A warehouse loading and unloading robot

Abstract

The present invention relates to the field of conveying technology, and specifically discloses a warehouse loading and unloading robot, including a clamping mechanism arranged at the free end of the loading and unloading robot for clamping cartons to convey the cartons to a specified position, the clamping mechanism including a connecting plate and a mounting plate, the outer sides of the mounting plates are provided with clamping components, the inner sides of the mounting plates are fixedly provided with clamping plates, and the inner sides of the clamping plates are provided with first sensing components for sensing the position of the cartons. The present invention cooperates with the first sensing component and the ranging sensor to judge whether there is a certain distance between the object in the carton and the carton by the force of clamping the carton and the distance moved by the clamping plate, so that different clamping methods are automatically adopted for cartons in different situations without opening the carton, so that objects can be clamped more flexibly, while improving the conveying efficiency and reducing the damage to the cartons and objects.

Description

Technical Field

[0001] The present invention relates to the field of transportation technology, and in particular to a warehouse loading and unloading robot. Background Art

[0002] Warehouse loading and unloading robots can autonomously complete tasks such as loading, unloading, transporting, and palletizing goods, significantly improving work efficiency and reducing labor costs. Through automated and intelligent operation, robots can quickly and accurately identify goods and operate according to pre-set rules, avoiding errors and delays in manual operations.

[0003] Publication number CN118458204A discloses a warehouse loading and unloading robot. The problem raised in its background technology is that the clamps of the current warehouse loading and unloading robots are easily damaged by debris wear, which reduces their service life. At the same time, they are unable to clean the goods during loading and unloading.

[0004] Based on the existing technology, the following problems exist:

[0005] Existing warehouse loading and unloading robots usually fix cartons containing objects by clamping, and then transport them to a designated location. However, there is a certain distance between some objects and the cartons packed outside them, that is, the objects cannot fill the entire carton, and the warehouse loading and unloading robots can only clamp the objects by clamping the carton. As a result, when clamping a carton with a distance between the object and the carton, the clamping mechanism needs to continuously squeeze the carton until it is close to the object. In this process, not only the carton is damaged, but in the subsequent transportation process, the object is very likely to fall from the damaged carton, affecting the transportation efficiency and easily damaging the object. It is also inconvenient to fix cartons containing irregular objects. In addition, when clamping cartons containing different objects, it is not convenient to adjust the clamping method according to actual conditions. There are certain shortcomings. In order to solve the above problems, a warehouse loading and unloading robot is proposed. Summary of the Invention

[0006] In order to overcome the shortcomings of the above-mentioned prior art, the present invention provides a warehouse loading and unloading robot, which is convenient for clamping cartons with a distance between objects and cartons, improves the flexibility of clamping, thereby improving the conveying efficiency while not easily damaging objects, and is convenient for fixing cartons containing irregular objects. In addition, it is convenient to adjust the clamping method according to actual conditions, which is convenient for actual conveying use.

[0007] To achieve the above objectives, the present invention is implemented through the following technical solutions: a warehouse loading and unloading robot, including a conveyor and a loading and unloading robot, and also including a clamping mechanism provided at the free end of the loading and unloading robot for clamping cartons to transport the cartons to a designated location. A visual camera is provided at the upper end of the loading and unloading robot, and the clamping mechanism includes:

[0008] The connecting plate is fixed to the free end of the loading and unloading robot. The front of the connecting plate is provided with a mounting plate that can move closer to or farther away from each other. The outer side of the mounting plate is provided with a clamping assembly. The inner side of the mounting plate is fixed with a clamping plate. The inner side of the clamping plate is provided with a first sensing assembly for sensing the position of the carton. The first sensing assembly includes:

[0009] A rotating groove is provided on the inner side of the clamping plate. A universal ball seat is fixedly provided on the inner wall of the rotating groove. A sphere is sleeved on the inner wall of the universal ball seat. A rotating ring plate is fixedly provided on the side of the sphere located outside the universal ball seat so that the rotating ring plate can rotate after being squeezed by the carton. An angle sensor is fixedly sleeved on the side of the sphere located outside the universal ball seat to monitor the rotation angle of the rotating ring plate.

[0010] The mounting rod is fixed on the inner wall of the universal ball seat. The end of the mounting rod is fixed with a first pressure sensor and a rubber frame, and the first pressure sensor is located between the rubber frame and the mounting rod.

[0011] Furthermore, the sphere is hollow in design, and the center lines of the sphere, the mounting rod, the angle sensor and the universal ball seat coincide with each other, and the side wall diameter of the mounting rod is smaller than the inner wall diameter of the sphere, so that the sphere can rotate in the universal ball seat;

[0012] The first pressure sensor is located inside the rubber frame, and the side of the rubber frame away from the mounting rod, the side of the rotating ring plate away from the sphere, and the inner side of the clamping plate are on the same vertical plane;

[0013] A first spring is sleeved on the outer side of the universal ball seat.

[0014] Furthermore, the clamping assembly includes:

[0015] The first support plate is movably arranged at the bottom of the mounting plate. Second support plates that can rotate toward or away from each other are provided on both sides of the first support plate, and are used to limit the position of the carton from the bottom of the carton and from multiple positions. The tops of the first support plate and the second support plate are respectively provided with a second sensing component and a third sensing component that sense the position of the carton from the bottom of the carton. The second sensing component includes:

[0016] The first grooves are arranged at intervals on the top of the first support plate. The inner walls on both sides of the first grooves are provided with first sliding grooves arranged at intervals. The first sliders are placed inside the first sliding grooves. The first rollers are rotatably provided on the sides where the first sliders are close to each other.

[0017] Furthermore, the second perception component further includes:

[0018] A first rubber block is fixedly disposed on the bottom inner wall of the first chute and is fixedly connected to the bottom of the first slider;

[0019] The second pressure sensor is fixedly arranged on the bottom inner wall of the first groove and is used for monitoring the force of the carton squeezing the first roller body.

[0020] Furthermore, the third perception component includes:

[0021] A second groove is provided on the top of the second support plate, and an inner wall of the second groove is provided with second chutes arranged at intervals, and second sliders are placed inside the second chutes. A second roller is rotatably provided on the side where the second sliders are close to each other, and a second rubber block is fixedly provided on the bottom inner wall of the second chute, and the second rubber block is fixedly connected to the bottom of the second slider. The second roller is arranged perpendicular to the first roller, and both ends of the second roller are designed in a frustum shape;

[0022] The third pressure sensor is fixed on the bottom inner wall of the second groove.

[0023] Furthermore, the clamping assembly further comprises:

[0024] The electric push rod is fixed on the outside of the mounting plate, the telescopic shaft of the electric push rod is fixed with a cross-shaped plate, and elastic support components are provided on both sides of the top of the cross-shaped plate;

[0025] The vertical plate is fixedly provided on the top of the first support plate and is located on the outside of the mounting plate. A limit assembly for limiting the movement of the vertical plate is provided between the vertical plate and the mounting plate. A T-shaped plate is fixedly provided on the side of the vertical plate away from the mounting plate. The bottoms of both sides of the T-shaped plate are rotatably connected to the top of the second support plate to drive the first support plate and the second support plate to move through the electric push rod. A rotating assembly for driving the second support plate to rotate is provided on the top of the T-shaped plate;

[0026] The movable plate is fixedly arranged at the bottom of the cross-shaped plate, and a movable groove is opened on the top of the vertical plate, and the movable plate is sleeved in the movable groove.

[0027] Furthermore, the rotating assembly includes:

[0028] A first gear is provided on the top of the second support plate and is located outside the mounting plate. A first rotating shaft is fixedly provided on the inner wall of the first gear, and the first rotating shaft is fixedly connected to the top of the second support plate;

[0029] The second gear is rotatably provided on the top of the first support plate. The top of the first support plate is rotatably provided with a third gear meshing with the second gear. The third gear meshes with one of the first gears, and the second gear meshes with the other first gear, so that the two second support plates rotate toward each other or away from each other;

[0030] The first servo motor is fixed on the outside of the T-shaped plate. The output shaft of the first servo motor is fixed with the second rotating shaft through a coupling. The side wall of the second rotating shaft is fixed with a fourth gear, and the fourth gear is connected to the second gear.

[0031] Furthermore, the limiting component includes:

[0032] The third sliding grooves are arranged at intervals on the outer side of the mounting plate, and each of the third sliding blocks is placed inside the third sliding grooves;

[0033] The guide rod is fixed on the side wall of the third sliding block and is sleeved on the side wall of the vertical plate. The side wall of the vertical plate is provided with a guide hole for sleeved installation of the guide rod.

[0034] Furthermore, the elastic support assembly includes:

[0035] The support rod is fixed on the top of the T-shaped plate and extends to the top of the cross-shaped plate. A support hole for sleeved with the support rod is opened on the top of the cross-shaped plate. A support block is fixed on one end of the support rod located at the top of the support hole, and the side wall diameter of the support block is larger than the side wall diameter of the support rod. The side wall of the support rod is located between the cross-shaped plate and the T-shaped plate and is sleeved with a second spring.

[0036] Furthermore, the clamping mechanism further includes an adjustment component provided on the side wall of the connecting plate for adjusting the clamping plates to move closer to or farther from each other, and the adjustment component includes:

[0037] An adjustment seat is fixedly mounted on a side wall of the connecting plate, a fourth chute is formed on a side of the adjustment seat away from the connecting plate, a fourth slide is placed inside the fourth chute and is symmetrically arranged about the center point of the fourth chute, and the fourth slide is fixedly connected to the mounting plate;

[0038] The second servo motor is fixedly mounted on the side wall of the adjustment seat. The output shaft of the second servo motor is fixedly provided with a threaded rod extending into the fourth slide groove through a coupling. The threaded rod is threadedly connected to the fourth slider. The threaded rod is designed as a bidirectional screw to drive the clamping plates to move closer to or away from each other.

[0039] a distance measuring sensor, fixedly arranged on a side of the fourth slider that is away from each other;

[0040] The limiting groove is opened at the upper end of the side wall of the adjustment seat. The inner wall of the limiting groove is provided with a limiting plate extending to the top of the mounting plate. The bottom of the limiting plate is fixedly connected to the top of the side of the mounting plate away from the adjustment seat.

[0041] The present invention provides a warehouse loading and unloading robot. Compared with the existing technology, it has the following advantages:

[0042] 1. The present invention cooperates with the first sensing component and the distance measuring sensor to judge whether there is a certain distance between the object in the carton and the carton by the force of clamping the carton and the distance moved by the clamping plate. Therefore, without opening the carton, different clamping methods are automatically adopted for cartons in different situations, so that objects can be clamped more flexibly, thereby improving transportation efficiency and reducing damage to cartons and objects.

[0043] 2. The present invention changes the value monitored by the angle sensor in the first sensing component, thereby cooperating with the clamping component to clamp cartons containing irregular objects, further improving the flexibility of clamping, facilitating the clamping of cartons containing different objects, reducing manual intervention, and improving transportation efficiency.

[0044] 3. The present invention makes the sphere hollow in design, which facilitates the rotation of the rotating ring plate without affecting the angle sensor's monitoring of its rotation angle, and does not affect the first pressure sensor's monitoring of the clamping force between the clamping plate and the carton, thereby facilitating practical use and facilitating stable clamping of objects.

[0045] 4. The present invention determines the approximate force position of the object through the cooperation of the second sensing component and the third sensing component, so as to adjust the distribution position of the second support plate when the values ​​monitored by the second pressure sensor and the third pressure sensor are approximately the same or when the values ​​monitored by the second pressure sensor and the third pressure sensor differ greatly, so as to cooperate with the clamping plate to improve the stability of limiting the cartons containing different objects from the bottom, and facilitate the support of cartons containing irregular objects, improve the flexibility of clamping and limiting, and thus improve the efficiency of transportation.

[0046] 5. The present invention cooperates with the electric push rod and the rotating assembly to facilitate the synchronous movement of the first support plate and the second support plate, and at the same time, facilitates the synchronous driving of the first support plate to rotate closer to or away from each other, which is convenient for practical operation. In addition, the horizontal and vertical movements of the first and second support plates are limited by the limiting assembly and the movable plate, thereby improving the stability of their movement and thus improving the stability of transportation. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0048] Figure 2 This is a schematic diagram of the structure of the loading and unloading robot, visual camera and clamping mechanism of the present invention;

[0049] Figure 3 It is a schematic structural diagram of the right side of the clamping mechanism of the present invention;

[0050] Figure 4 It is a schematic diagram of the left side structure of the clamping mechanism of the present invention;

[0051] Figure 5 This is a schematic diagram of the structure of the regulating component of the present invention;

[0052] Figure 6 This is a schematic structural diagram of the first sensing component of the present invention;

[0053] Figure 7 This is a schematic diagram of the rubber frame, mounting rod, first pressure sensor and sphere structure of the present invention;

[0054] Figure 8 It is a schematic structural diagram of the clamping assembly of the present invention;

[0055] Figure 9 This is a schematic structural diagram of the cross-shaped plate, T-shaped plate and rotating assembly of the present invention;

[0056] Figure 10 This is a schematic structural diagram of the first support plate and the second support plate of the present invention;

[0057] Figure 11 It is a schematic structural diagram of the limit assembly of the present invention;

[0058] Figure 12 This is a schematic structural diagram of the elastic support assembly, vertical plate and movable plate of the present invention;

[0059] Figure 13 It is a schematic structural diagram of the rotating assembly of the present invention;

[0060] Figure 14 This is a schematic structural diagram of the first gear, the fifth gear, the second gear and the third gear of the present invention;

[0061] Figure 15 This is a schematic structural diagram of the second sensing component of the present invention;

[0062] Figure 16 This is a schematic diagram of the structure of the third sensing component of the present invention;

[0063] Figure 17 This is a schematic diagram of the separation structure of the first support plate and the second support plate of the present invention.

[0064] Reference numerals in the above drawings: 1. conveyor; 2. loading and unloading robot; 3. clamping mechanism; 4. visual camera;

[0065] 30. Mounting plate; 31. Connecting plate; 32. Adjusting assembly; 33. Clamping plate; 34. First sensing assembly; 35. Clamping assembly;

[0066] 321, fourth slide; 322, limit slot; 323, adjustment seat; 324, second servo motor; 325, limit plate; 326, distance sensor;

[0067] 341. Rotating ring plate; 342. Universal ball seat; 343. Ball; 344. Mounting rod; 345. First pressure sensor; 346. Rubber frame; 347. Rotating groove; 348. Angle sensor;

[0068] 351. Third sensing component; 352. Second support plate; 353. First support plate; 354. Second sensing component; 355. Position limiting component; 356. Rotation component; 357. Elastic support component; 359. Electric push rod; 3591. Cross plate; 3592. T-shaped plate; 3593. Vertical plate; 3594. Moving plate;

[0069] 3511, second roller body; 3512, second groove; 3513, third pressure sensor;

[0070] 3541, first groove; 3542, first roller; 3543, first chute; 3544, second pressure sensor; 3545, rubber block;

[0071] 3551, guide rod; 3552, third chute;

[0072] 3561, first servo motor; 3562, fourth gear; 3563, fifth gear; 3564, second gear; 3565, first gear; 3566, third gear;

[0073] 3571. Support rod; 3572. Support block. DETAILED DESCRIPTION

[0074] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. 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 making creative efforts are within the scope of protection of the present invention.

[0075] Example 1: Please refer to Figure 1 and Figure 2 A warehouse loading and unloading robot 2 includes a conveyor 1 and a loading and unloading robot 2. The loading and unloading robot 2 can adjust the angle of the clamping mechanism 3 so that the clamping mechanism 3 can better clamp the carton, and can bring the object to a designated location for storage after clamping and fixing the carton. It also includes a clamping mechanism 3 arranged at the free end of the loading and unloading robot 2 for clamping the carton to transport the carton to the designated location. A visual camera 4 is provided at the upper end of the loading and unloading robot 2.

[0076] See also Figure 3 and Figure 4 , the clamping mechanism 3 includes:

[0077] The connecting plate 31 is fixed on the free end of the loading and unloading robot 2. The front of the connecting plate 31 is provided with a mounting plate 30 that can move closer to or farther away from each other. The outer side of the mounting plate 30 is provided with a clamping component 35. The inner side of the mounting plate 30 is fixed with a clamping plate 33. The inner side of the clamping plate 33 is provided with a first sensing component 34 for sensing the position of the carton.

[0078] See also Figure 6 and Figure 7 , the first perception component 34 includes:

[0079] A rotation groove 347 is provided on the inner side of the clamping plate 33. A universal ball seat 342 is fixedly provided on the inner wall of the rotation groove 347. A sphere 343 is sleeved on the inner wall of the universal ball seat 342. A rotating ring plate 341 is fixedly provided on the side of the sphere 343 located outside the universal ball seat 342 to enable the rotating ring plate 341 to rotate after being squeezed by the carton. An angle sensor 348 is fixedly sleeved on the side of the sphere 343 located outside the universal ball seat 342 to monitor the rotation angle of the rotating ring plate 341.

[0080] The mounting rod 344 is fixed to the inner wall of the universal ball seat 342 . A first pressure sensor 345 and a rubber frame 346 are fixed to the end of the mounting rod 344 , and the first pressure sensor 345 is located between the rubber frame 346 and the mounting rod 344 .

[0081] The sphere 343 is hollow, and the center lines of the sphere 343, the mounting rod 344, the angle sensor 348, and the universal ball seat 342 coincide. The side wall diameter of the mounting rod 344 is smaller than the inner wall diameter of the sphere 343, so that the sphere 343 can rotate in the universal ball seat 342.

[0082] The first pressure sensor 345 is located inside the rubber frame 346 . The side of the rubber frame 346 away from the mounting rod 344 , the side of the rotating ring plate 341 away from the sphere 343 , and the inner side of the clamping plate 33 are all on the same vertical plane.

[0083] A first spring is sleeved on the outer side of the universal ball seat 342 .

[0084] During specific implementation, the adjustment component 32 drives the clamping plates 33 to move closer to each other to clamp and fix the carton, so that the carton moves following the clamping mechanism 3, so that the carton and the objects inside the carton can be transported to the designated location by the loading and unloading robot 2 for storage.

[0085] When the clamping plate 33 is clamping the carton, the rubber frame 346 is in contact with the carton. At this time, the value monitored by the first pressure sensor 345 changes. As the clamping is continued, the value monitored by the first pressure sensor 345 increases rapidly and reaches a specified value, thereby clamping the carton. This makes it easier to control the clamping force and thus facilitate stable clamping of the carton.

[0086] When the clamping is abnormal, after the first pressure sensor 345 contacts the carton, and as the clamping plate 33 continues to approach the carton, the force monitored by the first pressure sensor 345 does not correspond to the normal clamping force, which indicates that the object in the carton does not fit the inner wall of the carton, that is, there is a certain distance between the object and the carton. At this time, if the clamping plate 33 is continuously approached, it will not only cause damage to the carton, but if the object is heavy, the carton and the object inside it cannot be clamped and fixed together, and the carton will be damaged, causing the object inside to fall out of the carton, affecting actual transportation and use. For this reason, the clamping component 35 is used to support and limit the bottom of the carton so that the clamping plate 33 and the clamping component 35 cooperate to clamp the object, and clamp it from both sides and the bottom, so as to facilitate automatic clamping and fixing of cartons containing different objects, such as those with a certain distance between the object and the carton, thereby improving the stability of clamping and facilitating storage and use.

[0087] Through the cooperation between the first sensing component 34 and the distance measuring sensor 326, it is possible to judge whether there is a certain distance between the object in the carton and the carton by the force of clamping the carton and the distance moved by the clamping plate 33. Therefore, different clamping methods are automatically adopted for cartons in different situations without opening the carton, so that objects can be clamped more flexibly, thereby improving the transportation efficiency and reducing damage to cartons and objects.

[0088] When the clamping plate 33 contacts the carton, if the object in the carton is an irregular object, while squeezing the carton, the object squeezes part of the rotating ring plate 341, causing the rotating ring plate 341 to deflect. At this time, the value monitored by the angle sensor 348 changes, thereby cooperating with the clamping assembly 35 to clamp the carton containing the irregular object, further improving the flexibility of clamping, facilitating the clamping of cartons containing different objects, reducing manual intervention, and improving transportation efficiency;

[0089] By making the sphere 343 hollow, the rotating ring plate 341 can be rotated without affecting the angle sensor 348 from monitoring its rotation angle, and without affecting the first pressure sensor 345 from monitoring the clamping force between the clamping plate 33 and the carton, which is convenient for practical use.

[0090] The inner wall diameter of the rotating groove 347 is larger than the outer wall diameter of the rotating ring plate 341, so that the rotating ring plate 341 has space to rotate. The rotating ring plate 341 is elastically supported by the first spring, which makes it easier for the rotating ring plate 341 to be in a vertical state, facilitates monitoring by the angle sensor 348, and facilitates the rotating ring plate 341 to reset after being squeezed.

[0091] By setting up the visual camera 4, it is convenient for the clamping plate 33 to clamp from a position close to the center of both sides of the carton, which is convenient for actual clamping use.

[0092] See also Figure 5 The clamping mechanism 3 further includes an adjusting component 32 disposed on the side wall of the connecting plate 31 for adjusting the clamping plates 33 to move closer to or further away from each other. The adjusting component 32 includes:

[0093] The adjustment seat 323 is fixedly mounted on the side wall of the connecting plate 31. A fourth slot 321 is defined on the side of the adjustment seat 323 away from the connecting plate 31. Fourth sliders are positioned within the fourth slot 321 and are symmetrically arranged about the center point of the fourth slot 321. The fourth sliders are fixedly connected to the mounting plate 30.

[0094] The second servo motor 324 is fixed to the side wall of the adjustment base 323. The output shaft of the second servo motor 324 is fixed with a threaded rod extending into the fourth slide groove 321 through a coupling. The threaded rod is threadedly connected to the fourth slider. The threaded rod is a bidirectional screw design to drive the clamping plates 33 to move closer to or away from each other.

[0095] The distance measuring sensor 326 is fixedly arranged on the side of the fourth slider that is away from each other;

[0096] The limiting groove 322 is opened at the upper end of the side wall of the adjustment seat 323. The inner wall of the limiting groove 322 is provided with a limiting plate 325 extending to the top of the mounting plate 30. The bottom of the limiting plate 325 is fixedly connected to the top of the side of the mounting plate 30 away from the adjustment seat 323.

[0097] During specific implementation, the first servo motor 3561 is started to drive the threaded rod with a bidirectional screw design to rotate, so that the fourth slider moves closer to or away from each other in the fourth slide groove 321, so as to drive the mounting plate 30 and the clamping plate 33 to move, thereby clamping or putting down the object, and the distance moved by the clamping plate 33 is monitored by the ranging sensor 326 to cooperate with the first sensing component 34 to clamp cartons containing different objects, thereby improving the stability of clamping cartons containing different objects, thereby improving the transportation efficiency, and reducing manual participation.

[0098] The limiting plate 325 moves along the limiting groove 322 with the mounting plate 30 , thereby limiting the side of the mounting plate 30 away from the adjustment seat 323 , thereby improving the stability of the movement of the mounting plate 30 and the clamping plate 33 .

[0099] Example 2: Please refer to Figure 3 、 Figure 8 、 Figure 9 、 Figure 10 and Figure 17 The difference between this embodiment and the first embodiment is that the clamping assembly 35 includes:

[0100] The first support plate 353 is movably arranged at the bottom of the mounting plate 30, and second support plates 352 that can rotate toward or away from each other are arranged on both sides of the first support plate 353, and are used to limit the carton from the bottom of the carton and from multiple positions. The tops of the first support plate 353 and the second support plate 352 are respectively provided with a second sensing component 354 and a third sensing component 351 that sense the position of the carton from the bottom of the carton.

[0101] See also Figure 15 , the second perception component 354 includes:

[0102] The first grooves 3541 are arranged at intervals on the top of the first support plate 353. The inner walls on both sides of the first grooves 3541 are provided with first sliding grooves 3543 arranged at intervals. The first sliding grooves 3543 are placed inside. The first rollers 3542 are rotatably provided on the sides where the first sliding grooves are close to each other.

[0103] The second perception component 354 also includes:

[0104] The first rubber block 3545 is fixedly mounted on the bottom inner wall of the first sliding groove 3543 and is fixedly connected to the bottom of the first sliding block;

[0105] The second pressure sensor 3544 is fixedly mounted on the bottom inner wall of the first groove 3541 and is used to monitor the force with which the carton squeezes the first roller 3542 .

[0106] See also Figure 16 , the third perception component 351 includes:

[0107] A second groove 3512 is formed on the top of the second support plate 352. The inner wall of the second groove 3512 is provided with spaced second chutes. A second slider is placed inside each of the second chutes. A second roller 3511 is rotatably mounted on one side of the second slider. A second rubber block 3545 is fixedly mounted on the bottom inner wall of each of the second chutes. The second rubber block 3545 is fixedly connected to the bottom of the second slider. The second roller 3511 is arranged perpendicular to the first roller 3542, and both ends of the second roller 3511 are truncated into a cone shape.

[0108] The third pressure sensor 3513 is fixed on the bottom inner wall of the second groove 3512 .

[0109] In a specific implementation, when the clamping assembly 35 needs to limit the position of the carton from the bottom, the first support plate 353 and the second support plate 352 enter the bottom of the carton along the bottom of the mounting plate 30. During this process, the carton squeezes the first roller 3542 and the second roller 3511, and then squeezes the rubber block 3545 and squeezes the second pressure sensor 3544 and the third pressure sensor 3513, so that the approximate force position of the object is judged by the values ​​of the second pressure sensor 3544 and the third pressure sensor 3513. When the values ​​monitored by the second pressure sensor 3544 and the third pressure sensor 3513 are roughly the same, it indicates that the overall force of the first support plate 353 and the second support plate 352 is not much different, that is, it indicates that the bottom of the object is relatively flat, so that the first support plate 353 and the second support plate 352 are brought together to support and limit the carton.

[0110] When the values ​​monitored by the second pressure sensor 3544 and the third pressure sensor 3513 differ greatly, the position of the second support plate 352 can be adjusted by the rotating component 356, thereby adjusting the support position of the carton to find the support position where the values ​​monitored by the second pressure sensor 3544 and the third pressure sensor 3513 are approximately the same, thereby improving the stability of limiting the cartons containing different objects from the bottom, and facilitating the support of cartons containing irregular objects, improving the flexibility of clamping and limiting, and thus improving the efficiency of transportation.

[0111] By setting the first roller 3542 and the second roller 3511, the first support plate 353 and the second support plate 352 are facilitated to enter the bottom of the carton, which is convenient for actual use, and the extrusion force exerted on the first roller 3542 and the second roller 3511 acts on the second pressure sensor 3544 and the third pressure sensor 3513 respectively, thereby increasing the area of ​​the force position of the collection carton, which is convenient for actual adjustment of the position of the second support plate 352.

[0112] When the object is clamped from the bottom of the object by the clamping assembly 35, at this time, the clamping plate 33 has clamped the carton to a certain extent from both sides, and the carton is deformed. Since the clamping is performed near the center of both sides of the carton, the bottom of the carton is usually tilted up, thereby facilitating the first support plate 353 and the second support plate 352 to enter the bottom of the carton, and the inner sides of the first support plate 353 and the second support plate 352 are both arc-shaped, which further improves the stability of the first support plate 353 and the second support plate 352 entering the bottom of the carton.

[0113] See also Figure 3 、 Figure 8 and Figure 12 , the clamping assembly 35 further includes:

[0114] The electric push rod 359 is fixed to the outside of the mounting plate 30. The telescopic shaft of the electric push rod 359 is fixed with a cross-shaped plate 3591. Elastic support components 357 are provided on both sides of the top of the cross-shaped plate 3591.

[0115] The vertical plate 3593 is fixed to the top of the first support plate 353 and is located outside the mounting plate 30. A limit assembly 355 is provided between the vertical plate 3593 and the mounting plate 30 for limiting the movement of the vertical plate 3593. A T-shaped plate 3592 is fixed to the side of the vertical plate 3593 away from the mounting plate 30. The bottom of each side of the T-shaped plate 3592 is rotatably connected to the top of the second support plate 352, so that the first support plate 353 and the second support plate 352 can be driven to move via an electric push rod 359. A rotating assembly 356 is provided on the top of the T-shaped plate 3592 for driving the second support plate 352 to rotate.

[0116] The movable plate 3594 is fixedly arranged at the bottom of the cross-shaped plate 3591 . A movable groove is formed at the top of the vertical plate 3593 , and the movable plate 3594 is sleeved in the movable groove.

[0117] During specific implementation, the electric push rod 359 is used to facilitate adjustment of the positions of the first support plate 353 and the second support plate 352. When the clamping assembly 35 is needed, the first support plate 353 and the second support plate 352 are moved to the bottom of the carton. When the clamping assembly 35 is not needed, the first support plate 353 and the second support plate 352 are located on the outside of the carton.

[0118] The electric push rod 359 and the rotating assembly 356 cooperate to facilitate synchronous movement of the first support plate 353 and the second support plate 352, and simultaneously drive the first support plate 353 to rotate toward or away from each other, which is convenient for practical operation.

[0119] By setting the movable plate 3594 to move in the movable groove, when the first support plate 353 and the second support plate 352 move vertically, the movement of the vertical plate 3593 and the cross plate 3591 is limited, thereby improving the stability of their movement, and when the electric push rod 359 drives the first support plate 353 and the second support plate 352 to move horizontally, it has no effect on their movement.

[0120] See also Figure 13 and Figure 14 , the rotating assembly 356 includes:

[0121] The first gear 3565 is disposed on the top of the second support plate 352 and is located outside the mounting plate 30. A first rotating shaft is fixedly provided on the inner wall of the first gear 3565 and is fixedly connected to the top of the second support plate 352.

[0122] The second gear 3564 is rotatably mounted on the top of the first support plate 353. The top of the first support plate 353 is rotatably mounted with a third gear 3566 that meshes with the second gear 3564. The third gear 3566 meshes with one of the first gears 3565, and the second gear 3564 meshes with the other first gear 3565, thereby causing the two second support plates 352 to rotate toward or away from each other.

[0123] The first servo motor 3561 is fixed on the outside of the T-shaped plate 3592. The output shaft of the first servo motor 3561 is fixed with the second rotating shaft through a coupling. The side wall of the second rotating shaft is fixedly sleeved with a fourth gear 3562, and the fourth gear 3562 is transmission-connected to the second gear 3564.

[0124] During specific implementation, the first servo motor 3561 is started, and the first servo motor 3561 drives the fourth gear 3562 to rotate, the fourth gear 3562 drives the second gear 3564 to rotate, the second gear 3564 drives the third gear 3566 and one of the first gears 3565 to rotate, and the third gear 3566 drives the other first gear 3565 to rotate, thereby causing the two second support plates 352 to rotate closer to each other or away from each other.

[0125] The rotating assembly 356 also includes a fifth gear 3563 that rotates coaxially with the second gear 3564 and a transmission gear for transmitting and connecting the fifth gear 3563 and the fourth gear 3562. The fourth gear 3562 drives the fifth gear 3563 to rotate through the transmission gear, thereby driving the second gear 3564 to rotate.

[0126] See also Figure 11 , the limiting component 355 includes:

[0127] The third sliding grooves 3552 are spaced apart and arranged on the outer side of the mounting plate 30, and each of the third sliding blocks is placed inside.

[0128] The guide rod 3551 is fixed to the side wall of the third slider, and the guide rod 3551 is sleeved on the side wall of the vertical plate 3593. The side wall of the vertical plate 3593 is opened with a guide hole for sleeve mounting the guide rod 3551.

[0129] In specific implementation, when the first support plate 353 and the second support plate 352 move vertically, the first support plate 353 drives the guide rod 3551 and the third slider to move in the third slide groove 3552 through the vertical plate 3593, thereby limiting their movement. When the first support plate 353 and the second support plate 352 move horizontally, the first support plate 353 moves along the side wall of the guide rod 3551 through the vertical plate 3593, thereby limiting the vertical and horizontal movement of the first support plate 353 and the second support plate 352, thereby improving the stability of the movement.

[0130] See also Figure 12 , the elastic support assembly 357 includes:

[0131] The support rod 3571 is fixed on the top of the T-shaped plate 3592 and extends to the top of the cross-shaped plate 3591. A support hole for sleeved with the support rod 3571 is opened at the top of the cross-shaped plate 3591. A support block 3572 is fixed on one end of the support rod 3571 located at the top of the support hole, and the side wall diameter of the support block 3572 is larger than the side wall diameter of the support rod 3571. A second spring is sleeved on the side wall of the support rod 3571 and is located between the cross-shaped plate 3591 and the T-shaped plate 3592.

[0132] During specific implementation, the T-shaped plate 3592 and the vertical plate 3593 are elastically supported by the second spring to avoid severe rigid contact between the first support plate 353 and the second support plate 352 and the top of the conveyor 1, and to make the bottom of the first support plate 353 and the second support plate 352 fit with the top of the conveyor 1, thereby facilitating entry into the bottom of the carton.

[0133] When the present invention is implemented, the cartons are transported by the conveyor 1. During the transport process, the loading and unloading robot 2 clamps and fixes the cartons through the clamping mechanism 3, so that the loading and unloading robot 2 transports the cartons to a designated location for storage;

[0134] In the process of clamping the carton, the clamping plates 33 are driven to move closer to each other by the adjusting component 32 to clamp the carton. In this process, the distance moved by the clamping plate 33 is grasped in real time by the distance measuring sensor 326, and the clamping force of the carton is grasped by the first sensing component 34. Thus, the clamping situation is judged by the change of the clamping force and the position of the clamping plate 33 after clamping the carton. When the clamping is normal, the force monitored by the first pressure sensor 345 increases rapidly and reaches the specified value after contacting the carton, thereby clamping the carton. When the clamping is abnormal, the first pressure sensor 345 contacts the carton and the pressure increases rapidly and reaches the specified value. Afterwards, as the clamping plate 33 continues to approach the carton, the force monitored by the first pressure sensor 345 does not correspond to the normal clamping force, which means that the object in the carton does not fit the inner wall of the carton. At this time, if the clamping plate 33 is made to move closer, it will not only cause damage to the carton, but if the object is heavy, the carton and the object inside it cannot be clamped and fixed together. For this reason, the clamping component 35 is used to support and limit the bottom of the carton so that the clamping plate 33 and the clamping component 35 cooperate to clamp it, thereby facilitating the automatic clamping and fixing of cartons containing different objects, thereby improving the stability of clamping and facilitating storage use.

[0135] Meanwhile, the contents not described in detail in this specification belong to the prior art known to those skilled in the art.

[0136] It should be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that includes a list of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus.

[0137] While embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions, and variations may be made to these embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the appended claims and their equivalents.

Claims

1. A warehouse loading and unloading robot, comprising a conveyor and a loading and unloading robot, characterized in that: The system also includes a clamping mechanism provided at the free end of the loading and unloading robot for clamping the carton to transport the carton to a designated location. A visual camera is provided at the upper end of the loading and unloading robot. The clamping mechanism includes: The connecting plate is fixed to the free end of the loading and unloading robot. The front of the connecting plate is provided with a mounting plate that can move closer to or farther away from each other. The outer side of the mounting plate is provided with a clamping assembly. The inner side of the mounting plate is fixed with a clamping plate. The inner side of the clamping plate is provided with a first sensing assembly for sensing the position of the carton. The first sensing assembly includes: A rotating groove is provided on the inner side of the clamping plate. A universal ball seat is fixedly provided on the inner wall of the rotating groove. A sphere is sleeved on the inner wall of the universal ball seat. A rotating ring plate is fixedly provided on the side of the sphere located outside the universal ball seat so that the rotating ring plate can rotate after being squeezed by the carton. An angle sensor is fixedly sleeved on the side of the sphere located outside the universal ball seat to monitor the rotation angle of the rotating ring plate. A mounting rod is fixedly mounted on the inner wall of the universal ball seat, and a first pressure sensor and a rubber frame are fixedly mounted on the end of the mounting rod, wherein the first pressure sensor is located between the rubber frame and the mounting rod; The clamping assembly comprises: The first support plate is movably arranged at the bottom of the mounting plate. Second support plates that can rotate toward or away from each other are provided on both sides of the first support plate, and are used to limit the carton from the bottom and from multiple positions. The tops of the first support plate and the second support plate are respectively provided with a second sensing component and a third sensing component that sense the force position of the object from the bottom of the carton. The second sensing component includes: The first groove is provided at intervals on the top of the first support plate, and the inner walls on both sides of the first groove are provided with first chutes arranged at intervals, and the first sliders are placed inside the first chutes, and the first rollers are rotatably provided on the sides of the first sliders that are close to each other; The clamping assembly further comprises: The electric push rod is fixed on the outside of the mounting plate, the telescopic shaft of the electric push rod is fixed with a cross-shaped plate, and elastic support components are provided on both sides of the top of the cross-shaped plate; The vertical plate is fixedly provided on the top of the first support plate and is located on the outside of the mounting plate. A limit assembly for limiting the movement of the vertical plate is provided between the vertical plate and the mounting plate. A T-shaped plate is fixedly provided on the side of the vertical plate away from the mounting plate. The bottoms of both sides of the T-shaped plate are rotatably connected to the top of the second support plate to drive the first support plate and the second support plate to move through the electric push rod. A rotating assembly for driving the second support plate to rotate is provided on the top of the T-shaped plate; The movable plate is fixedly arranged at the bottom of the cross-shaped plate, and a movable groove is opened on the top of the vertical plate, and the movable plate is sleeved in the movable groove.

2. A warehouse loading and unloading robot according to claim 1, characterized in that: The sphere is hollow, and the center lines of the sphere, mounting rod, angle sensor and universal ball seat coincide. The side wall diameter of the mounting rod is smaller than the inner wall diameter of the sphere, so that the sphere can rotate in the universal ball seat. The first pressure sensor is located inside the rubber frame, and the side of the rubber frame away from the mounting rod, the side of the rotating ring plate away from the sphere, and the inner side of the clamping plate are on the same vertical plane; The outer side of the universal ball seat is sleeved with a first spring.

3. A warehouse loading and unloading robot according to claim 1, characterized in that: The second perception component further includes: A first rubber block is fixedly disposed on the bottom inner wall of the first chute and is fixedly connected to the bottom of the first slider; The second pressure sensor is fixedly arranged on the bottom inner wall of the first groove and is used for monitoring the force of the carton squeezing the first roller body.

4. A warehouse loading and unloading robot according to claim 3, characterized in that: The third perception component includes: A second groove is provided on the top of the second support plate, and an inner wall of the second groove is provided with second chutes arranged at intervals, and second sliders are placed inside the second chutes. A second roller is rotatably provided on the side where the second sliders are close to each other, and a second rubber block is fixedly provided on the bottom inner wall of the second chute, and the second rubber block is fixedly connected to the bottom of the second slider. The second roller is arranged perpendicular to the first roller, and both ends of the second roller are designed in a frustum shape; The third pressure sensor is fixed on the bottom inner wall of the second groove.

5. The warehouse loading and unloading robot according to claim 1, characterized in that: The rotating assembly comprises: A first gear is provided on the top of the second support plate and is located outside the mounting plate. A first rotating shaft is fixedly provided on the inner wall of the first gear, and the first rotating shaft is fixedly connected to the top of the second support plate; The second gear is rotatably provided on the top of the first support plate. The top of the first support plate is rotatably provided with a third gear meshing with the second gear. The third gear meshes with one of the first gears, and the second gear meshes with the other first gear, so that the two second support plates rotate toward each other or away from each other; The first servo motor is fixed on the outside of the T-shaped plate. The output shaft of the first servo motor is fixed with the second rotating shaft through a coupling. The side wall of the second rotating shaft is fixed with a fourth gear, and the fourth gear is connected to the second gear.

6. The warehouse loading and unloading robot according to claim 5, characterized in that: The limiting component includes: The third sliding grooves are arranged at intervals on the outer side of the mounting plate, and each of the third sliding blocks is placed inside the third sliding grooves; The guide rod is fixed on the side wall of the third sliding block and is sleeved on the side wall of the vertical plate. The side wall of the vertical plate is provided with a guide hole for sleeved installation of the guide rod.

7. The warehouse loading and unloading robot according to claim 5, characterized in that: The elastic support assembly comprises: The support rod is fixed on the top of the T-shaped plate and extends to the top of the cross-shaped plate. A support hole for sleeved with the support rod is opened on the top of the cross-shaped plate. A support block is fixed on one end of the support rod located at the top of the support hole, and the side wall diameter of the support block is larger than the side wall diameter of the support rod. The side wall of the support rod is located between the cross-shaped plate and the T-shaped plate and is sleeved with a second spring.

8. The warehouse loading and unloading robot according to claim 1, characterized in that: The clamping mechanism further includes an adjustment component provided on the side wall of the connecting plate for adjusting the clamping plates to move closer to or further away from each other, the adjustment component including: An adjustment seat is fixedly mounted on a side wall of the connecting plate, a fourth chute is formed on a side of the adjustment seat away from the connecting plate, a fourth slide is placed inside the fourth chute and is symmetrically arranged about the center point of the fourth chute, and the fourth slide is fixedly connected to the mounting plate; The second servo motor is fixedly mounted on the side wall of the adjustment seat. The output shaft of the second servo motor is fixedly provided with a threaded rod extending into the fourth slide groove through a coupling. The threaded rod is threadedly connected to the fourth slider. The threaded rod is designed as a bidirectional screw to drive the clamping plates to move closer to or away from each other. a distance measuring sensor, fixedly arranged on a side of the fourth slider that is away from each other; The limiting groove is opened at the upper end of the side wall of the adjustment seat. The inner wall of the limiting groove is provided with a limiting plate extending to the top of the mounting plate. The bottom of the limiting plate is fixedly connected to the top of the side of the mounting plate away from the adjustment seat.

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