Heavy load-carrying robot for cargo handling

Abstract

The invention relates to the technical field of cargo handling, in particular to a heavy load robot for cargo handling, which comprises a vehicle body and a handling assembly, a navigation system, a camera, a laser radar, an infrared sensor and other sensors for environment perception and obstacle detection are arranged on the vehicle body; the vehicle body is connected with a carrying assembly used for carrying goods. The device further comprises a supporting plate, a Z-shaped plate, an electric push rod, a pressing plate and the like. The carrying assembly is connected with a plurality of supporting plates. The carrying assembly is connected with a Z-shaped plate; a plurality of electric push rods are fixedly connected to the Z-shaped plate; the telescopic parts of all the electric push rods are jointly and fixedly connected with a pressing plate. All the motors are controlled to enable the two supporting plates to rotate by 30 degrees back to back, so that the middle of the bag-shaped goods is sunken downwards, then all the motors are controlled to enable the two supporting plates to rotate by 60 degrees oppositely until the middle of the bag-shaped goods protrudes upwards, the operation is repeated for many times, and the bag-shaped goods rapidly shake up and down; and therefore, the materials in the bag-shaped goods are uniformly shaken.

Description

Technical Field

[0001] The present invention relates to the technical field of cargo handling, and in particular to a heavy-duty load-carrying robot for cargo handling. Background Art

[0002] Existing heavy-duty load robots usually cooperate with manipulators to carry and transfer goods, so as to reduce labor costs, improve production efficiency, and improve work safety. In the process of carrying goods by existing heavy-duty load robots, considering that when the manipulator transfers the bagged goods, there is unevenness of the material inside the bagged goods, and since multiple layers of bagged goods need to be stacked on the carrier, if the bagged goods are not flat, the bagged goods will be stacked unevenly and unstable. When the load-carrying robot moves, the stacked bagged goods are easy to overturn, affecting transportation. Summary of the invention

[0003] In order to overcome the disadvantages that when the robot transfers bagged goods, due to the uneven material inside the bagged goods, if the bagged goods are not flat, the bagged goods will be stacked untidy and unstable, and when the load-carrying robot moves, the stacked bagged goods are easy to overturn, affecting transportation, the present invention provides a heavy-duty load-carrying robot for cargo handling.

[0004] The technical implementation scheme of the present invention is: a heavy-duty load-carrying robot for cargo handling, comprising a vehicle body and a handling assembly; the vehicle body is provided with sensors for environmental perception and obstacle detection, such as a navigation system, a camera, a laser radar and an infrared sensor; the vehicle body is connected with a handling assembly for handling cargo; the handling assembly comprises an electric guide rail 1, a moving block 1, an electric guide rail 2, a moving block 2 and a connecting plate 1; two electric guide rails 1 distributed front and back are bolted to the vehicle body; each electric guide rail 1 is slidably connected to a moving block 1; each moving block 1 is bolted to a vertically placed electric guide rail 2; all electric guide rails 2 are connected to moving blocks 2 through sliders; the moving blocks 2 are connected to each other through sliders; The movable block 2 is bolted to a connecting plate 1; it also includes a support plate, a Z-shaped plate, an electric push rod, a pressure plate, a fixed plate and a motor; the connecting plate 1 is bolted to the Z-shaped plate; the Z-shaped plate is bolted to two electric push rods with telescopic parts facing downwards; the telescopic parts of all the electric push rods are commonly fixed to the pressure plate; the connecting plate 1 is bolted to two fixed plates distributed front and back; the two fixed plates are rotatably connected to two support plates symmetrically distributed on the left and right; the pressure plate is located above the support plate; each fixed plate is bolted to two motors symmetrically distributed on the left and right; the motors located at the left ends of the two fixed plates are rotatably connected to the corresponding support plates; the motors located at the right ends of the two fixed plates are also rotatably connected to the corresponding support plates.

[0005] Optionally, each pallet is provided with a grid plate, each pallet is provided with a collecting slot, each grid plate is located in the corresponding collecting slot, and the upper surface of each grid plate is flush with the upper surface of the corresponding pallet, and the collecting slots on the two pallets are connected.

[0006] Optionally, a driving motor, a connecting rod and a shift plate; each support plate is provided with a plurality of square grooves; each support plate is fixedly connected to a driving motor; the rotating part of each driving motor is fixedly connected to a connecting rod, and all the connecting rods are rotatably connected to the corresponding support plate; each connecting rod is fixedly connected to a plurality of shift plates, and each shift plate is engaged with a corresponding square groove.

[0007] Optionally, it also includes an air pipe group; the air pipe group is commonly connected inside all the support plates and pressure plates, the air pipe group is arranged in a J shape, a plurality of air extraction holes are opened on the upper part of the air pipe group, a connecting pipe is arranged on the air pipe group, and the connecting pipe on the air pipe group passes through the Z-shaped plate; the lower part of the air pipe group is connected with the collecting tank on the right support plate.

[0008] Optionally, baffles are also included; and a plurality of baffles are fixedly connected to each fixed plate.

[0009] Optionally, a cone block is also included; the cone block is fixedly connected to the left side surface of the left supporting plate.

[0010] Optionally, it also includes a connecting plate 2 and a round rod; a plurality of connecting plates 2 are fixedly connected to the upper and lower sides of the cone block; all the connecting plates 2 located on the upper side of the cone block are commonly fixedly connected to a round rod; all the connecting plates 2 located on the lower side of the cone block are commonly fixedly connected to another round rod.

[0011] Optionally, it also includes circular rings; each round rod is rotatably connected to a plurality of circular rings, and the circular rings and the second connecting plate are staggered.

[0012] Compared with the prior art, the present invention has the following advantages: the present invention controls all the motors to rotate the two pallets thirty degrees away from each other, causing the middle part of the bagged cargo to sag downward, and then controls all the motors to rotate the two pallets sixty degrees toward each other, until the middle part of the bagged cargo bulges upward, and stops, and repeats this process many times, causing the bagged cargo to shake up and down quickly, thereby causing the material in the bagged cargo to shake evenly.

[0013] The present invention starts an external air pump connected to a control connecting pipe, and performs a suction operation on the powdery material adhering to the surface of the bagged cargo through the air pipe group and the collecting tank, so that the powdery material adhering to the surface of the bagged cargo enters the air pipe group through the collecting tank, and at the same time, the powdery material adhering to the upper surface of the bagged cargo is sucked through the air suction holes on the upper part of the air pipe group, and then the sucked powdery material enters the external collecting device through the external air pump, which is beneficial to ensure the stable transportation of the bagged cargo when the vehicle body moves subsequently.

[0014] The present invention drives the cone block to move synchronously by the support plate, so that the tip of the cone block is first pressed between two adjacent bag-shaped goods, so that the gap between the two adjacent bag-shaped goods is expanded, so that the support plate can be inserted between the two adjacent bag-shaped goods, and the bag-shaped goods can be transferred easily. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 A schematic diagram of the structure disclosed by the heavy-duty load robot for cargo handling of the present invention; Figure 2 A schematic structural diagram of a connecting plate 1, a supporting plate, an electric push rod and a fixing plate disclosed by the heavy-duty load robot for cargo handling of the present invention; Figure 3 A schematic diagram of the structure of the motor, round rod, driving motor, paddle, air pipe assembly, ring and baffle disclosed by the heavy-duty load robot for cargo handling of the present invention; Figure 4 A schematic structural diagram of the air pipe group disclosed by the heavy-duty load robot for cargo handling of the present invention; Figure 5 A schematic structural diagram of a connecting rod and a paddle disclosed by the heavy-duty load robot for cargo handling of the present invention; Figure 6 An exploded view of a round rod and a round ring disclosed by the heavy-duty load robot for cargo handling according to the present invention.

[0016] The markings of the components in the accompanying drawings are as follows: 1-car body, 2-electric guide rail one, 3-moving block one, 4-electric guide rail two, 5-moving block two, 6-connecting plate one, 7-support plate, 8-Z-shaped plate, 9-electric push rod, 10-pressure plate, 11-fixed plate, 12-connecting plate two, 13-motor, 14-round rod, 15-drive motor, 16-connecting rod, 17-push plate, 18-trachea group, 19-conical block, 20-ring, 333-baffle, 701-grid plate, 702-collecting trough, 703-square trough one, 1801-exhaust hole, 1802-connecting pipe. DETAILED DESCRIPTION

[0017] 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. Example 1

[0018] A heavy-duty load-carrying robot used for cargo handling, such as Figure 1-Figure 5As shown, it includes a vehicle body 1 and a transport component; the vehicle body 1 is provided with sensors for environment perception and obstacle detection, such as a navigation system, a camera, a laser radar, and an infrared sensor; the vehicle body 1 is connected to the transport component; The transport assembly includes an electric guide rail 1 2, a moving block 1 3, an electric guide rail 2 4, a moving block 2 5 and a connecting plate 1 6; two electric guide rails 1 2 distributed front and back are bolted to the vehicle body 1; each electric guide rail 1 2 is slidably connected to a moving block 1 3; each moving block 1 3 is bolted to a vertically placed electric guide rail 2 4; all electric guide rails 2 4 are connected to moving blocks 2 5 through sliders; the moving blocks 2 5 are bolted to the connecting plate 1 6; It also includes a support plate 7, a Z-shaped plate 8, an electric push rod 9, a pressure plate 10, a fixed plate 11 and a motor 13; the connecting plate 6 is bolted to the Z-shaped plate 8; two electric push rods 9 with telescopic parts facing downwards are bolted to the Z-shaped plate 8; the telescopic parts of all the electric push rods 9 are commonly fixed to the pressure plate 10; the connecting plate 6 is bolted to two fixed plates 11 distributed front and back; the two fixed plates 11 are rotatably connected to two support plates 7 symmetrically distributed on the left and right; the pressure plate 10 is located above the support plate 7; each fixed plate 11 is bolted to two motors 13 symmetrically distributed on the left and right; the motors 13 located at the left ends of the two fixed plates 11 are rotatably connected to the corresponding support plates 7; the motors 13 located at the right ends of the two fixed plates 11 are also rotatably connected to the corresponding support plates 7.

[0019] A grid plate 701 is provided on each pallet 7, and a collecting groove 702 is opened on each pallet 7. Each grid plate 701 is located in the corresponding collecting groove 702, and the upper surface of each grid plate 701 is flush with the upper surface of the corresponding pallet 7, and the collecting grooves 702 on the two pallets 7 are connected. The grid plate 701 increases the friction between the pallet and the goods, thereby reducing the risk of the goods sliding when the pallet 7 moves.

[0020] A driving motor 15, a connecting rod 16 and a shifting plate 17; each support plate 7 is provided with a plurality of square grooves 703; each support plate 7 is bolted with a driving motor 15; the rotating part of each driving motor 15 is fixedly connected with a connecting rod 16, and all the connecting rods 16 are rotatably connected with the corresponding support plate 7; each connecting rod 16 is fixedly connected with a plurality of shifting plates 17, and each shifting plate 17 is engaged with the corresponding square groove 703.

[0021] It also includes an air pipe group 18; the air pipe group 18 is commonly connected inside all the support plates 7 and the pressure plate 10, the air pipe group 18 is arranged in a J shape, a plurality of air extraction holes 1801 are opened on the upper part of the air pipe group 18, a connecting pipe 1802 is arranged on the air pipe group 18, and the connecting pipe 1802 on the air pipe group 18 passes through the Z-shaped plate 8; the lower part of the air pipe group 18 is connected to the collecting tank 702 on the right support plate 7.

[0022] It also includes baffles 333 ; two baffles 333 are fixedly connected to each fixing plate 11 .

[0023] Here is how the above example works: When in use, the vehicle body 1 is moved to the loading area according to a predetermined route through the navigation system, camera, laser radar, infrared sensor and other sensors for environmental perception and obstacle detection provided by the vehicle body 1. When the vehicle body 1 moves to the loading area, the left side of the vehicle body 1 is facing the goods to be transported and loaded, and then the moving block 1 3 is controlled to drive the electric guide rail 2 4 and the moving block 2 5 to move to the left. At this time, the right end face of the pallet 7 on the right side is flush with the left end face of the vehicle body 1, and then the moving block 2 5 is controlled to move up or down along the electric guide rail 2 4, so that the pallet 7 moves to the top gap between the goods to be transported and loaded and stops (the top gap refers to the gap between the top goods and the goods below it), and then the vehicle body 1 is controlled to move to the left so that the vehicle body 1 drives the pallet 7 to be inserted between two adjacent goods. When the goods are located between the two adjacent square grooves 1 703 on the left and right, the moving block 2 5 is controlled to drive the pallet 7 to move upward, so that the pallet 7 drives the goods to move upward synchronously. Then, the moving block 1 3 is controlled to drive the electric guide rail 2 4 and the moving block 2 5 to move right, and drive the connecting plate 1 6 and the pallet 7 to move right synchronously to the appropriate position. The moving block 2 5 is controlled to drive the pallet 7 to move downward, so that the pallet 7 is close to the upper surface of the vehicle body 1. Then, all the motors 13 are controlled to make the two pallets 7 rotate ninety degrees in reverse, so that the two pallets 7 are flipped downward, so that the goods are separated from the two pallets 7, and the goods fall onto the upper surface of the vehicle body 1. Then, the above operation is repeated until the transported goods reach the required amount and the transport operation is completed.

[0024] At the same time, the grid plate 701 set on the pallet 7 can increase the friction between the goods and the pallet 7, making the goods more stable during the transfer process following the pallet 7. At the same time, the electric push rod 9 is controlled to push the pressure plate 10, so that the pressure plate 10 is pressed on the goods, and cooperates with the pallet 7 to clamp the goods, further ensuring the stability of the goods during the movement.

[0025] It is taken into consideration that when the bagged goods are transported and transferred, the materials in the bagged goods are unevenly distributed, and since multiple layers of bagged goods need to be stacked on the vehicle body 1, if the bagged goods are not flat, the bagged goods will be stacked unevenly and unstable. When the vehicle body 1 moves, the stacked bagged goods are easy to overturn, affecting transportation. Therefore, after the pallet 7 holds the bagged goods, all the motors 13 are controlled to rotate the two pallets 7 back to back by thirty degrees, so that the two pallets 7 are tilted, and the middle part of the bagged goods is concave downward, and then all the motors 13 are controlled to rotate the two pallets 7 toward each other by sixty degrees until the middle part of the bagged goods bulges upward, and then stop, and repeat this process many times, so that the bagged goods are quickly shaken up and down, and the materials in the bagged goods are shaken evenly, thereby avoiding the problem that the materials in the bagged goods are unevenly distributed, resulting in the bagged goods being stacked unevenly and unstable, and the stacked bagged goods are easy to overturn when the vehicle body 1 moves, affecting transportation.

[0026] Considering that when the pallet 7 reciprocates to shake the bagged goods, the position of the bagged goods on the pallet 7 will be offset, making the position of the bagged goods on the pallet 7 uncertain, resulting in inaccurate position of the bagged goods placed subsequently. Therefore, when the bagged goods are shaken by the reciprocating rotation of the pallet 7, the driving motors 15 on the two pallets 7 are first controlled to drive the connecting rod 16 and the paddle plate 17 to rotate, so that the paddle plate 17 is flipped upward from the square slot 1 703, as shown in FIG. Figure 3 As shown, the baffle 333 blocks the front and rear sides of the bagged goods to ensure that the position of the bagged goods remains unchanged after shaking.

[0027] It is taken into consideration that when the bagged cargo is filled with powdery materials, part of the powdery materials will seep out of the woven bag, causing the powdery materials to adhere to the surface of the bag, resulting in the friction between the bagged cargo and the bagged cargo being reduced when the vehicle body 1 moves subsequently, thereby making the bagged cargo unstable during transportation, so that the bagged cargo is easy to fall off when the vehicle body 1 is vibrated. Therefore, after the two pallets 7 are inserted between the two bagged cargoes, the external air pump connected to the control connecting pipe 1802 is started, and the powdery materials adhering to the surface of the bagged cargo are sucked through the air pipe group 18 and the collecting tank 702, so that the powdery materials adhering to the surface of the bagged cargo enter the air pipe group 18 through the collecting tank 702, and at the same time, the powdery materials adhering to the upper surface of the bagged cargo are sucked through the suction holes 1801 on the upper part of the air pipe group 18, and then the sucked powdery materials enter the external collecting device through the external air pump, thereby ensuring the stable transportation of the bagged cargo when the vehicle body 1 moves subsequently. Example 2

[0028] On the basis of Example 1, Figure 3 , Figure 5 and Figure 6As shown, a cone block 19 is also included; the cone block 19 is fixedly connected to the left side surface of the left support plate 7.

[0029] It also includes a connecting plate 2 12 and a round rod 14; a plurality of connecting plates 2 12 are fixedly connected to the upper and lower sides of the cone block 19; all the connecting plates 2 12 located on the upper side of the cone block 19 are fixedly connected to a round rod 14; all the connecting plates 2 12 located on the lower side of the cone block 19 are fixedly connected to another round rod 14.

[0030] It also includes a ring 20; each round rod 14 is rotatably connected to a plurality of rings 20, and the rings 20 and the connecting plate 12 are staggered.

[0031] Here is how the above example works: Taking into consideration that when the bagged goods are heavier, the bagged goods located above will fit closer to the bagged goods below, making the gap between two adjacent bagged goods smaller, which makes it inconvenient for the pallet 7 to be inserted between two adjacent bagged goods. Therefore, when the vehicle body 1 drives the pallet 7 to move between two adjacent bagged goods, the pallet 7 will drive the cone block 19 to move synchronously, so that the tip of the cone block 19 will first be pressed between the two adjacent bagged goods, so that the gap between the two adjacent bagged goods is enlarged, so as to facilitate the insertion of the pallet 7 between the two adjacent bagged goods and facilitate the transfer operation of the bagged goods.

[0032] At the same time, when the vehicle body 1 drives the pallet 7 to move between two adjacent bag-like goods, the pallet 7 will also drive the connecting plate 2 12 and the round rod 14 to move synchronously, so that the upper and lower round rods 14 respectively contact the edges of the upper and lower bag-like goods, as the vehicle body 1 continues to drive the pallet 7 to insert between the two adjacent bag-like goods, the two round rods 14 respectively squeeze the edges of the upper and lower bag-like goods, so that the edges of the upper and lower bag-like goods are first stretched upward and downward, which is convenient for the pallet 7 to enter the gap between the two adjacent bag-like goods. At the same time, by setting the circular ring 20, when the circular rod 14 and the bag-like goods slide against each other, the circular ring 20 can rotate, reducing the friction between the circular rod 14 and the bag-like goods, thereby making it easier for the pallet 7 to transfer the bag-like goods.

[0033] While embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes may be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A heavy-duty load-carrying robot for cargo handling, comprising a vehicle body (1) and a handling component; the vehicle body (1) is provided with sensors for environmental perception and obstacle detection, such as a navigation system, a camera, a laser radar, and an infrared sensor; the vehicle body (1) is connected to the handling component for handling cargo; The transport assembly comprises an electric guide rail 1 (2), a moving block 1 (3), an electric guide rail 2 (4), a moving block 2 (5) and a connecting plate 1 (6); two electric guide rails 1 (2) arranged front and rear are bolted to the vehicle body (1); each electric guide rail 1 (2) is slidably connected to a moving block 1 (3); each moving block 1 (3) is bolted to a vertically placed electric guide rail 2 (4); all electric guide rails 2 (4) are connected to the moving block 2 (5) via a sliding block; the moving block 2 (5) is bolted to the connecting plate 1 (6); the characteristics are: The invention also comprises a support plate (7), a Z-shaped plate (8), an electric push rod (9), a pressure plate (10), a fixed plate (11) and a motor (13); the first connecting plate (6) is bolted to the Z-shaped plate (8); two electric push rods (9) with telescopic parts facing downwards are bolted to the Z-shaped plate (8); the telescopic parts of all the electric push rods (9) are fixedly connected to the pressure plate (10); the first connecting plate (6) is bolted to two fixed plates (11) distributed front and back; the two fixed plates (11) are rotatably connected to two support plates (7) symmetrically distributed left and right; the pressure plate (10) is located above the support plate (7); each fixed plate (11) is bolted to two motors (13) symmetrically distributed left and right; the motors (13) located at the left ends of the two fixed plates (11) are rotatably connected to the corresponding support plates (7); and the motors (13) located at the right ends of the two fixed plates (11) are also rotatably connected to the corresponding support plates (7).

2. A heavy-duty load robot for cargo handling according to claim 1, characterized in that: Each support plate (7) is provided with a grid plate (701), each support plate (7) is provided with a collecting groove (702), each grid plate (701) is located in a corresponding collecting groove (702), and the upper surface of each grid plate (701) is flush with the upper surface of the corresponding support plate (7), and the collecting grooves (702) on the two support plates (7) are connected.

3. A heavy-duty load robot for cargo handling according to claim 2, characterized in that: A driving motor (15), a connecting rod (16) and a shifting plate (17); each supporting plate (7) is provided with a plurality of square grooves (703); each supporting plate (7) is fixedly connected to a driving motor (15); a rotating part of each driving motor (15) is fixedly connected to a connecting rod (16), and all the connecting rods (16) are rotatably connected to the corresponding supporting plate (7); each connecting rod (16) is fixedly connected to a plurality of shifting plates (17), and each shifting plate (17) is engaged with a corresponding square groove (703).

4. A heavy-duty load robot for cargo handling according to claim 1, characterized in that: The invention also comprises an air pipe group (18); the air pipe group (18) is commonly inserted into the interior of all the supporting plates (7) and the pressing plate (10); the air pipe group (18) is arranged in a J-shape; a plurality of air extraction holes (1801) are opened on the upper part of the air pipe group (18); a connecting pipe (1802) is arranged on the air pipe group (18); the connecting pipe (1802) on the air pipe group (18) passes through the Z-shaped plate (8); the lower part of the air pipe group (18) is connected to the collecting tank (702) on the right supporting plate (7).

5. A heavy-duty load robot for cargo handling according to claim 1, characterized in that: It also includes baffles (333); a plurality of baffles (333) are fixedly connected to each fixed plate (11).

6. A heavy-duty load robot for cargo handling according to claim 4, characterized in that: It also includes a cone block (19); the cone block (19) is fixedly connected to the left side surface of the left support plate (7).

7. A heavy-duty load robot for cargo handling according to claim 6, characterized in that: It also includes a second connecting plate (12) and a round rod (14); a plurality of second connecting plates (12) are fixedly connected to the upper and lower sides of the cone block (19); all the second connecting plates (12) located on the upper side of the cone block (19) are fixedly connected to a round rod (14); and all the second connecting plates (12) located on the lower side of the cone block (19) are fixedly connected to another round rod (14).

8. A heavy-duty load robot for cargo handling according to claim 7, characterized in that: It also includes circular rings (20); each round rod (14) is rotatably connected to a plurality of circular rings (20), and the circular rings (20) and the second connecting plate (12) are staggered.

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