Double-layer transmission automatic docking laser navigation transfer robot

Abstract

The double-layer transmission automatic butt joint laser navigation transfer robot comprises a machine shell, an upper-layer transfer mechanism, a lower-layer transfer mechanism and a chassis walking mechanism. An automobile data recorder is arranged on the back face of the machine shell. The upper-layer carrying mechanism and the lower-layer carrying mechanism are arranged in the machine shell. The upper-layer carrying mechanism comprises an upper-layer roller group and an upper oil receiving tray, and the lower-layer carrying mechanism comprises a lower-layer roller group and a lower oil receiving tray; the upper-layer roller group is close to the upper part of the upper oil receiving tray; an optical communication module is arranged beside the upper oil receiving tray; the lower-layer roller group is close to the upper part of the lower oil receiving tray, and the upper-layer roller group and the lower-layer roller group are used for loading the tray by driving driven rollers through electric rollers; the chassis walking mechanism comprises an AGV chassis, a depth camera and a laser radar, the depth camera is arranged on the front face of the AGV chassis, the laser radar is arranged on the upper front side of the AGV chassis, and an operation touch screen is arranged on the back face of the AGV chassis. The robot carries products between the double-layer conveying lines through signal interaction between the optical communication module and the conveying lines, empty trays are sent back, and the whole process is automatic.

Description

Technical Field

[0001] The utility model relates to the technical field of storage and transport vehicles, in particular to a double-layer transmission automatic docking laser navigation transport robot. Background Art

[0002] In recent years, with the rapid development of the commodity economy, the associated handling industry for various packaged goods has also seen rapid growth. Among these, handling robots are automated products that utilize robotic motion trajectories to replace manual labor in handling packaged products. They are industrial robots capable of automated handling operations. These robots can be equipped with various end effectors to handle workpieces of varying shapes and shapes, significantly reducing the heavy manual labor required of humans. Handling robots are a high-tech advancement in the field of modern automatic control, encompassing disciplines such as mechanics, mechanical engineering, electrical hydraulics and pneumatics, automatic control, sensor technology, single-chip microcomputer technology, and computer technology. They have become a crucial component of modern mechanical manufacturing systems. Their advantage is that they can be programmed to perform a variety of desired tasks, combining the strengths of both humans and machines in their structure and performance, particularly embodying artificial intelligence and adaptability. However, existing handling robots generally operate using navigation, tracks, or identification codes. Their conveyor modules have low integration levels and are typically single-layer structures. They are unable to return empty pallets after handling, have relatively limited functionality, and lack a compact overall exterior structure.

[0003] In view of this, the inventors conducted in-depth research on the above-mentioned defects in the prior art, and thus came up with this case. Utility Model Content

[0004] To solve the above technical problems, we proposed a double-layer transmission automatic docking laser navigation handling robot. This device exchanges signals with the conveyor line through an optical communication module, transports pallets with products from one double-layer conveyor line to another double-layer conveyor line, and returns the empty pallets. The entire process is automated and no human intervention is required.

[0005] In order to achieve the above-mentioned purpose, the technical solution of the present utility model is as follows:

[0006] A double-layer transport automatic docking laser navigation handling robot comprises a housing, an electrical control cabinet, an upper-layer handling mechanism, a lower-layer handling mechanism, and a chassis travel mechanism; the housing is a rectangular parallelepiped frame structure with an open front and top, and is fixed above the chassis travel mechanism; the electrical control cabinet is arranged on the upper back portion of the housing, and a driving recorder is fixed on the lower back portion of the housing; the upper-layer handling mechanism and the lower-layer handling mechanism are arranged inside the housing, with the upper-layer handling mechanism arranged near the middle of the housing and the lower-layer handling mechanism arranged near the bottom of the housing;

[0007] The upper conveying mechanism includes an upper roller group and an upper oil receiving pan, and the lower conveying mechanism includes a lower roller group and a lower oil receiving pan; the upper oil receiving pan is horizontally arranged in the middle of the casing, and several rollers of the upper roller group are horizontally and evenly arranged near the upper oil receiving pan, and an upper product carrying space is formed between the upper roller group and the upper inner wall of the casing; an upper side plate is fixed on the front side of the casing between the upper roller group and the upper oil receiving pan, and an optical communication module is installed on the upper side plate; the lower oil receiving pan is horizontally arranged at the bottom of the casing, and several rollers of the lower roller group are horizontally and evenly arranged near the lower oil receiving pan, and a lower product carrying space is formed between the lower roller group, the upper oil receiving pan and the upper inner wall of the casing; both the upper roller group and the lower roller group are driven by electric rollers through multi-V belts to realize loading of pallets;

[0008] The chassis walking mechanism includes an AGV chassis, wheels, a depth camera and two laser radars. The AGV chassis is connected to the bottom of the casing, the wheels are arranged at the lower part of the AGV chassis, the depth camera is arranged in the middle of the front of the AGV chassis, and the laser radar is arranged in front of the connection between the AGV chassis and the casing, and is respectively located on both sides above the depth camera; an operation touch screen is provided in the middle of the back of the AGV chassis, and a charging port is provided below the operation touch screen, and the charging port is electrically connected to the lithium iron phosphate battery in the AGV chassis.

[0009] Preferably, a switch for detecting the presence of a tray is provided at the middle of the inner wall and the rear corner of the casing on both sides of the upper roller group and the lower roller group.

[0010] Preferably, two photoelectric switches for detecting whether there are products are respectively provided on the inner walls of the casing on both sides near the bottom of the upper product carrying space and the lower product carrying space, and the two photoelectric switches for detecting whether there are products are symmetrically arranged on the inner walls on both sides of the casing.

[0011] Preferably, the upper product carrying space is provided with an upper blocking mechanism on the side close to the front of the casing, and the upper product carrying space is provided with an upper auxiliary roller on the side close to the front of the casing; the lower product carrying space is provided with a lower blocking mechanism on the side close to the front of the casing, and the lower product carrying space is provided with a lower auxiliary roller on the side close to the front of the casing.

[0012] Preferably, an upper oil pan handle is provided at the middle of the front side of the upper oil pan, and a lower oil pan handle is provided at the middle of the front side of the lower oil pan.

[0013] Preferably, a front release button and a front emergency stop button are respectively provided on the left and right sides of the front side of the top of the casing, a rear release button and a reset button are provided near the left rear side of the top of the casing, and a rear emergency stop button is provided near the right rear side of the top of the casing. The front release button, front emergency stop button, rear release button, reset button and rear emergency stop button are respectively electrically connected to the electronic control components in the electric control cabinet.

[0014] Through the above technical solution, the utility model is designed to include a casing, an electric control cabinet, an upper transport mechanism, a lower transport mechanism and a chassis walking mechanism; the electric control cabinet is arranged on the upper back of the casing, and a driving recorder is fixed on the lower back of the casing; the chassis walking mechanism includes an AGV chassis, wheels, a depth camera and two laser radars, the depth camera is arranged in the middle of the front of the AGV chassis, and the laser radar is arranged in front of the connection between the AGV chassis and the casing, and is respectively located on both sides above the depth camera; an operation touch screen is provided in the middle of the back of the AGV chassis, and a charging port is provided below the operation touch screen, and the charging port is electrically connected to the lithium iron phosphate battery in the AGV chassis. This device exchanges signals with the conveyor line through an optical communication module, and the electric roller transmits power to the driven roller through a multi-V belt, and then transmits the product and the pallet. The proximity sensor determines the pallet's position, and the beam sensor determines whether there is a product. When the robot is driving, the blocking mechanism blocks the pallet to prevent displacement, and an oil pan is provided under each layer of rollers. This device transports loaded pallets from one double-deck conveyor line to another and returns empty pallets. The entire process is automated, with tasks automatically generated based on the empty or full status of the starting and ending conveyor lines. The device handles the pallets and docks them automatically, without requiring human intervention. This achieves a novel design, a rational structure, and effective application. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0016] Figure 1 This is a front view of a double-layer transmission automatic docking laser navigation handling robot disclosed in an embodiment of the present utility model;

[0017] Figure 2 A three-dimensional diagram of a double-layer transmission automatic docking laser navigation handling robot disclosed in an embodiment of the present utility model;

[0018] Figure 3 This is a rear view of a double-layer transmission automatic docking laser navigation handling robot disclosed in an embodiment of the present utility model.

[0019] The numbers in the figure represent the corresponding component names:

[0020] 1. Casing 2. Electrical Control Cabinet 3. Upper Transport Mechanism 31. Upper Roller Assembly 32. Upper Oil Pan 321. Upper Oil Pan Handle 33. Upper Blocking Mechanism 34. Upper Auxiliary Rollers 4. Lower Transport Mechanism 41. Lower Roller Assembly 42. Lower Oil Pan 421. Lower Oil Pan Handle 43. Lower Blocking Mechanism 44. Lower Auxiliary Rollers 5. Chassis Travel Mechanism 51. AGV Chassis 52. Wheels 53. Depth Camera 54. LiDAR 55. Operation Touchscreen 56. Charging Port 6. Driving Recorder 7. Upper Side Panel 8. Optical Communication Module 9. Photoelectric Switch for Detecting the Presence of Products 10. Front Release Button 11. Front Emergency Stop Button 12. Rear Release Button 13. Reset Button 14. Rear Emergency Stop Button 15. Proximity Switch for Detecting the Presence of Pallets DETAILED DESCRIPTION

[0021] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0022] The present invention will be further described in detail below with reference to the embodiments and specific implementation methods.

[0023] Example

[0024] like Figure 1 、 Figure 2 and Figure 3 As shown, a double-layer transmission automatic docking laser navigation transport robot includes a housing 1, an electric control cabinet 2, an upper transport mechanism 3, a lower transport mechanism 4 and a chassis travel mechanism 5; the housing 1 is a rectangular frame structure with an open front and top surface, and is fixed above the chassis travel mechanism 5, the electric control cabinet 2 is arranged on the upper back portion of the housing 1, and a driving recorder 6 is fixed on the lower back portion of the housing 1, the upper transport mechanism 3 and the lower transport mechanism 4 are arranged inside the housing 1, with the upper transport mechanism 3 arranged near the middle of the housing 1 and the lower transport mechanism 4 arranged near the bottom of the housing 1;

[0025] The upper conveying mechanism 3 includes an upper roller group 31 and an upper oil receiving pan 32, and the lower conveying mechanism 4 includes a lower roller group 41 and a lower oil receiving pan 42; the upper oil receiving pan 32 is horizontally arranged in the middle of the casing 1, and several rollers of the upper roller group 31 are evenly arranged horizontally above the upper oil receiving pan 32, and an upper product carrying space is formed between the upper roller group 31 and the upper inner wall of the casing 1; the space between the upper roller group 31 and the upper oil receiving pan 32 is on the front of the casing 1. An upper side plate 7 is fixed, and an optical communication module 8 is installed on the upper side plate 7; the lower oil receiving pan 42 is horizontally arranged at the bottom of the housing 1, and the rollers of the lower roller group 41 are evenly arranged horizontally near the upper part of the lower oil receiving pan 42, and a lower product carrying space is formed between the lower roller group 41, the upper oil receiving pan 32 and the upper inner wall of the housing 1; the upper roller group 31 and the lower roller group 41 are both driven by motorized rollers through multi-V belts to achieve pallet loading;

[0026] The chassis walking mechanism 5 includes an AGV chassis 51, wheels 52, a depth camera 53 and two laser radars 54. The AGV chassis 51 is connected to the bottom of the casing 1, the wheels 52 are arranged at the lower part of the AGV chassis 51, the depth camera 53 is arranged in the middle of the front of the AGV chassis 51, and the laser radars 54 are arranged in front of the connection between the AGV chassis 51 and the casing 1, and are respectively located on both sides above the depth camera 53; an operation touch screen 55 is provided in the middle of the back of the AGV chassis 51, and a charging port 56 is provided below the operation touch screen 55, and the charging port 56 is electrically connected to the lithium iron phosphate battery in the AGV chassis 51.

[0027] To detect the presence of trays in the upper and lower product spaces, proximity switches 15 are located in the middle and rear corners of the housing 1 on both sides of the upper and lower roller assemblies 31 and 41. Two photoelectric switches 9 are located on the inner walls of the housing 1 near the bottom of each of the upper and lower product spaces, respectively. These two photoelectric switches 9 are symmetrically positioned on the inner walls of the housing 1 on either side. This allows for timely detection of the presence of products in the trays in the upper and lower product spaces.

[0028] To block pallets in the upper product carrying space, the upper product carrying space is provided with an upper blocking mechanism 33 near the front of the housing 1, and an upper auxiliary roller 34 near the front of the housing to facilitate the movement of pallets from the shelf into the upper product carrying space. To block pallets in the lower product carrying space, the lower product carrying space is provided with a lower blocking mechanism 43 near the front of the housing 1, and a lower auxiliary roller 44 near the front of the housing 1 to facilitate the movement of pallets from the shelf into the lower product carrying space.

[0029] An upper oil pan handle 321 is provided at the middle of the front side of the upper oil pan 32, and a lower oil pan handle 421 is provided at the middle of the front side of the lower oil pan 42. This makes it convenient for the operator to grasp the upper oil pan handle 321 and the lower oil pan handle 421 to pull the upper oil pan 32 and the lower oil pan 42 out of the casing 1.

[0030] At the same time, in order to facilitate the staff's debugging and operation, a front release button 10 and a front emergency stop button 11 are respectively provided on the left and right sides of the front side of the top of the casing 1, a rear release button 12 and a reset button 13 are provided near the left rear side of the top of the casing 1, and a rear emergency stop button 14 is provided near the right rear side of the top of the casing 1. The front release button 10, the front emergency stop button 11, the rear release button 12, the reset button 13 and the rear emergency stop button 14 are respectively electrically connected to the electronic control components in the electric control cabinet 2.

[0031] The upper roller assembly 31 of this robot device consists of a single motorized roller driving seven driven rollers. It transports pallets loaded with products, detects the presence of a proximity switch 15 to determine the pallet's position, and detects the presence of products using a photoelectric switch 9 to determine the presence of products. While the robot is in motion, an upper blocking mechanism 33 blocks the pallet to prevent displacement, and a magnetic upper oil pan 32 is located below the rollers to collect oil. The lower roller assembly 41 of this robot device also consists of a single motorized roller driving seven driven rollers. It transports empty pallets, detects the presence of a proximity switch 15 to determine the pallet's position, and blocks the pallet to prevent displacement while the robot is in motion. A magnetic lower oil pan 42 is located below the rollers to collect oil. The chassis travel mechanism 5 of this robot device utilizes a LiDAR-based robot positioning and navigation method, with differential wheel drive. It has an overall load capacity of 300 kg and is powered by a lithium iron phosphate battery with automatic docking and charging capabilities.

[0032] The following briefly describes the working cycle of the double-layer transmission automatic docking laser navigation handling robot:

[0033] 1. The backend server is connected to the PLC of the transmission line at the starting point and the end point. When there is material at the starting point, the robot system generates the task;

[0034] 2. The robot goes to the starting conveyor line, the optical communication module exchanges signals, and the robot receives the product and pallet on the upper level;

[0035] 3. The robot determines whether there are products in the tray again. If there are products, the robot will move away.

[0036] 4. The robot goes to the final conveyor line, and the optical communication module exchanges signals. The upper layer of the robot releases the products and pallets, and the lower layer receives the empty pallets.

[0037] 5. The robot returns to the starting conveyor line, releases the empty pallet on the lower level, and waits for new tasks in the same place.

[0038] In this example, the utility model is designed to include a casing 1, an electric control cabinet 2, an upper transport mechanism 3, a lower transport mechanism 4 and a chassis walking mechanism 5; the electric control cabinet 2 is arranged on the upper back of the casing 1, and a driving recorder 6 is fixed on the lower back of the casing 1; the chassis walking mechanism 5 includes an AGV chassis 51, wheels 52, a depth camera 53 and two laser radars 54, the depth camera 53 is arranged in the middle of the front of the AGV chassis 51, and the laser radar 54 is arranged in front of the connection between the AGV chassis 51 and the casing 1, and is respectively located on both sides above the depth camera 53; an operation touch screen 55 is provided in the middle of the back of the AGV chassis 51, and a charging port 56 is provided below the operation touch screen 55, and the charging port 56 is electrically connected to the lithium iron phosphate battery in the AGV chassis 51. This device exchanges signals with the conveyor line via an optical communication module 8. The motorized roller transmits power to the driven roller via a poly-V belt, which then transports the product and pallet. A proximity switch determines the pallet's position, while a photoelectric switch determines the presence of product. A blocking mechanism prevents the pallet from moving while the robot is in motion. Oil pans are located beneath both roller groups. This device transports loaded pallets from one double-layer conveyor line to another and returns empty pallets. The process is fully automated, with tasks automatically generated based on the empty or full status of the starting and ending conveyor lines. Transport and docking are fully automated, requiring no human intervention. This achieves a novel design, a rational structure, and effective application.

[0039] The above is only a preferred embodiment of the double-layer transmission automatic docking laser navigation handling robot of the present invention. It should be pointed out that for ordinary technicians in this field, several modifications and improvements can be made without departing from the creative concept of the present invention, and these all fall within the scope of protection of the present invention.

Claims

1. A double-layer transmission automatic docking laser navigation handling robot, characterized in that: The vehicle comprises a housing, an electric control cabinet, an upper transport mechanism, a lower transport mechanism, and a chassis travel mechanism; the housing is a rectangular parallelepiped frame structure with an open front and top, and is fixed above the chassis travel mechanism; the electric control cabinet is arranged on the upper back portion of the housing, and a driving recorder is fixed on the lower back portion of the housing; the upper transport mechanism and the lower transport mechanism are arranged inside the housing, with the upper transport mechanism arranged near the middle of the housing and the lower transport mechanism arranged near the bottom of the housing; The upper conveying mechanism includes an upper roller group and an upper oil receiving pan, and the lower conveying mechanism includes a lower roller group and a lower oil receiving pan; the upper oil receiving pan is horizontally arranged in the middle of the casing, and several rollers of the upper roller group are horizontally and evenly arranged near the upper oil receiving pan, and an upper product carrying space is formed between the upper roller group and the upper inner wall of the casing; an upper side plate is fixed on the front side of the casing between the upper roller group and the upper oil receiving pan, and an optical communication module is installed on the upper side plate; the lower oil receiving pan is horizontally arranged at the bottom of the casing, and several rollers of the lower roller group are horizontally and evenly arranged near the lower oil receiving pan, and a lower product carrying space is formed between the lower roller group, the upper oil receiving pan and the upper inner wall of the casing; both the upper roller group and the lower roller group are driven by electric rollers through multi-V belts to realize loading of pallets; The chassis walking mechanism includes an AGV chassis, wheels, a depth camera and two laser radars. The AGV chassis is connected to the bottom of the casing, the wheels are arranged at the lower part of the AGV chassis, the depth camera is arranged in the middle of the front of the AGV chassis, and the laser radar is arranged in front of the connection between the AGV chassis and the casing, and is respectively located on both sides above the depth camera; an operation touch screen is provided in the middle of the back of the AGV chassis, and a charging port is provided below the operation touch screen, and the charging port is electrically connected to the lithium iron phosphate battery in the AGV chassis.

2. The double-layer transmission automatic docking laser navigation handling robot according to claim 1 is characterized in that: A switch for detecting the presence of a tray is provided at the middle of the inner wall of the casing on both sides of the upper roller group and the lower roller group and at the rear corner.

3. The double-layer transmission automatic docking laser navigation handling robot according to claim 2 is characterized in that: Two photoelectric switches for detecting whether there are products are respectively provided on the inner walls of the upper product carrying space and the lower product carrying space near the bottom, and the two photoelectric switches for detecting whether there are products are symmetrically arranged on the inner walls of the two sides of the casing.

4. The double-layer transport automatic docking laser navigation handling robot according to claim 3 is characterized in that: The upper product carrying space is provided with an upper blocking mechanism on the side close to the front of the casing, and the upper product carrying space is provided with an upper auxiliary roller on the side close to the front of the casing; the lower product carrying space is provided with a lower blocking mechanism on the side close to the front of the casing, and the lower product carrying space is provided with a lower auxiliary roller on the side close to the front of the casing.

5. The double-layer transport automatic docking laser navigation handling robot according to claim 4 is characterized in that: An upper oil receiving pan handle is provided at the middle of the front side of the upper oil receiving pan, and a lower oil receiving pan handle is provided at the middle of the front side of the lower oil receiving pan.

6. The double-layer transport automatic docking laser navigation handling robot according to claim 5, characterized in that: A front release button and a front emergency stop button are respectively provided on the left and right sides of the front side of the top of the casing, a rear release button and a reset button are provided near the left rear side of the top of the casing, and a rear emergency stop button is provided near the right rear side of the top of the casing. The front release button, front emergency stop button, rear release button, reset button and rear emergency stop button are respectively electrically connected to the electronic control components in the electric control cabinet.

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