the annular sealed air pressure chamber is annularly fixedly connected to a strong suction cup, an annular piston is arranged inside the annular sealed air pressure chamber, the bottom of the annular piston is fixedly connected to an annular connecting plate, the annular connecting plate extends to the bottom of the annular sealed air pressure chamber and is fixedly connected to the top of the rotating disc, and a pneumatic pipe fitting is arranged in an outer ring of the annular sealed air pressure chamber.

[0004] When transporting goods, the robot transports the goods on the shelf as a whole through the fixed shelf. The disadvantage of this technical solution is that the main function of the transport robot is to replace manual labor to transfer goods. However, logistics transport of goods is not always limited to the transfer of a single type of goods. For example, when transporting toys of different sizes in the same batch, the shipping end does not classify and package the goods before sending them. When logistics is sent, it is necessary to classify and send the goods according to the size of the goods. In order to ensure fast delivery, sorting is required before warehousing. The existing robots only have the ability to transport the goods on the shelf as a whole. Sorting requires manual or mechanical processing, which results in multiple procedures for logistics warehousing, reducing warehousing efficiency. Summary of the invention

[0005] The purpose of the present invention is to provide a warehouse logistics handling robot, and the technical problems to be solved are as follows: the existing logistics handling robots are unable to sort the goods when transporting them into the warehouse, resulting in cumbersome procedures before warehousing and reducing the speed of transporting the goods into the warehouse.

[0006] The purpose of the present invention can be achieved through the following technical solutions: A storage logistics handling robot comprises a body, a touch screen is installed on one side of the body, a weighing piece is installed in the middle of the top of the body, a chassis is arranged on the top of the weighing piece, a horizontal rotation component is installed on the top of the chassis, a clamping mechanism is installed on the top of the horizontal rotation component, the horizontal rotation component is used to rotate the clamping mechanism, a distance measuring component is installed on one side of the top of the clamping mechanism, the weighing piece is used to cooperate with the distance measuring component to control the handling position of the clamping mechanism, a top plate is fixedly connected to the top of the body, a laser radar is installed on one side of the top plate, a driving mechanism is installed on the bottom of the body, and the driving mechanism includes a plurality of omnidirectional wheels.

[0007] As a further solution of the present invention: the rotation angle of the horizontal rotation component is degrees.

[0008] As a further solution of the present invention: the horizontal rotation assembly includes a servo motor fixedly connected to the top of the chassis, a plurality of support rods are fixedly connected along the edge of the top of the chassis, an outer ring is fixedly connected between the tops of the support rods, a top plate is rotatably connected inside the outer ring, the clamping mechanism is installed at the top of the top plate, and the bottom surface of the top plate is fixedly connected to the top of the servo motor.

[0009] As a further solution of the present invention: the clamping mechanism includes a servo motor 2 fixedly connected to the top of the top plate, a bracket 1 is installed on one side of the servo motor 2, a servo motor 3 is fixedly connected to the top of the bracket 1, a bracket 2 is installed on one side of the servo motor 3, a servo motor 4 is fixedly connected to the top of the bracket 2, a bracket 3 is installed on one side of the servo motor 4, the ranging assembly is installed on one side of the bracket 3, and a mechanical claw is installed on the side of the bracket 3 away from the servo motor 4.

[0010] As a further solution of the present invention: a weighing cavity is provided in the middle of the top plate, the bottom surface of the weighing piece is fixedly connected to the bottom surface of the weighing cavity, and the top end is against the bottom surface of the chassis.

[0011] As a further solution of the present invention: the bracket one, the bracket two and the bracket three are all U-shaped frames, the mechanical claw is composed of a driving motor and two clamping jaws, gears are provided on both sides of one end of the two clamping jaws, and the gears on the same side of the two clamping jaws are meshed with each other, and the output end of the driving motor is fixedly connected to the gear of one of the clamping jaws.

[0012] As a further solution of the present invention: the distance measuring component includes a side frame fixedly connected to the servo four, a camera is installed on one side of the side frame, a laser distance measuring module is electrically connected to the top of the camera, and the weight measuring piece is electrically connected to the distance measuring component.

[0013] As a further solution of the present invention: a driving compartment is arranged inside the vehicle body, the driving mechanism also includes a wheel driving motor electrically connected to the omnidirectional wheel, and the laser radar is used to control the moving direction of the omnidirectional wheel.

[0014] Beneficial effects of the present invention: 1. In the present invention, a weighing piece is installed at the top center of the vehicle body, and a horizontal rotating assembly is installed above the weighing piece. At the same time, a clamping mechanism for clamping goods is installed on the horizontal rotating assembly, and a distance measuring assembly for measuring the distance of stored goods is installed on the clamping mechanism. When the robot moves to between two racks in two rows of racks in the warehouse, the horizontal rotating assembly can be used to carry goods to the racks on both sides, and the weight of the goods is measured while carrying. The specific carrying position of the goods is sorted according to the difference in measured weight and the distance measurement of the distance measuring assembly, so that the robot can sort the goods while carrying the goods, avoiding the warehouse entry step that can only be carried after manual sorting, and aims to merge the warehouse entry procedure to improve the carrying efficiency; 2. In the present invention, four omnidirectional wheels with independent wheel drive motors are arranged on the bottom surface of the vehicle body, and the position of the robot in the warehouse is positioned and moved in cooperation with a laser radar. When the robot moves between two rows of shelves, it can sort and transport goods to the two shelves on both sides. Therefore, in combination with its function of moving and positioning in the warehouse, when transporting goods, it only needs a single movement to transport goods to all shelves in the warehouse, avoiding frequent movements of returning to the sorting and storage point for picking up items. The purpose is to improve the efficiency of cargo transportation by reducing the moving distance. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] The present invention will be further described below in conjunction with the accompanying drawings.

[0016] Figure 1 It is a schematic diagram of the overall structure of the present invention; Figure 2 It is a partial structural schematic diagram of the clamping mechanism of the present invention; Figure 3 The present invention Figure 2 A magnified detail of the center A; Figure 4 It is a partial cross-sectional view of the weight measuring piece of the present invention; Figure 5 It is a schematic diagram of the bottom structure of the driving mechanism of the present invention; Figure 6 It is a schematic diagram of the internal structure of the driving mechanism of the present invention.

[0017] In the figure: 1. body; 2. touch screen; 3. weighing part; 4. chassis; 5. horizontal rotation assembly; 51. servo one; 52. support rod one; 53. outer ring; 54. top plate; 6. clamping mechanism; 61. servo two; 62. bracket one; 63. servo three; 64. bracket two; 65. servo four; 66. bracket three; 67. mechanical claw; 7. ranging assembly; 71. side frame; 72. camera; 73. laser ranging module; 8. top plate; 9. laser radar; 10. driving mechanism; 101. omnidirectional wheel; 102. driving wheel motor; 11. weighing chamber; 12. driving compartment. DETAILED DESCRIPTION

[0018] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0019] like Figures 1 to 6 As shown, a storage logistics handling robot includes a body 1, a touch screen 2 is installed on one side of the body 1, a weighing piece 3 is installed in the middle of the top of the body 1, a chassis 4 is arranged on the top of the weighing piece 3, a horizontal rotation component 5 is installed on the top of the chassis 4, a clamping mechanism 6 is installed on the top of the horizontal rotation component 5, the horizontal rotation component 5 is used to rotate the clamping mechanism 6, a distance measuring component 7 is installed on one side of the top of the clamping mechanism 6, the weighing piece 3 is used to cooperate with the distance measuring component 7 to control the handling point of the clamping mechanism 6, a top plate 8 is fixedly connected to the top of the body 1, a laser radar 9 is installed on one side of the top plate 8, and a driving mechanism 10 is installed on the bottom of the body 1, and the driving mechanism 10 includes four omnidirectional wheels 101; It should be noted that the weighing piece 3 includes but is not limited to weighing equipment such as gravity sensors and electronic scales. The weighing piece 3 is electrically connected to the touch screen 2. The touch screen 2 directly displays the weight of the logistics goods entering the warehouse by displaying the weighing data of the weighing piece 3 in real time, which is convenient for the staff to judge the operating status of the equipment and whether there is a fault. Preferably, the weighing piece 3 only displays the weight of the clamped goods when it is under pressure; a control module connected to the touch screen 2 is arranged inside the body 1 to control the various electrical appliances of the robot, and the control information is displayed by the touch screen 2; the rotation angle of the horizontal rotation component 5 is 360 degrees. Since the shelves in the logistics warehouse are usually distributed row by row, when the robot is in the middle of two rows of shelves, it can rely on the horizontal rotation component 5 to directly rotate to the shelf on the other side for transportation after carrying the shelf on one side, thereby improving the transportation efficiency.

[0020] like Figures 2 to 4As shown, the horizontal rotation assembly 5 includes a steering gear 51 fixedly connected to the chassis 4, three support rods 52 are fixedly connected to the top of the chassis 4 along the edge, an outer ring 53 is fixedly connected between the tops of the support rods 52, and a top plate 54 is rotatably connected inside the outer ring 53. The clamping mechanism 6 is installed on the top of the top plate 54, and the bottom surface of the top plate 54 is fixedly connected to the top of the steering gear 51; The clamping mechanism 6 includes a servo 2 61 fixedly connected to the top of the top plate 54, a bracket 1 62 is installed on one side of the servo 2 61, a servo 3 63 is fixedly connected to the top of the bracket 1 62, a bracket 2 64 is installed on one side of the servo 3 63, a servo 4 65 is fixedly connected to the top of the bracket 2 64, a bracket 3 66 is installed on one side of the servo 4 65, a distance measuring component 7 is installed on one side of the bracket 3 66, and a mechanical claw 67 is installed on the side of the bracket 3 66 away from the servo 4 65; A weighing cavity 11 is provided in the middle of the top plate 8, the bottom surface of the weighing piece 3 is fixedly connected to the bottom surface of the weighing cavity 11, and the top end is against the bottom surface of the chassis 4; It should be noted that the output end of the servo 1 51 is different from that of the other servos, and a rotating shaft is arranged at its top, and the top end of the rotating shaft is fixedly connected to the top plate 54, and the top plate 54 is rotatably connected to the outer ring 53 on the outside. Therefore, when the servo 1 51 rotates, the top plate 54 will rotate along the inner side of the outer ring 53, thereby driving the clamping mechanism 6 fixedly connected to the top end of the top plate 54 to rotate 360 ​​degrees horizontally, so as to switch the transport direction and turn between the shelves on both sides. The output ends of the servos 2 61 to 4 65 of the clamping mechanism 6 are all located on both sides, and the brackets 1 62 to 3 66 adapted to be connected to the servos are all U-shaped frames, which are vertically connected to the rotating shafts on both sides of the servos. Therefore, by connecting the three groups of servos in sequence, the multi-stage flexible movement of the clamping arm of the clamping mechanism 6 is realized, so as to adapt to the convenient switching of the layer heights of various places on the storage rack, and cooperate with the horizontal rotation of the horizontal rotation component 5, so that any point in the space can be moved arbitrarily during transportation, thereby improving its flexibility during transportation; the mechanical claw 67 is composed of a driving motor and two clamping claws, gears are set on both sides of the bottom of the two clamping claws, and they are meshed with each other, and the output end of the driving motor is connected to the gear of one of the clamping claws, so when the driving motor rotates, the mechanical claw 67 can realize the function of clamping and placing the goods.

[0021] The distance measuring assembly 7 includes a side frame 71 fixedly connected to the steering gear 4 65, a camera 72 is installed on one side of the side frame 71, the top of the camera 72 is electrically connected to the laser distance measuring module 73, and the weight measuring piece 3 is electrically connected to the distance measuring assembly 7; It should be noted that after the free movement of the transport position is realized, the moving position needs to be positioned. The positioning includes two parts: one is the single-point positioning of the position where the clamped goods are placed on the rack, and the other is the overall positioning of the position of the vehicle body 1. The feeding positioning is assisted by the distance measuring component 7. Since the distance measuring component 7 is installed on the adjacent side of the mechanical claw 67, and the laser distance measuring module 73 therein can measure the distance between the clamped goods and the placement point by cooperating with the camera 72, the storage points with different distance measuring distances on the rack can be used to store goods of different sizes, and the weights of goods of different sizes are different. Since the weighing piece 3 is electrically associated with the distance measuring component 7, different distances correspond to goods of different weights. Specifically, when the mechanical claw 67 grabs different goods, the horizontal rotating component 5 located on the chassis 4 presses down the weighing piece 3 as a whole, so as to measure the mass of the weighing piece 3, thereby knowing the specific storage position of the rack to which the goods of this mass belong, and then through the positioning of the camera 72 and the laser ranging module 73 on the ranging component 7, the goods on the mechanical claw 67 are stored at the required position, and the positioning and storage of the goods of corresponding mass are completed. That is, through the cooperation of the weighing piece 3 and the ranging component 7, the clamping mechanism 6 has the function of sorting the goods while carrying the goods, thereby saving the process of manual pre-sorting and subsequent transportation, thereby improving the transportation efficiency.

[0022] like Figure 1 , Figure 5 and Figure 6 As shown, a driving compartment 12 is provided inside the vehicle body 1, and the driving mechanism 10 further includes a wheel driving motor 102 electrically connected to each omnidirectional wheel 101, and a laser radar 9 is used to control the moving direction of the omnidirectional wheel 101; It should be noted that, compared with the laser ranging module 73, the laser radar 9 not only has the basic function of measuring distance, but is also used to measure the direction of the robot in the warehouse environment, and can perform large-area scanning and environmental mapping of the environment. By real-time scanning of the surrounding environment and building a map, and matching it with the preset map, the precise position of the robot in the warehouse can be determined. The omnidirectional wheel 101 is preferably a Mecanum wheel. In addition to the central wheel body, the side circumference of the wheel body is evenly provided with multiple oblique peripheral wheels. Through the rotation control of the peripheral wheels, the direction vector movement of each peripheral wheel can be coordinated on the basis of the moving direction of the central wheel to realize the multi-directional movement function of front, back, left and right. It is connected with the laser radar 9 to realize precise positioning and movement in the logistics warehouse. Due to the laser The radar 9 cooperates with the driving mechanism 10 to enable the robot to locate all the racks in the warehouse, and when the robot stops between two rows of racks, it can sort and transport the goods by rotating 360 degrees. Therefore, it can carry out a single move of goods to all the racks in the warehouse when moving. The advantage is that compared with the existing transportation method of sorting and then transporting, the robot needs to frequently go back and forth between various sorting and storage points to carry out classified transportation of goods. Since the robot has the function of automatic sorting and positioning and moving each rack, it does not need to move multiple times to pick up the goods. It only needs to move the goods to be stored with the robot to complete the overall sorting and transportation storage at one time, thereby reducing the displacement distance of the robot and improving the transportation efficiency.

[0023] The above is a detailed description of an embodiment of the present invention, but the content is only a preferred embodiment of the present invention and cannot be considered to limit the scope of implementation of the present invention. All equivalent changes and improvements made within the scope of the present invention should still fall within the scope of the patent coverage of the present invention.

Claims

1. A warehouse logistics handling robot, comprising a body (1), a touch screen (2) being installed on one side of the body (1), characterized in that: A weighing piece (3) is installed at the middle of the top of the vehicle body (1); a chassis (4) is arranged on the top of the weighing piece (3); a horizontal rotation component (5) is installed on the top of the chassis (4); a clamping mechanism (6) is installed on the top of the horizontal rotation component (5); the horizontal rotation component (5) is used to rotate the clamping mechanism (6); a distance measuring component (7) is installed on one side of the top of the clamping mechanism (6); the weighing piece (3) is used to cooperate with the distance measuring component (7) to control the transport position of the clamping mechanism (6); a top plate (8) is fixedly connected to the top of the vehicle body (1); a laser radar (9) is installed on one side of the top plate (8); a driving mechanism (10) is installed on the bottom of the vehicle body (1); the driving mechanism (10) comprises a plurality of omnidirectional wheels (101).

2. A warehouse logistics handling robot according to claim 1, characterized in that: The rotation angle of the horizontal rotation component (5) is 360 degrees.

3. A warehouse logistics handling robot according to claim 1, characterized in that: The horizontal rotation assembly (5) comprises a steering gear (51) fixedly connected to the top of the chassis (4); a plurality of support rods (52) are fixedly connected to the top of the chassis (4) along the edge; an outer ring (53) is fixedly connected between the tops of the support rods (52); a top plate (54) is rotatably connected inside the outer ring (53); the clamping mechanism (6) is mounted on the top of the top plate (54); and the bottom surface of the top plate (54) is fixedly connected to the top of the steering gear (51).

4. A warehouse logistics handling robot according to claim 3, characterized in that: The clamping mechanism (6) comprises a second steering gear (61) fixedly connected to the top of the top plate (54); a bracket one (62) is mounted on one side of the second steering gear (61); a steering gear three (63) is fixedly connected to the top of the bracket one (62); a bracket two (64) is mounted on one side of the steering gear three (63); a steering gear four (65) is fixedly connected to the top of the bracket two (64); a bracket three (66) is mounted on one side of the steering gear four (65); the distance measuring component (7) is mounted on one side of the bracket three (66); and a mechanical claw (67) is mounted on the side of the bracket three (66) away from the steering gear four (65).

5. A warehouse logistics handling robot according to claim 1, characterized in that: A weighing cavity (11) is provided in the middle of the top plate (8); the bottom surface of the weighing piece (3) is fixedly connected to the bottom surface of the weighing cavity (11), and the top end abuts against the bottom surface of the chassis (4).

6. A warehouse logistics handling robot according to claim 4, characterized in that: The bracket one (62), the bracket two (64) and the bracket three (66) are all U-shaped brackets. The mechanical claw (67) is composed of a driving motor and two clamping claws. Gears are arranged on both sides of one end of the two clamping claws, and the gears on the same side of the two clamping claws are meshed with each other. The output end of the driving motor is fixedly connected to the gear of one of the clamping claws.

7. A warehouse logistics handling robot according to claim 4, characterized in that: The distance measuring component (7) comprises a side frame (71) fixedly connected to the steering gear four (65), a camera (72) is installed on one side of the side frame (71), a laser distance measuring module (73) is electrically connected to the top of the camera (72), and the weight measuring piece (3) is electrically connected to the distance measuring component (7).

8. The warehouse logistics handling robot according to claim 1, characterized in that: A driving compartment (12) is provided inside the vehicle body (1), the driving mechanism (10) further comprises a wheel driving motor (102) electrically connected to the omnidirectional wheel (101), and the laser radar (9) is used to control the moving direction of the omnidirectional wheel (101).

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