Integrated automatic guiding and lifting cold chain storage transfer robot

Abstract

The invention belongs to the technical field of transfer robots, and particularly discloses an integrated automatic guiding and lifting cold chain storage transfer robot which comprises a transfer component, a visual sensor is fixedly mounted on the outer wall of the transfer component, a jacking arm is arranged in the transfer component, and a lifting arm is hinged to the top of the jacking arm. A transmission assembly and a fixing assembly are arranged in the lifting arm. The transmission assembly and the fixing assembly are used for being matched to position and limit carried materials. The transmission assembly comprises a telescopic rod inserted into the lifting arm, the telescopic rod is fixedly installed in the carrying component, and the outer wall of the top of the telescopic rod is fixedly connected with a jacking head. By arranging the fixing assembly, materials carried by the carrying robot can be limited and fixed, so that the stability and safety of the materials in the transportation process are ensured, the materials are prevented from falling off or moving from the carrying robot, and meanwhile, when the carrying robot unloads the materials, the fixing assembly can reduce the clamping force on the materials, and the materials are prevented from being damaged during unloading.

Description

Technical Field

[0001] This invention belongs to the field of material handling robot technology, specifically relating to an integrated automatic guidance and lifting cold chain warehousing material handling robot. Background Technology

[0002] Automated Guided Vehicles (AGVs) are intelligent logistics equipment based on automatic navigation technology. They are mainly used in manufacturing, special industries, catering services, and food and pharmaceutical fields. They achieve autonomous movement through technologies such as magnetic strips, lasers, RFID, and SLAM, and achieve obstacle avoidance and precise transportation positioning through technologies such as visual detection and visual measurement.

[0003] In existing technologies, handling robots need to lurk beneath the materials during transport and periodically move them. During this process, the materials, due to differences in size, weight, and center of gravity, can wobble and shift on top of the robot, affecting the accuracy of subsequent placement and potentially causing them to fall off, resulting in damage and safety accidents. Therefore, designing an integrated automated guided and lifting cold chain warehousing handling robot is a problem we need to solve. Summary of the Invention

[0004] The purpose of this invention is to address the shortcomings of existing technologies by proposing an integrated automated guided and lifting cold chain warehousing and handling robot.

[0005] To achieve the above objectives, the present invention provides an integrated automated guided and lifting cold chain warehousing and handling robot, including a handling component, a vision sensor fixedly installed on the outer wall of the handling component, a lifting arm provided inside the handling component, a lifting arm hinged to the top of the lifting arm, and a transmission component and a fixing component provided inside the lifting arm. The transmission assembly and the fixing assembly are used together to position and limit the movement of the materials being transported; The transmission assembly includes a telescopic rod inserted inside the lifting arm. The telescopic rod is fixedly installed inside the transport component, and a lifting head is fixedly connected to the top outer wall of the telescopic rod.

[0006] In the above technical solution, the top of the lifting head is provided with two hinges, and a connecting rod is inserted into the inside of the two hinges. A connecting frame is slidably connected inside the lifting arm, and a waist-shaped groove is opened inside the connecting frame. The connecting rod is inserted into the inside of the waist-shaped groove.

[0007] In the above technical solution, further, the ends of the two hinge members away from the connecting rod are fixedly connected to a sliding plate, the sliding plate is slidably connected inside the lifting arm, a telescopic airbag is fixedly installed on one side of the sliding plate, a limit plate is fixedly installed on the side of the telescopic airbag away from the sliding plate, and the limit plate is fixedly installed inside the lifting arm.

[0008] In the above technical solution, a pressure frame is fixedly connected to the top of the connecting frame, a placement groove adapted to the contour of the pressure frame is opened on the top of the lifting arm, and a positioning rod is fixedly connected to the bottom of the pressure frame, the positioning rod being inserted into the interior of the lifting arm.

[0009] In the above technical solution, a multi-layer telescopic rod is further fixedly installed on one side of the limiting plate. The multi-layer telescopic rod is provided with a telescopic air pipe inside. The telescopic air pipe passes through the limiting plate and is connected to the telescopic airbag. A tension spring is sleeved on the outer wall of the multi-layer telescopic rod. A connecting block is fixedly connected to the end of the multi-layer telescopic rod away from the limiting plate. The tension spring is disposed between the limiting plate and the connecting block.

[0010] In the above technical solution, the fixing component further includes a connector disposed on one side of the connecting block. The connector has two symmetrical sliding blocks inside, and ropes are fixedly connected to the opposite sides of the two blocks. The ropes pass through the connector and are fixedly connected to one side of the connecting block.

[0011] In the above technical solution, a pressure spring is further provided between the two locking blocks, the pressure spring is inserted into the inside of the connector, a locking groove is opened inside the lifting arm, the locking block is inserted into the inside of the locking groove, a reinforcing plate is fixedly installed inside the lifting arm, and the connector is slidably connected inside the reinforcing plate.

[0012] In the above technical solution, a fixing plate is fixedly installed on the top of the connector. Multiple pairs of inclined sliding grooves are opened inside the fixing plate. Inclined sliders are inserted into the interior of each inclined sliding groove. A rod is inserted into the interior of each pair of inclined sliders. A torsion spring is fixedly connected to the outer wall of the rod. The torsion spring is fixedly connected to the outer wall of the inclined slider. An elliptical fixing member is provided between each pair of inclined sliders. The elliptical fixing member is fixedly installed on the outer wall of the rod.

[0013] Compared with the prior art, the present invention has the following beneficial effects: By setting up fixing components, the materials being transported by the handling robot can be limited and fixed to ensure the stability and safety of the materials during transportation. This prevents materials from falling off the handling robot and causing safety accidents, or from shifting on the handling robot, which would make it difficult for the handling robot to align the materials with other materials when it arrives at the destination. At the same time, when the handling robot unloads the materials, the fixing components will reduce the clamping force on the materials to prevent damage to the materials during unloading. By setting up a transmission component, when the handling robot lifts and unloads materials, the control and fixing components limit and fix the materials according to their size, and control the fixing components to reset so that the materials can be re-limited and fixed in the future. Attached Figure Description

[0014] Figure 1 This is a schematic diagram of the overall structure proposed in this invention; Figure 2 This is a schematic diagram of a partial structure of the lifting arm proposed in this invention; Figure 3 This is a first visual structural cross-sectional view of the lifting arm proposed in this invention; Figure 4 The present invention proposes Figure 3 Enlarged view of the A-section structure; Figure 5 This is a cross-sectional view of the second visual structure of the lifting arm proposed in this invention; Figure 6 The present invention proposes Figure 5 Enlarged view of section B structure Figure 7 The present invention proposes Figure 5 Enlarged view of the C-section structure.

[0015] In the diagram: 1. Handling component; 2. Vision sensor; 3. Lifting arm; 4. Lifting arm; 5. Connecting frame; 6. Waist-shaped groove; 7. Connecting rod; 8. Hinge; 9. Slide plate; 10. Telescopic airbag; 11. Limiting plate; 12. Pressure frame; 13. Placement slot; 14. Positioning rod; 15. Telescopic rod; 16. Lifting head; 17. Multi-layer telescopic rod; 18. Telescopic air hose; 19. Tension spring; 20. Connecting block; 21. Connector; 22. Locking block; 23. Rope; 24. Pressure spring; 25. Locking groove; 26. Reinforcing plate; 27. Fixing plate; 28. Inclined slide; 29. ​​Inclined slider; 30. Insert rod; 31. Torsion spring; 32. Elliptical fixing component. Detailed Implementation

[0016] To better understand the above-mentioned objectives, features, and advantages of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0017] like Figures 1 to 7The integrated automated guided and lifting cold chain warehousing handling robot shown includes a handling component 1, a vision sensor 2 fixedly installed on the outer wall of the handling component 1, a lifting arm 3 inside the handling component 1, a lifting arm 4 hinged to the top of the lifting arm 3, and a transmission component and a fixing component inside the lifting arm 4. The transmission assembly and the fixing assembly are used together to position and limit the movement of the materials being transported; The transmission assembly includes a telescopic rod 15 inserted inside the lifting arm 4. The telescopic rod 15 is fixedly installed inside the transport component 1, and a lifting head 16 is fixedly connected to the top outer wall of the telescopic rod 15.

[0018] The top of the lifting head 16 is provided with two hinges 8, and connecting rods 7 are inserted into the interior of the two hinges 8. A connecting frame 5 is slidably connected inside the lifting arm 4. The connecting frame 5 has a waist-shaped groove 6 inside, and the connecting rods 7 are inserted into the waist-shaped groove 6. A sliding plate 9 is fixedly connected to the end of each of the two hinges 8 away from the connecting rods 7. The sliding plate 9 is slidably connected inside the lifting arm 4. A telescopic airbag 10 is fixedly installed on one side of the sliding plate 9. A limit plate 11 is fixedly installed on the side of the telescopic airbag 10 away from the sliding plate 9. The limit plate 11 is fixedly installed inside the lifting arm 4. A pressure frame 1 is fixedly connected to the top of the connecting frame 5. 2. The top of the lifting arm 4 is provided with a placement groove 13 that matches the contour of the pressure frame 12. The bottom of the pressure frame 12 is fixedly connected with a positioning rod 14, which is inserted into the inside of the lifting arm 4. A multi-layer telescopic rod 17 is fixedly installed on one side of the limiting plate 11. The multi-layer telescopic rod 17 is provided with a telescopic air pipe 18 inside. The telescopic air pipe 18 passes through the limiting plate 11 and is connected to the telescopic airbag 10. A tension spring 19 is sleeved on the outer wall of the multi-layer telescopic rod 17. A connecting block 20 is fixedly connected to the end of the multi-layer telescopic rod 17 away from the limiting plate 11. The tension spring 19 is located between the limiting plate 11 and the connecting block 20. The transmission component is used to control the fixing component to clamp and fix the material being transported. Specifically, when materials need to be moved, the handling component 1 uses the vision sensor 2 to identify the surrounding environment, enabling it to avoid obstacles and identify materials. This allows the handling component 1 to move to the bottom of the material chassis and control the lifting arm 3 to push the lifting arm 4 upwards, lifting the material. During this process, the pressure frame 12 on the lifting arm 4 is relatively squeezed by the material chassis, causing the positioning rod 14 on the pressure frame 12 to insert into the interior of the lifting arm 4, thus inserting the pressure frame 12 into the placement slot 13. This, in turn, causes the pressure frame 12 to drive the connecting frame 5 downwards, allowing the connecting frame 5 to push the connecting rod 7 downwards through the waist-shaped groove 6. The downward movement of the connecting rod 7 causes the two hinges 8 to rotate. After the downward-facing structure formed by hinge 8 rotates to the upward-facing structure, the tension spring 19 pulls the connecting block 20 towards the limiting plate 11, causing the connecting block 20 to cause the multi-layer telescopic rod 17 to contract and squeeze the telescopic air tube 18 inside, allowing the gas inside the telescopic air tube 18 to be discharged into the telescopic airbag 10, causing the telescopic airbag 10 to expand and push the slide plate 9 towards the connecting frame 5, thus reducing the opening angle of the upward-facing structure formed by the two hinges 8. At the same time, the movement of the connecting block 20 towards the limiting plate 11 will push the fixing component towards the material in the middle of the lifting arm 4 until the fixing component clamps and fixes the material, thereby achieving the effect of driving the fixing component to limit and fix the material. Furthermore, after the material handling is completed, the lifting arm 3 controls the lowering arm 4 to stop lifting the material. During this process, after the telescopic rod 15 is lowered to its full retraction, the lifting arm 4 will continue to move relative to the telescopic rod 15, causing the telescopic rod 15 to begin to press against the upward opening structure formed by the two hinges 8. This continues until the opening structure formed by the two hinges 8 returns to a downward opening. During this process, the hinges 8 will press the corresponding telescopic airbag 10 to contract via the sliding plate 9, causing the gas inside the telescopic airbag 10 to be discharged back into the telescopic air tube 18. This causes the telescopic air tube 18 to return to its original length and push the multi-layer telescopic rod 17 to reset. The multi-layer telescopic rod 17 then pushes the connecting block 20 to reset. The resetting of the connecting block 20 will pull the tension spring 19 to extend and pull the fixing component to reset, allowing the handling robot to stop contacting the material. This allows the handling robot to detach from the bottom of the material after transporting it to its destination and begin subsequent material handling operations.

[0019] The fixing assembly includes a connector 21 disposed on one side of the connecting block 20. Two locking blocks 22 are symmetrically slidably connected inside the connector 21. Ropes 23 are fixedly connected to opposite sides of each locking block 22, passing through the connector 21 and fixedly connected to one side of the connecting block 20. A pressure spring 24 is disposed between the two locking blocks 22 and inserted into the interior of the connector 21. A slot 25 is provided inside the lifting arm 4, and the locking blocks 22 are inserted into the slot 25. A reinforcing plate 26 is fixedly installed inside the lifting arm 4. The connector 21 is slidably connected inside the reinforcing plate 26. A fixing plate 27 is fixedly installed on the top of the connector 21. Multiple pairs of inclined slide grooves 28 are opened inside the fixing plate 27. Inclined sliders 29 are inserted into the interior of each inclined slide groove 28. A rod 30 is inserted into the interior of each pair of inclined sliders 29. A torsion spring 31 is fixedly connected to the outer wall of the rod 30. The torsion spring 31 is fixedly connected to the outer wall of the inclined slider 29. An elliptical fixing member 32 is provided between each pair of inclined sliders 29. The elliptical fixing member 32 is fixedly installed on the outer wall of the rod 30. The fixing component is used to limit and fix the materials being transported by the handling robot, so as to prevent the materials from shifting or falling during transportation, which would affect the normal operation of the handling robot. Specifically, when the connecting block 20 pushes the fixing component to move towards the material, the connecting block 20 will push the locking block 22 along the slot 25 towards the material through the connecting member 21. During this process, the locking block 22 will be squeezed into the interior of the connecting member 21 by the slot 25, and the locking block 22 will squeeze the rope 23 to contract. After the connecting block 20 drives the elliptical fixing member 32 on the fixing plate 27 to be blocked by the material, the pressure spring 24 pushes the locking block 22 to disengage from the interior of the connecting member 21 and re-insert it into the interior of the slot 25, so that the connecting member 21 is fixed in this position by the locking block 22, and the connecting member 21 limits and fixes the tilting slider 29 through the fixing plate 27, so that the material cannot push the tilting slider 29 to move, so that the material will not move along the length direction of the lifting arm 4, thereby achieving the effect of limiting and fixing the material. Furthermore, when the material moves in the width direction of the lifting arm 4, the material will drive the elliptical fixing part 32 to rotate, so that the elliptical fixing part 32 increases the clamping and fixing force on the material, preventing the material from moving in the width direction of the lifting arm 4, so as to achieve the effect of limiting and fixing the material in the lateral direction, further limiting and fixing the material, ensuring the stability of the material on the handling robot, so as to ensure the safety of the material handling process and the positioning accuracy of the material after reaching the destination; Furthermore, when the connecting block 20 is reset and pulls the fixing component to reset, the connecting block 20 will pull the locking block 22 through the rope 23 to compress the pressure spring 24 and disengage from the inside of the slot 25 and enter the inside of the connector 21, so that the limiting fixation between the connector 21 and the slot 25 disappears. In this way, the connecting block 20 can pull the locking block 22, connector 21 and other components to reset through the rope 23, so as to achieve the effect of automatically resetting the fixing component, so as to fix and limit the subsequent materials. It should be noted that when the lifting arm 4 stops lifting the material and the connecting block 20 has not yet pulled the connecting piece 21 to reset, the elliptical fixing piece 32 moves upward relative to the lifting arm 4 as it descends. This causes the inclined slider 29 to slide along the inclined groove 28 and slide inside the inclined groove 28. This causes the inclined slider 29 to compress the torsion spring 31 and, through the inclined groove 28 and the insert rod 30, drive the elliptical fixing piece 32 to reduce the clamping force on the material. This allows the fixing component to separate from the material, preventing damage to the outer wall of the material when the handling robot unloads the material. At the same time, after the elliptical fixing piece 32 loses contact with the material, the torsion spring 31 will push the elliptical fixing piece 32 to reset through the connected inclined slider 29. The torsion spring 31 will then drive the elliptical fixing piece 32 to rotate and reset through the insert rod 30, thus achieving the effect of automatically resetting the fixing component.

[0020] Working Principle: When materials need to be moved, the vision sensor 2 first identifies and avoids obstacles, identifies and moves to the bottom of the material, allowing the handling robot to lift the material. The vision sensor 2 scans the surrounding environment to plan the handling robot's path, achieving automatic guidance and material transport to the destination. During the lifting process, the transmission component controls the fixing component to secure the material to the robot, ensuring stability and safety during transport and preventing the material from falling off or shifting, which could make it difficult to align the material with other materials upon arrival. When the material is unloaded at the destination, the fixing component automatically reduces its grip to prevent damage. The transmission component then resets, causing the fixing component to reset as well, achieving automatic reset. This ensures that subsequent materials are secured and limited during continuous transport.

[0021] The foregoing has shown and described 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 embodiments and descriptions in the specification are merely principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the claimed invention.

Claims

1. An integrated automated guided and lifting cold chain warehousing handling robot, comprising a handling component (1), characterized in that, A vision sensor (2) is fixedly installed on the outer wall of the transport component (1). A lifting arm (3) is provided inside the transport component (1). A lifting arm (4) is hinged to the top of the lifting arm (3). A transmission component and a fixing component are provided inside the lifting arm (4). The transmission assembly and the fixing assembly are used together to position and limit the movement of the materials being transported; The transmission assembly includes a telescopic rod (15) inserted inside the lifting arm (4), the telescopic rod (15) being fixedly installed inside the transport component (1), and a lifting head (16) being fixedly connected to the top outer wall of the telescopic rod (15).

2. The integrated automated guided and lifting cold chain warehousing and handling robot according to claim 1, characterized in that, The top of the lifting head (16) is provided with two hinges (8), and a connecting rod (7) is inserted into the inside of the two hinges (8). A connecting frame (5) is slidably connected inside the lifting arm (4). A waist-shaped groove (6) is opened inside the connecting frame (5), and the connecting rod (7) is inserted into the inside of the waist-shaped groove (6).

3. The integrated automated guided and lifting cold chain warehousing and handling robot according to claim 2, characterized in that, Both hinges (8) are fixedly connected to a slide plate (9) at the end away from the connecting rod (7). The slide plate (9) is slidably connected inside the lifting arm (4). A telescopic airbag (10) is fixedly installed on one side of the slide plate (9). A limit plate (11) is fixedly installed on the side of the telescopic airbag (10) away from the slide plate (9). The limit plate (11) is fixedly installed inside the lifting arm (4).

4. The integrated automated guided and lifting cold chain warehousing and handling robot according to claim 2, characterized in that, The top of the connecting frame (5) is fixedly connected to a pressure frame (12), and the top of the lifting arm (4) is provided with a placement groove (13) that matches the contour of the pressure frame (12). The bottom of the pressure frame (12) is fixedly connected to a positioning rod (14), which is inserted into the inside of the lifting arm (4).

5. The integrated automated guided and lifting cold chain warehousing and handling robot according to claim 3, characterized in that, A multi-layer telescopic rod (17) is fixedly installed on one side of the limiting plate (11). The multi-layer telescopic rod (17) is provided with a telescopic air pipe (18). The telescopic air pipe (18) passes through the limiting plate (11) and is connected to the telescopic airbag (10). A tension spring (19) is sleeved on the outer wall of the multi-layer telescopic rod (17). A connecting block (20) is fixedly connected to the end of the multi-layer telescopic rod (17) away from the limiting plate (11). The tension spring (19) is arranged between the limiting plate (11) and the connecting block (20).

6. The integrated automated guided and lifting cold chain warehousing and handling robot according to claim 5, characterized in that, The fixing component includes a connector (21) disposed on one side of the connecting block (20). The connector (21) has two symmetrical sliding blocks (22) inside. The two blocks (22) are fixedly connected to opposite sides of each other with a rope (23). The rope (23) passes through the connector (21) and is fixedly connected to one side of the connecting block (20).

7. The integrated automated guided and lifting cold chain warehousing and handling robot according to claim 6, characterized in that, A pressure spring (24) is provided between the two locking blocks (22), the pressure spring (24) is inserted into the inside of the connector (21), a slot (25) is provided inside the lifting arm (4), the locking block (22) is inserted into the inside of the slot (25), a reinforcing plate (26) is fixedly installed inside the lifting arm (4), and the connector (21) is slidably connected inside the reinforcing plate (26).

8. The integrated automated guided and lifting cold chain warehousing and handling robot according to claim 7, characterized in that, A fixing plate (27) is fixedly installed on the top of the connector (21). Multiple pairs of inclined grooves (28) are opened inside the fixing plate (27). Inclined sliders (29) are inserted into the inside of each inclined groove (28). A rod (30) is inserted into the inside of each pair of inclined sliders (29). A torsion spring (31) is fixedly connected to the outer wall of the rod (30). The torsion spring (31) is fixedly connected to the outer wall of the inclined slider (29). An elliptical fixing member (32) is provided between each pair of inclined sliders (29). The elliptical fixing member (32) is fixedly installed on the outer wall of the rod (30).

Images