Material carrying robot with automatic material recognition function

Abstract

The utility model discloses a material handling robot with the function of autonomously recognizing materials, which relates to the technical field of intelligent robots and comprises a robot chassis and a recognition camera, centering components are mounted on two sides of the robot chassis, a jacking component is mounted above the robot chassis, and the recognition camera is mounted on the robot chassis. The jacking assembly comprises two jacking air cylinders, two hinge seats and a jacking push disc, the two hinge seats are hinged to the movable ends of the two jacking air cylinders correspondingly, the jacking push disc is fixed to the tops of the two hinge seats, and mounting grooves are formed in the positions, close to the front end and the rear end, of the upper side wall of the jacking push disc correspondingly; and anti-inclination assemblies are mounted in the two mounting grooves. According to the utility model, through the cooperative use of the trigger bump and the control switch, the jacking push disc can be attached to the bottoms of goods shelves with different inclination angles, so that objects which cannot be driven by the goods shelves due to inclination of the bottoms of the goods shelves are effectively avoided, and the success rate of carrying goods is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of intelligent robots, in particular to a material handling robot with the function of autonomously identifying materials. Background Art

[0002] As a material handling robot, the shelf lifting and handling robot mainly uses its equipped sensors, such as lidar, visual cameras, etc., to scan and identify the surrounding environment and shelves, obtain spatial information and the location, shape and other characteristics of the shelves. After receiving the handling task instruction, the robot plans the action path according to the information obtained and moves to the target shelf. After reaching the target shelf, it uses its lifting mechanism, usually a hydraulic device or an electric push rod, to slowly lift the shelf to a certain height to lift it off the ground. While lifting, the robot's control system will accurately control the lifting force and speed to ensure stability and safety. Then, the robot uses its own drive device to transport the lifted shelf to the designated location or destination.

[0003] However, existing shelf handling robots have certain problems in the process of lifting shelves: 1. When the robot enters the bottom of the shelf, the shelf may be offset and tilted when lifting the shelf because the lifting position is not in the middle of the bottom of the shelf. If the robot is bumped during the movement of the shelf, the goods may spill. 2. The bottom of the shelf may be skewed due to long-term lifting and pressure. If the robot lifts such a shelf, the materials placed on it may spill. Therefore, technical personnel in this field have proposed a material handling robot with the function of autonomously identifying materials to solve the above problems. Utility Model Content

[0004] The purpose of the utility model is to solve the shortcomings existing in the prior art and to propose a material handling robot with the function of autonomously identifying materials. The material handling robot with the function of autonomously identifying materials designed by the invention uses a trigger protrusion in conjunction with a control switch so that the lifting and pushing plate can fit on the bottom of a shelf with different inclination angles, effectively avoiding objects on the shelf that cannot be driven due to the tilt of the bottom of the shelf, thereby improving the success rate of handling goods.

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

[0006] A material handling robot with an autonomous material identification function comprises a robot chassis and an identification camera, centering components are installed on both sides of the robot chassis, a lifting component is installed above the robot chassis, the lifting component comprises two lifting cylinders, two articulated seats and a lifting push plate, the two articulated seats are respectively articulated on the movable ends of the two lifting cylinders, the lifting push plate is fixed on the top of the two articulated seats, the upper side wall of the lifting push plate is provided with installation grooves at the front end and the rear end, and anti-tilt components are installed in the two installation grooves;

[0007] The anti-tilt assembly includes a spring rod, a trigger protrusion, a connecting spring and a control switch, wherein the connecting spring is fixed at the bottom of the spring rod, the trigger protrusion is arranged at the bottom of the spring rod and located on the inner side of the connecting spring, the trigger protrusion is arranged in the middle position of the mounting groove and located directly below the trigger protrusion, and the trigger protrusion is electrically connected to the controller in the robot chassis.

[0008] Through the above technical scheme, when the robot moves to the bottom of the shelf, the lifting cylinder drives the lifting push plate to move upward. In the process of the lifting push plate moving upward, the spring rod first contacts the bottom plate of the shelf. When the trigger protrusions under the two spring rods trigger the control switch at the same time, the two lifting cylinders stop after moving up for a certain period of time. Then the robot drives the shelf to move to the specified position. If the trigger protrusion on one side triggers the control switch at that position first, the lifting cylinder on that side stops. At this time, the lifting cylinder on the other side drives the lifting push plate to be inclined. Until the trigger protrusion on the other side triggers the control switch, the two lifting cylinders synchronously drive the lifting push plate to rise. Through the coordinated use of the trigger protrusion and the control switch, the lifting push plate can be attached to the bottom of the shelf with different inclination angles, effectively avoiding objects that cannot be driven by the shelf due to the tilt of the bottom of the shelf, thereby improving the success rate of handling goods.

[0009] Furthermore, the identification camera is arranged in the middle of the front side wall of the robot chassis;

[0010] Through the above technical solution, the recognition camera captures images of the surrounding environment and uses image recognition technology and algorithms to analyze and process the images. It can extract feature information in the image, such as shape, color, texture, etc., and compare and match it with pre-stored models or data, thereby realizing the recognition and positioning of the target object.

[0011] Furthermore, side racks are provided on both side walls of the spring rod, and transmission gears meshing with the side racks are connected to the pins on both sides of the lifting push plate, and fixed clamps are fixed on the outer side of the transmission gears;

[0012] Through the above technical solution, when the spring rod is pressed down, the two side racks drive the two transmission gears to rotate and then drive the fixed claws to rotate. Then the two fixed claws will be stuck in the holes at the bottom of the shelf, effectively preventing the shelf from slipping during the lifting process.

[0013] Furthermore, the centering assembly includes two centering cylinders and a centering push rod, and the centering push rod is fixed on the movable ends of the two centering cylinders;

[0014] Through the above technical solution, after the robot identifies the shelf number and moves to the bottom of the shelf, the movable end of the centering cylinder of the centering component on one side is extended first, and then the movable end of the centering cylinder of the centering component on the other side is extended, so that the robot can be fixed in the middle of the bottom of the shelf, preventing the shelf from being skewed due to position offset during the process of pushing the shelf.

[0015] Furthermore, the four centering cylinders of the two centering assemblies are respectively fixed to the front and rear ends of the two side walls of the robot chassis;

[0016] Through the above technical solution, it is convenient to fix the centering push rod on the supporting feet on the inner side of the shelf.

[0017] The utility model has the following beneficial effects:

[0018] 1. In the utility model, by using the triggering protrusion in conjunction with the control switch, the lifting push plate can be fitted on the bottom of the shelf with different inclination angles, effectively avoiding objects on the shelf that cannot be driven due to the inclination of the bottom of the shelf, thereby improving the success rate of transporting goods.

[0019] 2. In the utility model, after the robot recognizes the shelf number and moves to the bottom of the shelf, the movable end of the centering cylinder of the centering assembly on one side is extended first, and then the movable end of the centering cylinder of the centering assembly on the other side is extended, so that the robot can be fixed in the middle of the bottom of the shelf to prevent the shelf from being skewed due to the offset of the pushing position during the process of pushing the shelf. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 This is an overall diagram of a material handling robot with the function of autonomously identifying materials proposed by the utility model;

[0021] Figure 2 This is an axonometric diagram of a material handling robot with the function of autonomously identifying materials proposed by the utility model;

[0022] Figure 3 This is a top view of a material handling robot with the function of autonomously identifying materials proposed by the utility model;

[0023] Figure 4 for Figure 3 Isometric section view along AA.

[0024] Legend:

[0025] 1. Robot chassis; 2. Centering assembly; 3. Identification camera; 4. Lifting assembly; 5. Anti-tilt assembly;

[0026] 201, centering cylinder; 202, centering push rod;

[0027] 401, lifting cylinder; 402, hinged seat; 403, lifting push plate; 404, mounting slot;

[0028] 501, spring rod; 502, side rack; 503, trigger bump; 504, connecting spring; 505, control switch; 506, transmission gear; 507, fixed clamp. DETAILED DESCRIPTION

[0029] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0030] Example:

[0031] Reference Figure 1-4 An embodiment of the utility model provides a material handling robot with an autonomous material identification function, including a robot chassis 1 and an identification camera 3. Centering components 2 are installed on both sides of the robot chassis 1. A lifting component 4 is installed above the robot chassis 1. The lifting component 4 includes two lifting cylinders 401, two articulated seats 402 and a lifting push plate 403. The two articulated seats 402 are respectively hinged on the movable ends of the two lifting cylinders 401. The lifting push plate 403 is fixed on the top of the two articulated seats 402. The upper side wall of the lifting push plate 403 is provided with installation grooves 404 at the front end and the rear end, and anti-tilt components 5 are installed in the two installation grooves 404.

[0032] The anti-tilt assembly 5 includes a spring rod 501, a trigger protrusion 503, a connecting spring 504 and a control switch 505. The connecting spring 504 is fixed at the bottom of the spring rod 501. The trigger protrusion 503 is arranged at the bottom of the spring rod 501 and is located on the inner side of the connecting spring 504. The trigger protrusion 503 is arranged in the middle position of the mounting groove 404 and is located directly below the trigger protrusion 503. The trigger protrusion 503 is electrically connected to the controller in the robot chassis 1. When the robot moves to the bottom of the shelf, the lifting cylinder 401 drives the lifting push plate 403 to move upward. In the process of the lifting push plate 403 moving upward, the spring rod 501 first contacts the bottom plate of the shelf. When the trigger protrusions 503 under the two spring rods 501 simultaneously trigger the control switch When the control switch 505 is turned on, the two lifting cylinders 401 stop moving up for a certain period of time, and then the robot drives the shelf to the specified position. If the trigger protrusion 503 on one side triggers the control switch 505 at that position first, the lifting cylinder 401 on that side stops, and the lifting cylinder 401 on the other side drives the lifting push plate 403 to be inclined until the trigger protrusion 503 on the other side triggers the control switch 505, and then the two lifting cylinders 401 synchronously drive the lifting push plate 403 to rise. By cooperating with the trigger protrusion 503 and the control switch 505, the lifting push plate 403 can be attached to the bottom of the shelf with different inclination angles, which effectively avoids objects on the shelf that cannot be driven due to the tilt of the bottom of the shelf, thereby improving the success rate of transporting goods.

[0033] The recognition camera 3 is arranged in the middle position of the front side wall of the robot chassis 1. The recognition camera 3 captures images of the surrounding environment and uses image recognition technology and algorithms to analyze and process the images. It can extract feature information in the image, such as shape, color, texture, etc., and compare and match it with the pre-stored model or data, so as to realize the recognition and positioning of the target object. Side racks 502 are arranged on the two side walls of the spring rod 501. The pins on the two sides of the lifting push plate 403 are connected with transmission gears 506 meshing with the side racks 502. The outer side of the transmission gear 506 is fixed with a fixed claw 507. When the spring rod 501 is pressed down, the two side racks 502 drive the two transmission gears 506 to rotate and then drive the fixed claws 507 to rotate. Then the two fixed claws 507 will be stuck in the holes at the bottom of the shelf, effectively preventing the shelf from slipping during the lifting process.

[0034] The centering component 2 includes two centering cylinders 201 and a centering push rod 202. The centering push rod 202 is fixed on the movable ends of the two centering cylinders 201. After the robot recognizes the shelf number and moves to the bottom of the shelf, the movable end of the centering cylinder 201 of the centering component 2 on one side is extended first, and then the movable end of the centering cylinder 201 of the centering component 2 on the other side is extended, so that the robot can be fixed in the middle of the bottom of the shelf to prevent the shelf from tilting due to position deviation during the process of pushing the shelf. The four centering cylinders 201 of the two centering components 2 are respectively fixed on the front and rear ends of the two side walls of the robot chassis 1, so as to facilitate the centering push rod 202 to be fixed on the supporting feet on the inner side of the shelf.

[0035] Working principle: The recognition camera 3 captures images of the surrounding environment and uses image recognition technology and algorithms to analyze and process the images. It can extract feature information in the image, such as shape, color, texture, etc., and compare and match it with the pre-stored model or data, so as to realize the recognition and positioning of the target object. After the recognition camera 3 completes the recognition of the shelf and enters the bottom of the shelf, the active end of the centering cylinder 201 of the centering component 2 on one side is extended first, and then the active end of the centering cylinder 201 of the centering component 2 on the other side is extended, so that the robot can be fixed in the middle of the bottom of the shelf to prevent the shelf from tilting due to the offset of the top position during the process of pushing the shelf. Then the lifting cylinder 401 drives the lifting push plate 403 to move upward. During the upward movement of the lifting push plate 403, the spring rod 501 first contacts the bottom plate of the shelf. When the trigger bumps 503 under the two spring rods 501 simultaneously trigger the control switch 505, the two lifting cylinders 401 stop after moving up for a certain period of time, and then the robot drives the goods. When the rack moves to the specified position, if the trigger protrusion 503 on one side triggers the control switch 505 at that position first, the lifting cylinder 401 on that side stops. At this time, the lifting cylinder 401 on the other side drives the lifting push plate 403 to be inclined. Until the trigger protrusion 503 on the other side triggers the control switch 505, the two lifting cylinders 401 synchronously drive the lifting push plate 403 to rise. Through the coordinated use of the trigger protrusion 503 and the control switch 505, the lifting push plate 403 can be attached to the bottom of the rack with different inclination angles, effectively avoiding the objects that cannot be driven by the rack due to the inclination of the bottom of the rack, thereby improving the success rate of transporting goods. When the spring rod 501 is pressed down, the two side racks 502 drive the two transmission gears 506 to rotate and then drive the fixed clamps 507 to rotate. Then the two fixed clamps 507 will be stuck in the holes at the bottom of the rack, effectively preventing the rack from slipping during the lifting process.

[0036] Finally, it should be noted that the above is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions described in the aforementioned embodiments or make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A material handling robot with an autonomous material identification function, comprising a robot chassis (1) and an identification camera (3), characterized in that: Centering components (2) are installed on both sides of the robot chassis (1), and a lifting component (4) is installed above the robot chassis (1). The lifting component (4) includes two lifting cylinders (401), two hinged seats (402) and a lifting push plate (403). The two hinged seats (402) are respectively hinged on the movable ends of the two lifting cylinders (401), and the lifting push plate (403) is fixed on the top of the two hinged seats (402). The upper side wall of the lifting push plate (403) is provided with installation grooves (404) at the front end and the rear end, and anti-tilt components (5) are installed in the two installation grooves (404); The anti-tilt assembly (5) comprises a spring rod (501), a triggering protrusion (503), a connecting spring (504) and a control switch (505); the connecting spring (504) is fixed to the bottom of the spring rod (501); the triggering protrusion (503) is arranged at the bottom of the spring rod (501) and located on the inner side of the connecting spring (504); the triggering protrusion (503) is arranged in the middle position of the mounting groove (404) and located directly below the triggering protrusion (503); and the triggering protrusion (503) is electrically connected to a controller in the robot chassis (1).

2. The material handling robot with the function of autonomously identifying materials according to claim 1, characterized in that: The recognition camera (3) is arranged in the middle of the front side wall of the robot chassis (1).

3. The material handling robot with the function of autonomously identifying materials according to claim 1, characterized in that: Side racks (502) are arranged on both side walls of the spring rod (501), and transmission gears (506) meshing with the side racks (502) are connected to the pins at both sides of the lifting push plate (403), and fixed clamps (507) are fixed on the outer side of the transmission gear (506).

4. The material handling robot with the function of autonomously identifying materials according to claim 1, characterized in that: The centering assembly (2) comprises two centering cylinders (201) and a centering push rod (202), wherein the centering push rod (202) is fixed on the movable ends of the two centering cylinders (201).

5. The material handling robot with the function of autonomously identifying materials according to claim 4, characterized in that: The four centering cylinders (201) of the two centering components (2) are respectively fixed to the front and rear ends of the two side walls of the robot chassis (1).

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