Transferring and carrying robot

Abstract

The transferring and carrying robot comprises a movable chassis and an objective table, and a gear motor used for driving the objective table to rotate is arranged in the movable chassis; the object carrying table drives the object carrying box at the upper end of the object carrying table to turn over by a certain angle through the turnover mechanism so that unloading of goods in the object carrying box can be achieved. Anti-collision beams are arranged at the front end and the rear end of the movable chassis, reset assemblies are arranged at the joints of the movable chassis and the anti-collision beams, and reset of the anti-collision beams after collision is achieved through the reset assemblies. The transferring and carrying robot is driven by the gear motor and has the advantages of being low in manufacturing cost, high in safety, reliable in performance, good in flexibility and high in automation degree. And meanwhile, the problems of high factory transportation cost and low working efficiency can be effectively solved. The robot carries a control system of a microprocessor based on an ARM architecture, runs an Arm-Linux operating system to achieve a control function, is good in stability, easy to expand and low in cost, and reduces the manufacturing cost of an existing transfer robot.

Description

Technical Field

[0001] This invention relates to the field of industrial machinery technology, and in particular to a transfer and handling robot suitable for intelligent logistics systems and capable of performing automatic handling, intelligent sorting and other operations. Background Technology

[0002] Transfer and handling robots integrate multiple disciplines such as mechanical engineering, electronic engineering, computer science, artificial intelligence, sensor technology, information processing, and control theory. They are highly efficient robotic devices that achieve automated handling operations by relying on their own power sources and intelligent control systems. Transfer and handling robots can operate according to human instructions or run autonomously according to pre-set programs, completing various complex tasks such as handling, sorting, and assembly in two-dimensional or three-dimensional space.

[0003] In recent years, with the rapid development of the logistics industry, transfer and handling robots have become key technological equipment for improving logistics efficiency, ensuring operational accuracy, and optimizing the working environment globally. Currently, my country is in a critical period of transformation from traditional manufacturing to intelligent manufacturing, and logistics methods will inevitably undergo mechanization, automation, and intelligentization. Logistics services will develop towards high efficiency, intelligence, and low cost. At present, the logistics industry generally needs technological upgrades and equipment transformation to improve service quality and market competitiveness. Therefore, the transfer and handling robot industry currently has huge development potential and a broad market prospect. A systematic understanding of the technological development trends of transfer and handling robots can effectively drive a leapfrog improvement in the level of logistics automation.

[0004] However, currently, the functions of transfer and handling robots are still mainly focused on transportation, and their adaptability and flexibility in certain special environments need to be improved. In the technological iteration of transfer and handling robots, the introduction of self-unloading functionality has become an important direction for overcoming the limitations of traditional transportation modes. Self-unloading, through the integration of hydraulic systems and intelligent unloading devices, enables transfer and handling robots to automatically unload goods after transportation, significantly reducing manual intervention and improving the overall automation level, which is of great significance for promoting the automation of logistics in my country.

[0005] Therefore, based on the above-mentioned technical problems, those skilled in the art urgently need to develop a transfer and handling robot. Summary of the Invention

[0006] The purpose of this invention is to provide a transfer and handling robot. This device is driven by a geared motor and has the advantages of low manufacturing cost, high safety, reliable performance, good flexibility, and high automation. At the same time, it can effectively improve the problems of high transportation costs and low work efficiency in factories. The robot is equipped with a control system based on an ARM architecture microprocessor and runs the Arm-Linux operating system to realize control functions. It has good stability, is easy to expand, and has low cost, thus reducing the manufacturing cost of existing handling robots.

[0007] To achieve the above objectives, the present invention provides the following technical solution:

[0008] The present invention provides a transfer and handling robot, the robot comprising:

[0009] Mobile chassis; and

[0010] A platform integrated into the mobile chassis, wherein the mobile chassis has a geared motor for driving the platform to rotate;

[0011] The platform is driven by a flipping mechanism to flip the cargo box at its upper end at a certain angle so as to unload the goods inside the cargo box.

[0012] The mobile chassis is used for the movement of the robot, and anti-collision beams are provided at both the front and rear ends of the mobile chassis. A reset component is provided at the connection between the mobile chassis and the anti-collision beams so as to reset the anti-collision beams after impact.

[0013] The front and rear ends of the mobile chassis are each equipped with several mobile chassis photoelectric switches, which are used to detect whether there are obstacles in the robot's forward and backward directions.

[0014] The reset assembly is equipped with a limit switch. After the anti-collision beam impacts and moves, it contacts the limit switch to control the mobile chassis to stop moving.

[0015] Furthermore, the mobile chassis includes:

[0016] Mobile chassis shell;

[0017] A wheel assembly integrated into the housing of the mobile chassis, through which the mobile chassis moves and steers;

[0018] Magnetic sensors are integrated in the middle area of ​​the inner side of the front and rear ends of the mobile chassis shell. The magnetic sensors are used to detect the position information of the magnetic strip and communicate with the Arm-Linux control system. The Arm-Linux control system controls the movement of the mobile chassis according to the deviation from the center of the magnetic strip.

[0019] Furthermore, the walking wheel assembly is divided into omnidirectional wheels and drive wheels;

[0020] The casters are integrated into the bottom of the mobile chassis housing by a caster bracket that is welded and fixed inside the mobile chassis housing.

[0021] The drive wheel is integrated into the bottom of the mobile chassis housing by a drive wheel bracket that is welded and fixed inside the housing.

[0022] Furthermore, a battery box is fixed inside the outer shell of the mobile chassis, and the battery box integrates a battery that provides power to the robot.

[0023] Furthermore, the reset assembly includes a spring box fixed to the outer shell of the mobile chassis and located near both ends of the anti-collision beam, and the limit switch is disposed inside the spring box;

[0024] The anti-collision beam has a positioning pin at the position where it mates with the spring box, and the positioning pin passes through the outer shell of the movable chassis and extends partially into the corresponding spring box. A compression spring is sleeved on the positioning pin, and the compression spring is located between the anti-collision beam and the outer shell of the movable chassis.

[0025] The end of the positioning pin has a retaining ring groove, and a retaining ring is installed in the retaining ring groove;

[0026] After impact, the anti-collision beam can move towards the inside of the mobile chassis housing. After the anti-collision beam moves, the positioning pin contacts the limit switch in the spring box to control the robot to stop moving through the control connection of the limit switch and the control system.

[0027] Furthermore, the stage includes:

[0028] A geared motor is fixed inside the housing of the mobile chassis, and the drive end of the geared motor is rotatably connected to the housing of the mobile chassis via a cross roller bearing. The drive end of the geared motor is interference-fitted with the inner ring of the cross roller bearing, and the outer ring of the cross roller bearing is fixedly connected to the housing of the mobile chassis.

[0029] A flange that is bolted to the inner ring of the crossed roller bearing and is capable of rotating with the inner ring of the crossed roller bearing;

[0030] The upper end of the flange is bolted to a rotating platform for carrying goods, and the rotating platform for carrying goods rotates synchronously with the flange.

[0031] The rotating platform is connected to the cargo box at the top of the platform via a flipping mechanism, so that the cargo box can be flipped at a certain angle by the flipping mechanism.

[0032] Furthermore, the flipping mechanism includes:

[0033] A support rod, the lower end of which is connected to the center of the rotating platform, and the upper end of which is hinged to the support rod connecting piece at the bottom of the cargo box via a shaft;

[0034] Hydraulic push rods and electric push rods are respectively arranged at the bottom of the front end and the bottom of the rear end of the cargo box. The body of the hydraulic push rod is fixedly connected to the cargo rotating frustum, and the drive end of the hydraulic push rod is hinged to the cargo box through a universal joint. The body of the electric push rod is fixedly connected to the cargo rotating frustum, and the drive end of the electric push rod is hinged to the cargo box through a universal joint.

[0035] The tilt angle of the cargo box can be adjusted by controlling the extension and retraction of the drive ends of the electric push rod and the hydraulic push rod.

[0036] Furthermore, a cargo box baffle is movably connected to the front end of the cargo box, and the cargo box baffle can be opened by tilting and flipping the cargo box.

[0037] The front sides of the cargo box are integrated with cargo box photoelectric switches, and the cargo box photoelectric switches work together with the photoelectric switches of the loading platform of the logistics system to determine whether the cargo box is in place.

[0038] Furthermore, the tilting angle of the cargo box driven by the flipping mechanism is in the range of 0° to 45°; the rotation angle of the cargo rotary table driven by the geared motor is in the range of 0° to 360°.

[0039] The transfer and handling robot provided by the present invention, as described above, has the following beneficial effects:

[0040] The transfer and handling robot of this invention is driven by a geared motor, and has the advantages of low manufacturing cost, high safety, reliable performance, good flexibility, and high automation. At the same time, it can effectively improve the problems of high transportation costs and low work efficiency in factories. The robot is equipped with a control system based on an ARM architecture microprocessor and runs the Arm-Linux operating system to realize control functions. It has good stability, is easy to expand, and has low cost, reducing the manufacturing cost of existing handling robots. Attached Figure Description

[0041] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in this invention. For those skilled in the art, other drawings can be obtained based on these drawings.

[0042] Figure 1This is a schematic diagram of the structure of a transfer and handling robot provided in an embodiment of the present invention;

[0043] Figure 2 This is a schematic diagram of the structure of a mobile chassis for a transfer and handling robot provided in an embodiment of the present invention;

[0044] Figure 3 This is a schematic diagram of the anti-collision beam of a transfer and handling robot provided in an embodiment of the present invention;

[0045] Figure 4 This is a schematic diagram of the drive wheel bracket of a transfer and handling robot provided in an embodiment of the present invention;

[0046] Figure 5 This is a schematic diagram of the structure of a universal wheel bracket for a transfer and handling robot provided in an embodiment of the present invention;

[0047] Figure 6 An enlarged view of a limit switch inside a spring box of a transfer and handling robot provided in an embodiment of the present invention;

[0048] Figure 7 This is a schematic diagram of the platform and flipping mechanism of a transfer and handling robot provided in an embodiment of the present invention.

[0049] Figure 8 This is a block diagram illustrating the control system principle of a transfer and handling robot provided in an embodiment of the present invention.

[0050] Explanation of reference numerals in the attached figures:

[0051] 1. Mobile chassis; 2. Platform; 3. Tilting mechanism;

[0052] 101. Mobile chassis housing; 102. Anti-collision beam; 103. Magnetic sensor; 104. Mobile chassis photoelectric switch; 105. Drive wheel; 106. Caster wheel; 107. Drive wheel bracket; 108. Caster wheel bracket; 109. Spring box; 110. Battery box; 111. Battery;

[0053] 10201, Locating pin; 10202, Compression spring; 10203, Snap ring groove;

[0054] 10901, Limit switch;

[0055] 201. Cargo box; 202. Gear motor; 203. Crossed roller bearing; 204. Flange; 205. Cargo rotary table;

[0056] 20101, Cargo box baffle; 20102, Cargo box photoelectric switch;

[0057] 301. Support rod; 302. Electric push rod; 303. Hydraulic push rod; 304. Support rod connecting piece; 305. Shaft; 306. Universal joint. Detailed Implementation

[0058] To enable those skilled in the art to better understand the technical solution of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings.

[0059] See Figures 1 to 7 As shown;

[0060] This embodiment discloses a transfer and handling robot, which includes a mobile chassis 1 and a platform 2 integrated into the mobile chassis 1. The mobile chassis 1 has a geared motor 202 for driving the platform 2 to rotate. In this embodiment, the platform 2 drives the upper cargo box 201 to rotate at a certain angle through a flipping mechanism 3 to unload the goods in the cargo box 201.

[0061] The mobile chassis 1 is used for the movement of the robot, and anti-collision beams 102 are provided at both the front and rear ends of the mobile chassis 1. A reset component is provided at the connection between the mobile chassis 1 and the anti-collision beams 102 so as to reset the anti-collision beams 102 after impact.

[0062] Several mobile chassis photoelectric switches 104 are provided at the front and rear ends of the mobile chassis 1, and the mobile chassis photoelectric switches 104 are used to detect whether there are obstacles in the robot's forward and backward directions;

[0063] The reset assembly is equipped with a limit switch 10901. After the anti-collision beam 102 impacts and moves, it contacts the limit switch 10901 to control the mobile chassis 1 to stop moving.

[0064] In this embodiment, the signals from the photoelectric switch 104 on the mobile chassis and the limit switch 10901 set in the reset component are acquired by the STM32F103C8T6 microcontroller and transmitted to the Arm-linux system via TTL-TTL serial communication for obstacle and collision detection.

[0065] Specifically, this embodiment discloses a transfer and handling robot suitable for intelligent logistics systems, which mainly includes a mobile base 1 and a loading platform 2. The mobile base 1 serves as the main mechanism for the robot's movement, turning, and the turning of the loading platform 3 above it. The loading platform 3 can receive goods and transport them to a designated location for unloading. In this embodiment, anti-collision beams 102 are provided at both the front and rear ends of the mobile chassis 2. At the same time, a certain number of mobile chassis photoelectric switches 104 are configured at both the front and rear ends to detect whether there are obstacles in the robot's forward and backward directions. The anti-collision beams 102 serve as the protective structure of the device and are integrated into the front and rear ends of the mobile chassis 1 through a movable connection. A reset component is designed for the anti-collision beams 102. A stop command is triggered by the limit switch 10901 inside the reset component when the anti-collision beams 102 come into contact with an object. After moving away from the impact object, the anti-collision beams 102 can be reset by the reset component.

[0066] See Figure 2 As shown, preferably, the mobile chassis 1 in this embodiment includes a mobile chassis housing 101;

[0067] The mobile chassis 1 is equipped with a wheel assembly integrated into the housing 101 of the mobile chassis, through which the mobile chassis 1 moves and steers;

[0068] Magnetic sensors 103 are integrated in the middle area of ​​the inner side of the front and rear ends of the mobile chassis housing 101. The magnetic sensors 103 are used to detect the position information of the magnetic strip and communicate with the Arm-Linux control system. The Arm-Linux control system controls the movement of the mobile chassis 1 according to the deviation from the center of the magnetic strip.

[0069] First, this embodiment further defines the principle of the walking mechanism of the mobile chassis 1. The walking wheel assembly is mainly used for the movement and steering of the robot. At the same time, based on the Arm-Linux control system on the robot in this embodiment and the magnetic sensor 103 inside the mobile chassis shell 101, the magnetic sensor 103 communicates with the control system. Based on this principle, the control system can control the robot's movement direction.

[0070] More preferably, the walking wheel assembly in this embodiment is divided into omnidirectional wheels 106 and drive wheels 105. First, the walking wheel assembly in this embodiment needs to meet the requirements of movement and steering. Therefore, the walking wheel assembly in this embodiment is divided into omnidirectional wheels 106 and drive wheels 105. Specifically, the omnidirectional wheels 106 are integrated into the lower part of the front end of the mobile chassis housing 101, and the drive wheels 105 are integrated into the lower part of the rear end of the mobile chassis housing 101. With this design, the drive wheels 105 can be driven to rotate by the DC brushless motor integrated in the drive wheels to serve as the power source for movement, while the omnidirectional wheels 106 can rotate to achieve the robot's steering.

[0071] The specific installation structure is as follows:

[0072] The caster wheel 106 is integrated into the bottom of the mobile chassis housing 101 by being welded and fixed to the caster wheel bracket 108 inside the mobile chassis housing 101; see also Figure 5 As shown, the universal wheel bracket 108 in this embodiment is configured such that one end is fixedly mounted to the mobile chassis housing 101, and the other end is raised. The raised part integrates the universal wheel 106, while the part mounted to the mobile chassis housing 101 can be used to avoid the photoelectric switch at the corresponding position.

[0073] The drive wheel 105 is integrated into the bottom of the mobile chassis housing 101 by welding and fixing it to the drive wheel bracket 107 inside the mobile chassis housing 101. See also Figure 4 As shown, the drive wheel brackets 107 in this embodiment adopt a paired structure, that is, each drive wheel 105 is equipped with two drive wheel brackets 107. The drive wheel bracket 107 has an overall L-shaped structure, one end of which is assembled and fixed to the mobile chassis housing 101, and the other end is engaged with the axle of the drive wheel 105 through the axle groove. The drive wheel 105 is driven by a DC brushless motor driver, and the drive signal is provided by the Arm-linux control system. The signal is isolated and transmitted through an RS232 isolation module to improve the stability of the drive signal.

[0074] See Figure 2 As shown, preferably, a battery box 110 is fixed inside the mobile chassis shell 101 of this embodiment, and a battery 111 is integrated inside the battery box 110, which provides power to the robot.

[0075] See Figure 2 , Figure 3 and Figure 6 As shown, as a key design feature of this application, the reset assembly of this embodiment includes a spring box 109 fixed to the movable chassis housing 101 and located near both ends of the anti-collision beam 102. A limit switch 10901 is disposed inside the spring box 109. In order to cooperate with the spring box 109 and the movable chassis housing 101, the anti-collision beam 102 of this embodiment has a positioning pin 10201 at the position where it cooperates with the spring box 109. The positioning pin 10201 passes through the movable chassis housing 101 and extends partially into the corresponding spring box 109. A compression spring 10202 is sleeved on the positioning pin 10201, and the compression spring 10202 is located between the anti-collision beam 102 and the movable chassis housing 101. In addition, the end of the positioning pin 10201 has a retaining spring groove 10203, and a retaining spring is installed in the retaining spring groove 10203.

[0076] Based on the cooperative structure of the anti-collision beam 102 and the mobile chassis shell 101, when the anti-collision beam 102 is impacted, it can move towards the inside of the mobile chassis shell 101. After the anti-collision beam 102 moves, the positioning pin 10201 contacts the limit switch 10901 in the spring box 109 so as to control the robot to stop moving through the control connection between the limit switch 10901 and the control system.

[0077] In this embodiment, the anti-collision beams 102 are respectively arranged at the front and rear ends of the mobile chassis 1, and are mainly used for protection when the robot moves forward and backward. In this embodiment, the anti-collision beam 102 and the mobile chassis 1 are connected in a movable manner. A spring box 109 is designed at the position where the positioning pin 10201 of the mobile chassis shell 101 and the anti-collision beam 102 cooperate. The spring box 109 is set inside the spring box 109, which is connected to the control system communication connection. The anti-collision beam 102 is connected to the mobile chassis shell 101 and the spring box 109 through the positioning pins 10201 at both ends. A compression spring 10202 is sleeved on the outside of the positioning pin 10201, so that the compression spring 10202 is isolated between the anti-collision beam 102 and the outer wall of the mobile chassis shell 101. When the anti-collision beam 102 hits an object, the anti-collision beam 102 will move towards the inside of the mobile chassis shell 101. After moving, it will contact the corresponding limit switch 10901 through the positioning pin 10201, thereby triggering a stop command. When the control system drives the robot to turn, the anti-collision beam 102 can be reset by the spring force of the compression spring 10202 after it leaves the obstacle.

[0078] See Figure 7 As shown, the platform 2 in this embodiment includes a geared motor 202, which is fixed inside the movable chassis housing 101. The drive end of the geared motor 202 is rotatably connected to the movable chassis housing 101 through a cross roller bearing 203. The drive end of the geared motor 202 is interference-fitted with the inner ring of the cross roller bearing 203, and the outer ring of the cross roller bearing 203 is fixedly connected to the movable chassis housing 101.

[0079] In addition, the platform 2 in this embodiment also has a flange 204 that is bolted to the inner ring of the crossed roller bearing 203 and can rotate with the inner ring of the crossed roller bearing 203; wherein, the upper end of the flange 204 is bolted to a rotating platform 205, and the rotating platform 205 rotates synchronously with the flange 204; at the same time, the rotating platform 205 in this embodiment is connected to the loading box 201 at the upper end of the platform 2 through a flipping mechanism 3, so that the loading box 201 can be flipped by a certain angle through the flipping mechanism 3.

[0080] First, this embodiment further discloses the main components of the platform 2. Its bottom is a geared motor 202, which is mounted and fixed inside the movable chassis housing 101. At the same time, the drive end of the geared motor 202 extends to the surface of the movable chassis housing 101 and is connected by the aforementioned crossed roller bearing 203, as described above. The inner ring of the crossed roller bearing 203 is bolted to the flange 204, and the flange 204 is bolted to the loading rotary table 205. The loading rotary table 205 integrates the uppermost loading box 201 through the flipping mechanism 3. With this design, the flange 204, the loading rotary table 205, and the loading box 201 can be driven to rotate synchronously by the geared motor 202.

[0081] In addition, as a flipping component of the cargo box 201, the flipping mechanism 3 of this embodiment can drive the cargo box 201 to flip at a certain angle according to the unloading angle requirements, thereby achieving the unloading requirements. Specifically, the flipping mechanism 3 of this embodiment includes a support rod 301, wherein the lower end of the support rod 301 is connected to the center position of the cargo rotating frustum 205, and the upper end of the support rod 301 is hinged to the support rod connecting piece 304 at the bottom of the cargo box 201 via a shaft 305; and includes components respectively arranged at the bottom front end of the cargo box 201 and The hydraulic push rod 303 and electric push rod 302 are located at the bottom of the rear end. The body of the hydraulic push rod 303 is fixedly connected to the rotating frustum 205, and the drive end of the hydraulic push rod 303 is hinged to the cargo box 201 through a universal joint 306. The body of the electric push rod 302 is fixedly connected to the rotating frustum 205, and the drive end of the electric push rod 302 is hinged to the cargo box 201 through a universal joint 306. In this embodiment, the flipping mechanism 3 adjusts the tilt angle of the cargo box 201 by controlling the extension and retraction of the drive ends of the electric push rod 302 and the hydraulic push rod 303.

[0082] In addition, in this embodiment, the front end of the cargo box 201 is movably connected to a cargo box baffle 20101, which can be opened by tilting and flipping the cargo box 201; at the same time, cargo box photoelectric switches 20102 are integrated on both sides of the front end of the cargo box 201, and the cargo box photoelectric switches 20102 work in conjunction with the photoelectric switches of the loading platform of the logistics system to determine whether the cargo box 201 is in place.

[0083] During operation, pressing the power switch powers on the Arm-Linux control system. The magnetic sensor 103, located within the mobile chassis 1, detects the position information of the magnetic strip. Based on the deviation from the center of the magnetic strip, the mobile chassis 1 is controlled to achieve correction control. When the Arm-Linux control system receives the magnetic sensor 103 sensing the magnetic guide stop line, the mobile chassis 1 reaches the loading platform. The Arm-Linux control system controls the geared motor 202 to work and drives the rotating platform 205 to rotate 90° forward. After detecting that the photoelectric switch 20102 of the loading box and the photoelectric switch of the loading platform are aligned, the geared motor 202 stops rotating. At the same time, the electric push rod 302 extends and the hydraulic push rod 303 retracts. At this time, the loading box 201 tilts and opens the loading box baffle 20101. In this state, the outlet of the loading box 201 is aligned with the material receiving slot of the loading platform, automatically completing the material dumping and thus achieving automatic feeding. After the material is loaded, the electric push rod 302 retracts and the hydraulic push rod 303 extends, keeping the heights of the electric push rod 302, the hydraulic push rod 303 and the support rod 301 the same. At this time, the reduction motor 202 rotates 90° in the opposite direction again, and the moving chassis 1 moves along the magnetic strip to the material starting point, waiting for the next loading and unloading task. This process is repeated to complete the purpose of material transportation, automatic unloading and loading.

[0084] Preferably, in this embodiment, the tilting angle range of the cargo box 201 driven by the flipping mechanism 3 is 0°~45°; the rotation angle range of the cargo rotating platform 205 driven by the reduction motor 202 is 0°~360°.

[0085] See Figure 8 In this embodiment, the transfer robot is powered by a 36V battery. The Arm-Linux control system is powered by 12V, the STM32F103C8T6 microcontroller by 3.3V, and the drive wheels by 24V. The 12V and 24V are obtained from the 36V through DC-DC conversion, and the 3.3V is obtained from the 12V through 5V and 3.3V transformer chips. To avoid signal interference, isolation grounding measures are implemented between the power supplies. The ground for the 36V battery power supply system is GND0, the ground for the 24V power supply system is GND2, and the grounds for the 12V, 5V, and 3.3V power supply systems are GND1. GND0, GND1, and GND2 are isolated. The remaining power of the 36V battery is obtained, and the 36V is transmitted to the Arm-Linux control system via a voltage divider resistor and an HCN201 isolation chip, where it is also acquired by an A / D interface to inform the transfer robot to recharge in a timely manner.

[0086] The transfer and handling robot provided by the present invention, as described above, has the following beneficial effects:

[0087] The transfer and handling robot of this invention is driven by a geared motor, and has the advantages of low manufacturing cost, high safety, reliable performance, good flexibility, and high automation. At the same time, it can effectively improve the problems of high transportation costs and low work efficiency in factories. The robot is equipped with a control system based on an ARM architecture microprocessor and runs the Arm-Linux operating system to realize control functions. It has good stability, is easy to expand, and has low cost, reducing the manufacturing cost of existing handling robots.

[0088] The transfer and handling robot of this invention improves the automation level and operational flexibility of the entire system, reduces the loss of human resources caused by traditional handling equipment, reduces dependence on the environment, and the core controller adopts an ARM architecture microprocessor and runs an Arm-Linux control system to realize control functions. Through an efficient communication interface, it realizes the coordinated control between the mobile chassis and the automatic unloading hopper, which enhances the stability and reliability of the system.

[0089] Compared to existing automated guided vehicle (AGV) systems, the transfer and handling robot of this invention significantly reduces costs while maintaining high operational efficiency. The core controller, by receiving operational commands, can not only perform automatic path planning and navigation of the mobile chassis 1, but also precisely control the rotation of the automatic unloading hopper to complete complex handling and unloading tasks. Therefore, this robot possesses broad adaptability and high operational flexibility, meeting diverse industrial automation needs and significantly improving production efficiency and economic benefits.

[0090] The foregoing has only described certain exemplary embodiments of the present invention by way of illustration. Undoubtedly, those skilled in the art can modify the described embodiments in various ways without departing from the spirit and scope of the present invention. Therefore, the foregoing drawings and descriptions are illustrative in nature and should not be construed as limiting the scope of protection of the claims of the present invention.

Claims

1. A transfer and handling robot, characterized in that, The robot includes: Mobile chassis (1); and A platform (2) is integrated into the mobile chassis (1), and the mobile chassis (1) has a geared motor (202) for driving the platform (2) to rotate. The platform (2) drives the upper cargo box (201) to rotate at a certain angle through the flipping mechanism (3) to unload the goods in the cargo box (201); The mobile chassis (1) is used for the movement of the robot, and anti-collision beams (102) are provided at both the front and rear ends of the mobile chassis (1), and a reset component is provided at the connection between the mobile chassis (1) and the anti-collision beams (102) so as to realize the reset of the anti-collision beams (102) after impact through the reset component. The front and rear ends of the mobile chassis (1) are each provided with a number of mobile chassis photoelectric switches (104), and the mobile chassis photoelectric switches (104) detect whether there are obstacles in the robot's forward and backward directions; The reset assembly is equipped with a limit switch (10901). After the anti-collision beam (102) impacts and moves, it contacts the limit switch (10901) to control the mobile chassis (1) to stop moving.

2. The transfer and handling robot according to claim 1, characterized in that, The mobile chassis (1) includes: Mobile chassis housing (101); A wheel assembly is integrated into the housing (101) of the mobile chassis, through which the mobile chassis (1) moves and turns; The front and rear inner middle areas of the mobile chassis housing (101) are each equipped with a magnetic sensor (103). The magnetic sensor (103) is used to detect the position information of the magnetic strip and communicate with the Arm-Linux control system. The Arm-Linux control system controls the movement of the mobile chassis (1) according to the deviation from the center of the magnetic strip.

3. A transfer and handling robot according to claim 2, characterized in that, The walking wheel assembly is divided into a universal wheel (106) and a drive wheel (105). The caster wheel (106) is integrated into the bottom of the mobile chassis housing (101) by a caster wheel bracket (108) that is welded and fixed inside the mobile chassis housing (101); The drive wheel (105) is integrated into the bottom of the mobile chassis housing (101) by a drive wheel bracket (107) that is welded and fixed inside the mobile chassis housing (101).

4. A transfer and handling robot according to claim 2, characterized in that, The mobile chassis housing (101) has a battery box (110) fixed inside, and the battery box (110) integrates a battery (111) that provides power to the robot.

5. A transfer and handling robot according to claim 2, characterized in that, The reset assembly includes a spring box (109) fixed to the outer shell of the mobile chassis (101) and located near both ends of the anti-collision beam (102), and the limit switch (10901) is disposed inside the spring box (109); The anti-collision beam (102) has a positioning pin (10201) at the position where it mates with the spring box (109), and the positioning pin (10201) passes through the mobile chassis shell (101) and extends partially into the corresponding spring box (109). A compression spring (10202) is sleeved on the positioning pin (10201), and the compression spring (10202) is located between the anti-collision beam (102) and the mobile chassis shell (101). The end of the positioning pin (10201) has a retaining ring groove (10203), and a retaining ring is installed in the retaining ring groove (10203); After impact, the anti-collision beam (102) can move toward the inside of the mobile chassis shell (101). After the anti-collision beam (102) moves, the positioning pin (10201) contacts the limit switch (10901) in the spring box (109) to control the robot to stop moving through the control connection of the limit switch (10901) and the control system.

6. A transfer and handling robot according to claim 2, characterized in that, The stage (2) includes: A geared motor (202) is fixed inside the mobile chassis housing (101), and the drive end of the geared motor (202) is rotatably connected to the mobile chassis housing (101) through a cross roller bearing (203). The drive end of the geared motor (202) is interference-fitted with the inner ring of the cross roller bearing (203), and the outer ring of the cross roller bearing (203) is fixedly connected to the mobile chassis housing (101). A flange (204) is bolted to the inner ring of the crossed roller bearing (203) and is capable of rotating with the inner ring of the crossed roller bearing (203). The upper end of the flange (204) is bolted to a rotating platform (205) for carrying a load, and the rotating platform (205) rotates synchronously with the flange. The rotating platform (205) is connected to the cargo box (201) at the upper end of the platform (2) via a flipping mechanism (3) so that the cargo box (201) can be flipped by the flipping mechanism (3) at a certain angle.

7. A transfer and handling robot according to claim 6, characterized in that, The flipping mechanism (3) includes: The lower end of the support rod (301) is connected to the center of the rotating platform (205), and the upper end of the support rod (301) is hinged to the support rod connecting piece (304) at the bottom of the cargo box (201) via a shaft. Hydraulic push rods (303) and electric push rods (302) are respectively arranged at the bottom of the front end and the bottom of the rear end of the cargo box (201). The body of the hydraulic push rod (303) is fixedly connected to the cargo rotating frustum (205), and the driving end of the hydraulic push rod (303) is hinged to the cargo box (201) through a universal joint (306). The body of the electric push rod (302) is fixedly connected to the cargo rotating frustum (205), and the driving end of the electric push rod (302) is hinged to the cargo box (201) through a universal joint (306). The tilt angle of the cargo box (201) is adjusted by controlling the extension and retraction of the drive ends of the electric push rod (302) and the hydraulic push rod (303).

8. A transfer and handling robot according to claim 7, characterized in that, The front end of the cargo box (201) is movably connected to a cargo box baffle (20101), which can be opened by tilting and flipping the cargo box (201). The front sides of the cargo box (201) are integrated with cargo box photoelectric switches (20102), and the cargo box photoelectric switches (20102) work together with the photoelectric switches of the loading platform of the logistics system to determine whether the cargo box (201) is in place.

9. A transfer and handling robot according to claim 7, characterized in that, The tilting angle of the cargo box (201) driven by the flipping mechanism (3) is 0°~45°; the rotation angle of the cargo rotating platform (205) driven by the geared motor (202) is 0°~360°.

Images