Transfer robot

Abstract

The invention provides a transfer robot and relates to the field of transfer robot equipment.The transfer robot comprises a protective shell, and driving rollers used for enabling the protective shell to move are arranged at the four corners of the bottom of the protective shell correspondingly. The position of the vehicle body is adjusted through the sensing assembly according to the identified forking holes of the matts-shaped trays, so that the material taking fork frame is aligned with the forking holes of the matts-shaped trays, the matts-shaped trays can be directly carried, a large number of customized goods shelves do not need to be prepared, and the sensing assembly is used for positioning and ranging. And when the protective shell moves forwards, the material taking fork frame is inserted into a taking hole of the matts-shaped fork, the material taking fork frame is lifted to move backwards to complete arm folding, and the matts-shaped tray is placed above the brake shell, so that the matts-shaped tray is convenient to transport.

Description

Technical Field

[0001] This invention relates to the field of handling robot equipment, and more particularly to handling robots. Background Technology

[0002] With the continuous advancement of artificial intelligence and sensing technologies, the technology of material handling robots is constantly improving. The increasing demand for automation in industries such as manufacturing and logistics has created a vast market for these robots. Material handling robots need to operate in various complex environments. Due to rising labor costs and the demands of modern logistics management, replacing manually driven forklifts with various types of material handling robots has become a new trend in technological development. Overall, the future development of material handling robots will increasingly focus on improving robot technology, expanding market demand, and enhancing environmental adaptability. With the continuous development of related technologies and the growth of market demand, the application of material handling robots will become increasingly widespread, bringing greater convenience and benefits to people's production and lives.

[0003] Most existing robotic technologies for handling pallets are designed for zigzag pallets, typically using QR code readers, vision sensors, photoelectric sensors, and LiDAR. These technologies are relatively mature and effective. However, existing grid pallets, which have a stronger load-bearing capacity and are more suitable for handling heavy items, have lower applicability to various transport machines. This results in consistently high labor costs and prevents the adoption of new technologies to reduce costs and increase efficiency. For example, lifting robots require users to prepare a large number of customized shelves to handle grid pallets, reach truck robots cannot handle grid pallets due to the working principle of the forks, and side-counterweight forklift robots require a spacing of more than 35 centimeters between grid pallets, which is a huge waste of warehouse space. These shortcomings greatly reduce the actual utilization rate of grid pallets.

[0004] Therefore, it is necessary to provide a new handling robot to solve the above-mentioned technical problems. Summary of the Invention

[0005] To address the aforementioned technical problems, this invention provides a handling robot.

[0006] The handling robot provided by this invention includes: The protective housing has four driving rollers at the bottom corners for moving it, a sensing component on the protective housing, two recessed sides on the outside of the protective housing, and an emergency stop button for enhanced safety on one side. Safety anti-collision strips are provided at the top and bottom of the outside of the protective housing. A brake housing is disposed flush with the top of the protective housing in a vertical direction. A sensor is disposed at the center of the top of the brake housing. Semicircular rectangular frames are disposed at both ends of one side of the brake housing. A drive component for driving the two semicircular rectangular frames to rotate synchronously is disposed inside the brake housing. The articulated arm support is U-shaped, with its top two ends movably connected to the inner walls of two semi-circular rectangular frames. The side of the articulated arm support away from the semi-circular rectangular frames is inclined to the bottom and equipped with a horizontally bent picking fork.

[0007] Furthermore, the front sides of the two picking forks are configured as protrusions to facilitate insertion into the gaps of the grid trays.

[0008] Furthermore, trapezoidal supports are provided on both sides of the top of the brake housing, and the trapezoidal supports are located outside the two picking fork frames.

[0009] Furthermore, connecting brackets are fixedly connected to both ends of the top side of the brake housing, and a limiting groove is formed between the connecting brackets and the trapezoidal bracket.

[0010] Furthermore, the semi-circular rectangular frame is located in the limiting groove formed between the connecting bracket and the trapezoidal bracket, and both ends of the semi-circular rectangular frame pass through the through holes opened at both ends of the connecting bracket and the trapezoidal bracket, respectively.

[0011] Furthermore, the cross-sectional dimensions of the safety anti-collision strip are larger than the cross-sectional dimensions of the protective shell.

[0012] Furthermore, the sensing component includes two visual sensors, a QR code reader, and four lidars. The QR code reader is located at the center of the bottom of the protective housing. The two visual sensors are located on the front side of the protective housing, and the four lidars are located at the four corners of the outer side of the protective housing. The output range of the four lidars forms a ring.

[0013] Furthermore, the sensing element is a photoelectric sensor, which is located at the center of the top of the brake housing.

[0014] Compared with related technologies, the handling robot provided by the present invention has the following beneficial effects: 1. This invention, through the setting of a protective housing and a brake housing, controls the rotation of two semi-circular rectangular frames via a drive component, causing them to drive the folding arm bracket and the picking fork to extend forward. The sensor component identifies the picking hole of the grid pallet and adjusts the vehicle position so that the picking fork is aligned with the grid picking hole of the grid pallet, allowing direct handling of the grid pallet without the need for a large number of customized racks. The sensor component is used for positioning and distance measurement, and the picking fork moves forward until the distance between the semi-circular rectangular frame and the grid pallet is less than or equal to one mile and then stops moving. When the protective housing moves forward, the picking fork inserts into the grid picking hole, lifts and moves backward to complete the folding arm, and places the grid pallet above the brake housing, thus facilitating the transportation of the grid pallet.

[0015] 2. By tilting the folding arm support, the forklift supports balance the other side of the folding arm support due to gravity, ensuring that it remains horizontal during operation. After the pallet is placed above the brake housing, the rear folding arm support and the retracted semi-circular rectangular frames on both sides create a U-shaped body. This enhances the stability of the pallet and goods as the protective housing moves forward. Furthermore, the body size difference between the folding arm support and the grid pallet is smaller, allowing for a smaller gap between the grid pallets and thus increasing the usable warehouse space. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the overall structure of the handling robot provided by the present invention; Figure 2 This is a structural schematic diagram of the handling robot provided by the present invention from another perspective; Figure 3 This is a structural schematic diagram of the handling robot provided by the present invention from another perspective; Figure 4 This is a structural schematic diagram of the handling robot provided by the present invention from another perspective.

[0017] The following are labeled in the diagram: 1. Protective housing; 2. Drive roller; 3. Emergency stop button; 4. Vision sensor; 5. LiDAR; 6. Safety bumper strip; 7. Brake housing; 8. Photoelectric sensor; 9. Semi-circular rectangular frame; 10. Folding arm bracket; 11. Picking fork bracket; 12. Trapezoidal bracket; 13. Connecting bracket; 14. Limiting groove. Implementation

[0018] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0019] Please refer to the following: Figure 1 , Figure 2 , Figure 3 as well as Figure 4 , Figure 1 This is a schematic diagram of the overall structure of the handling robot provided by the present invention; Figure 2This is a structural schematic diagram of the handling robot provided by the present invention from another perspective; Figure 3 This is a structural schematic diagram of the handling robot provided by the present invention from another perspective; Figure 4 This is a structural schematic diagram of the handling robot provided by the present invention from another perspective.

[0020] In the specific implementation process, such as Figures 1 to 4 As shown, the handling robot includes a protective shell 1. Drive rollers 2 are respectively installed at the four corners of the bottom of the protective shell 1 for its movement. A sensing component is installed on the protective shell 1. The outer sides of the protective shell 1 are recessed inwards, and one side has an emergency stop button 3 for enhanced safety. Safety anti-collision strips 6 are installed at the top and bottom of the outer side of the protective shell 1. The sensing component includes two vision sensors 4, a QR code reader, and four lidars 5. The QR code reader is located at the center of the bottom of the protective shell 1. The two vision sensors 4 are located on the front side of the protective shell 1, and the four lidars 5 are respectively located at the four corners of the outer side of the protective shell 1. The output range of the four lidars 5 forms a ring. Brake housing 7 is mounted flush with the top of protective housing 1 in a vertical direction. A sensor is provided at the center of the top of brake housing 7. The sensor is a photoelectric sensor 8. The photoelectric sensor 8 can sense in real time whether the brake housing 7 has been loaded. Semicircular rectangular frames 9 are provided at both ends of one side of brake housing 7. A drive component is provided inside brake housing 7 to drive the two semicircular rectangular frames 9 to rotate synchronously. The folding arm bracket 10 is U-shaped. The top two ends of the folding arm bracket 10 are movably connected to the inner walls of the two semi-circular rectangular frames 9. The side of the folding arm bracket 10 away from the semi-circular rectangular frames 9 is inclined to the bottom and is equipped with a horizontally bent picking fork 11. The inclined folding arm bracket 10 falls due to gravity, and the picking fork 11 plays a balancing role on the other side of the folding arm bracket 10, so that it always maintains a horizontal working state during the movement. After the pallet is placed above the brake housing 7, the rear folding arm bracket 10 and the semi-circular rectangular frames 9 on the left and right sides form a U-shaped body, which enhances the stability of the pallet and the goods when the protective housing 1 moves forward. The front sides of the two forklifts 11 are designed with protrusions to facilitate insertion into the gaps of the grid pallet, making it easier to insert them into the two slots opened in the grid pallet.

[0021] Trapezoidal supports 12 are provided on both sides of the top of the brake housing 7. The trapezoidal supports 12 are located outside the two picking forks 11. The size of the trapezoidal supports 12 is larger than the size of the grid pallet. When the picking forks 11 lift the grid pallet to the top of the brake housing 7 and move it, the grid pallet is between the trapezoidal supports 12, so that the two sides are blocked by the trapezoidal supports 12 when it moves, reducing the displacement. Connecting supports 13 are fixedly connected to both ends of one side of the top of the brake housing 7, and a limiting groove 14 is formed between the connecting supports 13 and the trapezoidal supports 12. The semi-circular rectangular frame 9 is located in the limiting groove 14 formed between the connecting supports 13 and the trapezoidal supports 12, and the two ends of the semi-circular rectangular frame 9 are respectively inserted into the through holes opened at both ends of the connecting supports 13 and the trapezoidal supports 12.

[0022] The cross-sectional dimensions of the safety anti-collision strip 6 are larger than those of the protective housing 1. When the protective housing 1 comes into contact with the outside and collides, it will first come into contact with the safety anti-collision strip 6. Through the protection of the safety anti-collision strip 6, it will not come into contact with the internal sensing equipment, thus improving its service life.

[0023] The working principle of this invention is as follows: In specific implementation, the protective housing 1 uses a bottom QR code reader to identify and read the QR code positioning information, enabling the protective housing 1 to move forward and intelligently correct its trajectory, thus achieving accurate and rapid arrival at the target positioning point. The left and right vision sensors 4 and LiDAR 5 at the front of the protective housing 1 identify, analyze, and locate the position of the grid pallet and the height and width parameters of the forklift holes. The drive mechanism controls the rotation of the two semi-circular rectangular frames 9, causing them to drive the folding arm bracket 10 and the forklift bracket 11 to extend forward. Based on the valid parameters of the forklift holes identified by the vision sensors 4, the vehicle position is adjusted, and the forklift bracket 11 aligns with the grid-shaped forklift holes of the grid pallet. The vision sensors 4 are used for positioning... Distance measurement is performed to move the picking fork 11 forward until the distance between the semi-circular rectangular frame 9 and the grid pallet is less than or equal to one inch, at which point the displacement stops. As the protective housing 1 moves forward, the picking fork 11 inserts into the grid fork hole, the picking fork 11 is raised, the picking fork 11 completes the folding arm, and the pallet is placed on top of the vehicle body. The protective housing 1 moves forward, and the QR code positioning information is identified and read by the bottom QR code reader. The forward movement and intelligent correction path are then established. The protective housing 1 can turn the vehicle body according to the task path. After turning according to the task path, the protective housing 1 moves forward according to the task path. By reading the QR code positioning information, it reaches the target positioning point and completes the task. According to the task requirements, multiple handling robots can operate and work concurrently in the operating scenario.

[0024] The circuits and controls involved in this invention are all existing technologies and will not be described in detail here.

[0025] The above description is merely an embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent structural or procedural transformations made based on the content of the present invention specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of the present invention.

Claims

1. A transport robot, characterized in that, include: The protective housing (1) has four driving rollers (2) at the bottom corners for moving it. The protective housing (1) is equipped with a sensing component. The protective housing (1) has two sides that are recessed inward, and one side is equipped with an emergency stop button (3) to enhance safety measures. The protective housing (1) has safety anti-collision strips (6) at the top and bottom ends. Brake housing (7), the brake housing (7) is arranged flush with the top of the protective housing (1) in the vertical direction, a sensor is provided at the center of the top of the brake housing (7), and a semi-circular rectangular frame (9) is provided at both ends of one side of the brake housing (7). A driving component for driving the two semi-circular rectangular frames (9) to rotate synchronously is provided inside the brake housing (7). The articulated arm support (10) is U-shaped. The top two ends of the articulated arm support (10) are movably connected to the inner walls of two semi-circular rectangular frames (9). The side of the articulated arm support (10) away from the semi-circular rectangular frames (9) is inclined to the bottom and is equipped with a horizontally bent picking fork frame (11).

2. The handling robot according to claim 1, characterized in that, The front sides of the two picking forks (11) are configured as protrusions to facilitate insertion into the gaps of the grid trays.

3. The handling robot according to claim 2, characterized in that, The brake housing (7) is provided with trapezoidal brackets (12) on both sides of the top, and the trapezoidal brackets (12) are located outside the two picking fork frames (11).

4. The handling robot according to claim 3, characterized in that, The brake housing (7) has a connecting bracket (13) fixedly connected to both ends of the top side, and a limiting groove (14) is formed between the connecting bracket (13) and the trapezoidal bracket (12).

5. The handling robot according to claim 4, characterized in that, The semi-circular rectangular frame (9) is located in the limiting groove (14) formed between the connecting bracket (13) and the trapezoidal bracket (12), and the two ends of the semi-circular rectangular frame (9) are respectively inserted into the through holes opened at both ends of the connecting bracket (13) and the trapezoidal bracket (12).

6. The handling robot according to claim 5, characterized in that, The cross-sectional dimensions of the safety anti-collision strip (6) are larger than those of the protective shell (1).

7. The handling robot according to claim 6, characterized in that, The sensing components include two visual sensors (4), a QR code reader and four lidars (5). The QR code reader is located at the center of the bottom of the protective housing (1). The two visual sensors (4) are located on the front side of the protective housing (1). The four lidars (5) are located at the four corners of the outer side of the protective housing (1). The output of the four lidars (5) forms a ring.

8. The handling robot according to claim 7, characterized in that, The sensing element is a photoelectric sensor (8), which is located at the center of the top of the brake housing (7).

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