Logistics transfer robot

Abstract

The utility model provides a logistics transfer robot, and belongs to the technical field of robots, the logistics transfer robot is characterized in that a telescopic cylinder is embedded in a robot main body to reduce the length of the telescopic cylinder exposed out of the robot main body, so that the minimum height of the whole robot is reduced, and the robot can smoothly enter and exit from the bottom of a goods shelf; the goods shelf is directly carried; the robot body walks to the bottom of the goods shelf, the supporting table is located under the goods shelf, the supporting table is jacked by the telescopic cylinder, the goods shelf is jacked up through lifting of the supporting table, the goods shelf is separated from the ground, and the goods shelf and goods placed on the goods shelf are integrally carried. In the process that the robot body carries the goods shelf, the goods shelf jacked up by the supporting table is clamped through the limiting clamping assembly so that the goods shelf can be clamped and limited, the stability of the goods shelf on the supporting table can be improved, shaking of the goods shelf in the moving process can be reduced, the stability of the goods shelf in the logistics transfer process can be improved, and the logistics transfer efficiency and safety can be improved.

Description

Technical Field

[0001] The present application belongs to the field of robotics technology, and specifically relates to a logistics transfer robot. Background Art

[0002] A logistics transfer robot is a robot used for automatic logistics handling. It automatically transports shelves and the goods on them to designated picking stations through special landmark navigation, and then the workers in the picking stations pick the goods.

[0003] Patent CN220924353U discloses an AGV robot for stable transportation, including a robot body and a loading platform fixedly connected to the top of the robot body, wherein a protective mechanism is provided on the surface of the loading platform; the protective mechanism includes a limit frame movably connected to the front and back of the loading platform, and the internal sliding connection of the limit frame is a guide rod, one end of the guide rod is fixedly connected to the surface of the loading platform, and the other end of the guide rod is fixedly provided with a baffle, and a buffer spring is fixedly connected between the baffle and the opposite side of the limit frame and located on the surface of the guide rod. The AGV robot for stable transportation, through the setting of the protective mechanism, realizes limited protection of goods of different sizes within a certain range, avoids the problem of goods falling due to excessive speed change when the robot moves or uneven road surface, improves the stability of goods transportation, and avoids economic losses. However, this method of limiting the position of goods on the shelves using buffer springs and limit frames will cause the shelves and goods to rock back and forth during the movement of the robot. Since the limit frames will squeeze the springs, this squeezing effect makes it impossible for the shelves and goods to remain stable, affecting the stability of the logistics transfer process, and thus affecting the efficiency and safety of the logistics transfer. Utility Model Content

[0004] The utility model aims to solve at least one of the technical problems existing in the prior art or related technologies.

[0005] In view of this, according to an embodiment of the present application, a logistics transfer robot is proposed, comprising:

[0006] Robot body;

[0007] The telescopic cylinder is arranged perpendicular to the robot body, and the fixed end of the telescopic cylinder is embedded in the robot body and fixedly connected to the robot body;

[0008] The support platform is arranged perpendicular to the telescopic cylinder and is connected to the telescopic end of the telescopic cylinder so as to be driven to move by the telescopic cylinder;

[0009] The position limiting clamping assembly is adjustably arranged on the support platform so as to clamp the goods on the support platform through the position limiting clamping assembly.

[0010] In a feasible embodiment, the logistics transfer robot further includes:

[0011] A first receiving groove is provided on the top surface of the robot body and extends toward the interior of the robot body;

[0012] Wherein, the fixed end of the telescopic cylinder is embedded in the first accommodating groove.

[0013] In a feasible embodiment, the cross-sectional shape of the support platform is adapted to the cross-sectional shape of the first receiving groove, and when the telescopic end of the telescopic cylinder is retracted to the extreme position, the support platform is embedded in the first receiving groove, and the top surface of the support platform and the top surface of the robot body are located in the same plane;

[0014] The limit position is the position of the telescopic end inside the robot body when the telescopic cylinder is retracted to the shortest length.

[0015] In a feasible embodiment, the limiting clamping assembly includes two limiting assemblies, and the logistics transfer robot further includes:

[0016] Two guide grooves, the guide grooves are arranged on the top surface of the support platform, the limit assembly is arranged in the guide grooves, and the guide grooves guide the movement of the limit assembly;

[0017] Among them, the limiting components correspond to the guide grooves one by one.

[0018] In a feasible embodiment, the logistics transfer robot further includes:

[0019] A dual-axis motor is fixedly connected to the inside of the support platform. The dual-axis motor includes two output shafts. The two output shafts of the dual-axis motor are respectively connected to the two limit assemblies to drive the two limit assemblies to move through the dual-axis motor.

[0020] In a feasible embodiment, the limiting component includes:

[0021] A moving block, the moving block is slidably connected in the guide groove;

[0022] A screw rod, wherein a first end of the screw rod is connected to an output shaft of the dual-axis motor, a second end of the screw rod is embedded in the moving block, and the screw rod is threadedly connected to the moving block;

[0023] The clamping block is arranged on the top surface of the moving block and is located at an end of the moving block away from the dual-axis motor.

[0024] In a feasible embodiment, the logistics transfer robot further includes:

[0025] A second accommodating groove is provided on a side of the clamping block close to the dual-axis motor;

[0026] A driving motor is fixedly connected to the clamping block;

[0027] A connecting shaft, the connecting shaft is arranged perpendicular to the support platform, a first end of the connecting shaft is connected to the output shaft of the drive motor, a second end of the connecting shaft passes through the second receiving groove, and the second end of the connecting shaft is rotatably connected to the clamping block;

[0028] The bearing is embedded in the clamping block and is sleeved on the second end of the connecting shaft;

[0029] The rubber wheel is sleeved on the connecting shaft, the rubber wheel and the connecting shaft rotate synchronously, and the side wall of the rubber wheel protrudes outside the clamping block.

[0030] In a feasible embodiment, the logistics transfer robot further includes:

[0031] An electric slide rail is provided on the side wall of the robot body and extends along the length direction of the support platform;

[0032] The grabbing device is fixedly connected to the slider of the electric slide rail so as to drive the grabbing device to move through the slider.

[0033] In a feasible embodiment, the gripping device includes:

[0034] A robotic arm body, wherein a first end of the robotic arm body is fixedly connected to the slider;

[0035] A clamping head is provided at the second end of the robot arm body, and the robot arm body controls the movement of the clamping head;

[0036] The suction cup assembly is arranged on the clamping head to absorb the goods through the suction cup assembly.

[0037] In a feasible embodiment, the robot body includes running wheels, which are installed at the four corners of the bottom of the robot body shell; a control host is provided inside the robot body, and the control host controls the movement of the robot body;

[0038] The limit clamping assembly is electrically connected to the control host, the grabbing device is electrically connected to the control host, and the electric slide rail is electrically connected to the control host.

[0039] Compared with the existing technology, the logistics transfer robot of this application has the following beneficial effects:

[0040] The logistics transfer robot provided in the embodiment of the present application includes a robot body, a telescopic cylinder, a support platform and a limit clamping assembly. The robot body has a walking function, and the telescopic cylinder drives the support platform to perform lifting movements. By embedding the fixed end of the telescopic cylinder into the robot body, the length of the telescopic cylinder exposed outside the robot body is reduced, thereby reducing the minimum height of the robot as a whole, so that the robot can smoothly enter and exit the bottom of the shelf and directly transport the shelf without manually transporting the shelf to the support platform, thereby saving manpower. By making the robot body walk to the bottom of the shelf and making the support platform directly below the shelf, the support platform is lifted by the telescopic cylinder, and the shelf is lifted up by the support platform to separate the shelf from the ground, so as to realize the overall transportation of the shelf and the goods placed on the shelf. In the process of the robot body transporting the shelf, the shelf lifted by the support platform is clamped by the limit clamping assembly to clamp and limit the shelf, thereby improving the stability of the shelf on the support platform, reducing the shaking of the shelf during movement, thereby improving the stability of the logistics transfer process, and improving the efficiency and safety of logistics transfer. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] Various other advantages and benefits will become apparent to those skilled in the art upon reading the detailed description of the preferred embodiment below. The accompanying drawings are for illustration purposes only and are not to be considered as limiting the present application. The same reference symbols are used throughout the drawings to represent the same components. In the drawings:

[0042] Figure 1 A schematic structural diagram of a logistics transfer robot according to an embodiment of the present application;

[0043] Figure 2 A schematic structural diagram of a limiting component of a logistics transfer robot according to an embodiment of the present application;

[0044] Figure 3 A schematic structural diagram of a rubber wheel of a logistics transfer robot according to an embodiment of the present application;

[0045] in, Figures 1 to 3 The corresponding relationship between the reference numerals and component names is as follows:

[0046] 11. Robot body; 12. Telescopic cylinder; 13. Support platform; 14. Position limiting clamping assembly; 15. First receiving slot; 16. Guide slot; 17. Dual-axis motor; 18. Second receiving slot; 19. Drive motor; 20. Connecting shaft; 21. Bearing; 22. Rubber wheel; 23. Electric slide rail; 24. Slider; 25. Grasping device; 26. Control host; 27. Travel wheel;

[0047] 140, limit assembly;

[0048] 141. Moving block; 142. Screw rod; 143. Clamping block;

[0049] 251. Robotic arm body; 252. Clamping head; 253. Suction cup assembly. DETAILED DESCRIPTION

[0050] 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" and the like to 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 device or element referred to 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.

[0051] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. Throughout the description of this application, "plurality" means two or more, unless otherwise specifically defined.

[0052] In this application, unless otherwise specified or limited, the terms "mounted," "connected," "connect," "fixed," etc. should be understood broadly. For example, they can refer to fixed connection, detachable connection, or integral connection; mechanical connection or electrical connection; direct connection or indirect connection through an intermediate medium; or internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in this application based on specific circumstances.

[0053] The preferred embodiments of the present application are described below in conjunction with the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present application and are not used to limit the present application.

[0054] like Figure 1As shown, according to an embodiment of the present application, a logistics transfer robot is proposed, including: a robot body 11, a telescopic cylinder 12, a support platform 13 and a limit clamping assembly 14; the telescopic cylinder 12 is arranged perpendicular to the robot body 11, and the fixed end of the telescopic cylinder 12 is embedded in the robot body 11, and the fixed end of the telescopic cylinder 12 is fixedly connected to the robot body 11; the support platform 13 is arranged perpendicular to the telescopic cylinder 12, and the support platform 13 is connected to the telescopic end of the telescopic cylinder 12 to drive the support platform 13 to move through the telescopic cylinder 12; the limit clamping assembly 14 is adjustably set on the support platform 13 to clamp the goods on the support platform 13 through the limit clamping assembly 14.

[0055] The logistics transfer robot provided in the embodiment of the present application includes a robot body 11, a telescopic cylinder 12, a support platform 13 and a limit clamping assembly 14. The robot body 11 has a walking function, and the telescopic cylinder 12 drives the support platform 13 to perform lifting movements. By embedding the fixed end of the telescopic cylinder 12 into the robot body 11, the length of the telescopic cylinder 12 exposed outside the robot body 11 is reduced, thereby reducing the minimum height of the robot as a whole, so that the robot can smoothly enter and exit the bottom of the shelf and directly transport the shelf without manually transporting the shelf to the support platform 13, thereby saving manpower. Walk to the bottom of the shelf and make the support platform 13 directly under the shelf, lift the support platform 13 with the telescopic cylinder 12, and use the support platform 13 to lift the shelf to separate the shelf from the ground, so as to realize the overall transportation of the shelf and the goods placed on the shelf; in the process of the robot body 11 transporting the shelf, the shelf lifted by the support platform 13 is clamped by the limit clamping component 14 to clamp and limit the shelf, thereby improving the stability of the shelf on the support platform 13, reducing the shaking of the shelf during movement, and thus improving the stability of the logistics transfer process, and improving the efficiency and safety of logistics transfer.

[0056] It can be understood that when the shelf and the goods are transferred to the picking station, the telescopic cylinder 12 retracts and drives the support platform 13 to descend, so that the bottom of the shelf contacts the ground, and the ground provides support for the shelf. Then the limit clamping assembly 14 is released, and the robot body 11 walks out from the bottom of the shelf, completing a transfer of the shelf and the goods on the shelf. The operations of picking up, placing and transferring the shelf are automatically completed by the robot, reducing manual intervention and reducing labor intensity.

[0057] like Figure 1 and Figure 2 As shown, in a feasible embodiment, the logistics transfer robot also includes: a first accommodating groove 15, the first accommodating groove 15 is opened on the top surface of the robot body 11, and the first accommodating groove 15 extends toward the interior of the robot body 11; wherein, the fixed end of the telescopic cylinder 12 is embedded in the first accommodating groove 15.

[0058] In this technical solution, a first accommodating groove 15 is provided on the top of the robot body 11. By embedding the fixed end of the telescopic cylinder 12 into the first accommodating groove 15, the first accommodating groove 15 plays a role of giving way to reduce the length of the telescopic cylinder 12 exposed outside the robot body 11, thereby reducing the overall minimum height of the robot, so that the robot can smoothly enter and exit the bottom of the shelf to adapt to shelves with lower chassis, thereby improving the practicality and adaptability of the robot, and at the same time lowering the center of gravity of the robot, further improving the stability of the robot's walking.

[0059] In a feasible embodiment, the shape of the cross section of the support platform 13 is adapted to the shape of the cross section of the first accommodating groove 15. When the telescopic end of the telescopic cylinder 12 is retracted to the extreme position, the support platform 13 is embedded in the first accommodating groove 15, and the top surface of the support platform 13 and the top surface of the robot body 11 are located in the same plane; wherein, the extreme position is the position of the telescopic end in the robot body 11 when the telescopic cylinder 12 is retracted to the shortest length.

[0060] In this technical solution, the shape of the cross section of the support platform 13 is adapted to the shape of the cross section of the first accommodating groove 15. When the telescopic cylinder 12 is retracted to the shortest length, the support platform 13 can be embedded in the robot body 11, further reducing the minimum height of the robot as a whole; by making the top surface of the support platform 13 and the top surface of the robot body 11 located in the same plane, so that the top surface of the support platform 13 and the robot body 11 are in contact with the bottom surface of the shelf at the same time, the contact area between the robot and the shelf is increased, further improving the stability of the robot's support of the shelf, and using the robot body 11 to share the load of the telescopic cylinder 12, avoiding the telescopic cylinder 12 from fully bearing the gravity load of transportation, which is beneficial to extending the service life of the telescopic cylinder 12.

[0061] like Figure 1 As shown, in a feasible embodiment, the limit clamping assembly 14 includes two limit assemblies 140, and the logistics transfer robot also includes: two guide grooves 16, the guide grooves 16 are arranged on the top surface of the support platform 13, and the limit assemblies 140 are arranged in the guide grooves 16, and the guide grooves 16 guide the movement of the limit assemblies 140; wherein, the limit assemblies 140 correspond one to one to the guide grooves 16.

[0062] In this technical solution, when the two limit assemblies 140 move toward each other, the two limit assemblies 140 are close to the shelf to clamp and limit the shelf on the support platform 13, thereby improving the stability of the robot when transferring the shelf; when the two limit assemblies 140 move in opposite directions, the two limit assemblies 140 are away from the shelf to cancel the limitation of the shelf, thereby ensuring that the robot can smoothly separate from the shelf after the shelf is transferred and landed; the limit assembly 140 slides in the guide groove 16, and the guide groove 16 guides the movement of the limit assembly 140 to prevent the limit assembly 140 from deviating, ensuring that the limit assembly 140 can be smoothly reset, preventing the limit assembly 140 from getting stuck, and ensuring the timeliness of clamping and releasing of the limit clamping assembly 14.

[0063] like Figure 2 As shown, in a feasible embodiment, the logistics transfer robot also includes: a dual-axis motor 17, the dual-axis motor 17 is fixedly connected to the inside of the support platform 13, the dual-axis motor 17 includes two output shafts, and the two output shafts of the dual-axis motor 17 are respectively connected to the two limit assemblies 140 to drive the two limit assemblies 140 to move through the dual-axis motor 17.

[0064] In this technical solution, the two output shafts of the dual-axis motor 17 rotate synchronously, and the two output shafts of the dual-axis motor 17 are respectively connected to the two limit assemblies 140, so that the two limit assemblies 140 are driven to move synchronously by the dual-axis motor 17 to clamp the shelf from both sides of the shelf, thereby reducing the shaking of the shelf; the dual-axis motor 17 is fixedly connected to the inside of the support platform 13 to prevent the dual-axis motor 17 from protruding outside the support platform 13, thereby ensuring the flatness of the top surface of the support platform 13, so that the shelf is in full contact with the support platform 13.

[0065] Furthermore, the guide groove 16 is provided along the width direction of the support platform 13 so that the limiting assembly 140 moves along the direction of the support platform 13 , shortening the stroke of the limiting assembly 140 to quickly clamp or release the shelf on the support platform 13 .

[0066] Furthermore, the cross-section of the support platform 13 is rectangular, and the two guide grooves 16 are symmetrically arranged on the support platform 13 with the longer axis of the support platform 13 as the axis of symmetry; the two limit assemblies 140 are symmetrically arranged on the support platform 13 with the longer axis of the support platform 13 as the axis of symmetry, and the two limit assemblies 140 move synchronously during the clamping process, so that the limit assemblies 140 are used to push the shelf to the center position in the width direction of the support platform 13, so that the shelf is centered in the width direction of the support platform 13, thereby making the overall force of the robot more uniform, which helps to improve the stability of the robot's walking.

[0067] like Figure 2 and Figure 3As shown, in a feasible embodiment, the limiting assembly 140 includes: a moving block 141, a screw rod 142 and a clamping block 143; the moving block 141 is slidably connected in the guide groove 16; the first end of the screw rod 142 is connected to an output shaft of the dual-axis motor 17, and the second end of the screw rod 142 is embedded in the moving block 141, and the screw rod 142 is threadedly connected to the moving block 141; the clamping block 143 is arranged on the top surface of the moving block 141, and the clamping block 143 is located at the end of the moving block 141 away from the dual-axis motor 17.

[0068] In this technical solution, the dual-axis motor 17 drives the screw rod 142 to rotate, and the screw rod 142 is threadedly connected to the moving block 141. The rotational motion of the screw rod 142 is converted into the linear motion of the moving block 141 through threaded cooperation. The guide groove 16 limits the moving block 141 to prevent the moving block 141 from rotating, thereby ensuring the flexibility of the linear movement of the moving block 141; the clamping block 143 is set at the outer end of the moving block 141, and the clamping block 143 is driven to move by the moving block 141. The clamping block 143 is used to limit the shelf from the outside of the shelf. The clamping block 143 of the two limiting components 140 cooperates to clamp and limit the shelf to ensure the stability of the shelf during transportation.

[0069] like Figure 2 and Figure 3 As shown, in a feasible embodiment, the logistics transfer robot also includes: a second accommodating groove 18, a drive motor 19, a connecting shaft 20, a bearing 21 and a rubber wheel 22; the second accommodating groove 18 is arranged on the side of the block 143 close to the dual-axis motor 17; the drive motor 19 is fixedly connected to the block 143; the connecting shaft 20 is arranged perpendicular to the support platform 13, the first end of the connecting shaft 20 is connected to the output shaft of the drive motor 19, the second end of the connecting shaft 20 passes through the second accommodating groove 18, and the second end of the connecting shaft 20 is rotatably connected to the block 143; the bearing 21 is embedded in the block 143, and the bearing 21 is mounted on the second end of the connecting shaft 20; the rubber wheel 22 is mounted on the connecting shaft 20, and the rubber wheel 22 rotates synchronously with the connecting shaft 20, and the side wall of the rubber wheel 22 protrudes outside the block 143.

[0070] In this technical solution, a rubber wheel 22 is provided in the second receiving groove 18 of the block 143, the rubber wheel 22 is fixed on the connecting shaft 20, the bearing 21 supports the connecting shaft 20 for rotation, and the drive motor 19 drives the connecting shaft 20 to rotate, thereby driving the rubber wheel 22 to rotate; through the rotation of the rubber wheels 22 on the two blocks 143, the shelf on the support platform 13 moves under the action of the friction force of the two rubber wheels 22, so that the position of the shelf can be fine-tuned by the rotation of the rubber wheels 22, which facilitates the adjustment of the center of gravity of the shelf, and further improves the stability of the shelf during transportation.

[0071] Furthermore, the rubber wheels 22 on the two blocks 143 rotate synchronously but in opposite directions so that the friction forces received by both sides of the shelf are in the same direction, and the position of the shelf in the length direction of the support platform 13 is fine-tuned by rotating the rubber wheels 22 to center the shelf.

[0072] As a preferred solution, the two drive motors 19 are synchronously controlled by a synchronous controller. The synchronous controller coordinates the operation of the two drive motors 19 to ensure that the two motors run at the same speed and in opposite directions, so that the force applied by the rubber wheels 22 on the two sides to the shelf remains balanced, ensuring the smoothness and accuracy of the shelf fine-tuning process.

[0073] Specifically, the model of the synchronization controller is OMRON E5CC-QX2ASM-800.

[0074] like Figure 1 As shown, in a feasible embodiment, the logistics transfer robot also includes: an electric slide rail 23 and a grasping device 25; the electric slide rail 23 is arranged on the side wall of the robot body 11, and the electric slide rail 23 extends along the length direction of the support platform 13; the grasping device 25 is fixedly connected to the slider 24 of the electric slide rail 23 to drive the grasping device 25 to move through the slider 24.

[0075] In this technical solution, the slider 24 of the electric slide 23 drives the grabbing device 25 to move. The electric slide 23 extends along the length direction of the support platform 13, increasing the movable range of the grabbing device 25, so that the grabbing device 25 can be used to grab the goods on the ground and quickly place the grabbed goods on the shelves being transferred, so as to realize the rapid shelving of goods; after the robot arrives at the picking station, the grabbing device 25 is used to directly grab the goods from the shelves and place the goods to the designated location, so as to realize the rapid destocking of goods, eliminating the manual loading and unloading of goods by staff, and greatly improving the functionality and work efficiency of the robot.

[0076] like Figure 1 As shown, in a feasible embodiment, the grasping device 25 includes: a robotic arm body 251, a clamping head 252 and a suction cup assembly 253; the first end of the robotic arm body 251 is fixedly connected to the slider 24; the clamping head 252 is arranged at the second end of the robotic arm body 251, and the robotic arm body 251 controls the movement of the clamping head 252; the suction cup assembly 253 is arranged on the clamping head 252 to absorb the goods through the suction cup assembly 253.

[0077] In this technical solution, the clamping head 252 is used to install the suction cup assembly 253. The robotic arm body 251 drives the clamping head 252 to move, and provides negative pressure suction through the suction cup assembly 253 to adsorb the goods, prevent the goods from slipping, improve the grasping stability of the robotic arm body 251, and ensure the working efficiency of the grasping device 25.

[0078] Furthermore, a vacuum adsorption pump is rotatably connected to the clamping head 252, and the suction cup assembly 253 is arranged on the surface of the vacuum adsorption pump to adjust the adsorption force of the suction cup assembly 253 through the vacuum adsorption pump, so as to adjust the adsorption force according to different cargo weights and ensure the success rate of the grasping device 25.

[0079] Specifically, the grasping device 25 is a six-axis robotic arm.

[0080] like Figure 1 As shown, in a feasible embodiment, the robot body 11 includes walking wheels 27, which are installed at the four corners of the bottom of the shell of the robot body 11; a control host 26 is provided inside the robot body 11, and the control host 26 controls the movement of the robot body 11; the limit clamping assembly 14 is electrically connected to the control host 26, the grasping device 25 is electrically connected to the control host 26, and the electric slide rail 23 is electrically connected to the control host 26.

[0081] In this technical solution, the limit clamping assembly 14 is electrically connected to the control host 26, the grasping device 25 is electrically connected to the control host 26, and the electric slide rail 23 is electrically connected to the control host 26. The walking movement of the robot body 11, the movement of the limit clamping assembly 14, the grasping of the grasping device 25, and the movement of the slider 24 on the electric slide rail 23 are controlled by the control host 26, ensuring the degree of automation of the robot's work and reducing the intensity of manual labor.

[0082] When using a robot for transportation, first, move the robot to the bottom of the target shelf, start the telescopic cylinder 12, and the telescopic cylinder 12 drives the support platform 13 to move upward. As the support platform 13 continues to move upward and rests against the bottom of the shelf, the shelf is lifted steadily off the ground under the supporting force of the support platform 13. After the shelf is lifted, the robot enters the moving stage; during this process, the dual-axis motor 17 is started, and the dual-axis motor 17 drives the screw rods 142 at both ends to rotate. Since the moving block 141 is threadedly matched with the screw rod 142, the rotation of the screw rod 142 will drive the two moving blocks 141 and the clamping block 143 to move until the two clamping blocks 143 clamp the lifted shelf from both sides, providing strong protection for the transportation stability of the shelf and avoiding shelf shaking.

[0083] A rubber wheel 22 is provided on the block 143, and the rubber wheel 22 is driven by the drive motor 19. When it is necessary to fine-tune the position of the shelf in the length direction of the support platform 13, the drive motor 19 is started, and the drive motor 19 drives the rubber wheel 22 to rotate. Through the interaction between the rubber wheel 22 and the shelf, the position of the shelf in the length direction of the support platform 13 is finely adjusted, thereby facilitating the adjustment of the center of gravity of the shelf, ensuring that the entire transportation process is smoother and safer.

[0084] After the electric slide rail 23 is started, the electric slider 24 drives the grabbing device 25 to move. The grabbing device 25 can not only grab the goods on the ground and place the goods directly on the shelf being transferred, so as to realize the rapid shelving of the goods; when the robot arrives at the picking station, the grabbing device 25 can also directly grab the goods from the shelf and place them to the designated location to complete the unloading operation of the goods, thereby improving the convenience of goods transfer, eliminating the manual loading and unloading of goods by staff, and effectively improving the functionality and work efficiency of the robot.

[0085] It is easy for those skilled in the art to understand that the above embodiments can be freely combined and superimposed without conflict.

[0086] The above are merely preferred embodiments of the present application and are not intended to limit the present application. Any modifications, equivalent replacements, and improvements made within the spirit and principles of the present application shall be included within the scope of protection of the present application. The above are merely preferred embodiments of the present application. It should be noted that those skilled in the art may make various improvements and variations without departing from the technical principles of the present application, and such improvements and variations shall also be considered within the scope of protection of the present application.

Claims

1. A logistics transfer robot, characterized in that: The logistics transfer robot includes: Robot body; a telescopic cylinder, the telescopic cylinder being arranged perpendicular to the robot body, the fixed end of the telescopic cylinder being embedded in the robot body, and the fixed end of the telescopic cylinder being fixedly connected to the robot body; A support platform, the support platform is arranged perpendicular to the telescopic cylinder, and the support platform is connected to the telescopic end of the telescopic cylinder to drive the support platform to move through the telescopic cylinder; A position limiting clamping assembly is adjustably arranged on the support platform to clamp the goods on the support platform through the position limiting clamping assembly.

2. A logistics transfer robot according to claim 1, characterized in that: The logistics transfer robot also includes: a first receiving groove, the first receiving groove being provided on the top surface of the robot body and extending toward the interior of the robot body; Wherein, the fixed end of the telescopic cylinder is embedded in the first accommodating groove.

3. A logistics transfer robot according to claim 2, characterized in that: The cross-sectional shape of the support platform is adapted to the cross-sectional shape of the first receiving groove. When the telescopic end of the telescopic cylinder is retracted to the extreme position, the support platform is embedded in the first receiving groove, and the top surface of the support platform and the top surface of the robot body are located in the same plane. The limit position is the position of the telescopic end in the robot body when the telescopic cylinder is retracted to the shortest length.

4. A logistics transfer robot according to claim 1, characterized in that: The limiting clamping assembly includes two limiting assemblies, and the logistics transfer robot also includes: Two guide grooves, each of which is provided on the top surface of the support platform, in which the position-limiting assembly is provided, and the guide grooves guide the movement of the position-limiting assembly; Wherein, the limiting components correspond to the guide grooves one by one.

5. A logistics transfer robot according to claim 4, characterized in that: The logistics transfer robot also includes: A dual-axis motor is fixedly connected to the inside of the support platform, and the dual-axis motor includes two output shafts. The two output shafts of the dual-axis motor are respectively connected to the two limit assemblies to drive the two limit assemblies to move through the dual-axis motor.

6. A logistics transfer robot according to claim 5, characterized in that: The limiting component includes: a moving block, the moving block being slidably connected in the guide groove; a screw rod, wherein a first end of the screw rod is connected to an output shaft of the dual-axis motor, a second end of the screw rod is embedded in the moving block, and the screw rod is threadedly connected to the moving block; A clamping block is provided on the top surface of the moving block, and the clamping block is located at an end of the moving block away from the dual-axis motor.

7. A logistics transfer robot according to claim 6, characterized in that: The logistics transfer robot also includes: a second accommodating groove, the second accommodating groove being arranged on a side of the clamping block close to the dual-axis motor; A driving motor, the driving motor being fixedly connected to the clamping block; a connecting shaft, the connecting shaft being arranged perpendicular to the support platform, the first end of the connecting shaft being connected to the output shaft of the drive motor, the second end of the connecting shaft passing through the second receiving groove, and the second end of the connecting shaft being rotatably connected to the clamping block; A bearing, the bearing being embedded in the clamping block and sleeved on the second end of the connecting shaft; A rubber wheel is sleeved on the connecting shaft, the rubber wheel rotates synchronously with the connecting shaft, and the side wall of the rubber wheel protrudes outside the clamping block.

8. The logistics transfer robot according to claim 1, characterized in that: The logistics transfer robot also includes: An electric slide rail, the electric slide rail being arranged on a side wall of the robot body and extending along a length direction of the support platform; A grabbing device is fixedly connected to a slider of the electric slide rail so as to drive the grabbing device to move via the slider.

9. The logistics transfer robot according to claim 8, characterized in that: The gripping device comprises: A mechanical arm body, wherein a first end of the mechanical arm body is fixedly connected to the slider; a clamping head, the clamping head being arranged at the second end of the robot arm body, and the robot arm body controlling the movement of the clamping head; A suction cup assembly is provided on the clamping head so as to absorb goods through the suction cup assembly.

10. A logistics transfer robot according to any one of claims 8 to 9, characterized in that: The robot body includes running wheels, which are installed at the four corners of the bottom of the shell of the robot body; a control host is provided inside the robot body, and the control host controls the movement of the robot body; The position limiting clamping assembly is electrically connected to the control host, the grabbing device is electrically connected to the control host, and the electric slide rail is electrically connected to the control host.

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