Intelligent logistics transfer robot

Abstract

The utility model belongs to the technical field of logistics conveying, and particularly relates to an intelligent logistics transfer robot. An intelligent logistics transfer robot comprises a four-wheel-drive chassis mechanism and a controller, a lifting mechanism is installed on the four-wheel-drive chassis mechanism, a mechanical claw mechanism is installed on the lifting mechanism, a battery is fixedly installed on the four-wheel-drive chassis mechanism, and the controller is used for controlling work of the four-wheel-drive chassis mechanism, the lifting mechanism and the mechanical claw mechanism. The battery is used for supplying power to the transfer robot; the lifting mechanism comprises a lifting layer component and two power components, the two power components are arranged on the left side and the right side of the lifting layer component respectively, automatic and intelligent work can be achieved through cooperation of the electromagnetic guiding module, the obstacle avoidance sensor and the visual identification equipment, manual participation is not needed, and the working efficiency is improved. The manual labor cost is reduced, the accuracy of logistics placement is improved, and a large amount of time is saved.

Description

Technical Field

[0001] This utility model belongs to the field of logistics transportation technology, specifically relating to an intelligent logistics handling robot. Background Art

[0002] Nowadays, the logistics industry typically has multiple express sorting centers set up in various regions across the country to handle the distribution of logistics. However, individual logistics items vary in type, shape, and weight, often requiring a relatively complex process to handle and classify them.

[0003] When the logistics industry encounters peak cargo volume periods, it needs to go through a series of processes such as unloading, handling, and warehousing. This process is quite cumbersome, and currently it is mostly achieved by manual handling or by using tools such as trailers. In the current situation where intelligent logistics transportation models are not yet widespread, the efficiency is relatively low and a lot of manpower and energy are consumed. Utility Model Content

[0004] This invention provides an intelligent logistics handling robot to address the aforementioned problems of low efficiency and high manpower consumption.

[0005] To achieve the above objectives, the present invention adopts the following technical solution:

[0006] An intelligent logistics handling robot includes a four-wheel drive chassis mechanism and a controller. A lifting mechanism is installed on the four-wheel drive chassis mechanism, a mechanical gripper mechanism is installed on the lifting mechanism, and a battery is fixedly installed on the four-wheel drive chassis mechanism. The controller is used to control the operation of the four-wheel drive chassis mechanism, the lifting mechanism and the mechanical gripper mechanism, and the battery is used to power the handling robot.

[0007] The lifting mechanism includes a lifting platform component and a power component. The lifting platform component includes a lifting frame, with a lifting platform fixedly installed at the upper end of the lifting frame. There are two power components, respectively located on the left and right sides of the lifting platform component. Each power component includes a carbon frame. A first guide rail is provided on the side of the carbon frame near the support frame, and the first guide rail is slidably connected to a first slider, which is located at the upper end of the support frame. A second slider is provided on the side of the carbon frame near the lifting frame, and the second slider is located at the upper part of the carbon frame. The second slider is connected to the second... The first guide rail is slidably connected, the second guide rail is installed on the lifting frame, the lower end of the carbon frame is fixedly installed with a motor mounting base, the motor mounting base is equipped with a first drive motor, the output shaft of the first drive motor is equipped with a drive sprocket, the top of the carbon frame is provided with a driven sprocket mounting base, a driven sprocket is rotatably installed on the driven sprocket mounting base, the drive sprocket and the driven sprocket are connected by a chain, the upper end of the support frame is fixedly connected to the chain, the lower end of the lifting mechanism is fixedly connected to the chain, and the first drive motor is connected to the controller.

[0008] Furthermore, the mechanical gripper mechanism includes a mechanical gripper mounting base. Gear drive motors are fixedly mounted at both ends of the mechanical gripper mounting base. Gears are mounted on the output shafts of the gear drive motors, and two gears mesh with corresponding racks. The racks are mounted on the upper surface of the lifting platform. Support sliders are fixedly mounted at both ends of the mechanical gripper mounting base. The support sliders are slidably connected to linear guide rails, which are mounted on the upper surface of the lifting platform. A ball screw is rotatably mounted on the mechanical gripper mounting base. One end of the ball screw is connected to the output end of the mechanical gripper drive motor, which is fixedly mounted on the mechanical gripper mounting base. The ball screw is a bidirectional threaded screw, and two mechanical gripper sliders are threadedly connected to it. The mechanical gripper sliders are slidably connected to guide rods, which are fixedly mounted on the mechanical gripper mounting base. Mechanical grippers are mounted on the mechanical gripper sliders. Both the mechanical gripper drive motor and the gear drive motor are connected to a controller.

[0009] Furthermore, the four-wheel drive chassis mechanism includes a chassis frame, with support frames installed on both the left and right sides of the upper surface of the chassis frame. Four wheel frames are hinged to the chassis frame, and Mecanum wheels are installed on the wheel frames. A second drive motor is fixedly installed on one side of the wheel frame, and the second drive motor is used to drive the Mecanum wheels to rotate. A shock absorber is fixedly connected to the upper end of the wheel frame, and the other end of the shock absorber is fixedly installed on the chassis frame by bolts. The second drive motor is connected to the controller.

[0010] Furthermore, an electromagnetic guidance module is installed on the four-wheel drive chassis mechanism. The electromagnetic guidance module is connected to the controller and is used to sense electromagnetic guidance lines laid on the ground, thereby realizing the path navigation of the handling robot.

[0011] Furthermore, an obstacle avoidance sensor is fixedly installed at the front of the four-wheel drive chassis mechanism. The obstacle avoidance sensor is connected to the controller and is used to detect whether there are obstacles on the travel path of the transport robot.

[0012] Furthermore, a visual recognition device is provided on the front side of the lower surface of the lifting platform. The visual recognition device is connected to the controller and is used to collect the QR code or barcode on the surface of the goods and upload the collected image to the controller, thereby realizing the identification of the goods.

[0013] Furthermore, the front end of the mechanical claw is provided with a rubber layer to increase the friction of the mechanical claw when grasping goods.

[0014] Furthermore, the controller is an STM32 microcontroller, the obstacle avoidance sensor is an E3Z-D62 photoelectric switch, and the visual recognition device is an industrial camera.

[0015] Compared with the prior art, the present invention has the following advantages:

[0016] 1. This utility model, through the cooperation of an electromagnetic guidance module, obstacle avoidance sensor, and visual recognition device, can achieve automated and intelligent operation without human intervention, reducing labor costs, improving the accuracy of logistics placement, and saving a lot of time.

[0017] 2. This utility model adopts a lifting mechanism design, which can be used to grasp objects with mechanical claws according to different height requirements, and can be used for logistics handling in various environments.

[0018] 3. This utility model achieves flexible lifting of the robot through the cooperation of the lifting layer component and the power component, which improves the efficiency of material handling and shortens working time. At the same time, the lifting mechanism of this utility model can achieve double the lifting distance based on chain transmission, namely the displacement between the carbon plate and the lifting frame and the displacement between the carbon plate and the support frame.

[0019] 4. This utility model uses a shock absorber, which improves the stability during logistics transportation.

[0020] 5. The controller used in this utility model is an STM32 microcontroller, which has reverse connection protection and overvoltage protection functions. At the same time, it has a compact structure and high integration, ensuring the stable operation of the robot.

[0021] 6. After the object is gripped by the mechanical claw, it can be temporarily stored on the lifting platform, avoiding the problem of the object falling and being damaged due to unstable gripping during the movement, and effectively improving the safety of the transportation process. Attached Figure Description

[0022] Figure 1 It is a structural diagram of the utility model;

[0023] Figure 2 This is a schematic diagram of the lifting mechanism of this utility model;

[0024] Figure 3 This is a schematic diagram of the mechanical claw mechanism of this utility model;

[0025] Figure 4 This is a schematic diagram of the four-wheel drive chassis mechanism of this utility model;

[0026] In the diagram, the components are: 1. Four-wheel drive chassis mechanism; 2. Lifting mechanism; 3. Mechanical claw mechanism; 4. Battery; 5. Controller; 6. Lifting frame; 7. Lifting platform; 8. Carbon frame; 9. First guide rail; 10. First slider; 11. Second slider; 12. Second slider; 13. Motor mounting base; 14. First drive motor; 15. Drive sprocket; 16. Driven sprocket mounting base; 17. Driven sprocket; 18. Chain; 19. Support frame; 20. Gear drive motor; 21. Gear; 22. Rack; 23. Mechanical claw fixing base; 24. Support slider; 25. Linear guide rail; 26. Ball screw; 27. Mechanical claw drive motor; 28. Mechanical claw slider; 29. ​​Guide rod; 30. Mechanical claw; 31. Chassis frame; 32. Wheel frame; 33. Mecanum wheel; 34. Second drive motor; 35. Shock absorber; 36. Electromagnetic guidance module; 37. Obstacle avoidance sensor; 38. Visual recognition device. DETAILED DESCRIPTION

[0027] To further illustrate the technical solution of this utility model, the following embodiments will be used to further explain this utility model.

[0028] like Figure 1 As shown, an intelligent logistics handling robot includes a four-wheel drive chassis mechanism 1 and a controller 5. A lifting mechanism 2 is installed on the four-wheel drive chassis mechanism 1, and a mechanical gripper mechanism 3 is installed on the lifting mechanism 2. A battery 4 is fixedly installed on the four-wheel drive chassis mechanism 1. The controller 5 is used to control the operation of the four-wheel drive chassis mechanism 1, the lifting mechanism 2 and the mechanical gripper mechanism 3. The controller 5 is an STM32 microcontroller. The obstacle avoidance sensor 37 is an E3Z-D62 photoelectric switch. The visual recognition device 38 is an industrial camera. The battery 4 is used to power the handling robot.

[0029] like Figure 2As shown, the lifting mechanism 2 includes a lifting platform component and a power component. The lifting platform component includes a lifting frame 6, with a lifting platform 7 fixedly installed on the upper end of the lifting frame 6. There are two power components, respectively located on the left and right sides of the lifting platform component. Each power component includes a carbon frame 8. A first guide rail 9 is provided on the side of the carbon frame 8 near the support frame 19, and the first guide rail 9 is slidably connected to a first slider 10, which is located on the upper end of the support frame 19. A second slider 11 is provided on the side of the carbon frame 8 near the lifting frame 6, and the second slider 11 is located on the upper part of the carbon frame 8. The second slider 11 is slidably connected to a second guide rail 12, which is installed on the lifting frame 6. A motor mounting base 13 is fixedly installed on the lower end of the carbon frame 8. A drive motor 14 is mounted on the mounting base 13. A drive sprocket 15 is mounted on the output shaft of the drive motor 14. A driven sprocket mounting base 16 is provided on the top of the carbon frame 8. A driven sprocket 17 is rotatably mounted on the driven sprocket mounting base 16. The drive sprocket 15 and the driven sprocket 17 are connected by a chain 18. The upper end of the support frame 19 is fixedly connected to the chain 18. The lower end of the lifting mechanism 2 is fixedly connected to the chain 18. The drive motor 14 is connected to the controller 5. A visual recognition device 38 is provided on the front side of the lower surface of the lifting platform 7. The visual recognition device 38 is connected to the controller 5. The visual recognition device 38 is used to collect the QR code or barcode on the surface of the goods and upload the collected image to the controller 5, thereby realizing the identification of the goods.

[0030] like Figure 3 As shown, the mechanical gripper mechanism 3 includes a mechanical gripper fixing seat 23. Gear drive motors 20 are fixedly mounted at both ends of the mechanical gripper fixing seat 23. Gears 21 are mounted on the output shaft of the gear drive motors 20. Two gears 21 mesh with corresponding racks 22. The racks 22 are mounted on the upper surface of the lifting platform 7. Support sliders 24 are fixedly mounted at both ends of the mechanical gripper fixing seat 23. The support sliders 24 are slidably connected to linear guide rails 25. The linear guide rails 25 are mounted on the upper surface of the lifting platform 7. A ball screw 26 is rotatably mounted on the mechanical gripper fixing seat 23. One end of the ball screw 26... The output end of the mechanical claw drive motor 27 is connected to the end of the mechanical claw drive motor 27, which is fixedly mounted on the mechanical claw mounting base 23. The ball screw 26 is a bidirectional threaded screw, and two mechanical claw sliders 28 are threadedly connected to the ball screw 26. The mechanical claw sliders 28 are slidably connected to the guide rod 29, which is fixedly mounted on the mechanical claw mounting base 23. A mechanical claw 30 is provided on the mechanical claw slider 28. Both the mechanical claw drive motor 27 and the gear drive motor 20 are connected to the controller 5. The front end of the mechanical claw 30 is provided with a rubber layer to improve the friction of the mechanical claw 30 when gripping goods.

[0031] like Figure 4 As shown, the four-wheel drive chassis mechanism 1 includes a chassis frame 31. Support frames 19 are installed on both the left and right sides of the upper surface of the chassis frame 31. Four wheel frames 32 are hinged to the chassis frame 31, and Mecanum wheels 33 are installed on the wheel frames 32. A second drive motor 34 is fixedly installed on one side of the wheel frame 32. The second drive motor 34 is used to drive the Mecanum wheels 33 to rotate. A shock absorber 35 is fixedly connected to the upper end of the wheel frame 32. The other end of the shock absorber 35 is fixedly installed on the chassis frame 31 by bolts. The second drive motor 34 is connected to the controller 5. An electromagnetic guidance module 36 is installed on the four-wheel drive chassis mechanism 1. The electromagnetic guidance module 36 is connected to the controller 5. The electromagnetic guidance module 36 is used to sense electromagnetic guidance lines laid on the ground, thereby realizing path navigation of the transport robot. An obstacle avoidance sensor 37 is fixedly installed at the front of the four-wheel drive chassis mechanism 1. The obstacle avoidance sensor 37 is connected to the controller 5 and is used to detect whether there are obstacles on the travel path of the transport robot.

[0032] The foregoing has shown and described the main features and advantages of this utility model. It will be apparent to those skilled in the art that this utility model is not limited to the details of the exemplary embodiments described above, and that it can be implemented in other specific forms without departing from the spirit or essential characteristics of this utility model. Therefore, the embodiments should be considered exemplary and non-limiting in all respects. The scope of this utility model is defined by the appended claims rather than the foregoing description, and thus all variations falling within the meaning and scope of equivalents of the claims are intended to be included within this utility model.

[0033] In addition, it should be understood that although this specification is described in terms of implementation methods, not every implementation method contains only one independent technical solution. This narrative method of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment can also be appropriately combined to form other implementation methods that can be understood by those skilled in the art.

Claims

1. An intelligent logistics handling robot, characterized in that: The system includes a four-wheel drive chassis mechanism (1) and a controller (5). A lifting mechanism (2) is installed on the four-wheel drive chassis mechanism (1), a mechanical claw mechanism (3) is installed on the lifting mechanism (2), and a battery (4) is fixedly installed on the four-wheel drive chassis mechanism (1). The controller (5) is used to control the operation of the four-wheel drive chassis mechanism (1), the lifting mechanism (2) and the mechanical claw mechanism (3), and the battery (4) is used to power the handling robot. The lifting mechanism (2) includes a lifting platform component and a power component. The lifting platform component includes a lifting frame (6), and a lifting platform (7) is fixedly installed on the upper end of the lifting frame (6). There are two power components, which are respectively arranged on the left and right sides of the lifting platform component. The power component includes a carbon frame (8). A first guide rail (9) is arranged on the side of the carbon frame (8) near the support frame (19). The first guide rail (9) is slidably connected to a first slider (10). The first slider (10) is arranged on the upper end of the support frame (19). A second slider (11) is arranged on the side of the carbon frame (8) near the lifting frame (6), and the second slider (11) is located on the upper part of the carbon frame (8). The second slider (11) is slidably connected to a second guide rail (12). The second guide rail (12) is installed on the lifting frame (6). The lower end of the carbon frame (8) is fixedly installed with a motor mounting seat (13). The motor mounting seat (13) is equipped with a first drive motor (14). The output shaft of the first drive motor (14) is equipped with a drive sprocket (15). The top of the carbon frame (8) is provided with a driven sprocket mounting seat (16). A driven sprocket (17) is rotatably installed on the driven sprocket mounting seat (16). The drive sprocket (15) and the driven sprocket (17) are connected by a chain (18). The upper end of the support frame (19) is fixedly connected to the chain (18). The lower end of the lifting mechanism (2) is fixedly connected to the chain (18). The first drive motor (14) is connected to the controller (5).

2. The intelligent logistics handling robot according to claim 1, characterized in that: The mechanical gripper mechanism (3) includes a mechanical gripper mounting base (23). Gear drive motors (20) are fixedly mounted at both ends of the mechanical gripper mounting base (23). Gears (21) are mounted on the output shaft of the gear drive motors (20). The two gears (21) mesh with corresponding racks (22). The racks (22) are mounted on the upper surface of the lifting platform (7). Support sliders (24) are fixedly mounted at both ends of the mechanical gripper mounting base (23). The support sliders (24) are slidably connected to linear guide rails (25). The linear guide rails (25) are mounted on the upper surface of the lifting platform (7). The mechanical gripper mounting base (23) is rotatably mounted on... There is a ball screw (26), one end of which is connected to the output end of the mechanical claw drive motor (27). The mechanical claw drive motor (27) is fixedly installed on the mechanical claw mounting base (23). The ball screw (26) is a bidirectional threaded screw. Two mechanical claw sliders (28) are threadedly connected to the ball screw (26). The mechanical claw sliders (28) are slidably connected to the guide rod (29). The guide rod (29) is fixedly installed on the mechanical claw mounting base (23). A mechanical claw (30) is provided on the mechanical claw slider (28). The mechanical claw drive motor (27) and the gear drive motor (20) are both connected to the controller (5).

3. The intelligent logistics handling robot according to claim 1, characterized in that: The four-wheel drive chassis mechanism (1) includes a chassis frame (31). Support frames (19) are installed on both the left and right sides of the upper surface of the chassis frame (31). Four wheel frames (32) are hinged on the chassis frame (31). Mecanum wheels (33) are installed on the wheel frames (32). A second drive motor (34) is fixedly installed on one side of the wheel frame (32). The second drive motor (34) is used to drive the Mecanum wheels (33) to rotate. A shock absorber (35) is fixedly connected to the upper end of the wheel frame (32). The other end of the shock absorber (35) is fixedly installed on the chassis frame (31) by bolts. The second drive motor (34) is connected to the controller (5).

4. The intelligent logistics handling robot according to claim 1, characterized in that: An electromagnetic guidance module (36) is installed on the four-wheel drive chassis mechanism (1). The electromagnetic guidance module (36) is connected to the controller (5). The electromagnetic guidance module (36) is used to sense the electromagnetic guidance line laid on the ground, thereby realizing the path navigation of the handling robot.

5. The intelligent logistics handling robot according to claim 4, characterized in that: An obstacle avoidance sensor (37) is fixedly installed at the front of the four-wheel drive chassis mechanism (1). The obstacle avoidance sensor (37) is connected to the controller (5) and is used to detect whether there are obstacles on the travel path of the transport robot.

6. The intelligent logistics handling robot according to claim 5, characterized in that: A visual recognition device (38) is provided on the front side of the lower surface of the lifting platform (7). The visual recognition device (38) is connected to the controller (5). The visual recognition device (38) is used to collect the QR code or barcode on the surface of the goods and upload the collected image to the controller (5) to realize the identification of the goods.

7. The intelligent logistics handling robot according to claim 1, characterized in that: The front end of the mechanical claw (30) is provided with a rubber layer to improve the friction of the mechanical claw (30) when grasping goods.

8. The intelligent logistics handling robot according to claim 6, characterized in that: The controller (5) is an STM32 microcontroller, the obstacle avoidance sensor (37) is an E3Z-D62 photoelectric switch, and the visual recognition device (38) is an industrial camera.

Images