A customized carrying robot and operation method for concrete test piece intelligent storage and detection

Abstract

The present application relates to warehousing and transporting robot technical field, especially to a kind of customized handling robot for concrete test piece wisdom warehousing and detection, including mobile component, the mobile component top is provided with lifting AGV robot, the lifting AGV robot is composed of equipment frame and the end of the bracket plate that can move up and down, the lifting AGV robot bracket plate end surface is provided with rotating component, the rotating component top is provided with telescopic component, the lifting AGV robot equipment frame right side is provided with pre-put rack group.The present application is designed by customized telescopic component and material pallet, material pallet is shaped with placing equipment, consistent with spacing, can accurately lift cement test block group, avoid the problem of failure or falling in carrying process due to the irregular shape of test block, surface is not level, significantly improve handling stability and efficiency, pre-put rack group adopts hollow pallet and baffle structure, baffle is arranged in mouth character, and the periphery of cement test block is limited.

Description

Technical Field

[0001] This invention relates to the field of warehouse handling robot technology, and in particular to a customized handling robot and operation method for intelligent warehousing and testing of concrete specimens. Background Technology

[0002] Currently, common CTU products are primarily designed for handling regular goods, making it difficult to directly pick up cement test block sets. Existing CTU picking mechanisms typically operate on regularly shaped, lightweight, and relatively flat containers using clamping or lifting methods. For example, some CTUs employ a clamping picking structure (referencing Hikrobot's clamping-type CTU products), using clamping arms on both sides to grip and transport the container. However, cement test block sets have a unique shape, potentially uneven surfaces, and are relatively large in size and weight. This clamping method cannot stably grasp the cement test block sets, easily leading to gripping failure or dropping during transport. Similarly, lifting picking structures (such as Hikrobot's lifting-type CTU products) lift the container from below for transport. However, the bottom of cement test block sets may be uneven, making it difficult to ensure a stable center of gravity during lifting, and thus unsuitable for transporting cement test block sets. In terms of loading platform design, the existing basket loading platforms are mainly adapted to the placement of conventional material boxes. Their structure and size cannot effectively fix the cement test block groups. Common loading platforms are flat structures designed to adapt to the standard EU material box size, with only simple protective railings around them. For irregularly shaped and heavy cement test block groups, they cannot provide sufficient fixation and protection, and the cement test block groups are prone to shaking and slipping during transportation. Regarding the vehicle body structure, existing CTU products do not fully consider the needs of use in high humidity environments. Most CTU vehicle body structures use ordinary steel or mixed materials, which are easily corroded by moisture in environments with 95% humidity. For example, some CTU vehicle body frames are made of ordinary carbon steel (refer to the materials used in some early logistics equipment vehicles). In high humidity environments, the surface of carbon steel is very prone to rust, which leads to a decrease in structural strength and affects the service life and safety of the equipment. In addition, the sealing performance of the vehicle body is poor, and moisture can easily enter the interior of the vehicle body, causing damage to electrical components, transmission parts, etc., and affecting the normal operation of the equipment.

[0003] The current methods for handling cement test block sets face several challenges: 1. Handling Structure: Existing handling structures cannot directly pick up cement test block sets, limiting the applicability of CTU products to such scenarios. Both clamping and lifting structures fail to provide stable gripping and handling due to the unique shape and weight of the cement test blocks, resulting in low handling efficiency or even inability to handle them. 2. Basket Loading Platform: Existing basket loading platforms cannot effectively secure the cement test block sets. During transport, the sets are prone to shaking and slipping, potentially damaging them and posing safety hazards, hindering smooth operations. 3. Vehicle Structure: In 95% humidity environments, the existing CTU vehicle structure is susceptible to moisture damage. Ordinary steel bodies are prone to rust, reducing structural strength and increasing the risk of equipment failure and accidents. Insufficient sealing allows moisture to penetrate the vehicle, damaging internal electrical components and transmission parts, leading to frequent equipment malfunctions, increased maintenance costs and downtime, and reduced production efficiency. Therefore, a customized handling robot and operating method for intelligent storage and testing of concrete specimens is needed to solve the above problems. Summary of the Invention

[0004] The purpose of this invention is to solve the problems mentioned in the background section.

[0005] To achieve the above objectives, the present invention adopts the following technical solution: A customized handling robot for intelligent storage and testing of concrete specimens includes a moving part, a lifting AGV robot at the top of the moving part, the lifting AGV robot consisting of an equipment frame and a bracket plate end that can move up and down, a rotating part on the surface of the bracket plate end of the lifting AGV robot, a telescopic part at the top of the rotating part, and a pre-placement frame group on the right side of the equipment frame of the lifting AGV robot. The rotating component includes a fork fixing base fixed to the end surface of the pallet frame of the lifting AGV robot. A transmission sprocket is rotatably installed on the top of the fork fixing base, and the top of the transmission sprocket passes through the protective sleeve and is connected and fixed to the bottom of the suspension plate. The fork fixing base is mainly used to fix the forks to the vehicle body. The bottom fixing plate is fixed to the vehicle body by bolts and pin holes to ensure the reliability of the overall fork installation. The rotating component drives the forks to rotate, so that the material pallet can be aligned with the shelves or conveyor platforms in different directions, realize multi-angle picking and placing of goods, and improve space utilization. The telescopic component includes a lower fork seat fixed to the top of the suspension plate, a lower fork component slidably mounted on the top of the lower fork seat, and an upper fork component slidably mounted on the top of the lower fork component. A laser range sensor is provided on the side of the upper fork component, and several material trays are provided on the top of the upper fork component. This enables multi-stage telescopic extension of the forks, and the telescopic distance is precisely controlled by a servo motor and a gear rack structure.

[0006] Preferably, a synchronous chain is fitted onto the surface of the protective sleeve, and a drive sprocket is engaged on the other side of the synchronous chain. The top of the drive sprocket is connected to the shaft end of the rotary motor system, and the rotary motor system is fixed to the surface of the connecting plate. The left side of the connecting plate is connected and fixed to the suspension plate. The rotary motor system consists of a drive motor and a reducer, and ultimately achieves the overall rotation function of the forks through the synchronous chain, drive sprocket, and transmission sprocket. The servo integrated drive motor mainly consists of a drive motor and a reducer, and ultimately achieves the extension and retraction function of the forks through the synchronous chain, drive sprocket, and transmission sprocket.

[0007] Preferably, the protective sleeve covers the surface of the transmission sprocket, and the top end of the protective sleeve is connected and fixed to the bottom end surface of the suspension plate.

[0008] Preferably, a lower rack is provided on the left side of the lower fork, and a through groove is provided on the surface of the lower rack. A speed-changing gear is rotatably installed at the through groove of the lower rack vertical plate, and one end of the speed-changing gear shaft passes through the lower rack vertical plate and is connected and fixed to the shaft end of the servo integrated drive motor. The servo integrated drive motor is fixed on the surface of the lower rack. By using the servo integrated drive motor as a power source, the speed-changing gear can be driven to rotate, so that the speed-changing gear rolls on the tooth surface of the lower rack, thereby carrying the lower fork to move on the surface of the lower fork seat.

[0009] Preferably, the upper fork has a plurality of teeth arranged on the left side of its bottom end, and the gear is connected to the upper fork by the teeth. The lower rack of the lower fork has teeth arranged on its surface that mesh with the gear. The tooth gap on the lower rack is smaller than the tooth gap on the upper fork. When the gear rotates, it can push the upper fork synchronously. Due to the deviation in the tooth gap between the upper fork and the lower rack, the moving speed of the upper and lower forks can be changed, making the moving speed of the upper fork faster than that of the lower fork.

[0010] Preferably, the bottom end of the upper fork is symmetrically provided with two L-shaped rail ends, and the L-shaped rail ends are movably mounted on the surface of the lower fork through guide grooves. When the upper fork slides on the surface of the lower fork, the upper fork can drive the L-shaped rail ends to slide in the guide grooves on the surface of the lower fork, ensuring the stability of the upper fork's movement on the surface of the lower fork and preventing the upper fork from warping or shifting laterally during movement.

[0011] Preferably, the moving component includes a fully enclosed vehicle body fixed to the bottom of the lifting AGV robot equipment frame. Wheel sets are installed at the four corners of the bottom of the fully enclosed vehicle body through grooves. Grooves are opened at the center of the two sides of the bottom of the fully enclosed vehicle body, and two damping springs are symmetrically arranged on both sides of the inner wall of the groove. Both damping springs are fixed to the surface of the power motor. The shaft end of the power motor is connected to the power wheel. The moving component provides the robot with the ability to move. The fully enclosed vehicle body ensures that the internal components are not corroded by moisture in high humidity environments. The damping spring design can adapt to uneven ground, keep the vehicle body moving smoothly, and improve environmental adaptability.

[0012] Preferably, the pre-placement rack assembly includes a shelf fixed to the side of the lifting AGV robot equipment frame, and a number of hollow pallets are equidistantly connected to the inner wall of the shelf. A number of baffles are provided on the surface of the hollow pallets. Four baffles form a group, and a group of baffles is arranged in a U-shape. A hollow groove is opened at the center of the hollow pallet. The baffles are arranged in a U-shape to limit the periphery of the cement test block. The hollow groove of the hollow pallet is compatible with the material pallet to ensure that the test block is firmly fixed during transportation, reducing test block damage and safety risks.

[0013] A customized handling robot operation method for intelligent storage and testing of concrete specimens includes the following steps: The first step is to move the moving parts to the temporary storage rack of the cement block conveying platform, and then use the lifting drive of the bracket plate end of the lifting AGV robot to move the telescopic parts to the appropriate position of the cement block. The second step involves moving the material pallet to the underside of the cement block on the temporary storage rack by the two-stage movement of the lower and upper forks. The material pallet is then lifted by the upward movement of the AGV robot's rack end, thus controlling the cement block to detach from the surface of the temporary storage rack. The third step involves moving the lower fork and the upper fork in opposite directions. The movement of the upper fork can move the material pallet to the surface of the hollow pallet. By lowering the end of the lifting AGV robot's pallet, the cement test block carried by the material pallet can be placed on the surface of the hollow pallet, and the cement test block can be limited by the baffle. Fourth, when the moving part moves to the curing rack position in the storage compartment, the cement test block on the surface of the hollow pallet can be removed by the movement of the lower fork and the upper fork. The rotating motor system is used as the power to drive the sprocket, the synchronous chain and the transmission sprocket to rotate the suspension plate, and then control the overall rotation of the telescopic part to realize the storage and loading of the telescopic part on the curing rack at different positions.

[0014] The present invention has at least the following beneficial effects: 1. Through customized telescopic components and material pallet design, the material pallet conforms to the shape of the placement equipment and has consistent spacing, which can accurately lift the cement test block group and avoid the problem of failure to grasp or fall during transportation due to irregular shape and uneven surface of the test block, thus significantly improving the stability and efficiency of transportation.

[0015] 2. The pre-placement rack adopts a hollow pallet and baffle structure. The baffles are arranged in a square shape to limit the perimeter of the cement test block. The hollow grooves of the hollow pallet are compatible with the material pallet to ensure that the test block is firmly fixed during transportation, reducing test block loss and safety risks.

[0016] 3. The fully enclosed body design combined with rust-proof materials effectively resists water vapor corrosion in high-humidity environments (95%). The body has good sealing performance, preventing water vapor from entering internal electrical components and transmission parts, extending the service life of the equipment and reducing maintenance costs.

[0017] 4. Through the coordinated operation of lifting AGV robots, rotating parts and telescopic parts, the automatic picking, lifting and rotating of cement test block groups can be realized, adapting to storage and curing racks at different positions and angles, reducing manual intervention and improving overall operation efficiency and accuracy. Attached Figure Description

[0018] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the following description of the embodiments will be briefly introduced. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 This is a schematic diagram of the external structure of a customized handling robot for intelligent storage and testing of concrete specimens proposed in this invention. Figure 2 This is a schematic diagram of the external top view of a customized handling robot for intelligent storage and testing of concrete specimens proposed in this invention. Figure 3 This is a schematic diagram of the external rear view structure of a customized handling robot for intelligent storage and testing of concrete specimens proposed in this invention. Figure 4 For the present invention Figure 3 Enlarged structural diagram of A in the middle; Figure 5 This is a schematic diagram of the three-dimensional connection structure between the rotating and telescopic components in a customized handling robot for intelligent storage and testing of concrete specimens proposed in this invention. Figure 6 This is a schematic diagram of the extended state of the telescopic component in a customized handling robot for intelligent storage and testing of concrete specimens proposed in this invention. Figure 7 This is a three-dimensional disassembly diagram of the rotating component in a customized handling robot for intelligent storage and testing of concrete specimens proposed in this invention. Figure 8 This is a three-dimensional disassembly diagram of the telescopic component in a customized handling robot for intelligent storage and testing of concrete specimens proposed in this invention.

[0020] In the picture: 1. Moving parts; 11. Fully enclosed vehicle body; 12. Wheelset; 13. Power motor; 14. Damping spring; 15. Drive wheel; 2. Lifting AGV robot; 3. Pre-positioning rack assembly; 31. Shelf; 32. Hollow pallet; 33. Baffle; 4. Rotating components; 41. Fork mounting base; 42. Casing sleeve; 43. Suspension plate; 44. Synchronizing chain; 45. Drive sprocket; 46. Rotary motor system; 47. Connecting plate; 48. Transmission sprocket; 5. Telescopic component; 51. Lower fork seat; 52. Lower fork component; 53. Upper fork component; 54. Servo integrated drive motor; 55. Material pallet; 56. Laser rangefinder sensor; 57. Lower rack; 58. Speed ​​change gear; 59. L-shaped rail end. Detailed Implementation

[0021] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0022] Reference Figures 1-8 A customized handling robot for intelligent storage and testing of concrete specimens includes a mobile component 1, a lifting AGV robot 2 is set at the top of the mobile component 1, the lifting AGV robot 2 is composed of an equipment frame and a bracket plate end that can move up and down, a rotating component 4 is set on the surface of the bracket plate end of the lifting AGV robot 2, a telescopic component 5 is set at the top of the rotating component 4, and a pre-placement frame group 3 is set on the right side of the equipment frame of the lifting AGV robot 2. The rotating component 4 includes a fork fixing base 41 fixed on the end surface of the pallet frame of the lifting AGV robot 2. A transmission sprocket 48 is rotatably mounted on the top of the fork fixing base 41, and the top of the transmission sprocket 48 passes through the protective sleeve 42 and is connected and fixed to the bottom end of the suspension plate 43. The fork fixing base 41 is mainly used to fix the fork as a whole to the vehicle body. The bottom fixing plate is fixed to the vehicle body by bolts and pin holes to ensure the reliability of the overall fork installation. The telescopic component 5 includes a lower fork seat 51 fixed to the top of the suspension plate 43, a lower fork member 52 slidably mounted on the top of the lower fork seat 51, and an upper fork member 53 slidably mounted on the top of the lower fork member 52. A laser rangefinder sensor 56 is provided on the side of the upper fork member 53, and a number of material trays 55 are provided on the top of the upper fork member 53.

[0023] The surface of the casing 42 is fitted with a synchronous chain 44, and the other side of the synchronous chain 44 is engaged with the surface of the drive sprocket 45. The top of the drive sprocket 45 is connected to the shaft end of the rotary motor system 46, and the rotary motor system 46 is fixed on the surface of the connecting plate 47. The left side of the connecting plate 47 is connected and fixed to the suspension plate 43.

[0024] The protective sleeve 42 covers the surface of the transmission sprocket 48, and the top of the protective sleeve 42 is connected and fixed to the bottom surface of the suspension plate 43.

[0025] A lower rack 57 is provided on the left side of the lower fork 52, and a through groove is provided on the surface of the lower rack 57. A speed change gear 58 is rotatably installed at the through groove of the vertical plate of the lower rack 57, and one end of the shaft of the speed change gear 58 passes through the vertical plate of the lower rack 57 and is connected and fixed to the shaft end of the servo integrated drive motor 54. The servo integrated drive motor 54 is fixed on the surface of the lower rack 57.

[0026] The upper fork 53 has a number of teeth arranged on the left side of its bottom end. The gear 58 is connected to the upper fork 53 by meshing through the teeth. The lower rack 57 of the lower fork 51 has teeth arranged on its surface that mesh with the gear 58. The tooth gap on the surface of the lower rack 57 is smaller than the tooth gap of the upper fork 53.

[0027] The bottom end of the upper fork 53 is symmetrically provided with two L-shaped rail ends 59, and the L-shaped rail ends 59 are movably mounted on the surface of the lower fork 52 through guide grooves.

[0028] The moving part 1 includes a fully enclosed vehicle body 11 fixed to the bottom of the lifting AGV robot 2 equipment frame. Wheel sets 12 are installed at the four corners of the bottom of the fully enclosed vehicle body 11 through grooves. Grooves are opened at the center of the two sides of the bottom of the fully enclosed vehicle body 11, and two damping springs 14 are symmetrically arranged on both sides of the inner wall of the groove. Both damping springs 14 are fixed to the surface of the power motor 13. The shaft end of the power motor 13 is connected to the power wheel 15.

[0029] The pre-placement rack group 3 includes a rack 31 fixed to the side of the lifting AGV robot 2 equipment rack, and a number of hollow trays 32 are equidistantly connected to the inner wall of the rack 31. A number of baffles 33 are provided on the surface of the hollow trays 32. Four baffles 33 form a group, and a group of baffles 33 are arranged in a square structure. A hollow groove is opened at the center of the hollow tray 32.

[0030] The outermost circular area traversed by the unified whole consisting of the lower fork base 51, lower fork component 52, and upper fork component 53 as it rotates around the rotation center provides a reference for docking with the equipment during the overall robot's material handling process. The lower fork base 51 is used to fix the laser rangefinder sensor 56, the extension limit sensor of the lower fork component 52, and is assembled with the lower fork component 52 via a guide rail to achieve the first-level extension function. The lower fork component 52 is used to fix the extension limit sensor of the upper fork component 53 and is assembled with the upper fork component 53 via a guide rail to achieve the second-level extension function. The upper fork component 53 is used to fix the material pallet 55, and its overall structure with the lower fork base 51 and lower fork component 52 is driven by the synchronous chain 44 to achieve the extension function. A pair of laser rangefinder sensors 56 are symmetrically installed on both sides of the lower fork base 51. Their principle is to detect the perpendicularity of the entire fork to the docking equipment. When the values ​​of the pair of laser rangefinder sensors 56 are the same, it proves that the fork can safely pick up the goods. The laser rangefinder sensor 56, with its high precision, fast response, and strong adaptability, determines the distance of the target object by emitting and receiving laser beams.

[0031] Its biggest highlight is its ultra-high precision and fast response capability. The measurement accuracy can reach the micron level or even the nanometer level, providing a solid foundation for precision manufacturing. High-speed data processing technology ensures instant feedback and adapts to dynamic measurement needs. At the same time, its non-contact measurement method avoids wear and interference caused by physical contact, making it especially suitable for the precise detection of soft or fragile materials. In addition, its strong anti-interference capability and wide adaptability enable it to maintain stable operation in various harsh environments. The material pallet 55 is designed to conform to the shape of the equipment on which the materials are placed. Its spacing is consistent with the materials placed in the equipment and a gap is left. It is installed and fixed on the upper fork 53. A fork rotation angle detection sensor is installed on the fork mounting base 41, and a rotation sensing plate is installed on the lower fork seat 51. Since the lower fork seat 51, lower fork 52, and upper fork 53 are parallel, the overall fork end rotation angle can be determined by the sensor on the fork mounting base 41. The photoelectric limit sensor uses the photoelectric sensing principle to detect the position of an object by the working state of the photoelectric switch. When an object approaches the sensor, it blocks the light beam emitted by the light-emitting diode, causing the resistance of the photodiode to change and generate a signal. The photoelectric limit sensor is widely used in automated equipment to detect the position, speed, and other information of objects. It is easy to install and has high detection accuracy.

[0032] The rotary motor system 46 consists of a 400W drive motor and a reducer, ultimately driving the rotation of the forks via a synchronous chain 44, drive sprocket 45, and transmission sprocket 48. The servo integrated drive motor 54 mainly consists of a 400W drive motor and a reducer, ultimately driving the extension and retraction of the forks via a synchronous chain 44, drive sprocket 45, and transmission sprocket 48. The servo integrated drive motor 54 is a highly integrated servo system that integrates a motor, encoder, and driver. Compared to traditional distributed servo systems, it has many advantages, including smaller size. The design features smaller size, simpler structure, higher integration, and easier installation and maintenance. Using a servo-driven integrated motor 54 as the power source, it drives the transmission gear 58 to rotate, causing the transmission gear 58 to roll on the tooth surface of the lower rack 57. This, in turn, carries the lower fork 52 to move on the surface of the lower fork seat 51. When the transmission gear 58 rotates, it simultaneously pushes the upper fork 53. Due to the deviation in the tooth clearance between the upper fork 53 and the lower rack 57, the movement speed of the upper fork 53 and the lower fork 52 changes, making the movement speed of the upper fork 53 faster than that of the lower fork 52.

[0033] When the upper fork 53 slides horizontally on the surface of the lower fork 52, the upper fork 53 can drive the L-shaped rail end 59 to slide in the guide groove on the surface of the lower fork 52, ensuring the stability of the upper fork 53's movement on the surface of the lower fork 52 and preventing the upper fork 53 from warping or shifting laterally during movement. The hollow groove shape of the hollow pallet 32 ​​is adapted to the material pallet 55. When the material pallet 55 carries cement test blocks through the hollow groove of the hollow pallet 32, the plates at the corners of the hollow groove can support the cement test blocks. At the same time, the several baffles 33 enclosing the surface of the hollow pallet 32 ​​can limit the periphery of the cement test blocks, which can firmly fix the cement test block group on the hollow pallet 32, effectively avoiding the test blocks from slipping or colliding due to shaking and bumping during transportation. This not only reduces the loss rate of cement test blocks and reduces the economic losses caused by test block damage, but also eliminates the safety hazards that test blocks may cause by slipping, ensuring the safety of the working environment.

[0034] The redesigned picking structure of this invention, through a customized picking arm combined with a telescopic drive device and a rotary drive device, can accurately and stably pick up cement test block groups directly, solving the problem that existing CTU products cannot handle cement test block groups. This allows CTU products to be applied to scenarios such as cement test block storage and transportation. Compared with manual handling, this picking structure can achieve automated operation, significantly reducing labor costs, while avoiding the inefficiencies and test block damage that may occur with manual handling, significantly improving work efficiency. The baffle 33 structure on the surface of the hollow pallet 32 ​​forms multi-directional protection for the cement test block group, which can firmly fix the cement test block group on the loading platform, effectively preventing the test blocks from slipping or colliding during transportation due to shaking and bumps. This not only reduces the loss rate of cement test blocks and reduces economic losses caused by test block damage, but also eliminates the safety hazards that may be caused by test blocks slipping, ensuring the safety of the working environment.

[0035] The vehicle body structure utilizes a 304 stainless steel frame and a 5052 aluminum alloy shell. These two materials offer excellent corrosion resistance, effectively resisting the erosion of moisture in high humidity environments (up to 95%). This avoids the problems of rust and reduced structural strength associated with conventional steel bodies. Furthermore, comprehensive sealing measures, such as rubber sealing rings, sealing strips, rubber gaskets and sealant at bolts, and waterproof joints, prevent moisture from entering the vehicle body, protecting internal electrical components and transmission parts. This reduces the failure rate caused by moisture, lowers maintenance costs and downtime, significantly extends the equipment's lifespan, and improves operational reliability in high humidity environments. The telescopic and rotating functions of the picking structure allow for flexible adjustment of the picking angle and distance based on the position and arrangement of the cement test blocks, adapting to different picking needs. The material and sealing design of the vehicle body structure do not excessively increase the equipment's weight or operational complexity, ensuring the equipment's original mobility and ease of operation. This allows the equipment to meet specific operational requirements while possessing good versatility and practicality.

[0036] A customized handling robot operation method for intelligent storage and testing of concrete specimens, characterized by the following steps: The first step is to move the moving part 1 to the temporary storage rack of the cement test block conveying platform, and drive the telescopic part 5 to move to the cement test block fitting position by lifting the bracket plate end of the lifting AGV robot 2. The second step is to move the material pallet 55 to the bottom of the cement block on the temporary storage rack by the two-stage movement of the lower fork 52 and the upper fork 53. The material pallet 55 is then lifted by the upward movement of the end of the lifting AGV robot 2, and the cement block is lifted off the surface of the temporary storage rack. The third step involves moving the lower fork 52 and the upper fork 53 in opposite directions. The movement of the upper fork 53 can drive the material pallet 55 to move to the surface of the hollow pallet 32. By lowering the end of the lifting AGV robot 2's bracket plate, the cement test block carried by the material pallet 55 can be placed on the surface of the hollow pallet 32, and the cement test block can be limited by the baffle 33. Fourth step: When the moving part 1 moves to the curing rack position in the storage bin, the cement test block on the surface of the hollow pallet 32 ​​can be removed by the movement of the lower fork 52 and the upper fork 53. The rotating motor system 46 is used as power to drive the sprocket 45, the synchronous chain 44 and the transmission sprocket 48 to rotate the suspension plate 43, thereby controlling the overall rotation of the telescopic part 5, so as to realize the storage and loading of the telescopic part 5 on the curing rack at different positions.

[0037] Working principle: First, according to Figure 2 and Figure 3 As shown, the four wheel sets 12 at the bottom of the fully enclosed vehicle body 11 can ensure the stability of the fully enclosed vehicle body 11 during movement. The drive wheel 15 is driven to rotate by the drive motor 13, which can drive the drive wheel 15 to rotate as power to move the fully enclosed vehicle body 11. When the ground is uneven, the design of the double damping spring 14 can buffer the drive motor 13, so that the drive motor 13 can adapt to the protrusion of the ground shape, thereby maintaining the balance of the fully enclosed vehicle body 11 during movement. Secondly, according to Figure 1 , Figure 5 and Figure 6As shown, the lifting AGV robot 2's bracket plate end moves up and down, lifting the rotating component 4. The height of the fork fixing base 41 is controlled by the automated lifting mechanism of the AGV robot 2's bracket plate end. The fork fixing base 41 allows the telescopic component 5 to be lifted to a height compatible with the cement test block group on the storage and curing rack. When the laser ranging sensor 56 detects that the suspension plate 43 is compatible with the conveying system position, the servo integrated drive motor 54 starts, driving the speed-changing gear 58 to rotate. The speed-changing gear 58 rolls on the tooth surface of the lower rack 57. The rolling movement of the speed-changing gear 58 causes the lower fork 52 to slide on the surface of the lower fork seat 51. Simultaneously, the rotation of the speed-changing gear 58 engages with the bottom teeth of the upper fork 53 to push the upper fork 53, causing it to slide on the surface of the lower fork 52. The L-shaped rail at the bottom of the upper fork 53... End 59 can slide on the guide groove corresponding to the lower fork 52, so that the upper fork 53 carries the material pallet 55 to move below the cement block group. By lifting the tray plate end of the AGV robot 2, the material pallet 55 can lift the cement block. After the servo integrated drive motor 54 is started, the shaft end moves in the opposite direction, so that the material pallet 55 can place the cement block placed on the surface of the hollow pallet 32. When the material pallet 55 moves down from the hollow groove of the hollow pallet 32, the cement block is intercepted by the corner of the hollow groove of the hollow pallet 32, so that the cement block stays on the surface of the hollow pallet 32. The baffle 33 can limit the periphery of the cement block. At the same time, in conjunction with the above description, the fully enclosed vehicle body 11 can be driven to move, thereby moving the cement block lifted by the material pallet 55 to the position of the storage and maintenance rack. The same operation is used for unloading.

[0038] 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. The scope of protection claimed by the appended claims and their equivalents is defined.

Claims

1. A customized handling robot for intelligent storage and testing of concrete specimens, comprising a moving part (1), wherein a lifting AGV robot (2) is provided at the top of the moving part (1), characterized in that, The lifting AGV robot (2) consists of an equipment frame and a bracket plate end that can move up and down. The bracket plate end surface of the lifting AGV robot (2) is provided with a rotating component (4), and the top of the rotating component (4) is provided with a telescopic component (5). A pre-placement frame group (3) is provided on the right side of the equipment frame of the lifting AGV robot (2). The rotating component (4) includes a fork fixing base (41) fixed on the end surface of the pallet frame of the lifting AGV robot (2). A transmission sprocket (48) is rotatably installed on the top of the fork fixing base (41), and the top of the transmission sprocket (48) passes through the protective sleeve (42) and is connected and fixed to the bottom of the suspension plate (43). The telescopic component (5) includes a lower fork seat (51) fixed to the top of the suspension plate (43), a lower fork member (52) is slidably installed on the top of the lower fork seat (51), and an upper fork member (53) is slidably installed on the top of the lower fork member (52). A laser range sensor (56) is provided on the side of the upper fork member (53), and a plurality of material trays (55) are provided on the top of the upper fork member (53).

2. The customized handling robot for intelligent storage and testing of concrete specimens according to claim 1, characterized in that, The surface of the sleeve (42) is fitted with a synchronous chain (44), and the other side of the synchronous chain (44) is engaged with the surface of the drive sprocket (45). The top of the drive sprocket (45) is connected to the shaft end of the rotary motor system (46), and the rotary motor system (46) is fixed on the surface of the connecting plate (47). The left side of the connecting plate (47) is connected and fixed to the suspension plate (43).

3. A customized handling robot for intelligent storage and testing of concrete specimens according to claim 2, characterized in that, The protective sleeve (42) covers the surface of the transmission sprocket (48), and the top end of the protective sleeve (42) is connected and fixed to the bottom end surface of the suspension plate (43).

4. A customized handling robot for intelligent storage and testing of concrete specimens according to claim 1, characterized in that, The lower fork (52) is provided with a lower rack (57) on the left side, and a through groove is provided on the surface of the lower rack (57). A speed change gear (58) is rotatably installed at the through groove of the vertical plate of the lower rack (57), and one end of the shaft of the speed change gear (58) passes through the vertical plate of the lower rack (57) and is connected and fixed to the shaft end of the servo integrated drive motor (54). The servo integrated drive motor (54) is fixed on the surface of the lower rack (57).

5. A customized handling robot for intelligent storage and testing of concrete specimens according to claim 4, characterized in that, The upper fork (53) has a number of teeth arranged on the left side of its bottom end. The gear (58) is connected to the upper fork (53) by meshing through the teeth. The lower rack (57) of the lower fork seat (51) has teeth arranged on its surface that mesh with the gear (58). The tooth gap on the surface of the lower rack (57) is smaller than the tooth gap of the upper fork (53).

6. A customized handling robot for intelligent storage and testing of concrete specimens according to claim 5, characterized in that, The upper fork (53) has two L-shaped rail ends (59) symmetrically arranged at its bottom end, and the L-shaped rail ends (59) are movably installed on the surface of the lower fork (52) through guide grooves.

7. A customized handling robot for intelligent storage and testing of concrete specimens according to claim 1, characterized in that, The moving part (1) includes a fully enclosed vehicle body (11) fixed to the bottom of the lifting AGV robot (2) equipment frame. Wheel sets (12) are installed at the four corners of the bottom of the fully enclosed vehicle body (11) through grooves. Grooves are opened at the center of the two sides of the bottom of the fully enclosed vehicle body (11), and two damping springs (14) are symmetrically arranged on both sides of the inner wall of the groove. The two damping springs (14) are fixed on the surface of the power motor (13), and the shaft end of the power motor (13) is connected to a power wheel (15).

8. A customized handling robot for intelligent storage and testing of concrete specimens according to claim 1, characterized in that, The pre-placement rack group (3) includes a rack (31) fixed to the side of the lifting AGV robot (2) equipment rack, and a number of hollow trays (32) are equidistantly connected to the inner wall of the rack (31), and a number of baffles (33) are provided on the surface of the hollow trays (32). Four baffles (33) form a group, and a group of baffles (33) are arranged in a square structure. A hollow groove is provided at the center of the hollow trays (32).

9. A customized handling robot operation method for intelligent storage and testing of concrete specimens according to any one of claims 1-8, characterized in that: Includes the following steps: The first step is to move the moving part (1) to the temporary storage rack of the cement block conveying platform, and drive the telescopic part (5) to the cement block fitting position by lifting the bracket plate end of the lifting AGV robot (2). The second step is to move the material pallet (55) to the bottom of the cement block in the temporary storage rack by moving the lower fork (52) and the upper fork (53) in two stages. The material pallet (55) is then lifted by the lifting AGV robot (2) at the end of the pallet plate, and the cement block is lifted off the surface of the temporary storage rack. The third step involves moving the lower fork (52) and the upper fork (53) in opposite directions. The movement of the upper fork (53) can move the material pallet (55) to the surface of the hollow pallet (32). By lowering the end of the lifting AGV robot (2) tray, the cement test block carried by the material pallet (55) can be placed on the surface of the hollow pallet (32), and the cement test block can be limited by the baffle (33). In the fourth step, when the moving part (1) moves to the curing rack position of the storage compartment, the cement test block on the surface of the hollow pallet (32) can be taken out by the movement of the lower fork (52) and the upper fork (53). The rotating motor system (46) is used as power to drive the sprocket (45), the synchronous chain (44) and the transmission sprocket (48) to rotate the suspension plate (43), and then control the overall rotation of the telescopic part (5) to realize the storage and loading of the telescopic part (5) on the curing rack at different positions.

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