Composite robot and logistics system

Abstract

The utility model provides a composite robot and a logistics system, and relates to the technical field of logistics transfer. The composite robot comprises a chassis, a robot body and a driving assembly, a displacement part is arranged on one side of the chassis and used for driving the composite robot to move, the robot body is rotationally arranged on the side, away from the displacement part, of the chassis, the driving assembly is installed on the chassis, the output end of the driving assembly is connected with the robot body, and the driving assembly drives the robot body to rotate relative to the chassis. The direction can be quickly adjusted, the operation efficiency is improved, and the space utilization rate is increased.

Description

Technical Field

[0001] The present application relates to the field of logistics transportation technology, and in particular to a composite robot and logistics system. Background Art

[0002] A composite robot is a new type of robot that integrates the functions of a mobile robot and an industrial robot. In a warehousing and logistics system, a composite robot carries out material handling and transfer. However, most existing composite robots are integrated, and the entire body needs to be rotated and changed direction during movement. When reaching the shelf, the entire body needs to be moved again to adjust the gripping direction, which affects the transfer efficiency and has a low space utilization rate. To this end, a composite robot and a logistics system are provided. Utility Model Content

[0003] In view of this, the purpose of this application is to provide a composite robot and logistics system, aiming to solve the technical problem in the prior art that the integrated setting of the composite robot affects the operating efficiency.

[0004] To achieve the above objectives, the technical solutions adopted in this application are as follows:

[0005] In a first aspect, an embodiment of the present application provides a composite robot, comprising:

[0006] A chassis, wherein a displacement member is provided on one side of the chassis, and the displacement member is used to drive the composite robot to move;

[0007] A fuselage, the fuselage being rotatably disposed on a side of the chassis away from the displacement member;

[0008] A driving assembly is mounted on the chassis, and an output end of the driving assembly is connected to the fuselage, and the driving assembly drives the fuselage to rotate relative to the chassis.

[0009] In one of the embodiments of the first aspect, the driving assembly includes a driving member, a transmission member, and a mounting member, the driving member is mounted on the chassis, the mounting member is fixed to the chassis, the transmission member is mounted on the mounting member, and the transmission member is respectively connected to the driving member and the fuselage.

[0010] In one embodiment of the first aspect, the transmission member includes a driving gear and a driven gear, the driving gear is connected to the output shaft of the driving member, the driven gear is meshed with the driving gear, and both the driving gear and the driven gear are rotatably connected to the mounting member, and the side of the fuselage close to the chassis is connected to the driven gear.

[0011] In one of the embodiments of the first aspect, the chassis further comprises a shell, a side of the shell close to the fuselage is provided with an open cavity, the drive assembly is installed in the open cavity, and the displacement member is installed on a side of the shell away from the fuselage.

[0012] In one embodiment of the first aspect, the displacement member includes a driving wheel and a driven wheel, and the driving wheel and the driven wheel are installed on a side of the shell facing away from the fuselage.

[0013] In one embodiment of the first aspect, the composite robot further includes a navigation component, the navigation component includes a radar navigator, two radar navigators are provided, and the two radar navigators are respectively installed at two opposite ends of the chassis.

[0014] In one embodiment of the first aspect, a movable gap is provided between the fuselage and the chassis.

[0015] In one of the embodiments of the first aspect, a mounting platform is provided on a side of the body away from the chassis, and a robotic arm is installed at one end of the mounting platform.

[0016] In one of the embodiments of the first aspect, the composite robot further includes a control component, and the control component is electrically connected to the displacement member and the driving component respectively.

[0017] In a second aspect, an embodiment of the present application further provides a logistics system, comprising the composite robot described in any of the above embodiments.

[0018] Compared with the prior art, the beneficial effects of the present application are as follows: the present application provides a composite robot and a logistics system that can be used for material transfer. The composite robot includes a chassis, a fuselage, and a drive assembly, wherein a displacement member is provided on one side of the chassis, the fuselage is rotatably arranged on the side of the chassis away from the displacement member, and the drive assembly drives the fuselage to rotate relative to the chassis. In this way, when the composite robot encounters an obstacle in front during the execution of the task, it can change the path space by rotating the fuselage, and when it reaches the shelf, it does not need to rotate the whole body again. The present application can quickly adjust the orientation, improve the operating efficiency, and improve the space utilization rate through the rotation of the fuselage. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0020] Figure 1It shows a schematic diagram of the structure of a composite robot in some embodiments of the present application;

[0021] Figure 2 It shows a schematic diagram of the structure of the displacement member in some embodiments of the present application;

[0022] Figure 3 A schematic diagram of the structure of the chassis in some embodiments of the present application is shown;

[0023] Figure 4 A schematic diagram of the structure of a driving assembly in some embodiments of the present application is shown;

[0024] Figure 5 A schematic diagram of the obstacle bypass path structure of the composite robot in some embodiments of the present application is shown;

[0025] Figure 6 A schematic diagram of material transfer action of an integrated robot in the prior art is shown;

[0026] Figure 7 A schematic diagram of the material transfer action of the composite robot in some embodiments of the present application is shown.

[0027] Description of main component symbols:

[0028] 100-composite robot; 110-chassis; 111-displacement member; 1111-driving wheel; 1112-driven wheel; 112-housing; 1121-open cavity; 120-fuselage; 121-mounting platform; 130-driving assembly; 131-driving member; 132-transmission member; 1321-driving gear; 1322-driven gear; 133-mounting member; 134-shaft sleeve; 140-mechanical arm; 150-navigation assembly; 151-radar navigator; 160-control assembly;

[0029] 200-obstacle; 300-shelf; 1000-integrated robot. DETAILED DESCRIPTION

[0030] The embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present application, and cannot be understood as limiting the present application.

[0031] In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0032] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of this application, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0033] In this application, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0034] In the present application, unless otherwise clearly specified and limited, a first feature being “above” or “below” a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being “above”, “above”, and “above” a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being “below”, “below”, and “below” a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0035] like Figure 1As shown, the embodiment of the present application provides a composite robot 100, which includes a chassis 110, a body 120, and a driving assembly 130. Among them, a displacement member 111 is provided on one side of the chassis 110, and the displacement member 111 is used to drive the composite robot 100 to move, and the body 120 is rotatably arranged on a side of the chassis 110 away from the displacement member 111, and the driving assembly 130 is installed on the chassis 110, and the output end of the driving assembly 130 is connected to the body 120, and the driving assembly 130 drives the body 120 to rotate relative to the chassis 110.

[0036] Exemplarily, the composite robot 100 in the present application is of split design, and the fuselage 120 can rotate relative to the chassis 110. The fuselage 120 can be installed with an operating device, and the chassis 110 serves as a mounting carrier for the fuselage 120 to support the fuselage 120. At the same time, a displacement member 111 is installed on the bottom side of the chassis 110, and the displacement member 111 can be used to control the travel state of the composite robot 100, and the overall rotation of the chassis 110 can be reversed, thereby moving in multiple directions. The drive assembly 130 is installed on the chassis 110, and its output end is connected to the fuselage 120, so as to control the rotation of the fuselage 120 relative to the chassis 110.

[0037] Combination Figure 5 , Figure 6 and Figure 7 As shown, the operating principle and beneficial effects of the composite robot 100 provided in the present application are now explained.

[0038] like Figure 5 As shown, Figure 5 The obstacle 200 circumventing path of the split composite robot 100 in the present application and the obstacle 200 circumventing path of the integrated robot 1000 in the prior art are shown. In the figure, when the integrated robot 1000 encounters an obstacle 200 during the execution of the task, the integrated robot 1000 needs to turn at point B1 in advance, so as to bypass the obstacle 200 in an arc path, and finally arrive at point B2 to carry out material handling operations. When the split composite robot 100 in the present application encounters an obstacle 200, it only needs to turn at point A1 which is closer to the obstacle 200, and arrive at point A2 to carry out material handling operations after bypassing the obstacle 200. It can be understood that the distance from A1 to A2 is smaller than the distance from B1 to B2, so that when performing the material rack 300 laying operation, the distance between adjacent composite robots 100 is shorter, and the space utilization rate of the rack 300 is higher. Therefore, under the same environment, when the compound robot 100 provided in the present application encounters an obstacle 200 , the adjustment interval of the compound robot 100 is shorter, and the spatial layout utilization rate of the rack 300 is higher.

[0039] like Figure 6 As shown, Figure 6The diagram shows the operation turning state of the integrated robot 1000 in the prior art when the integrated robot 1000 adopts the same obstacle 200 circumferential path as the composite robot 100 in the present application. As shown in the figure, when the integrated robot 1000 receives the position of the obstacle 200, it is necessary to perform the first overall turning of the fuselage 120, and perform the second turning at the first corner. After bypassing the obstacle 200, it performs the third turning at the second corner, and then reaches the working position of the rack 300. Only when the robot fuselage 120 is parallel to the rack 300 can the robot reach the best working angle, and the integrated robot 1000 needs to perform the fuselage 120 turning again. As a result, the integrated robot 1000 needs to perform multiple rotations of the overall fuselage 120 during the movement, which has a greater impact on the work efficiency of logistics transfer in a logistics system with a large number of robots.

[0040] like Figure 7 As shown, Figure 7 The diagram shows the operation turning state of the integrated robot 1000 in the obstacle 200 winding path of the split composite robot 100 in the present application. Due to the split structure of the fuselage 120 and the chassis 110, when the rack 300 is being transported, the chassis 110 of the composite robot 100 can remain stationary, and the driving assembly 130 only needs to drive the fuselage 120 to rotate 90°, so that the fuselage 120 and the rack 300 are in a parallel operation state, without the need to cover the robot's operation direction through the chassis 110, thereby improving the operation efficiency. In addition, during the turning process, the fuselage 120 can also be rotated, and the angle of the fuselage 120 can be adjusted so that the longer side of the fuselage 120 is parallel to the travel route, thereby reducing the robot's passage space in the path, reducing the distance between the robot and the obstacle 200, and improving the space utilization rate.

[0041] like Figure 4 As shown, in some embodiments, the driving assembly 130 includes a driving member 131, a transmission member 132, and a mounting member 133. The driving member 131 is installed on the chassis 110, the mounting member 133 is fixed to the chassis 110, the transmission member 132 is installed on the mounting member 133, and the transmission member 132 is respectively connected to the driving member 131 and the fuselage 120.

[0042] Exemplarily, the driving member 131 may be a reduction motor, which is installed in the chassis 110, and the output shaft extends toward the body 120 and passes through the hole of the mounting member 133. The mounting member 133 may be a flat plate, and the mounting member 133 and the chassis 110 may be fixed to the side of the chassis 110 close to the body 120 by bolts. The transmission member 132 is installed on the mounting member 133, and is connected to the output shaft of the driving motor and the body 120 respectively, so that when the driving member 131 rotates, the body 120 is driven to rotate through the transmission member 132 to adjust the working angle of the robot.

[0043] In some embodiments, the transmission member 132 includes a driving gear 1321 and a driven gear 1322, the driving gear 1321 is connected to the output shaft of the driving member 131, the driven gear 1322 is meshed with the driving gear 1321, and both the driving gear 1321 and the driven gear 1322 are rotatably connected to the mounting member 133, and the side of the fuselage 120 close to the chassis 110 is connected to the driven gear 1322.

[0044] Exemplarily, a through hole is provided at one end of the mounting member 133, and after the output shaft of the driving member 131 passes through the through hole, the driving gear 1321 is mounted on the output shaft of the driving member 131 through a bayonet or a retaining spring. The driven gear 1322 is meshedly connected with the driving gear 1321, and the body 120 is connected to the top surface of the driven gear 1322, so that when the driving member 131 is driven to rotate, the driving gear 1321 drives the driven gear 1322 and the body 120 to rotate.

[0045] The mounting member 133 is also provided with a shaft sleeve 134 , which is fixed to the mounting member 133 via a pin shaft. The driven gear 1322 is an outer gear ring, and is sleeved on the outer side of the shaft sleeve 134 , so that the driven gear 1322 can rotate along the axis of the shaft sleeve 134 .

[0046] Combination Figure 3 and Figure 2 As shown, in some embodiments, the chassis 110 further includes a shell 112 , a side of the shell 112 close to the fuselage 120 is provided with an open cavity 1121 , the drive assembly 130 is installed in the open cavity 1121 , and the displacement member 111 is installed on a side of the shell 112 away from the fuselage 120 .

[0047] Exemplarily, the interior of the housing 112 is a hollow structure to facilitate the installation of electrical components. The housing 112 is provided with an opening on one side close to the body 120 to form an opening cavity 1121. The driving member 131 is installed in the opening cavity 1121, and the output shaft of the driving member 131 extends out of the opening and is connected to the transmission member 132. The displacement member 111 is installed on the bottom side of the housing 112 to drive the housing 112 to move.

[0048] like Figure 2 As shown, in some embodiments, the displacement member 111 includes a driving wheel 1111 and a driven wheel 1112 , and the driving wheel 1111 and the driven wheel 1112 are installed on a side of the housing 112 facing away from the fuselage 120 .

[0049] Exemplarily, there are two driving wheels 1111, each of which is equipped with a driving motor to achieve individual control of each driving wheel 1111. The two driving wheels 1111 are respectively arranged on two opposite sides of the chassis 110, and through the distributed control of the two driving wheels 1111, when one driving wheel 1111 rotates, the other driving wheel 1111 does not move, so as to achieve the steering adjustment of the chassis 110.

[0050] There are also two driven wheels 1112, which are respectively installed on two adjacent sides of the driving wheel. The driven wheels 1112 can be universal wheels, so that when the driving wheel turns, the driven wheels 1112 follow and adjust the movement direction.

[0051] Combination Figure 1 and Figure 3 As shown, in some embodiments, the composite robot 100 further includes a navigation component 150 , and the navigation component 150 includes a radar navigator 151 . Two radar navigators 151 are provided, and the two radar navigators 151 are respectively installed at two opposite ends of the chassis 110 .

[0052] Exemplarily, the navigation component 150 uses radar navigation to enable the composite robot 100 to obtain the position information of the obstacle 200 to be avoided and to make a detour to avoid it. Of course, in other embodiments, the navigation can also use GPS, distance sensor, etc. to control the path of the composite robot 100, which will not be described in detail here.

[0053] In this embodiment, the navigation component 150 includes two radar navigators 151. The radar navigator 151 transmits pulse radio waves from the chassis 110 to the forward object, and receives the reflected waves of the radio waves through its own receiving device, thereby confirming the position and path navigation of the obstacle 200. The two radar navigators 151 are respectively installed at both ends of the chassis 110 parallel to the traveling direction, so that the navigation task can be performed simultaneously in front and behind the chassis 110 to meet the forward and backward movement of the composite robot 100.

[0054] like Figure 1 As shown, in some embodiments, a movable gap is provided between the fuselage 120 and the chassis 110 .

[0055] Exemplarily, the top surface of the driven gear 1322 is higher than the chassis 110 , so that there is a movable gap between the body 120 and the chassis 110 , so as to reduce the contact wear between the body 120 and the chassis 110 during the rotation of the body 120 .

[0056] like Figure 1 As shown, in some embodiments, a mounting platform 121 is provided on a side of the body 120 away from the chassis 110 , and a mechanical arm 140 is installed at one end of the mounting platform 121 .

[0057] Exemplarily, the robot arm 140 is installed at one end of the mounting platform 121. The robot arm 140 has multiple degrees of freedom, and the mounting platform 121 can be used to place a material tray for logistics placement and transfer.

[0058] like Figure 1 As shown, in some embodiments, the composite robot 100 further includes a control component 160 , and the control component 160 is electrically connected to the displacement member 111 and the driving component 130 , respectively.

[0059] For example, the control component 160 may include a control computer, and a relevant control program is provided inside the control computer. The control computer may be electrically connected to the displacement member 111, the drive component 130, the navigation component 150, and the robot arm 140 to obtain position information, and send operation instructions to each component to perform corresponding operation actions.

[0060] An embodiment of the present application further provides a logistics system, comprising the composite robot 100 in any of the above embodiments.

[0061] This embodiment has the compound robot 100 in any of the above embodiments, and therefore has all the beneficial effects of the compound robot 100 in any of the above embodiments, which will not be described in detail here.

[0062] In summary, the composite robot 100 and logistics system provided in the present application can change the movement space by rotating the body 120 when encountering an obstacle 200 ahead during the execution of a task. At the same time, when reaching the shelf 300, there is no need to rotate the entire robot again, and the orientation can be adjusted quickly, thereby improving operation efficiency and space utilization.

[0063] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0064] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present application. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. A composite robot, characterized in that: include: A chassis, wherein a displacement member is provided on one side of the chassis, and the displacement member is used to drive the composite robot to move; A fuselage, the fuselage being rotatably disposed on a side of the chassis away from the displacement member; A driving assembly is mounted on the chassis, and an output end of the driving assembly is connected to the fuselage, and the driving assembly drives the fuselage to rotate relative to the chassis.

2. The composite robot according to claim 1, characterized in that: The driving assembly includes a driving member, a transmission member, and a mounting member. The driving member is mounted on the chassis, the mounting member is fixed to the chassis, the transmission member is mounted on the mounting member, and the transmission member is connected to the driving member and the fuselage respectively.

3. The composite robot according to claim 2, characterized in that: The transmission member includes a driving gear and a driven gear, the driving gear is connected to the output shaft of the driving member, the driven gear is meshed with the driving gear, and both the driving gear and the driven gear are rotatably connected to the mounting member, and the side of the fuselage close to the chassis is connected to the driven gear.

4. The composite robot according to claim 1, characterized in that: The chassis further comprises a shell, a side of the shell close to the fuselage is provided with an open cavity, the driving assembly is installed in the open cavity, and the displacement member is installed on a side of the shell away from the fuselage.

5. The composite robot according to claim 4, characterized in that: The displacement member comprises a driving wheel and a driven wheel, and the driving wheel and the driven wheel are installed on a side of the shell away from the fuselage.

6. The composite robot according to any one of claims 1 to 5, characterized in that: The composite robot further comprises a navigation component, and the navigation component comprises a radar navigator. Two radar navigators are provided, and the two radar navigators are respectively installed at two opposite ends of the chassis.

7. The composite robot according to any one of claims 1 to 5, characterized in that: A movable gap is arranged between the fuselage and the chassis.

8. The composite robot according to any one of claims 1 to 5, characterized in that: A mounting platform is provided on one side of the fuselage away from the chassis, and a mechanical arm is installed at one end of the mounting platform.

9. The composite robot according to any one of claims 1 to 5, characterized in that: The composite robot further comprises a control component, and the control component is electrically connected to the displacement member and the driving component respectively.

10. A logistics system, characterized in that: A composite robot comprising any one of claims 1 to 9.

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