Self-adaptive transfer robot for multi-layer storage shelf and control method of self-adaptive transfer robot
The multi-layer storage shelf adaptive handling robot combines lifting, rotation and positioning pick-and-place components to solve the problems of traditional robots' difficulty in picking in narrow aisles and poor positioning accuracy, and realizes efficient and accurate goods handling.
Patent Information
- Application Number
- CN202510935356.2
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-07-08
- Publication Date
- 2025-09-05
AI Technical Summary
Traditional handling robots are unable to pick up goods autonomously, their picking arms are too large to maneuver in narrow aisles, their single picking method can easily damage goods, and their poor positioning accuracy can easily lead to collisions with shelves.
It uses a multi-layer storage shelf adaptive handling robot, combined with lifting, rotation and positioning pick-and-place components, and uses a two-stage telescopic arm and a push rod to achieve three-dimensional precise positioning and picking, and combines laser and camera sensors for intelligent positioning.
It achieves precise picking and placement in narrow channels, expands the scope of application, improves picking efficiency, reduces damage risk, and improves positioning accuracy.
Smart Images
Figure CN120589652A_ABST
Abstract
Description
Technical Field
[0001] The present invention relates to the technical field of warehousing and logistics, and in particular to a multi-layer storage shelf adaptive handling robot and a control method thereof. Background Art
[0002] Warehouse logistics handling is one of the core links in warehousing operations. It refers to the process of loading, unloading, moving, shifting, stacking, and sorting goods in a warehousing environment. The purpose is to achieve efficient flow of goods between various warehouse nodes (such as the warehousing area, storage area, sorting area, and outbound area). It is the key link connecting the warehousing, storage, and outbound links. Its efficiency directly affects the warehouse turnover rate, space utilization, operating costs, and cargo safety. To improve handling efficiency and reduce labor costs, some warehouses use handling robots to replace manual handling work. However, traditional handling robots also have the following shortcomings: First, most traditional handling robots can only transport goods and cannot autonomously pick up goods. Some robots with picking arms are too large to deploy over long distances in actual use, making them unsuitable for narrow aisles. Second, traditional handling robots have a single picking method. Most of them use bionic manipulators or suction cups to pick up goods. Bionic manipulators have complex structures and many program instructions, resulting in high maintenance costs and low picking efficiency. When sucking goods, the suction cups often need to press on the goods to expel air and increase the suction force. When the suction cups press on the goods, they are likely to damage the packaging or even the goods themselves, making them unsuitable for soft or fragile goods. Third, traditional handling robots have few positioning structures and can only be positioned in the horizontal or vertical direction. The positioning accuracy is poor and they are prone to collision with shelves.
[0003] Therefore, in order to solve the above problems, it is necessary to provide a multi-layer storage shelf adaptive handling robot and a control method thereof to solve the problem. Summary of the Invention
[0004] Based on this, it is necessary to provide a multi-layer storage shelf adaptive handling robot and a control method thereof to address the existing technical problems.
[0005] In order to solve the problems of the existing technology, the technical solution adopted by the present invention is: an adaptive handling robot for multi-layer storage shelves, comprising a mobile base, a lifting mechanism is provided on the mobile base, the lifting mechanism includes a lifting platform, the lifting platform is provided with a rotating platform, the rotating platform is provided with a positioning and picking-up component, the positioning and picking-up component includes a mounting seat, a connecting supporting mechanism, a positioning mechanism and two sets of double-stage telescopic mechanisms, the mounting seat is connected to the rotating platform, the connecting supporting mechanism is provided on the mounting seat, the connecting supporting mechanism includes a sliding platform and a telescopic support plate, the telescopic support plate is close to the shelf through the sliding platform, the two sets of double-stage telescopic mechanisms are symmetrically arranged on the mounting seat, each set of double-stage telescopic mechanisms includes a first-level telescopic arm and a second-level telescopic arm that can be further extended after the first-level telescopic arm is extended, the head end and the tail end of the second-level telescopic arm are respectively rotatably provided with a dial rod and a push rod, the positioning mechanism includes a goods positioning part provided on the mounting seat, a distance positioning part provided on the sliding platform and a span positioning part provided on the second-level telescopic arm.
[0006] Furthermore, two symmetrical strip-shaped containing shells are fixed on the mounting seat, the first-level telescopic arm is plate-shaped and vertically arranged in the strip-shaped containing shell, and a No. 1 linear cylinder and several No. 1 strip slide rails that are horizontal and distributed in parallel along the vertical direction are provided in the strip-shaped containing shell. The first-level telescopic arm is slidably connected to the strip-shaped containing shell through several No. 1 strip slide rails, and the No. 1 linear cylinder is used to drive the first-level telescopic arm to slide along its length direction.
[0007] Furthermore, the secondary telescopic arm is plate-shaped and parallel to the primary telescopic arm. The primary telescopic arm is provided with a No. 2 linear cylinder and several No. 2 strip slides that are horizontal and distributed in parallel along the vertical direction. The secondary telescopic arm is slidably connected to the primary telescopic arm through several No. 2 strip slides. The No. 2 linear cylinder is used to drive the secondary telescopic arm to slide along its length direction.
[0008] Furthermore, a rotating shaft and a rotating cylinder are provided on the secondary telescopic arm. The axial direction of the rotating shaft is parallel to the length direction of the secondary telescopic arm. The output end of the rotating cylinder is coaxially connected to the rotating shaft, and one end of the shift rod and the push rod are both fixed to the rotating shaft.
[0009] Furthermore, the mounting seat is provided with several No. 3 linear cylinders and several No. 3 bar slides, and the several No. 3 bar slides are horizontal and distributed in parallel in the horizontal direction. The sliding platform is slidably connected to the mounting seat through several No. 3 bar slides, and the No. 3 linear cylinder is parallel to the No. 3 bar slide, and the output end of the No. 3 linear cylinder is fixedly connected to the sliding platform. The sliding platform is provided with several No. 4 bar slides, and the No. 4 bar slides are parallel to the No. 3 bar slides. The telescopic support plate is provided above the sliding platform, and the telescopic support plate is slidably connected to the sliding platform through several No. 4 bar slides. A vertically upward push plate is formed at one end of the sliding platform.
[0010] Furthermore, two symmetrical strip through slots are provided on the telescopic support plate, and the length direction of each strip through slot is parallel to the length direction of the first-level telescopic arm. A horizontal connecting rod is provided between the two first-level telescopic arms, and two vertical rods are fixed on the connecting rod, and each vertical rod passes downward through the corresponding strip through slot. Two vertical brackets are provided at the bottom of the telescopic support plate, and each vertical bracket is provided with a fixing rod parallel to the strip through slot. A pressure block is formed at the bottom of each vertical rod, and each fixing rod passes through the corresponding pressure block, and a spring is sleeved on each fixing rod.
[0011] Furthermore, the span positioning part includes a laser emitter and a laser receiver respectively fixed on two first-level telescopic arms, and the laser emitter and the laser receiver are close to the corresponding levers. The distance positioning part includes several distance sensors fixedly connected to the sliding platform. The cargo positioning part is an industrial camera. An accommodating groove is opened inward at one end of the sliding platform, and the industrial camera is fixed in the accommodating groove.
[0012] Furthermore, two support columns are fixedly provided on the top of the movable base and are spaced apart in the horizontal direction. Each support column is vertical. The lifting mechanism also includes driving parts respectively provided on the two support columns. Each driving part includes a transmission slide rail and a slider. The transmission slide rail is vertically fixed to the corresponding support column. The slider is provided on the transmission slide rail, and the lifting platform is fixed between the two sliders.
[0013] Furthermore, a plurality of temporary storage pallets are fixed between the two support columns and are evenly distributed in the vertical direction, and each temporary storage pallet is located on the back side of the lifting platform.
[0014] A control method for a multi-layer storage shelf adaptive handling machine, the control method comprising the following steps: S1, locate the target shelf layer and products; S2, connecting the supporting mechanism and the two-stage telescopic mechanism to perform the picking action; S3, positioning shelf station; S4, connecting the supporting mechanism and the two-stage telescopic mechanism to perform the placement action.
[0015] Compared with the prior art, the present invention has the following beneficial effects: First, the device achieves precise extension and contraction in three-dimensional space through the combination of a primary telescopic arm and a secondary telescopic arm. Both the primary and secondary telescopic arms are plate-shaped, making them easier to maneuver in narrow shelf aisles. When the primary and secondary telescopic arms extend toward the goods, they will not collide with other goods. Secondly, the device can pick up and place soft, fragile and three-dimensional objects through the lever and push rod matched with the double-stage telescopic mechanism, which expands the scope of use, and the picking process responds quickly, improving the picking efficiency; Third, this device uses multiple sensors to fuse together to form an intelligent positioning system with high positioning accuracy, and can overcome the limitations of fixed cargo locations. BRIEF DESCRIPTION OF THE DRAWINGS
[0016] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention; Figure 2 It is a schematic diagram of the three-dimensional structure of the lifting platform; Figure 3 It is a schematic diagram of the three-dimensional structure of positioning and picking up components; Figure 4 yes Figure 3 A1 is a partial enlarged schematic diagram; Figure 5 yes Figure 3 A2 is a partial enlarged schematic diagram; Figure 6 yes Figure 3 A3 is a partial enlarged schematic diagram; Figure 7 This is a three-dimensional structural exploded view of the strip-shaped containment shell and the first-stage telescopic arm; Figure 8 This is a three-dimensional structural exploded view of the first-stage telescopic arm and the second-stage telescopic arm; Figure 9 This is a three-dimensional structural exploded view of the sliding platform and the mounting base; Figure 10 It is a schematic diagram of the three-dimensional structure of the sliding platform and the telescopic support plate; Figure 11 It is a schematic diagram of the three-dimensional structure of the telescopic support plate; Figure 12 It is a schematic diagram of the three-dimensional structure of the present invention when picking up goods; Figure 13 It is a schematic diagram of the three-dimensional structure of the positioning and picking component when picking up goods.
[0017] The numbers in the figure are: 1. Mobile base; 2. Lifting platform; 3. Rotating platform; 4. Positioning and placing assembly; 5. Mounting seat; 6. Sliding platform; 7. Telescopic support plate; 8. First-stage telescopic arm; 9. Second-stage telescopic arm; 10. Push rod; 11. Push rod; 12. Bar-shaped housing; 13. Linear cylinder No. 1; 14. Bar slide No. 1; 15. Linear cylinder No. 2; 16. Bar slide No. 2; 17. Rotating shaft; 18. Rotating cylinder; 19. Third No. 1 linear cylinder; 20. No. 3 bar slide; 21. No. 4 bar slide; 22. Push plate; 23. Bar through groove; 24. Connecting rod; 25. Vertical pole; 26. Vertical bracket; 27. Fixed rod; 28. Pressure block; 29. Spring; 30. Laser emitter; 31. Laser receiver; 32. Distance sensor; 33. Industrial camera; 34. Receiving slot; 35. Support column; 36. Transmission slide; 37. Slider; 38. Temporary storage tray. DETAILED DESCRIPTION
[0018] In order to further understand the features, technical means, specific objectives and functions achieved by the present invention, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.
[0019] refer to Figures 1 to 13 The shown multi-layer storage shelf adaptive handling robot includes a mobile base 1, the mobile base 1 is provided with a lifting mechanism, the lifting mechanism includes a lifting platform 2, the lifting platform 2 is provided with a rotating platform 3, the rotating platform 3 is provided with a positioning and picking component 4, the positioning and picking component 4 includes a mounting seat 5, a connecting supporting mechanism, a positioning mechanism and two groups of double-stage telescopic mechanisms, the mounting seat 5 is connected to the rotating platform 3, the connecting supporting mechanism is provided on the mounting seat 5, the connecting supporting mechanism includes a sliding platform 6 and a telescopic support plate 7, the telescopic support plate 7 is close to the shelf through the sliding platform 6, the two groups of double-stage telescopic mechanisms are symmetrically provided on the mounting seat 5, each group of double-stage telescopic mechanisms includes a first-stage telescopic arm 8 and a second-stage telescopic arm 9 that can be further extended after the first-stage telescopic arm 8 is extended, the head end and the tail end of the second-stage telescopic arm 9 are respectively rotatably provided with a dial rod 10 and a push rod 11, the positioning mechanism includes a goods positioning part provided on the mounting seat 5, a distance positioning part provided on the sliding platform 6 and a span positioning part provided on the second-stage telescopic arm 9.
[0020] This device is used to transport goods on the shelves. The transport process is divided into two steps: picking and placing. The specific process of picking is as follows: When the goods are put on the shelf, the lifting platform 2 drives the positioning and placing assembly 4 to move to the designated shelf layer. The mobile base 1 drives the positioning and placing assembly 4 to move horizontally along the length direction of the shelf. During the translation of the mobile base 1, the product positioning piece provided on the mounting seat 5 will capture the goods on the shelf in real time. When the product positioning piece captures the designated goods, the mobile base 1 stops moving, the double-stage telescopic mechanism and the connecting support mechanism are started synchronously, and the sliding platform 6 in the connecting support mechanism will drive the telescopic pallet 7 to approach the shelf. During this process, the distance positioning piece is used to measure the distance between the sliding platform 6 and the shelf in real time to prevent the sliding platform 6 from colliding with the shelf. When the telescopic pallet 7 follows the sliding platform 6 to approach the shelf, the telescopic pallet 7 will further extend toward the shelf and conflict with the shelf. At the same time, the first-level telescopic arm 8 and the second-level telescopic arm 9 are synchronously extended toward the goods. During this process, the first-level telescopic arm 8 drives the second-level telescopic arm 9 to approach the goods. The second-level telescopic arm 9 is further extended after the first-level telescopic arm 8 stops. Finally, the two second-level telescopic arms 9 It will pass through both sides of the goods respectively, and each secondary telescopic arm 9 will cross the entire goods. Before the double-stage telescopic mechanism is started, the lever 10 and the push rod 11 are vertical and horizontal respectively. Then, when the secondary telescopic arm 9 is extended, the vertical lever 10 will not collide with the goods. During the extension of the secondary telescopic arm 9, the span positioning piece is used to measure the extension stroke of the secondary telescopic arm 9 in real time. When the lever 10 at the head end of the secondary telescopic arm 9 passes over the goods, the secondary telescopic arm 9 stops extending. Thereafter, the lever 10 and the push rod 11 Rotate synchronously, the lever 10 turns horizontally and the push rod 11 turns vertically. When the lever 10 is horizontal, the first telescopic arm 8 and the second telescopic arm 9 retract synchronously. During this process, the two horizontal levers 10 are used to push the goods from the shelf to the telescopic pallet 7. When the goods are completely placed on the telescopic pallet 7, the sliding platform 6 and the telescopic pallet 7 begin to retract synchronously. When the sliding platform 6 and the telescopic pallet 7 are reset, the lever 10 and the push rod 11 rotate synchronously in the opposite direction, the lever 10 turns from horizontal to vertical, and the push rod 11 turns from vertical to horizontal. The specific placement process is as follows: The movable base 1 drives the positioning and picking component 4 to translate along the length direction of the shelf. When the goods positioning part captures the designated empty space on the shelf, the movable base 1 stops moving, and the two-stage telescopic mechanism and the connecting support mechanism start synchronously. The sliding platform 6 in the connecting support mechanism will drive the telescopic pallet 7 to approach the shelf, and the telescopic pallet 7 will further extend toward the shelf and collide with the shelf. At the same time, the first-level telescopic arm 8 and the second-level telescopic arm 9 are synchronously extended toward the shelf. In this process, the goods on the telescopic pallet 7 are pushed to the corresponding empty space on the shelf by two horizontal push rods 11. When the goods are located in the shelf, the first-level telescopic arm 8 and the second-level telescopic arm 9 are synchronously retracted and reset. The sliding platform 6 and the telescopic pallet 7 are synchronously retracted and reset.
[0021] In order to show how the first telescopic arm 8 is extended and retracted, the following features are set: Two symmetrical strip-shaped containing shells 12 are fixed on the mounting base 5. The first-level telescopic arm 8 is plate-shaped and vertically arranged in the strip-shaped containing shell 12. A No. 1 linear cylinder 13 and several No. 1 strip slide rails 14 that are horizontal and distributed in parallel in the vertical direction are provided in the strip-shaped containing shell 12. The first-level telescopic arm 8 is slidably connected to the strip-shaped containing shell 12 through several No. 1 strip slide rails 14. The No. 1 linear cylinder 13 is used to drive the first-level telescopic arm 8 to slide along its length direction.
[0022] The plate-shaped first-level telescopic arm 8 effectively reduces the occupied space and can pass through adjacent goods when telescoping. The No. 1 bar slide rail 14 is used to limit the sliding direction of the first-level telescopic arm 8 and plays a guiding role for the first-level telescopic arm 8. When the No. 1 linear cylinder 13 is started, the first-level telescopic arm 8 will slide along its length direction.
[0023] In order to show how the secondary telescopic arm 9 is extended and retracted, the following features are set: The secondary telescopic arm 9 is plate-shaped and parallel to the primary telescopic arm 8. The primary telescopic arm 8 is provided with a No. 2 linear cylinder 15 and several No. 2 strip slides 16 that are horizontal and distributed in parallel in the vertical direction. The secondary telescopic arm 9 is slidingly connected to the primary telescopic arm 8 through several No. 2 strip slides 16. The No. 2 linear cylinder 15 is used to drive the secondary telescopic arm 9 to slide along its length direction.
[0024] The plate-shaped secondary telescopic arm 9 effectively reduces the occupied space and can pass through adjacent goods when telescoping. The No. 2 bar slide 16 is used to limit the sliding direction of the secondary telescopic arm 9 and plays a sliding guide role for the secondary telescopic arm 9. When the No. 2 linear cylinder 15 is started, the secondary telescopic arm 9 will slide along its length direction. In actual use, the No. 1 linear cylinder 13 and the No. 2 linear cylinder 15 work synchronously, and the output speed of the No. 2 linear cylinder 15 is greater than the output speed of the No. 1 linear cylinder 13.
[0025] In order to demonstrate how the lever 10 and the push rod 11 can achieve synchronous rotation, the following features are set: A rotating shaft 17 and a rotating cylinder 18 are provided on the secondary telescopic arm 9. The axial direction of the rotating shaft 17 is parallel to the length direction of the secondary telescopic arm 9. The output end of the rotating cylinder 18 is coaxially connected to the rotating shaft 17. One end of the shift rod 10 and the push rod 11 are both fixedly connected to the rotating shaft 17.
[0026] When the rotating cylinder 18 is started, the rotating cylinder 18 will drive the rotating shaft 17 to rotate, thereby synchronously driving the dial rod 10 and the push rod 11 to rotate through the rotating shaft 17. When installing the dial rod 10 and the push rod 11, ensure that the dial rod 10 and the push rod 11 are in a perpendicular state to each other. When the push rod 11 is horizontal, the dial rod 10 will be vertical, so that when the push rod 11 pushes the goods out, the goods will not be blocked by the dial rod 10.
[0027] In order to show how the telescopic support plate 7 follows the extension of the sliding platform 6, the following features are set: The mounting seat 5 is provided with several No. 3 linear cylinders 19 and several No. 3 bar slides 20. The several No. 3 bar slides 20 are horizontal and distributed in parallel along the horizontal direction. The sliding platform 6 is slidably connected to the mounting seat 5 through several No. 3 bar slides 20. The No. 3 linear cylinder 19 is parallel to the No. 3 bar slide 20. The output end of the No. 3 linear cylinder 19 is fixedly connected to the sliding platform 6. The sliding platform 6 is provided with several No. 4 bar slides 21. The No. 4 bar slides 21 are parallel to the No. 3 bar slides 20. The telescopic support plate 7 is arranged above the sliding platform 6. The telescopic support plate 7 is slidably connected to the sliding platform 6 through several No. 4 bar slides 21. A vertically upward push plate 22 is formed at one end of the sliding platform 6.
[0028] When the No. 3 linear cylinder 19 is started, the sliding platform 6 will be driven to translate, and the translation direction of the sliding platform 6 is parallel to the telescopic direction of the first-level telescopic arm 8. When the sliding platform 6 slides toward the shelf, the push plate 22 provided on the sliding platform 6 will push the telescopic support plate 7, so that the telescopic support plate 7 will follow the sliding platform 6 and extend toward the shelf.
[0029] In order to show how the telescopic support plate 7 retracts and further extends, the following features are set: Two symmetrical strip through slots 23 are provided on the telescopic support plate 7. The length direction of each strip through slot 23 is parallel to the length direction of the first-level telescopic arm 8. A horizontal connecting rod 24 is provided between the two first-level telescopic arms 8. Two vertical rods 25 are fixed on the connecting rod 24. Each vertical rod 25 passes downward through the corresponding strip through slot 23. Two vertical brackets 26 are provided at the bottom of the telescopic support plate 7. Each vertical bracket 26 is provided with a fixing rod 27 parallel to the strip through slot 23. A pressure block 28 is formed at the bottom of each vertical rod 25. Each fixing rod 27 passes through the corresponding pressure block 28. A spring 29 is sleeved on each fixing rod 27.
[0030] The axial length of the spring 29 is smaller than the axial length of the fixed rod 27, and the spring 29 has a higher spring rate. When the sliding platform 6 drives the telescopic support plate 7 to approach the shelf through the push plate 22, the sliding platform 6 stops moving to prevent the distance positioning member from colliding with the shelf. In the process of the sliding platform 6 and the telescopic support plate 7 extending toward the shelf, the first-level telescopic arm 8 and the second-level telescopic arm 9 extend synchronously. When the second-level telescopic arm 9 stops extending, the first-level telescopic arm 8 continues to extend. In this process, each pressing block 28 will follow the first-level telescopic arm 8 to move horizontally through the connecting rod 24. When the pressing block 28 moves horizontally on the fixed rod 27 until it contacts the spring 29, since the spring 29 has a higher spring rate, the spring 29 is difficult to be compressed easily. At this time, the telescopic The support plate 7 will be driven to continue to extend toward the shelf. When the telescopic support plate 7 collides with the shelf, as the first-level telescopic arm 8 continues to extend, the pressure block 28 will gradually compress the spring 29. The spring 29 ensures that the telescopic support plate 7 can collide with the shelf before the first-level telescopic arm 8 stops extending, and the deformation of the spring 29 allows the first-level telescopic arm 8 to continue to extend after the telescopic support plate 7 collides with the shelf until the lever 10 passes the current goods. When the first-level telescopic arm 8 retracts, the pressure block 28 will be driven by the connecting rod 24 to follow the first-level telescopic arm 8 to reset. During this process, the vertical rod 25 will slide in the strip groove 23. When the vertical rod 25 collides with the inner wall of the strip groove 23, the vertical rod 25 will retract against the telescopic support plate 7 until it is reset.
[0031] In order to show the specific structure of span locators, distance locators and product locators, the following features are set: The span positioning component includes a laser emitter 30 and a laser receiver 31 respectively fixed on the two first-level telescopic arms 8, and the laser emitter 30 and the laser receiver 31 are close to the corresponding lever 10. The distance positioning component includes several distance sensors 32 fixedly connected to the sliding platform 6. The cargo positioning component is an industrial camera 33. An accommodating groove 34 is opened inward at one end of the sliding platform 6, and the industrial camera 33 is fixed in the accommodating groove 34.
[0032] The laser receiver 31 can receive the light emitted by the laser emitter 30. When the two first-level telescopic arms 8 pass through the two sides of the goods, the light emitted by the laser emitter 30 is blocked by the goods. When the laser receiver 31 receives the light from the laser emitter 30 again, it means that the current lever 10 has passed the goods. At this time, the extension of the first-level telescopic arms 8 is stopped, and the lever 10 is driven to rotate from vertical to horizontal by rotating the cylinder 18. When the sliding platform 6 slides toward the shelf, the distance sensor 32 is used to monitor the distance between the sliding platform 6 and the shelf in real time to prevent the sliding platform 6 and the distance sensor 32 from colliding with the shelf. The industrial camera 33 is used to capture the goods on the shelf in real time, so as to identify the designated transported goods. In actual use, the industrial camera 33 can also monitor the height between the current sliding platform 6 and the goods. Thereafter, the height of the entire positioning and picking assembly 4 can be adjusted through the lifting platform 2, ultimately ensuring that when the telescopic pallet 7 is extended toward the shelf, the telescopic pallet 7 is not higher than the shelf column of the current layer, preventing the goods from being blocked by the higher telescopic pallet 7 when being pushed toward the telescopic pallet 7 by the lever 10.
[0033] In order to show the specific structure of the lifting mechanism, the following features are set: Two support columns 35 are fixedly provided on the top of the mobile base 1 and are spaced apart in the horizontal direction. Each support column 35 is vertical. The lifting mechanism also includes driving members respectively provided on the two support columns 35. Each driving member includes a transmission slide rail 36 and a slider 37. The transmission slide rail 36 is vertically fixed to the corresponding support column 35. The slider 37 is provided on the transmission slide rail 36. The lifting platform 2 is fixed between the two sliders 37.
[0034] The transmission slide rail 36 is used to transmit power and drive the two sliders 37 to move synchronously. When the transmission slide rail 36 is started, the lifting platform 2 is lifted or lowered by the two sliders 37.
[0035] In order to facilitate the positioning of the pick-and-place assembly 4 to continuously transport goods, the following features are set: A plurality of temporary storage pallets 38 equidistantly distributed in the vertical direction are fixed between the two support columns 35 , and each temporary storage pallet 38 is located on the back side of the lifting platform 2 .
[0036] When the positioning and picking component 4 is needed to continuously transport goods, the positioning and picking component 4 can temporarily place the taken-out goods on the temporary storage pallet 38, so that when there is a vacant space on the shelf, the goods on the temporary storage mop can be placed on the corresponding vacant space.
[0037] A control method for a multi-layer storage shelf adaptive handling machine, the control method comprising the following steps: S1, locate the target shelf layer and products; The rotating platform 3 drives the positioning and picking-and-placing component 4 to rotate to the corresponding shelf, the lifting platform 2 drives the positioning and picking-and-placing component 4 to move to the designated shelf layer, and the mobile base 1 drives the positioning and picking-and-placing component 4 to translate along the length direction of the shelf. During the translation of the mobile base 1, the goods positioning part provided on the mounting seat 5 will capture the goods on the shelf in real time. When the goods positioning part captures the designated goods, the mobile base 1 stops moving.
[0038] S2, connecting the supporting mechanism and the two-stage telescopic mechanism to perform the picking action; The double-stage telescopic mechanism and the connecting supporting mechanism are started synchronously, and the sliding platform 6 in the connecting supporting mechanism will drive the telescopic support plate 7 to approach the shelf. During this process, the distance positioning piece is used to measure the distance between the sliding platform 6 and the shelf in real time to prevent the sliding platform 6 from colliding with the shelf. When the telescopic support plate 7 follows the sliding platform 6 to approach the shelf, the telescopic support plate 7 will further extend toward the shelf and conflict with the shelf. At the same time, the first-stage telescopic arm 8 and the second-stage telescopic arm 9 are synchronously extended toward the goods. During this process, the first-stage telescopic arm 8 drives the second-stage telescopic arm 9 to approach the goods. The second-stage telescopic arm 9 is further extended after the first-stage telescopic arm 8 stops. Finally, the two second-stage telescopic arms 9 will pass through the two sides of the goods respectively, and each second-stage telescopic arm 9 spans the entire goods. Before the double-stage telescopic mechanism is started, the dial rod 10 and the push rod 11 are vertical and horizontal respectively. Then when the second-stage telescopic arm 8 is extended, the second-stage telescopic arm 9 will be moved back to the shelf. When the retracting arm 9 is extended, the vertical lever 10 will not collide with the goods. During the extension of the secondary telescopic arm 9, the span positioning piece is used to measure the extension stroke of the secondary telescopic arm 9 in real time. When the lever 10 at the head end of the secondary telescopic arm 9 passes over the goods, the secondary telescopic arm 9 stops extending. After that, the lever 10 and the push rod 11 rotate synchronously, the lever 10 turns to horizontal, and the push rod 11 turns to vertical. When the lever 10 is horizontal, the primary telescopic arm 8 and the secondary telescopic arm 9 retract synchronously. In this process, the two horizontal levers 10 are used to push the goods from the shelf to the telescopic pallet 7. When the goods are completely placed on the telescopic pallet 7, the sliding platform 6 and the telescopic pallet 7 begin to retract synchronously. When the sliding platform 6 and the telescopic pallet 7 are reset, the lever 10 and the push rod 11 rotate synchronously in opposite directions, the lever 10 turns from horizontal to vertical, and the push rod 11 turns from vertical to horizontal.
[0039] S3, positioning shelf station; The mobile base 1 drives the positioning and picking assembly 4 to move horizontally along the length direction of the shelf. When the product positioning piece captures a designated empty space on the shelf, the mobile base 1 stops moving.
[0040] S4, connecting the supporting mechanism and the two-stage telescopic mechanism to perform the placement action.
[0041] The two-stage telescopic mechanism and the connecting supporting mechanism are started synchronously, and the sliding platform 6 in the connecting supporting mechanism will drive the telescopic pallet 7 to approach the shelf, and the telescopic pallet 7 will further extend toward the shelf and collide with the shelf. At the same time, the first-level telescopic arm 8 and the second-level telescopic arm 9 are synchronously extended toward the shelf. In this process, the goods on the telescopic pallet 7 are pushed to the corresponding empty space on the shelf by two horizontal push rods 11. When the goods are located in the shelf, the first-level telescopic arm 8 and the second-level telescopic arm 9 are synchronously retracted and reset, and the sliding platform 6 and the telescopic pallet 7 are synchronously retracted and reset.
[0042] The above embodiments merely represent one or several implementations of the present invention, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that a person skilled in the art would be able to make various modifications and improvements without departing from the spirit of the present invention, and these modifications and improvements fall within the scope of protection of the present invention. Therefore, the scope of protection of the present invention shall be determined by the appended claims.
Claims
1. A multi-layer storage shelf adaptive handling robot, characterized in that: The invention comprises a mobile base (1), a lifting mechanism is provided on the mobile base (1), the lifting mechanism comprises a lifting platform (2), a rotating platform (3) is provided on the lifting platform (2), a positioning and placing assembly (4) is provided on the rotating platform (3), the positioning and placing assembly (4) comprises a mounting seat (5), a connecting support mechanism, a positioning mechanism and two sets of two-stage telescopic mechanisms, the mounting seat (5) is connected to the rotating platform (3), the connecting support mechanism is provided on the mounting seat (5), the connecting support mechanism comprises a sliding platform (6) and a telescopic support plate (7), the telescopic support plate ( 7) Approaching the shelf through the sliding platform (6), two sets of two-stage telescopic mechanisms are symmetrically arranged on the mounting seat (5), each set of two-stage telescopic mechanisms includes a first-stage telescopic arm (8) and a second-stage telescopic arm (9) that can be further extended after the first-stage telescopic arm (8) is extended, and the head end and the tail end of the second-stage telescopic arm (9) are respectively rotatably provided with a shifting rod (10) and a pushing rod (11), and the positioning mechanism includes a product positioning member arranged on the mounting seat (5), a distance positioning member arranged on the sliding platform (6), and a span positioning member arranged on the second-stage telescopic arm (9).
2. The multi-layer storage shelf adaptive handling robot according to claim 1, characterized in that: Two symmetrical strip-shaped accommodating shells (12) are fixedly provided on the mounting seat (5); the first-stage telescopic arm (8) is plate-shaped and vertically arranged in the strip-shaped accommodating shell (12); a No. 1 linear cylinder (13) and a plurality of No. 1 strip-shaped slide rails (14) that are horizontal and vertically arranged are provided in the strip-shaped accommodating shell (12); the first-stage telescopic arm (8) is slidably connected to the strip-shaped accommodating shell (12) via the plurality of No. 1 strip-shaped slide rails (14); and the No. 1 linear cylinder (13) is used to drive the first-stage telescopic arm (8) to slide along its length direction.
3. The multi-layer storage shelf adaptive handling robot according to claim 1, characterized in that: The secondary telescopic arm (9) is plate-shaped and parallel to the primary telescopic arm (8). The primary telescopic arm (8) is provided with a No. 2 linear cylinder (15) and a plurality of No. 2 strip slide rails (16) that are horizontal and arranged in parallel in the vertical direction. The secondary telescopic arm (9) is slidably connected to the primary telescopic arm (8) through the plurality of No. 2 strip slide rails (16). The No. 2 linear cylinder (15) is used to drive the secondary telescopic arm (9) to slide along its length direction.
4. The multi-layer storage shelf adaptive handling robot according to claim 1, characterized in that: A rotating shaft (17) and a rotating cylinder (18) are provided on the secondary telescopic arm (9). The axial direction of the rotating shaft (17) is parallel to the length direction of the secondary telescopic arm (9). The output end of the rotating cylinder (18) is coaxially fixedly connected to the rotating shaft (17). One end of the shifting rod (10) and the push rod (11) are both fixedly connected to the rotating shaft (17).
5. The multi-layer storage shelf adaptive handling robot according to claim 1, characterized in that: The mounting seat (5) is provided with a plurality of No. 3 linear cylinders (19) and a plurality of No. 3 strip rails (20), the plurality of No. 3 strip rails (20) are horizontal and arranged in parallel in the horizontal direction, the sliding platform (6) is slidably connected to the mounting seat (5) through the plurality of No. 3 strip rails (20), the No. 3 linear cylinder (19) is parallel to the No. 3 strip rails (20), the output end of the No. 3 linear cylinder (19) is fixedly connected to the sliding platform (6), the sliding platform (6) is provided with a plurality of No. 4 strip rails (21), the No. 4 strip rails (21) are parallel to the No. 3 strip rails (20), the telescopic support plate (7) is provided above the sliding platform (6), the telescopic support plate (7) is slidably connected to the sliding platform (6) through the plurality of No. 4 strip rails (21), and a vertically upward push plate (22) is formed at one end of the sliding platform (6).
6. The multi-layer storage shelf adaptive handling robot according to claim 1, characterized in that: The telescopic support plate (7) is provided with two symmetrical strip through slots (23), the length direction of each strip through slot (23) is parallel to the length direction of the first-stage telescopic arm (8), a horizontal connecting rod (24) is provided between the two first-stage telescopic arms (8), two vertical rods (25) are fixed on the connecting rod (24), each vertical rod (25) passes downward through the corresponding strip through slot (23), two vertical brackets (26) are provided at the bottom of the telescopic support plate (7), each vertical bracket (26) is provided with a fixing rod (27) parallel to the strip through slot (23), a pressing block (28) is formed at the bottom of each vertical rod (25), each fixing rod (27) passes through the corresponding pressing block (28), and a spring (29) is sleeved on each fixing rod (27).
7. The multi-layer storage shelf adaptive handling robot according to claim 1, characterized in that: The span positioning member includes a laser emitter (30) and a laser receiver (31) respectively fixed on two primary telescopic arms (8), and the laser emitter (30) and the laser receiver (31) are both close to the corresponding shifting rod (10). The distance positioning member includes a plurality of distance sensors (32) fixedly connected to the sliding platform (6). The goods positioning member is an industrial camera (33). One end of the sliding platform (6) is provided with an inward receiving groove (34), and the industrial camera (33) is fixed in the receiving groove (34).
8. The multi-layer storage shelf adaptive handling robot according to claim 1, characterized in that: Two support columns (35) are fixedly provided on the top of the movable base (1) and are spaced apart in the horizontal direction. Each support column (35) is vertical. The lifting mechanism also includes a driving member respectively provided on the two support columns (35). Each driving member includes a transmission slide rail (36) and a slider (37). The transmission slide rail (36) is vertically fixed to the corresponding support column (35). The slider (37) is provided on the transmission slide rail (36). The lifting platform (2) is fixed between the two sliders (37).
9. The multi-layer storage shelf adaptive handling robot according to claim 8, characterized in that: A plurality of temporary storage pallets (38) equidistantly distributed in the vertical direction are fixedly provided between the two support columns (35), and each temporary storage pallet (38) is located on the back side of the lifting platform (2).
10. A control method for a multi-layer storage shelf adaptive handling machine, comprising the multi-layer storage shelf adaptive handling robot according to claim 1, characterized in that: The control method comprises the following steps: S1, locate the target shelf layer and products; S2, connecting the supporting mechanism and the two-stage telescopic mechanism to perform the picking action; S3, positioning shelf station; S4, connecting the supporting mechanism and the two-stage telescopic mechanism to perform the placement action.