Small goods carrying robot for logistics transportation

Abstract

The utility model relates to the technical field of logistics cargo carrying robots, in particular to a small cargo carrying robot for logistics transportation, which comprises a conveying device for conveying small logistics cargos, a small six-degree-of-freedom sorting robot for sorting small cargos on the conveying device and a controller, the small-sized six-degree-of-freedom sorting robot comprises a mechanical arm, a fixed base, a carrying actuator and an external sensor, wherein the fixed base is used for being fixed with the conveying equipment; the carrying actuator and the external sensor are positioned at the tail end of the mechanical arm; the length of the mechanical arm of the small-sized six-degree-of-freedom sorting robot is 250MM; the small six-degree-of-freedom sorting robot is small in size and light in weight, sorting and carrying operation of small goods is more flexible, the processing mode is faster, the robot can efficiently work at the return stroke end of conveying equipment, the occupied area is reduced, meanwhile, the carrying efficiency of the small goods of a logistics transmission line is improved, the stroke is short, the time of a single operation cycle is shortened, and the working efficiency is improved. And the working efficiency is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of logistics cargo handling robots, in particular to a small cargo handling robot for logistics transportation. Background Art

[0002] A cargo handling robot is an automated device based on mechanical automation and computer control technology. It integrates various sensors, control systems and actuators to achieve automatic handling of cargo. It is used to handle and sort small cargo in warehouses, distribution centers and production lines. The robot can improve logistics efficiency, reduce labor costs, reduce error rates, and improve the safety of the working environment.

[0003] Small cargoes for logistics transportation need to be transported by conveyor belts and manually sorted before logistics transportation. Most of the existing cargo handling robots are ground mobile handling robots. The ground handling robots are used to sort the cargoes on the conveyor belts. The ground handling robots have a long travel distance, which increases the cycle time of the operation, resulting in reduced work efficiency. They are not suitable for sorting small cargoes for logistics transportation. Utility Model Content

[0004] The purpose of the utility model is to provide a small cargo handling robot for logistics transportation to solve the problems raised in the above-mentioned background technology.

[0005] In order to achieve the above purpose, the utility model provides the following technical solutions:

[0006] A small cargo handling robot for logistics transportation includes a conveying device for conveying small logistics items, a small six-degree-of-freedom sorting robot and a controller for sorting small cargo on the conveying device. The small six-degree-of-freedom sorting robot includes a mechanical arm, a fixed base for fixing to the conveying device, and a handling actuator and an external sensor located at the end of the mechanical arm.

[0007] As a preferred solution of the utility model, the transport actuator includes a fixed plate, an air pump, a high-pressure air pipe and a suction cup, one end of the fixed plate is connected to the actuator shaft at the end of the robot arm, the suction cup is connected to the bottom of one end of the fixed plate away from the robot arm through a fixed seat thereon, the air pump is located inside the fixed base, one end of the high-pressure air pipe is connected to the air pump, the other end of the high-pressure air pipe is connected to the suction cup, and the air pump is electrically connected to the controller through a wire.

[0008] As a preferred solution of the utility model, the external sensor includes a camera located below the end of the fixing plate, and the camera is electrically connected to the controller through a wire.

[0009] As a preferred solution of the utility model, fixed bases for fixing to the conveying equipment are arranged on both sides of the bottom of the fixed base, and plug-in fixing screw holes are arranged on the fixed bases, and the plug-in fixing screw holes are equipped with plug rods.

[0010] As a preferred solution of the utility model, the conveying equipment includes a conveying frame, on which a conveyor belt for conveying small goods is provided, and a placement table for placing the conveyor belt is provided on the conveying frame at the return end of one end of the conveyor belt, and the placement table is evenly penetrated with sockets for connecting with the fixed base, and the bottom of the insertion rod is inserted inside the socket.

[0011] As a preferred solution of the utility model, the controller is connected to the control system of the small six-degree-of-freedom sorting robot through a wire, and the control system is used to receive task instructions and sensor feedback, and calculate and issue action commands.

[0012] As a preferred solution of the utility model, the length of the mechanical arm of the small six-degree-of-freedom sorting robot is 250MM.

[0013] Compared with the prior art, the beneficial effects of the utility model are:

[0014] In response to the problems raised in the background technology, the small six-degree-of-freedom sorting robot of the present application is small in size and light in weight, and the sorting and handling operation of small goods is more flexible and the processing method is faster. The robot can work efficiently at the return end of the conveying equipment, reducing the floor space and improving the handling efficiency of small goods on the logistics transmission line.

[0015] The arm length of the small six-degree-of-freedom sorting robot is 250MM, with a short stroke, which reduces the time of a single operation cycle and improves work efficiency. The short arm length also helps to improve the accuracy of the operation, reduce potential errors, reduce the cycle time, and improve work efficiency;

[0016] The small six-degree-of-freedom sorting robot is located at the return end of the conveying equipment. It has a short moving distance and a faster sorting speed. By improving the robot's path planning and task scheduling algorithms, invalid movements are reduced and the robot's work efficiency is improved. The robot can be quickly adjusted and configured according to different logistics scenarios and needs, and the system's adaptability is improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 This is the overall axonometric drawing of the utility model;

[0018] Figure 2 This is a schematic diagram of the structure of the overall small six-degree-of-freedom sorting robot of the utility model;

[0019] Figure 3This is a connection block diagram of the overall equipment of the utility model.

[0020] In the figure: 1. conveying equipment; 11. conveying rack; 12. conveyor belt; 13. placing table; 131. socket; 2. small six-degree-of-freedom sorting robot; 21. robotic arm; 22. fixed base; 221. fixed base; 3. fixed plate; 31. air pump; 32. high-pressure air pipe; 33. suction cup. DETAILED DESCRIPTION

[0021] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the embodiments of the present invention.

[0022] Example

[0023] Each device in this application document adopts a conventional model in the prior art, and the control method is to control through a controller. The control circuit of the controller can be implemented by simple programming by technicians in this field, which belongs to the common knowledge in this field, so this application document will not explain it in detail.

[0024] See also Figure 1-3 The utility model provides a technical solution: a small-piece cargo handling robot for logistics transportation, comprising a conveying device 1 for conveying small pieces of logistics, a small six-degree-of-freedom sorting robot 2 and a controller for sorting small cargo on the conveying device 1, the small six-degree-of-freedom sorting robot 2 comprising a mechanical arm 21, a fixed base 22 for fixing with the conveying device 1 and a handling actuator and an external sensor located at the end of the mechanical arm 21; the handling actuator comprises a fixed plate 3, an air pump 31, a high-pressure air pipe 32 and a suction cup 33, one end of the fixed plate 3 is connected to the execution shaft at the end of the mechanical arm 21, the suction cup 33 is connected to the bottom of the end of the fixed plate 3 away from the mechanical arm 21 through the fixed seat thereon, and the air pump 31 is located at the fixed base 2 2, one end of the high-pressure air pipe 32 is connected to the air pump 31, the other end of the high-pressure air pipe 32 is connected to the suction cup 33, and the air pump 31 is electrically connected to the controller through a wire; the external sensor includes a camera located below the end of the fixing plate 3, and the camera is electrically connected to the controller through a wire; fixed bases 221 for fixing to the conveying equipment 1 are arranged on both sides of the bottom of the fixed base 22, and plug-in fixing screw holes are arranged on the fixed base 221, and plug-in fixing screw holes are built with plug-in rods; the controller is connected to the control system of the small six-degree-of-freedom sorting robot 2 through a wire, and the control system is used to receive task instructions and sensor feedback, calculate and issue action commands; the arm 21 of the small six-degree-of-freedom sorting robot 2 has an arm length of 250MM.

[0025] It should be noted that, in this embodiment, the small six-degree-of-freedom sorting robot 2 is small in size and light in weight, and the sorting and handling operation of small goods is more flexible and the processing method is faster. The robot can work efficiently at the return end of the conveying equipment 1, reducing the floor space and improving the handling efficiency of small goods on the logistics transmission line.

[0026] Furthermore, the arm 21 of the small six-degree-of-freedom sorting robot 2 has an arm length of 250MM and a short stroke, which reduces the time of a single operation cycle and improves work efficiency. The short arm length also helps to improve the accuracy of the operation, reduce potential errors, reduce the cycle operation time, and improve work efficiency.

[0027] Further, the controller receives task instructions from the upper system, and the instructions include information such as the starting point and end point of the goods transportation, the transportation sequence, etc. The controller receives feedback information from sensors such as cameras in real time, and calculates the motion trajectory and action of the manipulator 21 and the transportation actuator in combination with the task instructions. The controller sends an action command to the control system of the small six-degree-of-freedom sorting robot 2 through a wire according to the calculation result, and the control system drives the manipulator 21 and the transportation actuator to perform corresponding actions. The controller receives feedback information from sensors such as cameras in real time, and drives the transportation actuator to use a suction cup 33 to grab and move small goods. The air pump 31 is located inside the fixed base 22 and is connected to the suction cup 33 through a high-pressure air pipe 32. When the air pump is started, it will generate negative pressure, so that the suction cup is close to the surface of the goods, and the goods are grabbed by negative pressure adsorption, and the goods are placed on the stacking platform on both sides of the small six-degree-of-freedom sorting robot 2. The manipulator 21 moves accurately according to the instructions of the control system, and moves the adsorbed goods from the conveying equipment 1 to the specified position. When placing, the air pump works in reverse to generate positive pressure, so that the suction cup releases the goods;

[0028] Furthermore, the camera is used as an external sensor, located below the end of the fixed plate 3, to capture the image of the goods on the conveying device 1 in real time. The camera transmits the image data to the controller, and the controller recognizes the position, shape and posture of the goods through the image processing algorithm. The camera can also assist the mechanical arm 21 in spatial positioning, ensuring that the transport actuator can accurately align with the goods, thereby improving the accuracy of the transport.

[0029] See also Figure 1 and 3 The conveying device 1 includes a conveying frame 11, on which a conveyor belt 12 for conveying small goods is arranged. A placement table 13 for placing the conveyor belt 12 is arranged on the end of the conveyor frame 11 at the return end of one end of the conveyor belt 12. The placement table 13 is evenly penetrated with sockets 131 for connecting with the fixed base 221, and the bottom of the insertion rod is inserted into the inside of the socket 131.

[0030] It should be noted that, in this embodiment, the small six-degree-of-freedom sorting robot 2 is located at the return end of the conveying device 1, with a short moving distance and a faster sorting speed. By improving the robot's path planning and task scheduling algorithm, ineffective movement is reduced and the robot's work efficiency is improved. The robot can be quickly adjusted and configured according to different logistics scenarios and needs, and the adaptability of the system is improved.

[0031] Furthermore, when the system starts, the controller initializes all components and prepares to receive tasks. The camera captures the image of the goods on the conveying device 1. The controller processes the image data and identifies the goods. The controller calculates the handling path and action according to the goods information and task instructions. The robot arm 21 and the handling actuator work together according to the command of the controller to complete the handling and sorting of the goods. When the air pump is started, it will generate negative pressure, so that the suction cup is close to the surface of the goods, and the goods are grabbed by negative pressure adsorption, and the goods are placed on the stacking platform on both sides of the small six-degree-of-freedom sorting robot 2. The robot arm 21 moves precisely according to the command of the control system to move the adsorbed goods from the conveying device 1 to the specified position. When placing, the air pump works in reverse to generate positive pressure to release the goods from the suction cup. The system continuously receives feedback from the sensor during operation and adjusts the action according to the actual situation to ensure the accuracy and efficiency of the handling.

[0032] The small six-degree-of-freedom sorting robot 2 of the present application can efficiently carry small goods in a logistics environment, improve the level of logistics automation, reduce labor costs, and improve work efficiency and accuracy.

[0033] The utility model workflow:

[0034] When in use, when the system starts, the controller initializes all components and prepares to receive tasks. The camera captures the image of the goods on the conveying device 1. The controller processes the image data and identifies the goods. The controller calculates the transportation path and action based on the goods information and the task instructions. The controller receives the task instructions from the upper system. The instructions include the transportation starting point and end point of the goods, the transportation sequence and other information. The controller receives feedback information from sensors such as the camera in real time, and calculates the motion trajectory and action of the robot arm 21 and the transportation actuator in combination with the task instructions. The controller sends an action command to the control system of the small six-degree-of-freedom sorting robot 2 through the wire based on the calculation results, and the control system drives the robot The mechanical arm 21 and the transport actuator perform corresponding actions. The controller receives feedback information from sensors such as cameras in real time, and drives the transport actuator to use the suction cup 33 to grab and move small goods. The air pump 31 is located inside the fixed base 22 and is connected to the suction cup 33 through a high-pressure air pipe 32. When the air pump is started, it will generate negative pressure, so that the suction cup is close to the surface of the goods, and the goods are grabbed by negative pressure adsorption, and the goods are placed on the stacking tables on both sides of the small six-degree-of-freedom sorting robot 2. The mechanical arm 21 moves precisely according to the instructions of the control system to move the adsorbed goods from the conveying equipment 1 to the specified position. When placing, the air pump works in reverse to generate positive pressure to release the goods from the suction cup.

[0035] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A small cargo handling robot for logistics transportation, comprising a conveying device (1) for conveying small cargoes, a small six-degree-of-freedom sorting robot (2) for sorting small cargoes on the conveying device (1), and a controller, characterized in that: The small six-degree-of-freedom sorting robot (2) comprises a mechanical arm (21), a fixed base (22) for fixing with the conveying device (1), and a transport actuator and an external sensor located at the end of the mechanical arm (21).

2. A small cargo handling robot for logistics transportation according to claim 1, characterized in that: The transport actuator comprises a fixed plate (3), an air pump (31), a high-pressure air pipe (32) and a suction cup (33); one end of the fixed plate (3) is connected to the actuator shaft at the end of the mechanical arm (21); the suction cup (33) is connected to the bottom of one end of the fixed plate (3) away from the mechanical arm (21) through a fixed seat thereon; the air pump (31) is located inside the fixed base (22); one end of the high-pressure air pipe (32) is connected to the air pump (31) through-through; the other end of the high-pressure air pipe (32) is connected to the suction cup (33); and the air pump (31) is electrically connected to the controller through a wire.

3. A small cargo handling robot for logistics transportation according to claim 2, characterized in that: The external sensor comprises a camera located below the end of the fixing plate (3), and the camera is electrically connected to the controller via a wire.

4. The small cargo handling robot for logistics transportation according to claim 1, characterized in that: Fixed bases (221) for fixing to the conveying device (1) are arranged on both sides of the bottom of the fixed base (22), and the fixed base (221) is provided with plug-in fixing screw holes, and the plug-in fixing screw holes are equipped with plug rods.

5. The small cargo handling robot for logistics transportation according to claim 4, characterized in that: The conveying device (1) comprises a conveying frame (11), on which a conveying belt (12) for conveying small goods is arranged, and at the return end of one end of the conveying belt (12), a placement table (13) for placing the conveying belt (12) is arranged on the conveying frame (11), and the placement table (13) is evenly penetrated with plug holes (131) for connecting to the fixed base (221), and the bottom of the plug rod is inserted into the inside of the plug hole (131).

6. The small cargo handling robot for logistics transportation according to claim 1, characterized in that: The controller is connected to the control system of the small six-degree-of-freedom sorting robot (2) via a wire, and the control system is used to receive task instructions and sensor feedback, and calculate and issue action commands.

7. The small cargo handling robot for logistics transportation according to claim 1, characterized in that: The mechanical arm (21) of the small six-degree-of-freedom sorting robot (2) has an arm length of 250 mm.

Images