Intelligent carrying device and method for warehouse logistics

Abstract

The present application relates to the technical field of warehouse logistics intelligent handling, in particular to a kind of warehouse logistics intelligent handling equipment and method;In the design, through the collaborative work of handling gripper mechanism, multi-axis robot and mobile car, the automatic completion of the grabbing, handling and placement of goods can be realized, the gripper double-shaft motor drives gripper assembly to realize the grabbing action, multi-axis robot provides flexible motion range, mobile car is responsible for overall movement, while the spacing adjustment biaxial motor of layered placement mechanism adjusts the spacing of top layer placement rack and bottom layer placement rack to adapt to different goods, goods taking and placing camera, goods in place camera and mobile camera provide visual feedback to ensure accurate operation, power double-shaft motor and electric push rod and other components realize the flexible movement and steering of mobile car, and the stability and safety of the equipment are enhanced by the anti-deviation universal wheel and the anti-collision strip.

Description

Technical Field

[0001] This invention relates to the field of intelligent handling technology in warehousing and logistics, and in particular to an intelligent handling device and method for warehousing and logistics. Background Technology

[0002] Warehousing and logistics is a systematic service process that involves the centralized management, categorized storage, orderly allocation, and efficient distribution of goods at storage nodes such as warehouses from production to consumption. Its core lies in balancing supply and demand time differences, reducing transportation costs, and ensuring supply chain stability through scientific planning of space and resources. Handling, as a fundamental link in warehousing and logistics, is a crucial link connecting the "static storage" and "dynamic flow" of goods. Whether it's unloading and sorting goods upon arrival, transferring and relocating them during storage, or loading and assembling them before departure, all require handling to achieve spatial transfer and precise location matching of goods. Without handling, goods will remain in their original locations, leading to inventory backlog, order delays, and even supply chain disruptions. Therefore, handling is not only a necessary means to maintain the continuity of warehousing operations but also a core support for improving logistics efficiency, controlling operating costs, and ensuring customer experience.

[0003] A warehouse logistics handling forklift as described in CN202420245681.7 includes a forklift base and two sets of outriggers connected to the forklift base. Each set of forklift bases has a base plate connected to its bottom end. Each set of base plates has a baffle movably connected to it. Each set of base plates is equipped with a drive mechanism for pushing the baffle to move laterally. A rotating mechanism is installed on the baffle. This warehouse logistics handling forklift, by setting up the baffle and cooperating with the drive mechanism, can effectively clamp goods of different widths on the outriggers. By rotating the worm gear, the baffle can be rotated. When the baffle is in a vertical state, it can clamp the goods. When the baffle is in a horizontal state, it can increase the area on the outriggers where goods can be placed.

[0004] However, in the aforementioned existing technologies, the handling equipment used in traditional warehousing and logistics scenarios generally relies on human labor to complete the handling of goods. This human-dominated handling method not only consumes a lot of time and energy during operation, resulting in low operational efficiency, but also greatly increases the workload of workers, adversely affecting their physical health and work experience. Summary of the Invention

[0005] The purpose of this invention is to provide an intelligent handling equipment and method for warehousing and logistics, which aims to solve the technical problem that in the traditional warehousing and logistics scenarios in the prior art, the handling equipment used generally relies on manpower to complete the handling of goods. This manpower-dominated handling method not only consumes a lot of time and energy during operation, resulting in low work efficiency, but also greatly increases the workload of workers, adversely affecting their physical health and work experience.

[0006] To achieve the above objectives, the present invention provides an intelligent handling device for warehousing and logistics, including a handling gripper mechanism, a multi-axis robotic arm, and a mobile vehicle. The handling gripper mechanism includes two gripper assemblies, a dual-axis gripper motor, and a gripper box. Each gripper assembly includes two gripper bodies and a fixed plate. A connecting gear, a driven gear, and two auxiliary driving rods are rotatably mounted on the upper and lower end faces of the fixed plate. A driving rod is mounted on the outer side of both the connecting gear and the driven gear, and the connecting gear meshes with the driven gear. Two driving gears are mounted on each of the two output ends of the dual-axis gripper motor. The gripper box contains... Two mounting cavities are provided. Each gripper body is hinged between the active rod and the auxiliary rod, with the active rod located at the end of the gripper body and the auxiliary rod located at the middle of the gripper body. The fixing plate is installed in the corresponding mounting cavity via a mounting rod, and the gripper body extends out of the gripper box. The gripper dual-axis motor is installed in the gripper box, and each active gear meshes with the corresponding connecting gear. The gripper box is fixed to the output end of the multi-axis robotic arm by bolts, and the bottom of the multi-axis robotic arm is fixed to the rear end of the mobile vehicle.

[0007] The mobile vehicle is equipped with a layered placement mechanism at its front end. The layered placement mechanism includes a top placement rack, a bottom placement rack, a spacing adjustment dual-axis motor, and a vertical plate. One end of the top and bottom placement racks is provided with a threaded sleeve. Both output ends of the spacing adjustment dual-axis motor are provided with adjustment screws. One end face of the vertical plate has two adjustment slots. The top and bottom placement racks are slidably disposed on the vertical plate, and the threaded sleeves are located within the adjustment slots. The spacing adjustment dual-axis motor is disposed on one end face of the vertical plate, and each adjustment screw extends into the corresponding adjustment slot. Each adjustment screw is threaded into the threaded sleeve. The vertical plate is fixedly disposed at the front end of the mobile vehicle.

[0008] Each of the top-level placement racks is provided with two positioning sleeves at one end, and the threaded sleeve is located between the two positioning sleeves. One end face of the vertical plate has multiple positioning grooves, each positioning groove is provided with a positioning rod, and each positioning sleeve is fitted onto the positioning rod.

[0009] The intelligent handling equipment for warehousing and logistics also includes a cargo retrieval camera, two cargo arrival cameras, and a mobile camera. The cargo retrieval camera is located on the outside of the output end of the multi-axis robotic arm. The two cargo arrival cameras are located on the vertical plate, with their monitoring ends facing the top and bottom placement racks. The mobile camera is located on the other end of the vertical plate, with its monitoring end facing the ground.

[0010] The mobile vehicle includes two rear wheels, a dual-axis motor, front wheels, and a vehicle body. The bottom front end of the vehicle body has a movable cavity containing an electric push rod. The output end of the electric push rod is equipped with a rack plate. A steering shaft is rotatably mounted within the movable cavity via bearings. A bogie is located below the steering shaft and extends to the bottom of the vehicle body. A steering gear is located above the steering shaft and meshes with the rack plate. The two rear wheels are respectively located at the two output ends of the dual-axis motor, which is fixedly mounted at the bottom rear end of the vehicle body. The front wheels are rotatably mounted below the bogie via bearings. A multi-axis robotic arm is located at the rear end of the vehicle body, and a vertical plate is located at the front end of the vehicle body.

[0011] The intelligent handling equipment for warehousing and logistics also includes two anti-deviation casters and two anti-collision strips. The two anti-deviation casters are respectively located at the bottom front end of the vehicle body and on both sides of the front wheel. The two anti-collision strips are respectively attached to the front and rear ends of the vehicle body.

[0012] The present invention also provides a smart handling method for warehousing and logistics, applied to the aforementioned smart handling equipment for warehousing and logistics, comprising the following steps: S1: Based on the preset warehouse map and target cargo location information, the mobile vehicle's movement path is planned. The two rear wheels are driven by a dual-axis motor, which moves the mobile vehicle along the planned path. During the movement, the mobile camera monitors the ground conditions in real time and feeds the image information back to the control system to adjust the movement direction and speed in a timely manner. When a turn is required, the electric push rod pushes the rack plate to move, and the rack plate drives the steering gear to rotate, which in turn causes the steering shaft and bogie to rotate, so that the mobile vehicle can perform a turning operation according to the planned path. S2: The cargo handling camera captures the position and posture information of the target cargo and transmits the data to the control system. The control system controls the movement of the multi-axis robotic arm based on the cargo position information, so that the handling gripper mechanism moves to a suitable position above the target cargo. S3: Based on the two output end channels of the dual-axis motor of the gripper, the active gear drives the corresponding connecting gear to rotate. Since the connecting gear meshes with the driven gear, it drives the driven gear to rotate. The active rod outside the connecting gear and the driven gear rotates accordingly. The active rod and the auxiliary rod cooperate to close the two gripper bodies and grab the target goods. S4: Adjust the spacing between the top and bottom racks according to the size of the goods. Based on the spacing adjustment, the dual-axis motor starts and the adjusting screws at its two output ends rotate. Since the adjusting screws are threadedly connected to the threaded sleeve, they drive the top and bottom racks to slide relative to each other on the vertical plate to adjust to the appropriate spacing. S5: Based on the preset placement position information, determine the top or bottom placement rack as the placement position of the goods. The control system controls the movement of the multi-axis robotic arm to move the handling gripper mechanism with the goods to the selected placement position. The gripper's dual-axis motor rotates in the opposite direction, causing the two gripper bodies to open and place the goods on the top or bottom placement rack. The goods arrival camera monitors whether the goods are accurately placed and feeds the information back to the control system. S6: After the goods are placed, the multi-axis robotic arm, handling gripper mechanism and other components are reset. The mobile vehicle moves the goods to the designated location according to the instructions of the control system. Finally, the control system updates the target goods location and placement location information for the next goods handling task according to the instructions of the warehouse management system, and repeats the above steps to perform the next goods handling operation.

[0013] This invention discloses an intelligent handling device and method for warehousing and logistics. Through the coordinated operation of the handling gripper mechanism, the multi-axis robotic arm, and the mobile vehicle, the device can automatically complete the gripping, handling, and placement of goods. The gripper assembly is driven by a dual-axis motor to perform the gripping action. The multi-axis robotic arm provides a flexible range of motion, and the mobile vehicle is responsible for overall movement. Simultaneously, the layered placement mechanism adjusts the spacing between the top and bottom placement racks using a spacing-adjusting dual-axis motor to accommodate different goods. The goods pick-up / placement camera, the goods arrival camera, and the moving camera provide visual feedback to ensure precise operation. The power dual-axis motor and the electric push rod enable the mobile vehicle to move and steer flexibly. The anti-deviation casters and the anti-collision strips enhance the stability and safety of the device, thereby solving the problems of low efficiency and excessive labor load caused by reliance on manual handling in traditional warehousing and logistics scenarios. Attached Figure Description

[0014] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0015] Figure 1 This is a three-dimensional perspective view of the present invention.

[0016] Figure 2 This is the front view of the present invention.

[0017] Figure 3 This is the invention Figure 2 A cross-sectional view along line AA in the middle.

[0018] Figure 4 This is the invention Figure 3 A magnified view of a section at point B.

[0019] Figure 5 This is the invention Figure 3 A cross-sectional view of the CC line.

[0020] Figure 6 This is the invention Figure 3 A cross-sectional view of the DD line.

[0021] Figure 7 This is the invention Figure 6 A magnified view of a section at point E in the middle.

[0022] Figure 8 This is the invention Figure 5 A cross-sectional view of the FF line.

[0023] Figure 9 This is the invention Figure 8 A magnified view of a section at point G.

[0024] Figure 10 This is the invention Figure 5 A cross-sectional view of the middle HH line.

[0025] Figure 11 This is the invention Figure 10 A magnified view of a section at point J.

[0026] Figure 12 This is a schematic diagram of the handling gripper mechanism in this invention.

[0027] Figure 13 This is a schematic diagram illustrating the steps of an intelligent handling method for warehousing and logistics according to the present invention.

[0028] In the diagram: 1-Multi-axis robotic arm, 2-Grip dual-axis motor, 3-Grip box, 4-Grip body, 5-Fixing plate, 6-Connecting gear, 7-Driven gear, 8-Auxiliary rod, 9-Active rod, 10-Active gear, 11-Mounting cavity, 12-Top layer placement rack, 13-Bottom layer placement rack, 14-Dual-axis motor for spacing adjustment, 15-Vertical plate, 16-Threaded sleeve, 17-Adjusting screw, 18-Adjusting groove, 19-Positioning sleeve, 20-Positioning groove, 21-Positioning rod, 22-Cargo loading / unloading camera, 23-Cargo positioning camera, 24-Moving camera, 25-Rear wheel, 26-Dual-axis motor, 27-Front wheel, 28-Vehicle body, 29-Moving cavity, 30-Electric push rod, 31-Rack plate, 32-Steering shaft, 33-Bogie, 34-Steering gear, 35-Anti-deviation universal wheel, 36-Bumper strip. Detailed Implementation

[0029] The embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention.

[0030] Please see Figures 1-12 This invention provides an intelligent handling device for warehousing and logistics, including a handling gripper mechanism, a multi-axis robotic arm 1, and a mobile vehicle. The handling gripper mechanism includes two gripper assemblies, a dual-axis gripper motor 2, and a gripper box 3. Each gripper assembly includes two gripper bodies 4 and a fixing plate 5. A connecting gear 6, a driven gear 7, and two auxiliary driving rods 8 are rotatably mounted on the upper and lower end faces of the fixing plate 5. A driving rod 9 is mounted on the outer side of both the connecting gear 6 and the driven gear 7, and the connecting gear 6 meshes with the driven gear 7. Two driving gears 10 are mounted on each of the two output ends of the dual-axis gripper motor 2. The gripper box 3 has two mounting cavities 1. 1. Each gripper body 4 is hinged between the active rod 9 and the auxiliary rod 8, with the active rod 9 located at the end of the gripper body 4 and the auxiliary rod 8 located at the middle of the gripper body 4. The fixing plate 5 is installed in the corresponding mounting cavity 11 via a mounting rod, and the gripper body 4 extends out of the gripper box 3. The gripper dual-axis motor 2 is installed in the gripper box 3, and each active gear 10 meshes with the corresponding connecting gear 6. The gripper box 3 is fixedly installed at the output end of the multi-axis robotic arm 1 by bolts, and the bottom of the multi-axis robotic arm 1 is fixedly installed at the rear end of the mobile vehicle.

[0031] In this embodiment, the intelligent handling equipment for warehousing and logistics achieves automated cargo handling through the cooperation of the handling gripper mechanism, the multi-axis robotic arm 1, and the mobile vehicle. This reduces reliance on manual labor, improves handling efficiency, reduces the labor intensity of workers, and enhances the work experience. The dual-axis motor 2 of the gripper is common in existing technologies and is a common power output component. The multi-axis robotic arm 1 is also a mature industrial robot component. The motor drive and other control parts involved in the mobile vehicle can be implemented in existing technologies using common motor drivers (such as L298N) and controllers (such as STM32 series microcontrollers).

[0032] In this embodiment, the dual-axis motor 2 of the gripper rotates, driving the drive gear 10 to rotate. The drive gear 10 meshes with the connecting gear 6, causing the connecting gear 6 to rotate, which in turn drives the driven gear 7 to rotate. The drive rod 9 on the outside of the connecting gear 6 and the driven gear 7 moves accordingly, cooperating with the auxiliary drive rod 8, so that the gripper body 4, which is hinged between the two, performs a gripping or releasing action. The multi-axis robotic arm 1 can flexibly adjust the position of the handling gripper mechanism, and the moving vehicle drives the entire equipment to the target position to complete the handling.

[0033] Furthermore, the front end of the mobile vehicle is provided with a layered placement mechanism, which includes a top layer placement frame 12, a bottom layer placement frame 13, a spacing adjustment dual-axis motor 14, and a vertical plate 15. One end of the top layer placement frame 12 and the bottom layer placement frame 13 is provided with a threaded sleeve 16. Both output ends of the spacing adjustment dual-axis motor 14 are provided with adjustment screws 17. One end face of the vertical plate 15 has two adjustment slots 18. The top layer placement frame 12 and the bottom layer placement frame 13 are slidably disposed on the vertical plate 15, and the threaded sleeve 16 is located in the adjustment slot 18. The spacing adjustment dual-axis motor 14 is disposed on one end face of the vertical plate 15, and each adjustment screw 17 extends into the corresponding adjustment slot 18. Each adjustment screw 17 is threaded into the threaded sleeve 16. The vertical plate 15 is fixedly disposed at the front end of the mobile vehicle.

[0034] In this embodiment, the layered placement mechanism adjusts the spacing between the top-level placement rack 12 and the bottom-level placement rack 13 through the spacing-adjustable dual-axis motor 14, which can adapt to the placement requirements of goods of different sizes, improve the equipment's compatibility with different goods and the utilization rate of storage space. The spacing-adjustable dual-axis motor 14 is a common power component; its drive control can be implemented through existing motor drivers (such as A4988) and controllers (such as Arduino series development boards).

[0035] In this embodiment, the rotation of the dual-axis motor 14 for spacing adjustment drives the adjustment screw 17 to rotate. The adjustment screw 17 is threadedly engaged with the threaded sleeve 16. Since the threaded sleeve 16 is fixed on the top-level placement frame 12 and the bottom-level placement frame 13, and the two slide relative to each other on the vertical plate 15, the rotation of the adjustment screw 17 will cause the threaded sleeve 16 to move along the adjustment screw 17, thereby driving the top-level placement frame 12 and the bottom-level placement frame 13 to move relative to each other, thus realizing the spacing adjustment.

[0036] Furthermore, each of the top-level placement racks 12 is provided with two positioning sleeves 19 at one end, and the threaded sleeve 16 is located between the two positioning sleeves 19. One end face of the vertical plate 15 has multiple positioning grooves 20, each positioning groove 20 is provided with a positioning rod 21, and each positioning sleeve 19 is sleeved on the positioning rod 21.

[0037] In this embodiment, the positioning sleeve 19 and the positioning rod 21 can ensure the stability of the top-level placement rack 12 and the bottom-level placement rack 13 during movement, prevent them from shaking or shifting, and ensure the accuracy and safety of goods placement.

[0038] In this embodiment, when the top-level placement rack 12 and the bottom-level placement rack 13 move under the action of the adjusting screw 17, the positioning sleeve 19 slides along the positioning rod 21. The positioning rod 21 guides and limits the positioning sleeve 19, so that the top-level placement rack 12 and the bottom-level placement rack 13 can only move along the direction of the positioning rod 21, thereby ensuring the stability of the movement.

[0039] Furthermore, the intelligent handling equipment for warehousing and logistics also includes a cargo retrieval camera 22, two cargo placement cameras 23, and a mobile camera 24. The cargo retrieval camera 22 is located on the outside of the output end of the multi-axis robotic arm 1. The two cargo placement cameras 23 are located on the vertical plate 15, and the monitoring ends of the two cargo placement cameras 23 face the top placement rack 12 and the bottom placement rack 13. The mobile camera 24 is located on the other end face of the vertical plate 15, and the monitoring end of the mobile camera 24 faces the ground.

[0040] In this embodiment, the cargo handling camera 22, the cargo positioning camera 23, and the mobile camera 24 can provide the equipment with comprehensive visual information, enabling the equipment to accurately identify the location, status, and surrounding environment of the cargo, thereby achieving precise cargo handling and obstacle avoidance, and improving the accuracy and safety of the operation.

[0041] In this embodiment, the cargo handling camera 22, the cargo positioning camera 23, and the mobile camera 24 can be common industrial cameras, such as OV series or Sony IMX series camera modules. The resolution can be selected according to requirements, such as 1080P or higher. These cameras are very common in the prior art and are key components for image acquisition. The image processing and control part can be implemented through existing image processing chips (such as OpenMV) and controllers (such as Raspberry Pi series development boards).

[0042] In this embodiment, the cargo handling camera 22 is installed on the outside of the output end of the multi-axis robotic arm 1, which can acquire image information in real time when grabbing and placing cargo; the cargo placement camera 23 is installed on the vertical plate 15 with its monitoring end facing the top placement rack 12 and the bottom placement rack 13, and is used to detect whether the cargo is accurately placed in place; the moving camera 24 is installed on the other end face of the vertical plate 15 with its monitoring end facing the ground, which can acquire ground information during the movement of the equipment to assist the equipment in obstacle avoidance and navigation. These cameras transmit image information to the equipment's control system for analysis and processing.

[0043] Furthermore, the mobile vehicle includes two rear wheels 25, a dual-axis motor 26, a front wheel 27, and a vehicle body 28. The bottom front end of the vehicle body 28 has a movable cavity 29, in which an electric push rod 30 is installed. The output end of the electric push rod 30 is provided with a rack plate 31. A steering shaft 32 is also rotatably installed in the movable cavity 29 via bearings. A bogie 33 is installed below the steering shaft 32 and extends to the bottom of the vehicle body 28. A steering gear 34 is installed above the steering shaft 32 and meshes with the rack plate 31. The two rear wheels 25 are respectively installed at the two output ends of the dual-axis motor 26. The dual-axis motor 26 is fixedly installed at the bottom rear end of the vehicle body 28. The front wheel 27 is rotatably installed below the bogie 33 via bearings. The multi-axis robotic arm 1 is installed at the rear end of the vehicle body 28, and the vertical plate 15 is installed at the front end of the vehicle body 28.

[0044] In this embodiment, the mobile vehicle is powered by the dual-axis motor 26. The steering mechanism, consisting of the electric push rod 30, the rack plate 31, and the steering gear 34, enables the equipment to steer flexibly, allowing it to move freely in the storage environment and improving its mobility and adaptability. The dual-axis motor 26 and the electric push rod 30 are common power components; their drive control can be achieved using existing motor drivers (such as TB6612FNG) and controllers (such as 51 series microcontrollers).

[0045] In this embodiment, the dual-shaft motor 26 rotates to drive the rear wheel 25 to rotate, causing the equipment to move forward or backward; the electric push rod 30 extends and retracts to drive the rack plate 31 to move, the rack plate 31 meshes with the steering gear 34, causing the steering gear 34 to rotate, which in turn drives the steering shaft 32 and the bogie 33 to rotate, and the front wheel 27 under the bogie 33 rotates accordingly, realizing the steering of the equipment.

[0046] Furthermore, the intelligent handling equipment for warehousing and logistics also includes two anti-deviation casters 35 and two anti-collision strips 36. The two anti-deviation casters 35 are respectively located at the bottom front end of the vehicle body 28 and on both sides of the front wheel 27. The two anti-collision strips 36 are respectively attached to the front and rear ends of the vehicle body 28.

[0047] In this embodiment, the anti-deviation caster 35 can prevent the equipment from deviating during movement and ensure the stability of the equipment traveling in a straight line; the anti-collision strip 36 can play a buffering role when the equipment collides with an obstacle, protecting the equipment and goods and reducing collision damage.

[0048] In this embodiment, the anti-deviation caster 35, through its special structural design, can automatically adjust its direction when the equipment moves, so that the equipment keeps moving in a straight line; the anti-collision strip 36 is generally made of elastic material. When the equipment collides with an obstacle, the anti-collision strip 36 undergoes elastic deformation to absorb the collision energy and reduce the impact force.

[0049] Please see Figure 13 The present invention also provides an intelligent handling method for warehousing and logistics, applied to the aforementioned intelligent handling equipment for warehousing and logistics, comprising the following steps: S1: Based on the preset warehouse map and target cargo location information, the mobile vehicle's movement path is planned. The two rear wheels 25 are driven to rotate by the dual-axis motor 26, which drives the mobile vehicle to move along the planned path. During the movement, the mobile camera 24 monitors the ground conditions in real time and feeds the image information back to the control system to adjust the movement direction and speed in a timely manner. When a turn is required, the electric push rod 30 pushes the rack plate 31 to move. The rack plate 31 drives the steering gear 34 to rotate, which in turn causes the steering shaft 32 and the bogie 33 to rotate, so that the mobile vehicle can perform a turning operation according to the planned path. S2: The cargo handling camera 22 captures the position and posture information of the target cargo and transmits the data to the control system. The control system controls the movement of the multi-axis robotic arm 1 according to the cargo position information, so that the handling gripper mechanism moves to a suitable position above the target cargo. S3: Based on the two output end channels of the gripper dual-axis motor 2, the active gear 10 drives the corresponding connecting gear 6 to rotate. Since the connecting gear 6 meshes with the driven gear 7, it drives the driven gear 7 to rotate. The active rod 9 on the outside of the connecting gear 6 and the driven gear 7 rotates accordingly. The active rod 9 and the auxiliary rod 8 cooperate to close the two gripper bodies 4 and grab the target goods. S4: Adjust the distance between the top shelf 12 and the bottom shelf 13 according to the size of the goods. Based on the distance adjustment, the dual-axis motor 14 is started, and the adjusting screws 17 at its two output ends rotate. Since the adjusting screws 17 are threadedly connected to the threaded sleeve 16, the top shelf 12 and the bottom shelf 13 are driven to slide relative to each other on the vertical plate 15 to adjust to a suitable distance. S5: Based on the preset placement position information, determine the top placement rack 12 or the bottom placement rack 13 as the goods placement position. The control system controls the multi-axis robotic arm 1 to move the handling gripper mechanism with the goods to the selected placement position. The gripper dual-axis motor 2 rotates in the opposite direction, causing the two gripper bodies 4 to open and place the goods on the top placement rack 12 or the bottom placement rack 13. The goods placement camera 23 monitors whether the goods are accurately placed and feeds the information back to the control system. S6: After the goods are placed, the multi-axis robotic arm 1, the handling gripper mechanism and other components are reset. The mobile vehicle moves the goods to the designated location according to the instructions of the control system. Finally, the control system updates the target goods location and placement location information for the next goods handling task according to the instructions of the warehouse management system, and repeats the above steps to perform the next goods handling operation.

[0050] This invention discloses an intelligent handling equipment for warehousing and logistics. Through the coordinated operation of the handling gripper mechanism, the multi-axis robotic arm 1, and the mobile vehicle, it automates cargo handling, significantly reduces reliance on manpower, greatly improves handling efficiency, effectively reduces the labor intensity of workers, and improves the work experience. The layered placement mechanism can flexibly adjust the spacing according to different cargo sizes, improving compatibility with various types of goods and the utilization rate of storage space. The positioning sleeve 19 and the positioning rod 21 ensure the stability of the placement rack movement, guaranteeing the accuracy and safety of cargo placement. The cargo retrieval and placement camera 22, the cargo arrival camera 23, and the mobile camera 24 provide the equipment with all-round visual information, assisting in precise handling and obstacle avoidance, and improving operational accuracy and safety. The power and steering mechanism of the mobile vehicle enables the equipment to move and turn flexibly in the warehousing environment, enhancing mobility and adaptability. The anti-deviation universal wheels 35 prevent the equipment from shifting and ensure straight-line driving stability, while the anti-collision strips 36 act as a buffer in the event of a collision, protecting the equipment and cargo and reducing collision damage.

[0051] The above description discloses only one preferred embodiment of the present invention, and should not be construed as limiting the scope of the present invention. Those skilled in the art will understand that all or part of the processes of the above embodiments can be implemented, and equivalent changes made in accordance with the claims of the present invention are still within the scope of the invention.

Claims

1. A warehouse logistics intelligent handling equipment, characterized in that, The system includes a handling gripper mechanism, a multi-axis robotic arm, and a mobile vehicle. The handling gripper mechanism comprises two gripper assemblies, a dual-axis gripper motor, and a gripper housing. Each gripper assembly includes two gripper bodies and a fixed plate. A connecting gear, a driven gear, and two auxiliary driving rods are rotatably mounted on the upper and lower end faces of the fixed plate. A driving rod is mounted on the outer side of both the connecting gear and the driven gear, and the connecting gear meshes with the driven gear. Two driving gears are mounted on each of the two output ends of the dual-axis gripper motor. The gripper housing has two mounting cavities. Each gripper body... The gripper is hinged between the active rod and the auxiliary rod, with the active rod located at the end of the gripper body and the auxiliary rod located at the middle of the gripper body. The fixing plate is installed in the corresponding mounting cavity via a mounting rod, and the gripper body extends out of the gripper box. The gripper dual-axis motor is installed in the gripper box, and each of the active gears meshes with the corresponding connecting gear. The gripper box is fixedly installed at the output end of the multi-axis robotic arm by bolts, and the bottom of the multi-axis robotic arm is fixedly installed at the rear end of the mobile vehicle.

2. The intelligent handling equipment for warehousing and logistics as described in claim 1, characterized in that, The front end of the mobile vehicle is equipped with a layered placement mechanism, which includes a top placement rack, a bottom placement rack, a spacing adjustment dual-axis motor, and a vertical plate. One end of the top placement rack and the bottom placement rack is provided with a threaded sleeve. Both output ends of the spacing adjustment dual-axis motor are provided with adjustment screws. One end face of the vertical plate has two adjustment slots. The top placement rack and the bottom placement rack are slidably disposed on the vertical plate, and the threaded sleeve is located in the adjustment slot. The spacing adjustment dual-axis motor is disposed on one end face of the vertical plate, and each adjustment screw extends into the corresponding adjustment slot. Each adjustment screw is threaded into the threaded sleeve. The vertical plate is fixedly disposed at the front end of the mobile vehicle.

3. The intelligent handling equipment for warehousing and logistics as described in claim 2, characterized in that, Each of the top-level placement racks is also provided with two positioning sleeves at one end, and the threaded sleeve is located between the two positioning sleeves. One end face of the vertical plate has multiple positioning grooves, each positioning groove is provided with a positioning rod, and each positioning sleeve is fitted onto the positioning rod.

4. The intelligent handling equipment for warehousing and logistics as described in claim 3, characterized in that, The intelligent handling equipment for warehousing and logistics also includes a cargo retrieval camera, two cargo placement cameras, and a mobile camera. The cargo retrieval camera is located on the outside of the output end of the multi-axis robotic arm. The two cargo placement cameras are located on the vertical plate, with their monitoring ends facing the top and bottom placement racks. The mobile camera is located on the other end of the vertical plate, with its monitoring end facing the ground.

5. The intelligent handling equipment for warehousing and logistics as described in claim 4, characterized in that, The mobile vehicle includes two rear wheels, a dual-axis motor, front wheels, and a vehicle body. The bottom front end of the vehicle body has a movable cavity containing an electric push rod. The output end of the electric push rod is equipped with a rack plate. A steering shaft is rotatably mounted within the movable cavity via bearings. A bogie is located below the steering shaft and extends to the bottom of the vehicle body. A steering gear is located above the steering shaft and meshes with the rack plate. The two rear wheels are respectively located at the two output ends of the dual-axis motor, which is fixedly mounted at the bottom rear end of the vehicle body. The front wheels are rotatably mounted below the bogie via bearings. A multi-axis robotic arm is located at the rear end of the vehicle body, and a vertical plate is located at the front end of the vehicle body.

6. The intelligent handling equipment for warehousing and logistics as described in claim 5, characterized in that, The intelligent handling equipment for warehousing and logistics also includes two anti-deviation casters and two anti-collision strips. The two anti-deviation casters are respectively located at the bottom front end of the vehicle body and on both sides of the front wheel. The two anti-collision strips are respectively attached to the front and rear ends of the vehicle body.

7. A warehouse logistics intelligent handling method, applied to the warehouse logistics intelligent handling equipment as described in claim 6, characterized in that, Includes the following steps: S1: Based on the preset warehouse map and target cargo location information, the mobile vehicle's movement path is planned. The two rear wheels are driven by a dual-axis motor, which moves the mobile vehicle along the planned path. During the movement, the mobile camera monitors the ground conditions in real time and feeds the image information back to the control system to adjust the movement direction and speed in a timely manner. When a turn is required, the electric push rod pushes the rack plate to move, and the rack plate drives the steering gear to rotate, which in turn causes the steering shaft and bogie to rotate, so that the mobile vehicle can perform a turning operation according to the planned path. S2: The cargo handling camera captures the position and posture information of the target cargo and transmits the data to the control system. The control system controls the movement of the multi-axis robotic arm based on the cargo position information, so that the handling gripper mechanism moves to a suitable position above the target cargo. S3: Based on the two output end channels of the dual-axis motor of the gripper, the active gear drives the corresponding connecting gear to rotate. Since the connecting gear meshes with the driven gear, it drives the driven gear to rotate. The active rod outside the connecting gear and the driven gear rotates accordingly. The active rod and the auxiliary rod cooperate to close the two gripper bodies and grab the target goods. S4: Adjust the spacing between the top and bottom racks according to the size of the goods. Based on the spacing adjustment, the dual-axis motor starts and the adjusting screws at its two output ends rotate. Since the adjusting screws are threadedly connected to the threaded sleeve, they drive the top and bottom racks to slide relative to each other on the vertical plate to adjust to the appropriate spacing. S5: Based on the preset placement position information, determine the top or bottom placement rack as the placement position of the goods. The control system controls the movement of the multi-axis robotic arm to move the handling gripper mechanism with the goods to the selected placement position. The gripper's dual-axis motor rotates in the opposite direction, causing the two gripper bodies to open and place the goods on the top or bottom placement rack. The goods arrival camera monitors whether the goods are accurately placed and feeds the information back to the control system. S6: After the goods are placed, the multi-axis robotic arm, handling gripper mechanism and other components are reset. The mobile vehicle moves the goods to the designated location according to the instructions of the control system. Finally, the control system updates the target goods location and placement location information for the next goods handling task according to the instructions of the warehouse management system, and repeats the above steps to perform the next goods handling operation.

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