Intelligent warehousing and carrying robot linkage device based on industrial vision technology

Abstract

The invention relates to the technical field of storage robots, in particular to an intelligent storage transfer robot linkage device based on the industrial vision technology, and the intelligent storage transfer robot linkage device is characterized in that an interlocking mechanism composed of a turnover seat, a locking assembly and an unlocking assembly is arranged on the periphery of a machine body, and a locking cone is arranged at the front end of the turnover seat; a locking assembly and an unlocking assembly are contained in a movable groove and a bottom groove of the overturning base respectively, the locking assembly comprises a reverse movement locking block, a guide rod and a spring, the unlocking assembly drives the locking block through a gear and a shifting rod, and an industrial visual camera connected with a controller is installed on the machine body and used for recognizing the position of an adjacent machine body interlocking mechanism. Data are collected through the camera, the controller controls the overturning motor and the rotating motor to act, precise butt joint and separation of the linkage mechanism are achieved, the device can be used for rapidly splicing multiple robots to form a larger loading platform to carry large-size objects, the weight of goods can be dispersed, single-machine overload is avoided, and stability and economical efficiency are both considered.

Description

Technical Field

[0001] The present invention relates to the technical field of warehouse robots, and in particular to an intelligent warehouse handling robot linkage device based on industrial vision technology. Background Art

[0002] Warehouse handling robots are essential automated equipment in modern logistics and warehousing, integrating mechanical, electronic, and sensor technologies. They can autonomously handle the handling, sorting, and storage of goods within the warehouse. Through precise positioning and route planning, they significantly improve warehouse efficiency and intelligent management.

[0003] Patent number CN220375475U discloses a warehouse robot and a warehouse system. The robot and system include a base; a moving device mounted on the base, configured to drive the base to walk on a support surface and climb along shelves; and a carrying device mounted on the base and movable relative to the base to switch between a loading state and an unloading state. The loading state is for carrying items, while the unloading state is for unloading items carried by the carrying device. This device can improve the warehouse robot's sorting efficiency and reduce costs.

[0004] When handling large items, this storage robot and storage system cannot adapt to items that exceed the single-machine carrying range due to the fixed size of the single-machine carrying device and the lack of a multi-machine linkage mechanism. Special equipment or manual assistance is required, resulting in low handling efficiency and high cost. In view of this, we propose an intelligent storage and handling robot linkage device based on industrial vision technology. Summary of the Invention

[0005] The purpose of the present invention is to provide an intelligent storage and handling robot linkage device based on industrial vision technology to solve the problem raised in the above background technology that a single robot is unable to adapt to items that exceed the carrying range of a single machine due to size limitations.

[0006] To achieve the above object, the present invention provides the following technical solutions: An intelligent warehouse handling robot linkage device based on industrial vision technology includes a body, wherein the outer end surfaces of the body are each equipped with a linkage mechanism, the linkage mechanism being used to connect two adjacent bodies, the linkage mechanism comprising a flip seat rotatably connected to the body, a locking assembly mounted in the flip seat, and an unlocking assembly disposed below the locking assembly and used to unlock the locking assembly; The rear end surface of the flip seat is in an arc shape, a locking cone is fixed to the front end surface of the flip seat, a movable groove for installing a locking component is opened on the top end surface of the flip seat, and a bottom groove for installing an unlocking component is opened on the bottom end surface of the flip seat, and the movable groove is vertically connected to the bottom groove; The locking assembly includes a pair of locking blocks that move in opposite directions laterally in the movable groove, a plurality of guide rods that pass through the two locking blocks laterally, and a pair of springs that respectively abut against the outer end surfaces of the two locking blocks. The bottom ends of the locking blocks are provided with vertical shifting grooves. The unlocking assembly includes a base plate fixed in the bottom groove, two gears rotatably connected to the top of the base plate and meshing, and a rotating motor coaxially connected to one of the gears. A lever is fixed to the top surface of the gear and extends into the lever groove. Industrial vision cameras are installed at the top positions of the four surfaces of the body. The industrial vision cameras are used to identify the positions of the interlocking mechanisms of adjacent bodies. A controller is provided in the body. The industrial vision cameras are communicated with the controller. The controller controls the actions of the flip motor and the rotating motor based on the image data collected by the camera.

[0007] Preferably, the body is provided with a rotation groove on all four surfaces, the front end surface and the bottom end surface of the rotation groove are both open, and the left and right ends of the flip seat are provided with a convex shaft, which is inserted into the inner wall of the rotation groove and is rotatably connected to the body; In this arrangement, the rotating groove and the convex shaft form a rotating pair, so that the flip seat can rotate smoothly around the machine body, and the open structure is convenient for assembly and maintenance.

[0008] Preferably, the body is provided with mounting cavities on all four sides thereof, a flip motor is installed in the mounting cavity, and the output shaft end of the mounting cavity is coaxially connected to the convex shaft; In this setup, the mounting cavity provides protection for the flip motor, and the coaxial connection ensures that the motor drive force is transmitted to the flip seat.

[0009] Preferably, a cover plate is installed at the cavity opening of the installation cavity, and the cover plate shields the flip motor in the installation cavity; In this setting, the cover can prevent dust and foreign matter from entering the installation cavity, protecting the normal operation of the flip motor.

[0010] Preferably, a groove is provided on the side wall of the movable groove, and the tail end of the spring is inserted into the groove and abuts against the bottom of the groove; In this arrangement, the groove positions the end of the spring to prevent it from deflecting when loaded.

[0011] Preferably, the locking cone is a cone structure with a small front and a large rear, and a connecting rod is provided at the rear end of the locking cone, and the rear end of the connecting rod is fixedly connected to the front end surface of the flip seat; In this arrangement, the locking cone of the vertebral structure is easily inserted into the locking groove for positioning, and the connecting rod ensures that the locking cone is firmly connected to the flip seat.

[0012] Preferably, a locking groove is provided on the inner end surface of the locking block, the cross section of the locking groove is semicircular, a guide hole is provided between the locking groove and the top surface of the locking block, and the guide hole is a conical half-hole structure. When the inner end surfaces of the two locking blocks are in contact with each other, the locking cone on the other body will be hooked in the locking groove; In this setting, the semicircular locking groove and the locking cone are matched to achieve snap connection, and the tapered guide hole guides the locking cone into the locking groove smoothly.

[0013] Preferably, a concave cavity is formed on the outer end surface of the locking block, and the head end of the spring is inserted into the concave cavity and abuts against the bottom of the concave cavity; In this arrangement, the concave cavity positions the head end of the spring, ensuring that the spring force acts stably on the locking block.

[0014] Preferably, the guide rod is transversely fixed in the movable groove, and the locking block moves transversely along the guide rod under the guidance of the guide rod; In this arrangement, the guide rod provides a guide for the movement of the locking block, ensuring that the locking block moves laterally in a straight line.

[0015] Preferably, the two gears are symmetrical on the top of the base plate. When the two levers on the two gears rotate with the gears to the nearest position, the inner end faces of the two locking blocks fit together. When the gears rotate 90 degrees, the gears move the locking blocks through the levers, so that the locking blocks move along the guide rods and abut against the groove walls of the movable grooves. In this setting, the symmetrical gears synchronously drive the lock block through the lever to achieve the switching between locked and unlocked states.

[0016] Compared with the prior art, the present invention has the following beneficial effects: This intelligent warehouse handling robot linkage device based on industrial vision technology, by arranging a chain mechanism consisting of a rotatable flip seat, locking components and unlocking components around the body, and cooperating with the industrial vision camera to accurately identify the chain mechanism of adjacent bodies, can realize the rapid splicing and separation of multiple robots, so that the spliced ​​multiple bodies can be assembled into a larger loading platform to carry large-sized items. At the same time, when multiple machines are linked, the weight of the goods is dispersed to each body, avoiding overload damage to a single machine, and achieving stability and economy in the handling of large-sized items. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic diagram of the overall structure of the present invention; Figure 2 An exploded view of the body of the present invention; Figure 3 It is a structural diagram of the chain mechanism in the present invention; Figure 4 An exploded view of the interlocking mechanism of the present invention; Figure 5 A cross-sectional view of the flip seat of the present invention; Figure 6 Schematic diagram of the structure of the locking assembly of the present invention; Figure 7 Schematic diagram of the structure of the locking block in the present invention; Figure 8 This is a schematic diagram of the structure of the unlocking component in the present invention; Figure 9 Schematic diagram of the locked state of the two interlocking mechanisms in the present invention; The meaning of each number in the figure is: 100, body; 110, rotating groove; 120, mounting cavity; 121, cover plate; 200, interlocking mechanism; 210, flip seat; 210a, movable groove; 210b, groove; 210c, bottom groove; 211, locking cone; 211a, connecting rod; 212, convex shaft; 213, flip motor; 220, locking assembly; 221, locking block; 221a, lock groove; 221b, guide hole; 221c, shifting groove; 221d, concave cavity; 222, guide rod; 223, spring; 230, unlocking assembly; 231, seat plate; 232, gear; 232a, shifting rod; 233, rotating motor. DETAILED DESCRIPTION

[0018] The following will provide a clear and complete description of 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. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0019] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like to indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0020] See also Figures 1-9, an intelligent warehouse handling robot linkage device based on industrial vision technology, including a body 100, which serves as the basic carrier of the device and provides installation support for each functional component to ensure the stability of the overall structure. The outer end faces of the body 100 are all installed with a chain mechanism 200, which is used to connect two adjacent bodies 100. The chain mechanism 200 realizes multi-machine collaborative operation and expands the handling capacity by connecting with adjacent bodies 100. The chain mechanism 200 includes a flip seat 210 rotatably connected to the body 100, a locking assembly 220 installed in the flip seat 210, and an unlocking assembly 230 arranged under the locking assembly 220 and used to open the locking assembly 220. The rotatable design of the flip seat 210 enables it to adjust its angle according to work requirements. The locking assembly 220 realizes a stable connection between adjacent bodies 100, and the unlocking assembly 230 controls the switching of the locking state. A movable groove 210a for installing the locking assembly 220 is provided on the top surface of the flip seat 210, and a bottom groove 210c for installing the unlocking assembly 230 is provided on the bottom surface of the flip seat 210. The movable groove 210a is vertically connected to the bottom groove 210c. The movable groove 210a provides a movable space for the locking assembly 220, and the bottom groove 210c accommodates the unlocking assembly 230. The vertical connection design ensures that the two movements are coordinated.

[0021] like Figure 1-Figure 3 and Figure 5 As shown, in the present invention, the rear end surface of the flip seat 210 is curved. This curved design reduces interference between the flip seat 210 and the body 100 during rotation, thereby improving rotational flexibility. Rotation slots 110 are defined on all four surfaces of the body 100. The front and bottom surfaces of the rotation slots 110 are open. Protruding shafts 212 are located on both the left and right ends of the flip seat 210. The protruding shafts 212 are inserted into the inner walls of the rotation slots 110 and are rotationally connected to the body 100. The rotation slots 110 and the protruding shafts 212 form a rotating pair, allowing the flip seat 210 to rotate smoothly about the axis of the protruding shafts 212. Mounting cavities 120 are defined on all four surfaces of the body 100. A flip motor 213 is mounted in the mounting cavity 120. The output shaft end of the mounting cavity 120 is coaxially connected to the protruding shaft 212. The mounting cavity 120 provides protection and support for the flip motor 213, ensuring that the motor output shaft is coaxial with the protruding shaft 212, effectively transmitting the motor's driving force to the flip seat 210. A cover plate 121 is installed at the cavity opening of the installation cavity 120 . The cover plate 121 shields the flip motor 213 in the installation cavity 120 . The cover plate 121 prevents dust and foreign matter from entering the installation cavity 120 , thereby protecting the normal operation of the flip motor 213 .

[0022] like Figure 2-Figure 4As shown, specifically, a locking cone 211 is fixed to the front end face of the flip seat 210. The locking cone 211 has a conical structure that is small in the front and large in the back. A connecting rod 211a is provided at the rear end of the locking cone 211. The connecting rod 211a ensures that the locking cone 211 is firmly connected to the flip seat 210. The rear end of the connecting rod 211a is fixedly connected to the front end face of the flip seat 210. The conical structure of the locking cone 211 is convenient for inserting into the locking slot 221a of another body 100 to achieve precise positioning and connection.

[0023] like Figure 3 and Figure 4 As shown, further, the locking assembly 220 includes a pair of locking blocks 221 that move laterally in opposite directions in the movable groove 210a, a plurality of guide rods 222 that laterally penetrate the two locking blocks 221, and a pair of springs 223 that respectively abut against the outer end faces of the two locking blocks 221. The guide rods 222 provide movement guides for the locking blocks 221 to ensure the straightness of their lateral movement, and the springs 223 provide pre-tightening force to keep the locking blocks 221 in the initial locking state.

[0024] like Figure 6 、 Figure 7 and Figure 9 As shown, in addition, a locking groove 221a is provided at the inner end surface of the locking block 221, and the cross-section of the locking groove 221a is semicircular. A guide hole 221b is provided between the locking groove 221a and the top surface of the locking block 221, and the guide hole 221b is a conical semi-hole structure. The guide rod 222 is laterally fixed in the movable groove 210a, and the locking block 221 moves laterally along the guide rod 222 under the guidance of the guide rod 222. When the inner end surfaces of the two locking blocks 221 are in contact with each other, the locking cone 211 on the other body 100 will be hung in the locking groove 221a, and the semicircular structure of the locking groove 221a matches the vertebral structure of the locking cone 211 to achieve tight clamping. The conical design of the guide hole 221b guides the locking cone 211 to smoothly enter the locking groove 221a, thereby improving the success rate of docking.

[0025] like Figure 5 and Figure 6 As shown, it is worth noting that a groove 210b is provided on the side wall of the movable groove 210a, and the tail end of the spring 223 is inserted into the groove 210b and abuts against the bottom of the groove 210b. A cavity 221d is provided on the outer end surface of the locking block 221, and the head end of the spring 223 is inserted into the cavity 221d and abuts against the bottom of the cavity 221d. The groove 210b and the cavity 221d axially position the spring 223 to prevent the spring 223 from deflecting when subjected to force, thereby ensuring that its elastic force is stably transmitted to the locking block 221.

[0026] like Figure 4 、 Figure 7 and Figure 8As shown, it is worth noting that the unlocking assembly 230 includes a base plate 231 fixed in the bottom groove 210c, two gears 232 rotatably connected to the top of the base plate 231 and meshing, and a rotating motor 233 coaxially connected to one of the gears 232, a lever 232a is fixed to the top surface of the gear 232, a vertical lever groove 221c is opened at the bottom end of the lock block 221, the lever groove 221c is a waist-shaped groove structure, the lever 232a extends into the lever groove 221c, and the two gears 232 are symmetrical on the top of the base plate 231. When the two levers 232a on the two gears 232 rotate with the gear 232 to the nearest When the gear 232 is in the end position, the inner end faces of the two locking blocks 221 fit together. When the gear 232 rotates 90°, the gear 232 moves the locking block 221 through the shift rod 232a, so that the locking block 221 moves along the guide rod 222 and abuts against the groove wall of the movable groove 210a. The seat plate 231 provides stable support for the gear 232. The rotating motor 233 drives the gear 232 to rotate during operation. The cooperation between the shift rod 232a and the shift groove 221c converts the rotation of the gear 232 into the lateral movement of the locking block 221, thereby realizing the switching between the locked and unlocked states. The waist-shaped groove structure allows the shift rod 232a to move within a certain range to compensate for motion errors.

[0027] like Figure 2 As shown, it should be added that industrial vision cameras are installed at the top positions of the four surfaces of the body 100. The industrial vision cameras are used to identify the positions of the interlocking mechanisms 200 of adjacent bodies 100. A controller is provided in the body 100, and the industrial vision cameras are communicated with the controller. The controller controls the actions of the flipping motor 213 and the rotating motor 233 according to the image data collected by the camera. The industrial vision cameras obtain the position information of the interlocking mechanisms 200 of the adjacent bodies 100 in real time. The controller accurately controls the flipping motor 213 and the rotating motor 233 according to the information, thereby realizing automatic docking and separation of the interlocking mechanism 200 and improving work efficiency and accuracy.

[0028] It is worth noting that the industrial vision camera, controller, flip motor 213 and rotating motor 233 involved in the present invention are all existing conventional technologies and will not be described in detail in this new invention.

[0029] When the intelligent warehouse handling robot linkage device based on industrial vision technology of this embodiment is in use, first, the industrial vision camera identifies the position of the interlocking mechanism 200 of the adjacent body 100 and transmits the data to the controller; then, the controller drives the flip motor 213 to rotate the flip seat 210 around the convex shaft 212 to the horizontal docking position; then, the rotating motor 233 drives the gear 232 to rotate 90°, and through the cooperation of the shift rod 232a and the shift groove 221c, the locking block 221 moves outward along the guide rod 222, the spring 223 is compressed, and the locking assembly 220 is in the unlocked state; then, the robot moves to insert the locking cone 211 into the locking groove 221a of the adjacent body 100; finally, the rotating motor 233 is reversed 90°, the spring 223 is reset to push the locking block 221 to move inward, and the locking cone 211 is tightly clamped in the locking groove 221a, completing the interlocking of the adjacent bodies 100 and realizing multi-machine collaborative handling operations.

[0030] The above shows and describes the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The above embodiments and descriptions are merely preferred examples of the present invention and are not intended to limit the present invention. Various changes and improvements may be made to the present invention without departing from the spirit and scope of the present invention. Such changes and improvements fall within the scope of the present invention. The scope of protection claimed in the present invention is defined by the appended claims and their equivalents.

Claims

1. An intelligent storage and handling robot linkage device based on industrial vision technology, comprising a body (100), characterized in that: The outer end surfaces of the four sides of the body (100) are all equipped with a chain mechanism (200), the chain mechanism (200) is used to connect two adjacent bodies (100), and the chain mechanism (200) includes a flip seat (210) rotatably connected to the body (100), a locking assembly (220) installed in the flip seat (210), and an unlocking assembly (230) arranged below the locking assembly (220) and used to unlock the locking assembly (220); The rear end surface of the flip seat (210) is in an arc shape, a locking cone (211) is fixed to the front end surface of the flip seat (210), a movable groove (210a) for installing a locking component (220) is provided on the top end surface of the flip seat (210), and a bottom groove (210c) for installing an unlocking component (230) is provided on the bottom end surface of the flip seat (210), and the movable groove (210a) and the bottom groove (210c) are vertically connected; The locking assembly (220) includes a pair of locking blocks (221) that move in opposite directions laterally in the movable groove (210a), a plurality of guide rods (222) that pass through the two locking blocks (221) laterally, and a pair of springs (223) that respectively abut against the outer end surfaces of the two locking blocks (221). A vertical shifting groove (221c) is provided at the bottom end of the locking block (221); The unlocking assembly (230) includes a base plate (231) fixed in the bottom groove (210c), two gears (232) rotatably connected to the top of the base plate (231) and in meshing shape, and a rotating motor (233) coaxially connected to one of the gears (232), a shifting rod (232a) is fixed on the top surface of the gear (232), and the shifting rod (232a) extends into the shifting groove (221c); Industrial visual cameras are installed at the top positions of the four sides of the body (100), and the industrial visual cameras are used to identify the positions of the interlocking mechanisms (200) of adjacent bodies (100). A controller is provided in the body (100), and the industrial visual cameras are in communication with the controller. The controller controls the actions of the flip motor (213) and the rotation motor (233) based on image data collected by the cameras.

2. The intelligent warehouse handling robot linkage device based on industrial vision technology according to claim 1 is characterized in that: The body (100) is provided with a rotation groove (110) on all four sides of the surface. The front end surface and the bottom end surface of the rotation groove (110) are both open. The left and right ends of the flip seat (210) are provided with a convex shaft (212). The convex shaft (212) is inserted into the inner wall of the rotation groove (110) and is rotatably connected to the body (100).

3. The intelligent warehouse handling robot linkage device based on industrial vision technology according to claim 2 is characterized in that: The body (100) is provided with mounting cavities (120) on all four sides of the surface. A turning motor (213) is installed in the mounting cavity (120). The output shaft end of the mounting cavity (120) is coaxially connected to the convex shaft (212).

4. The intelligent warehouse handling robot linkage device based on industrial vision technology according to claim 3 is characterized by: A cover plate (121) is installed at the cavity opening of the installation cavity (120), and the cover plate (121) shields the flip motor (213) within the installation cavity (120).

5. The intelligent warehouse handling robot linkage device based on industrial vision technology according to claim 1 is characterized in that: A groove (210b) is provided on the side wall of the movable groove (210a), and the tail end of the spring (223) is inserted into the groove (210b) and abuts against the bottom of the groove (210b).

6. The intelligent warehouse handling robot linkage device based on industrial vision technology according to claim 1 is characterized in that: The locking cone (211) has a vertebral structure that is smaller at the front and larger at the back. A connecting rod (211a) is provided at the rear end of the locking cone (211), and the rear end of the connecting rod (211a) is fixedly connected to the front end surface of the flip seat (210).

7. The intelligent warehouse handling robot linkage device based on industrial vision technology according to claim 1 is characterized in that: A locking groove (221a) is provided at the inner end surface of the locking block (221), and the cross section of the locking groove (221a) is semicircular. A guide hole (221b) is provided between the locking groove (221a) and the top surface of the locking block (221), and the guide hole (221b) is a conical half-hole structure. When the inner end surfaces of the two locking blocks (221) are fitted together, the locking cone (211) on the other body (100) will be hung in the locking groove (221a).

8. The intelligent warehouse handling robot linkage device based on industrial vision technology according to claim 1 is characterized in that: A concave cavity (221d) is provided on the outer end surface of the locking block (221), and the head end of the spring (223) is inserted into the concave cavity (221d) and abuts against the bottom of the concave cavity (221d).

9. The intelligent warehouse handling robot linkage device based on industrial vision technology according to claim 1 is characterized in that: The guide rod (222) is transversely fixed in the movable groove (210a), and the locking block (221) moves transversely along the guide rod (222) under the guidance of the guide rod (222).

10. The intelligent warehouse handling robot linkage device based on industrial vision technology according to claim 1 is characterized in that: The two gears (232) are symmetrical on the top of the base plate (231). When the two shifting rods (232a) on the two gears (232) rotate to the nearest end position along with the gears (232), the inner end faces of the two locking blocks (221) fit together. When the gear (232) rotates 90°, the gear (232) shifts the locking block (221) through the shifting rod (232a), so that the locking block (221) moves along the guide rod (222) and abuts against the groove wall of the movable groove (210a).

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