Carton loading and unloading integrated robot

Abstract

The utility model belongs to the technical field of intelligent loading and unloading equipment, and discloses a carton loading and unloading integrated robot which comprises a moving platform, a feeding module and a loading module. The mobile platform adopts a rear Ackerman chassis and is driven by four steering wheels so as to realize accurate movement and parking in a working area; the feeding module is mainly composed of a roller line, installed on the movable platform and connected with an external movable roller frame so as to achieve conveying of goods. The feeding module comprises two six-axis manipulators with liftable bases, and the six-axis manipulators are installed on the movable platform and provided with suction cups to serve as end executors so as to achieve suction of containers. According to the carton loading and unloading integrated robot, automatic loading and unloading tasks of cartons are achieved through the rear Ackerman chassis and the two liftable six-axis mechanical arms, the cargo loading universality is good, reliability is high, flexibility is good, and the cargo loading and unloading efficiency can be greatly improved.

Description

Technical Field

[0001] The utility model belongs to the technical field of intelligent loading and unloading equipment, and in particular relates to a carton loading and unloading integrated robot. Background Art

[0002] With the continuous advancement of China's intelligent manufacturing, the development of intelligent logistics has gradually received attention. At present, in the logistics industry, the loading and unloading of goods is mostly done manually. The efficiency of this method of loading and unloading is completely determined by people. Due to the high intensity of work, the effective working time of workers will be greatly shortened, which will lead to low work efficiency. In addition, with the scarcity of labor resources, labor costs are also increasing year by year. The logistics industry urgently needs the introduction of automated equipment to change this situation.

[0003] In response to the above problems, most of the existing technical solutions use mobile manipulators to achieve loading and unloading of goods. The mobile manipulator mainly includes three parts: a manipulator, a mobile chassis, and a feeding device. For the actuator manipulator, most technical solutions use a single multi-axis manipulator. Although it is more flexible and has a wide range of operations, the load capacity of existing multi-axis manipulators is often small, usually not more than 20kg, and heavier goods cannot be loaded and unloaded. For some standard six-axis manipulators, their load capacity can meet the needs of most situations, but for some situations with larger operating areas, in order to ensure that the lower left corner, lower right corner, upper left corner, and upper right corner of the wall or the carriage can be loaded and unloaded smoothly, the installation position of the manipulator must be limited, which will change the picking position of the manipulator, thereby complicating the path of the manipulator during operation, thereby reducing operating efficiency. In addition, for the existing mobile chassis technical solutions, most are wheeled differential chassis or differential track chassis. These chassis have a relatively simple structure and a strong load capacity, but the control accuracy is low. In relatively harsh environments such as cargo loading and unloading, their target accessibility is poor, which is not conducive to cargo loading and unloading.

[0004] Through the above analysis, the problems and defects of the prior art are as follows:

[0005] The existing technical solutions have certain limitations in the design of the actuator of the mobile manipulator and the mobile chassis. Summary of the invention

[0006] In view of the problems existing in the prior art, the utility model provides a carton loading and unloading integrated robot.

[0007] The utility model is implemented as follows: a carton loading and unloading integrated robot comprises:

[0008] Mobile platform, feeding module, loading module, electric control cabinet;

[0009] The feeding module, loading module and electric control cabinet are installed on the mobile platform;

[0010] The mobile platform includes a driving steering wheel, a guiding steering wheel, and a laser radar;

[0011] The driving steering wheel and the guiding steering wheel are respectively the front and rear wheels of the mobile platform, forming a rear Ackerman chassis structure, and the laser radar is installed at the front end of the mobile platform.

[0012] Furthermore, the feeding module includes a roller line, a visual sensor, and a photoelectric sensor. The roller line constitutes the cargo conveying part of the feeding module. The visual sensor is installed on the roller line through a stand, and the photoelectric sensor is installed on one side of the roller line.

[0013] Furthermore, the loading module includes a manipulator, a liftable column, a suction cup device and a material picking position, the manipulator is respectively installed on the liftable column, the liftable column is installed on the mobile platform, the suction cup device is installed at the end of the manipulator, and the material picking position is located at the front end of the roller line.

[0014] Furthermore, the electric control cabinet includes a cabinet body, an industrial computer, an alarm light, and an emergency stop button. The cabinet body is installed on the mobile platform, the industrial computer is installed in the cabinet body, the alarm light is installed above the cabinet body, and the emergency stop button is installed below the cabinet body.

[0015] In combination with the above technical solutions and the technical problems solved, the advantages and positive effects of the technical solutions to be protected by the utility model are as follows:

[0016] First, compared with the prior art, the utility model can accurately dock in the working space, and through the coordinated loading and unloading of the liftable dual mechanical arms, the working efficiency is greatly improved, and the dead point position where loading and unloading cannot be done is effectively avoided. It is an efficient and reliable integrated carton loading and unloading robot.

[0017] The utility model provides an integrated carton loading and unloading robot, which can move to the operating area to load or unload goods. The external conveying device at the storage end is docked with the integrated carton loading and unloading robot to realize the transportation of goods, and the integrated carton loading and unloading robot further enters the carriage at the transportation end to realize the loading or unloading operation of goods. When loading goods, the goods are transferred from the storage end to the transportation end, and the integrated carton loading and unloading robot performs the palletizing operation of the goods at the transportation end; when unloading goods, the goods are transferred from the transportation end to the storage end, and the integrated carton loading and unloading robot performs the disassembly operation of the goods at the transportation end. It can be seen that when the integrated carton loading and unloading robot is used to load and unload goods, it is not necessary for it to travel back and forth between the warehouse and the truck to realize the loading and unloading of goods, which can reduce equipment costs and greatly improve operating efficiency.

[0018] Second, the technical problems of the prior art solved by the utility model mainly include:

[0019] 1. Low operating efficiency: Traditional carton loading and unloading operations usually rely on manual labor, which not only requires a large amount of human resources, but also the speed and accuracy of manual operation are limited, resulting in low operating efficiency.

[0020] 2. Working environment restrictions: In some special working environments, such as high temperature, high humidity, dust and other harsh conditions, manual operation is not only inefficient but may also pose a threat to the health of workers.

[0021] 3. High cost: Since a large amount of manual labor is required, it not only increases labor costs, but also may cause damage to the goods due to improper operation, adding additional costs.

[0022] By adopting the carton loading and unloading integrated robot of the utility model, the following significant technical advances can be achieved:

[0023] 1. Improve work efficiency: Through automated operation, robots can continuously load and unload cartons, greatly improving work efficiency. At the same time, the speed and accuracy of robot operation far exceed those of manual labor, further improving work efficiency.

[0024] 2. Adapt to various working environments: The robot is not affected by the working environment and can work normally under harsh conditions such as high temperature, high humidity, and high dust, avoiding the health risks that may be caused by manual operation.

[0025] 3. Reduce costs: By reducing manual participation, labor costs are reduced. At the same time, the high accuracy of robot operation reduces the damage of goods caused by improper operation and reduces additional costs.

[0026] 4. Intelligent operation: Through the equipped visual sensors, photoelectric sensors and other equipment, the robot can achieve precise positioning and operation, greatly improving the intelligent level of operation. At the same time, through the control of industrial computers, the robot can achieve autonomous navigation and operation planning, further improving the intelligent and automated level of operation.

[0027] The carton loading and unloading integrated robot of the utility model solves the problems existing in the prior art through an automated and intelligent operation mode, significantly improves operating efficiency, reduces costs, adapts to various working environments, and has important practical value and application prospects.

[0028] The expected benefits and commercial value after the technical solution of this utility model is transformed are:

[0029] The loading and unloading robot products implemented based on this plan have a greater competitive advantage in the field of loading and unloading robots. After the implementation of this plan, based on the calculation of RMB 1.5 million per robot, it is expected to sell 200 sets per year, 1,000 sets in 5 years, and the sales volume in 5 years can reach RMB 1.5 billion.

[0030] Third, the technical solution of the utility model solves the technical problem that people have been eager to solve but have never succeeded in solving: in the field of logistics, achieving efficient automatic loading and unloading is a technical problem that people have been eager to solve but have never succeeded in solving. Compared with other technical solutions, our solution has the following advantages in achieving efficient automatic loading and unloading:

[0031] Strong adaptability: The robot of this technical solution can stably perform loading and unloading operations in harsh working environments such as high temperature, high humidity, and dust, and support the palletizing of goods of various specifications.

[0032] High operating accuracy: Automated equipment has challenges in precise positioning and operation, especially in complex logistics environments. This technical solution achieves precise positioning and operation through the application of high-precision sensors such as lidar and visual sensors.

[0033] High load and flexibility: Traditional automated loading and unloading equipment may be limited in flexibility or load capacity. This technical solution adopts a rear Ackerman chassis structure and two liftable manipulators to improve flexibility and load capacity.

[0034] Intelligence: The development of intelligent logistics automation equipment is a long-term goal pursued by the industry. This technical solution improves the intelligence level by equipping advanced sensors and industrial computers.

[0035] In summary, the technical solution of the utility model solves some long-standing technical problems in the logistics industry, especially in terms of environmental adaptability, precision operation, flexibility and automation level of the equipment.

[0036] Fourth, the technical solution of the utility model does overcome some limitations and prejudices in the prior art:

[0037] Improved operating efficiency: The dual-arm collaborative pick-and-place technology significantly improves operating efficiency and reduces dependence on human resources.

[0038] Enhanced adaptability: The robot can work in harsh environments such as high temperature, high humidity, and high dust, which overcomes the limitations of manual operation in harsh environments.

[0039] Improved automation level: Equipped with visual sensors, photoelectric sensors and other equipment, the robot can achieve precise positioning and operation, improving the automation level of the operation.

[0040] Flexibility and reliability: The rear Ackerman chassis structure and two liftable manipulators provide good load versatility and reliability, overcoming the problems of low control accuracy of the mobile chassis and limited load capacity of the manipulators in the prior art.

[0041] In summary, the technical solution of the utility model effectively overcomes the prejudices and limitations of the prior art through a series of innovative designs, and provides an efficient and adaptable integrated carton loading and unloading robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] Figure 1 It is a structural diagram of a carton loading and unloading integrated robot provided in an embodiment of the utility model.

[0043] Figure 2 It is a schematic diagram of the structure of a mobile platform provided by an embodiment of the utility model.

[0044] Figure 3 It is a schematic diagram of the structure of the feeding module provided in the embodiment of the utility model.

[0045] Figure 4 It is a schematic diagram of the structure of a feeding module provided in an embodiment of the utility model.

[0046] Figure 5 It is a schematic diagram of the structure of a power distribution cabinet provided in an embodiment of the utility model.

[0047] Figure 6 This is an experimental effect diagram provided by the embodiment of the utility model.

[0048] In the figure: 1. Mobile platform; 2. Feeding module; 3. Loading module; 4. Electric control cabinet; 11. Driving steering wheel; 12. Guide steering wheel; 13. Laser radar; 21. Roller line; 22. Visual sensor; 23. Photoelectric sensor; 31. Manipulator; 32. Liftable column; 33. Suction cup device; 34. Material picking position; 41. Cabinet; 42. Industrial computer; 43. Warning light; 44. Emergency stop button. DETAILED DESCRIPTION

[0049] In order to make the purpose, technical solution and advantages of the utility model more clear, the utility model is further described in detail in combination with the embodiments below. It should be understood that the specific embodiments described here are only used to explain the utility model, and are not used to limit the utility model.

[0050] like Figure 1 As shown, a carton loading and unloading integrated robot provided by an embodiment of the utility model comprises:

[0051] Mobile platform 1, feeding module 2, loading module 3, electric control cabinet 4;

[0052] The feeding module 2 , the loading module 3 and the electric control cabinet 4 are installed on the mobile platform 1 .

[0053] like Figure 2 As shown, the mobile platform 1 of the integrated carton loading and unloading robot of this embodiment includes a driving steering wheel 11, a guide steering wheel 12 and a laser radar 13. The driving steering wheel 11 and the guide steering wheel 12 serve as the front two wheels and the rear two wheels of the mobile platform 1 respectively, forming a rear Ackerman chassis structure. The laser radar 13 is installed at the front end of the mobile platform 1.

[0054] like Figure 3 As shown, the feeding module 2 of the integrated carton loading and unloading robot of this embodiment includes a roller line 21, a visual sensor 22 and a photoelectric sensor 23. The roller line 21 is installed on the mobile platform 1, the visual sensor 22 is installed on the roller line 21 through a stand, and the photoelectric sensor 23 is installed on one side of the roller line 21.

[0055] like Figure 4 As shown, the loading module 3 of the integrated carton loading and unloading robot of the embodiment includes a manipulator 31, a liftable column 32, a suction cup device 33 and a material picking position 34, the base of the manipulator 31 is respectively installed on the liftable column 32, the liftable column 32 is installed on the mobile platform 1, the suction cup device 33 is installed at the end of the manipulator 31, and the material picking position 34 is located at the front end of the roller line 21.

[0056] like Figure 5As shown, the electric control cabinet of the integrated carton loading and unloading robot of this embodiment includes a cabinet 41, an industrial computer 42, an alarm light 43 and an emergency stop button 44. The cabinet 41 is installed on the mobile platform 1, the industrial computer 42 is installed in the cabinet 41, the alarm light 43 is installed above the cabinet 41, and the emergency stop button 44 is installed below the cabinet 41.

[0057] The utility model moves the mobile platform 1 to the working position, and the goods are transported through the roller line 21. When the photoelectric sensor 23 detects the goods, it sends a signal to the industrial computer 42. The industrial computer 42 controls the manipulator 31 to move to the material picking position 34 and open the suction cup device 33 to absorb the goods. At this time, the visual sensor 22 detects the working area and sends data to the industrial computer 42. The industrial computer 42 calculates the position where the goods can be placed according to the visual data, and then controls the manipulator 31 to move to the position to realize the loading of the goods. The left and right manipulators work together to increase the cargo loading and unloading volume per unit time and improve the working efficiency.

[0058] The carton loading and unloading integrated robot provided in the embodiment of the utility model is designed to improve the automation and efficiency of cargo loading and unloading, especially in logistics and warehousing environments where large numbers of cartons need to be handled quickly and accurately. The working principle of the robot is described in detail below:

[0059] Mobile platform 1: The mobile platform includes a driving steering wheel 11, a guiding steering wheel 12, and a laser radar 13. The driving steering wheel 11 and the guiding steering wheel 12 cooperate to achieve high flexibility movement of the robot and support operations in complex and narrow spaces. The rear Ackerman chassis structure provides stable support. The laser radar 13 is used for real-time map construction and obstacle detection to ensure that the robot can navigate safely and accurately in the working area.

[0060] Navigation and positioning: The LiDAR 13 scans the environment and compares it with the preset warehouse map data to achieve precise positioning and path planning, and automatically drives to the designated work location.

[0061] Feeding module 2: includes roller line 21, visual sensor 22 and photoelectric sensor 23. Roller line 21 is responsible for conveying cartons from one location to the robot operation area. Visual sensor 22 is used to identify the size, shape and barcode information of the carton, and photoelectric sensor 23 detects whether the carton has reached the robot's operating range.

[0062] Job triggering: When the photoelectric sensor 23 detects that the carton has reached the predetermined position, a signal is sent to the industrial computer 42 to trigger the next operation.

[0063] Loading module 3: includes a manipulator 31, a liftable column 32, a suction cup device 33 and a material picking position 34. The manipulator 31 is mounted on the liftable column 32 and can move vertically, and the suction cup device 33 is used to accurately grab and place cartons.

[0064] The industrial computer 42 controls the robot 31 to move to the material picking position 34 according to the data provided by the visual sensor 22, accurately grabs the carton through the suction cup device 33, and places the carton at the target position according to the calculated optimal placement position.

[0065] Electric control cabinet 4: An industrial computer 42 is installed, which is responsible for receiving sensor data, processing information, and issuing control instructions. The alarm light 43 and emergency stop button 44 provide necessary safety measures to deal with emergencies.

[0066] Startup and navigation: After startup, the robot uses the laser radar 13 to scan and locate the environment and automatically navigate to the starting point of the operation.

[0067] Cargo handling: The roller line 21 delivers the carton to the designated location, the visual sensor 22 and the photoelectric sensor 23 jointly confirm the location and status of the carton, and the robot 31 grabs and transfers the carton under the control of the industrial computer 42.

[0068] Precise placement: Based on visual data and pre-set algorithms, the robot

[0069] The best placement position of the carton is calculated, and the robot 31 places the carton precisely at that position.

[0070] Task completion and return: After completing the loading and unloading of all cartons, the robot returns to the initial position or moves to the next work point.

[0071] Through the above working principles and steps, the integrated carton loading and unloading robot of the embodiment of the utility model can effectively improve the automation level and operating efficiency of the logistics center, reduce labor costs and operating errors, and enhance the safety and accuracy of logistics processing.

[0072] like Figure 6 As shown, in order to verify the effect of the embodiment of the utility model, a preliminary experiment was conducted. In the experiment, the robot performed palletizing operations in a simulated truck compartment scene. By recording the robot's operating time 500 times, its operating time curve was drawn, as shown in the figure below. Due to uncertain factors such as communication delays in the actual operation process, its operating time will always fluctuate. Through statistical analysis, it is found that the average operating time of the robot is 5 seconds, and the loading and unloading efficiency is expected to reach 720 boxes / hour, which exceeds the efficiency of most products on the market and has certain advantages.

[0073] The above description is only a specific implementation method of the present invention, but the protection scope of the present invention is not limited thereto. Any modification, equivalent substitution and improvement made by any technician familiar with the technical field within the technical scope disclosed by the present invention and within the spirit and principle of the present invention shall be covered by the protection scope of the present invention.

Claims

1. A carton loading and unloading integrated robot, characterized in that: The carton loading and unloading integrated robot comprises: Mobile platform, feeding module, loading module, electric control cabinet; The feeding module, loading module and electric control cabinet are installed on the mobile platform; The mobile platform includes a driving steering wheel, a guiding steering wheel, and a laser radar; The driving steering wheel and the guiding steering wheel are respectively the front and rear wheels of the mobile platform, forming a rear Ackerman chassis structure, and the laser radar is installed at the front end of the mobile platform.

2. The carton loading and unloading integrated robot according to claim 1, characterized in that: The feeding module includes a roller line, a visual sensor, and a photoelectric sensor. The roller line constitutes the cargo conveying part of the feeding module. The visual sensor is installed on the roller line through a stand, and the photoelectric sensor is installed on one side of the roller line.

3. The carton loading and unloading integrated robot according to claim 1, characterized in that: The loading module includes a manipulator, a liftable column, a suction cup device and a material picking position, the manipulator is respectively installed on the liftable column, the liftable column is installed on the mobile platform, the suction cup device is installed at the end of the manipulator, and the material picking position is located at the front end of the roller line.

4. The carton loading and unloading integrated robot according to claim 1, characterized in that: The electric control cabinet includes a cabinet, an industrial computer, an alarm light, and an emergency stop button. The cabinet is installed on the mobile platform, the industrial computer is installed in the cabinet, the alarm light is installed above the cabinet, and the emergency stop button is installed below the cabinet.

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