Automatic transfer robot
By introducing retractable horizontal and vertical components into the automated handling robot, stable support is provided, solving the tipping problem when picking up and placing goods at high positions, and improving the stability and flexibility of the equipment.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- SUZHOU JIEXIANG LINGYUE TECHNOLOGY CO LTD
- Filing Date
- 2025-06-30
- Publication Date
- 2026-05-15
AI Technical Summary
Existing automated handling robots are prone to tilting or tipping over when picking up or placing goods at high positions, which leads to increased equipment design costs and insufficient flexibility.
An automated handling robot was designed, comprising a chassis module and a support module. The support module includes retractable horizontal and vertical components, which provide stable support through the retractable movement of the horizontal and vertical components to prevent the robot from tipping over.
It achieves stability when picking up and placing goods at high positions, reduces the risk of the robot tipping over, does not require increasing the robot's own weight, and improves the flexibility and operational stability of the equipment.
Smart Images
Figure CN224242642U_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of transport robot technology, and more specifically, to an automated transport robot. Background Technology
[0002] With the development of logistics, automation, and robotics, the process of picking up and placing goods no longer requires a large amount of manual labor. Instead, robots are used to achieve automated, fast, and precise transportation and picking up, which greatly improves the efficiency and safety of logistics operations.
[0003] Currently, goods in warehouses typically need to be stacked in a categorized manner, resulting in considerable height. Therefore, transport robots with three-level masts are often used for loading and unloading goods. However, because the three-level mast has a high lifting height when fully extended, and the weight of the goods causes the robot to tilt, this problem is often addressed by increasing the robot's weight. However, increasing the weight not only increases the design and manufacturing costs of the equipment but also makes the overall equipment cumbersome and less flexible.
[0004] Therefore, there is an urgent need to provide an automated handling robot to compensate for the shortcomings of existing technologies to some extent. Utility Model Content
[0005] The purpose of this application is to provide an automated handling robot that optimizes the robot's structure to a certain extent, improves the robot's stability when picking up and unloading goods, and avoids the problem of the robot tipping over due to excessive height or weight of the goods.
[0006] To achieve the above objectives, the present invention provides an automated handling robot, comprising a chassis module and a support module. The support module is disposed within the chassis module and includes a first horizontal component, a second horizontal component, a first vertical component, and a second vertical component. The first horizontal component and the second horizontal component both extend along the width direction of the chassis module, and one end of each component is connected to the chassis module. The other ends of the first and second horizontal components can extend or retract into the chassis module in a direction away from or away from each other. The first vertical component is connected to the extended end of the first horizontal component, and the second vertical component is connected to the extended end of the second horizontal component. The retractable ends of both the first and second vertical components can move towards or away from the ground.
[0007] The support module further includes a mounting base. The first horizontal component includes a first telescopic drive and a first mounting member. The second horizontal component includes a second telescopic drive and a second mounting member. The positioning end of the first telescopic drive is connected to the mounting base, and the telescopic end is connected to the first mounting member. The first vertical component is connected to the first mounting member. The positioning end of the second telescopic drive is connected to the mounting base, and the telescopic end is connected to the second mounting member. The second vertical component is connected to the second mounting member. The telescopic direction of the first telescopic drive is opposite to the telescopic direction of the second telescopic drive.
[0008] Specifically, the support module further includes a first guide rail and a second guide rail, both of which extend along the length of the mounting base and are arranged parallel to each other on the mounting base. Both the first mounting component and the second mounting component are slidably connected to the first guide rail and the second guide rail.
[0009] Further, the first mounting component includes two parallel first mounting plates and a second mounting plate perpendicular to the first mounting plates and connected to the ends of the first mounting plates. The two first mounting plates are slidably connected to one side of the first guide rail and the second guide rail, respectively. The telescopic end of the first telescopic drive is connected to the second mounting plate. The second mounting component includes two parallel third mounting plates and a fourth mounting plate perpendicular to the third mounting plates and connected to the ends of the third mounting plates. The two third mounting plates are slidably connected to the other side of the first guide rail and the second guide rail, respectively. The telescopic end of the second telescopic drive is connected to the fourth mounting plate. The first vertical component is connected to the second mounting plate, and the second vertical component is connected to the fourth mounting plate.
[0010] The automatic handling robot provided by this utility model also includes a walking module, which includes a first active walking component, a second active walking component, and a plurality of omnidirectional wheels; the first active walking component and the second active walking component are arranged opposite to each other on both sides of the chassis module along the width direction, and both the first active walking component and the second active walking component are arranged at the middle position of the chassis module in the length direction; at least the four corners of the chassis module are provided with the omnidirectional wheels.
[0011] Specifically, both the first active walking component and the second active walking component include a drive motor, a reducer, and a walking wheel; the output end of the drive motor is connected to the input end of the reducer, the output end of the reducer is connected to the walking wheel, the drive motor and the reducer are both mounted on the chassis module, and the walking wheel is capable of rotating relative to the chassis module.
[0012] Furthermore, the automatic handling robot provided by this utility model also includes a suspension mechanism, which includes a positioning seat, a guide member, an elastic element, a positioning rod, and an adjusting member. The drive motor and the reducer are both mounted on the positioning seat, the guide member is mounted vertically on the chassis module, and the positioning seat is slidably connected to the guide member. One end of the positioning rod is connected to the positioning seat, and the other end is connected to the chassis module. The elastic element and the adjusting member are both sleeved on the positioning rod, and the adjusting member is threadedly engaged with the positioning rod. The elastic element is located between the adjusting member and the positioning seat.
[0013] The automatic handling robot provided by this utility model also includes a lifting module and a pick-and-place module. The lifting module extends vertically, and the pick-and-place module is connected to the lifting module. The lifting module can drive the pick-and-place module to reciprocate in the vertical direction.
[0014] Specifically, the lifting module includes an outer gantry, a middle gantry, an inner gantry, a first lifting drive, a first chain, and a first roller; the loading / unloading module includes a second lifting drive, a second chain, a second roller, a bracket, a support platform, a telescopic fork, a vertical drive assembly, a horizontal drive assembly, a rotary drive assembly, and a positioning plate; the outer gantry extends vertically, with one end positioned on the chassis module; the middle gantry is located inside the outer gantry; the positioning end of the first lifting drive is connected to the outer gantry, and its telescopic end is connected to the middle gantry; one end of the first chain is fixedly connected to the outer gantry, and the other end is fixedly connected to the inner gantry; the first roller is rotatably connected to the middle gantry, and the first chain is arranged around the first roller; the positioning end of the second lifting drive is connected to the inner gantry, and its telescopic end is connected to the second roller. The second roller is connected to the bracket, and the second chain is arranged around the second roller, with one end of the second chain fixedly connected to the inner gantry and the other end fixedly connected to the bracket; the vertical drive assembly is arranged between the bracket and the inner gantry, and is used to drive the bracket to move vertically relative to the inner gantry; the horizontal drive assembly extends along the length direction of the chassis module and is arranged between the support platform and the bracket, and is used to drive the support platform to move relative to the bracket in the length direction of the chassis module; the positioning plate is arranged on the support platform, and the output end of the rotary drive assembly is connected to the positioning plate, and is used to drive the positioning plate to rotate relative to the support platform; the telescopic fork is arranged on the positioning plate and can reciprocate relative to the positioning plate in the width direction of the chassis module.
[0015] Furthermore, the automatic handling robot provided by this utility model also includes a first depth camera and a second depth camera, which are disposed opposite to each other at both ends of the support platform in the width direction of the chassis module.
[0016] Compared with existing technologies, the automated handling robot provided by this utility model has the following advantages:
[0017] The automatic handling robot provided by this utility model includes a chassis module and a support module. The support module is disposed within the chassis module and includes a first horizontal component, a second horizontal component, a first vertical component, and a second vertical component. Both the first horizontal component and the second horizontal component extend along the width direction of the chassis module, and one end of each of the first and second horizontal components is connected to the chassis module. The other ends of the first and second horizontal components can extend or retract into the chassis module in a direction away from or away from each other. The first vertical component is connected to the extended end of the first horizontal component, and the second vertical component is connected to the extended end of the second horizontal component. Both the telescopic ends of the first and second vertical components can move in a direction approaching or away from the ground.
[0018] Analysis shows that the automated handling robot provided in this application can provide installation space and foundation for the support module through the chassis module. The support module in this application includes a first horizontal component and a second horizontal component. Both the first horizontal component and the second horizontal component have one end connected to the chassis module, and the other end can move in a direction that approaches or moves away from each other. Thus, when it is necessary to support the chassis module, i.e. the whole robot, the telescopic ends of the first horizontal component and the second horizontal component extend in a direction that moves away from each other, and correspondingly, the first vertical component and the second vertical component can be brought out of the chassis module.
[0019] It is understood that, since the telescopic ends of the first and second vertical components in this application can both move in the vertical direction toward or away from the ground, when it is necessary to support the entire robot, the telescopic ends of the first and second vertical components move toward the ground until they come into contact with the ground. This allows the first and second horizontal components to provide stable support for the entire robot, thereby achieving stability when the robot is picking up and placing high-level goods without increasing its own weight, and reducing the risk of the robot tipping over. Attached Figure Description
[0020] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments of this application will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.
[0021] Figure 1 This is a first-view overall structural diagram of the automated handling robot provided in an embodiment of this application;
[0022] Figure 2 This is a schematic diagram of the unsupported structure of the automated handling robot provided in the embodiments of this application;
[0023] Figure 3 This is a schematic diagram of the structure of the automated handling robot in a supported state, as provided in an embodiment of this application.
[0024] Figure 4 This is a structural schematic diagram of the retracted state of the support module in the automated handling robot provided in the embodiments of this application;
[0025] Figure 5 This is a structural schematic diagram of the extended state of the support module in the automated handling robot provided in the embodiments of this application;
[0026] Figure 6 This is a schematic diagram of the external gantry structure of the automated handling robot provided in the embodiments of this application;
[0027] Figure 7 This is a schematic diagram of the structure of the middle gantry of the automated handling robot provided in the embodiments of this application;
[0028] Figure 8 This is a schematic diagram of the inner gantry structure of the automated handling robot provided in the embodiments of this application;
[0029] Figure 9 This is a first-view structural diagram of the pick-and-place module in an automated handling robot provided in an embodiment of this application;
[0030] Figure 10 This is a structural schematic diagram of the pick-and-place module in an automated handling robot provided in an embodiment of this application, from a second perspective.
[0031] Icons: 1-Chassis module; 101-Structural frame; 102-Connecting shaft; 2-Support module; 201-Mounting base; 202-First guide rail; 203-Second guide rail; 204-First mounting component; 2041-First mounting plate; 2042-Second mounting plate; 205-Second mounting component; 2051-Third mounting plate; 2052-Fourth mounting plate; 206-First vertical component; 207-Second vertical component; 208-First telescopic drive; 209-Second telescopic drive; 3-Walking module; 301-First active walking component; 3011-Drive motor; 3012-Reducer; 3013-Walking wheel; 302-Second active walking component; 303-Universal wheel; 304-Positioning base; 30 5-Guide component; 306-Elastic component; 307-Positioning rod; 308-Adjusting component; 4-Lifting module; 401-Outer gantry; 402-Middle gantry; 403-Inner gantry; 404-First chain; 405-First lifting drive; 406-First roller; 5-Pick-up module; 501-Second lifting drive; 502-Second chain; 503-Second roller; 504-Bracket; 505-Bearing platform; 506-Telescopic fork; 507-Vertical drive assembly; 508-Horizontal drive assembly; 509-Rotation drive assembly; 510-Positioning plate; 511-First depth camera; 512-Second depth camera; 6-Supporting link; 7-QR code camera; 8-LiDAR; 9-Safety contact edge; 10-Collision mechanism. Detailed Implementation
[0032] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. The components of the embodiments of this application described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.
[0033] In the description of this application, it should be noted that the terms "inner" and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product is in use. They are used only for the convenience of describing this application and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application. Furthermore, the terms "first," "second," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.
[0034] In the description of this application, it should also be noted that, unless otherwise expressly specified and limited, the terms "setup" and "connection" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.
[0035] like Figure 1 Combination Figure 2 As shown, the automated handling robot provided in this application includes a chassis module 1 and a support module 2. The support module 2 is disposed within the chassis module 1 and includes a first horizontal component, a second horizontal component, a first vertical component 206, and a second vertical component 207. Both the first horizontal component and the second horizontal component extend along the width direction of the chassis module 1, and one end of each component is connected to the chassis module 1. The other ends of the first and second horizontal components can extend or retract from the chassis module 1 in a direction away from or away from each other. The first vertical component 206 is connected to the extended end of the first horizontal component, and the second vertical component 207 is connected to the extended end of the second horizontal component. The telescopic ends of both the first and second vertical components 206 and 207 can move towards or away from the ground.
[0036] Compared with existing technologies, the automated handling robot provided by this utility model has the following advantages:
[0037] The automatic handling robot provided by this utility model can provide installation space and foundation for the support module 2 through the chassis module 1. The support module 2 in this application includes a first horizontal component and a second horizontal component. Both the first horizontal component and the second horizontal component have one end connected to the chassis module 1, and the other end can move in a direction that approaches or moves away from each other. So when it is necessary to support the chassis module 1, i.e. the whole robot, the telescopic ends of the first horizontal component and the second horizontal component extend in a direction that moves away from each other. Correspondingly, the first vertical component 206 and the second vertical component 207 can be brought out of the chassis module 1.
[0038] It is understood that, since the telescopic ends of the first vertical component 206 and the second vertical component 207 in this application can both move in the vertical direction toward or away from the ground, when it is necessary to support the overall robot, the telescopic ends of the first vertical component 206 and the second vertical component 207 move toward the ground until they come into contact with the ground. This allows the first horizontal component and the second horizontal component to provide stable support for the overall robot, thereby achieving stability of the robot when picking up and placing high-level goods without increasing the robot's own weight, and reducing the risk of the robot tipping over.
[0039] It should be further noted that the first horizontal component, the second horizontal component, the first vertical component 206, and the second vertical component 207 in this application can all adopt telescopic structures such as hydraulic cylinders or pneumatic cylinders. Taking hydraulic cylinders as an example, the positioning end of the cylinder body of the first horizontal component and the second horizontal component is fixedly connected to the chassis module 1, while the positioning end of the first vertical component 206 is connected to the telescopic end of the first horizontal component, and the positioning end of the second vertical component 207 is connected to the telescopic end of the second horizontal component. Thus, when the hydraulic cylinder extends, it can drive the first vertical component 206 and the second vertical component 207 to extend out of the chassis module 1. After the first horizontal component and the second horizontal component have fully extended out of the chassis module, the first vertical component 206 and the second vertical component 207 extend, so that the telescopic end of the hydraulic cylinder can move towards the ground until it touches the ground, thereby achieving support and positioning for the entire robot.
[0040] Optionally, such as Figures 1-5 As shown, the support module 2 in this application also includes a mounting base 201. The first horizontal component includes a first telescopic drive 208 and a first mounting member 204. The second horizontal component includes a second telescopic drive 209 and a second mounting member 205. The positioning end of the first telescopic drive 208 is connected to the mounting base 201, and the telescopic end is connected to the first mounting member 204. The first vertical component 206 is connected to the first mounting member 204. The positioning end of the second telescopic drive 209 is connected to the mounting base 201, and the telescopic end is connected to the second mounting member 205. The second vertical component 207 is connected to the second mounting member 205. The telescopic direction of the first telescopic drive 208 is opposite to the telescopic direction of the second telescopic drive 209.
[0041] In this application, both the first telescopic drive 208 and the second telescopic drive 209 can be pneumatic cylinders or hydraulic cylinders, and hydraulic cylinders can provide more stable power. Therefore, hydraulic cylinders are preferred. By setting the first mounting component 204 and the second mounting component 205, a foundation can be provided for the connection of the telescopic ends of the first telescopic drive 208 and the second telescopic drive 209. Correspondingly, the first mounting component 204 and the second mounting component 205 can also provide a mounting foundation for the first vertical component 206 and the second vertical component 207.
[0042] The positioning ends of the first telescopic drive 208 and the second telescopic drive 209 are fixedly connected to the chassis module 1, and the telescopic ends are respectively connected to the first mounting component 204 and the second mounting component 205, thereby enabling the driving of the first mounting component 204 and the second mounting component 205, and thus enabling the first vertical component 206 and the second vertical component 207 to extend out of the chassis module 1.
[0043] Optionally, such as Figure 4 Combination Figure 5 As shown, the support module 2 in this application also includes a first guide rail 202 and a second guide rail 203. The first guide rail 202 and the second guide rail 203 both extend along the length direction of the mounting base 201 and are arranged parallel to each other on the mounting base 201. The first mounting component 204 and the second mounting component 205 are both slidably connected to the first guide rail 202 and the second guide rail 203.
[0044] By setting the mounting base 201, an installation base can be provided for the first mounting component 204, the second mounting component 205, the first telescopic drive 208, the second telescopic drive 209, the first guide rail 202, and the second guide rail 203, and the mounting base 201 in this application is integrated into the chassis module 1.
[0045] It is understandable that by setting two parallel first guide rails 202 and second guide rails 203 on the mounting base 201, and by sliding the first mounting member 204 and the second mounting member 205 with the first guide rails 202 and the second guide rails 203, stable sliding of the first mounting member 204 and the second mounting member 205 in the width direction of the chassis module 1 can be achieved. Figure 4 Combination Figure 5 As shown, since the first telescopic drive 208 in this application is located on one side of the first mounting member 204 and the second telescopic member is located on one side of the second mounting member 205, and in order to save space, the number of the first telescopic drive 208 and the second telescopic drive 209 in this application is only one, therefore, by setting the first guide rail 202 and the second guide rail 203, the problem of jamming during the extension or retraction of the first mounting member 204 and the second mounting member 205 can be avoided to a certain extent.
[0046] Preferably, such as Figure 4 Combination Figure 5 As shown, the first mounting component 204 in this application includes two parallel first mounting plates 2041 and a second mounting plate 2042 disposed perpendicular to the first mounting plates 2041 and connected to the end of the first mounting plates 2041. The two first mounting plates 2041 are slidably connected to one side of the first guide rail 202 and the second guide rail 203, respectively. The telescopic end of the first telescopic drive 208 is connected to the second mounting plate 2042. The second mounting component 205 includes two parallel third mounting plates 2051 and a fourth mounting plate 2052 disposed perpendicular to the third mounting plates 2051 and connected to the end of the third mounting plates 2051. The two third mounting plates 2051 are slidably connected to the other side of the first guide rail 202 and the second guide rail 203, respectively. The telescopic end of the second telescopic drive 209 is connected to the fourth mounting plate 2052. The first vertical component 206 is connected to the second mounting plate 2042, and the second vertical component 207 is connected to the fourth mounting plate 2052.
[0047] The first mounting component 204 is provided with two parallel first mounting plates 2041, which correspond to the first guide rail 202 and the second guide rail 203 respectively. One of the first mounting plates 2041 is slidably connected to the side of the first guide rail 202 facing the second guide rail 203, and the other first mounting plate 2041 is slidably connected to the side of the second guide rail 203 facing the first telescopic drive 208. The second mounting plate 2042 connected to the end of the first mounting plate 2041 can provide a connection base for the telescopic end of the first telescopic drive 208 and a mounting base for the first vertical component 206.
[0048] Correspondingly, the second mounting component 205 can be respectively set with the first guide rail 202 and the second guide rail 203 via two parallel third mounting plates 2051. That is, one of the third mounting plates 2051 is slidably connected to the side of the first guide rail 202 facing the second telescopic drive 209, and the other third mounting plate 2051 is slidably connected to the side of the second guide rail 203 facing the first guide rail 202. The fourth mounting plate 2052 connected to the end of the third mounting plate 2051 can provide a connection base for the telescopic end of the second telescopic drive 209 and a mounting base for the second vertical component 207.
[0049] Optionally, such as Figure 1 Combination Figure 2 As shown, the automatic transport robot provided by this utility model also includes a walking module 3. The walking module 3 includes a first active walking component 301, a second active walking component 302, and a plurality of omnidirectional wheels 303. The first active walking component 301 and the second active walking component 302 are arranged opposite to each other on both sides of the chassis module 1 along the width direction, and both the first active walking component 301 and the second active walking component 302 are located at the middle position of the chassis module 1 in the length direction. At least the four corners of the chassis module 1 are provided with omnidirectional wheels 303.
[0050] The walking module 3 enables the robot to walk freely. The first active walking component 301 and the second active walking component 302 are arranged opposite each other on both sides of the chassis module 1 along the width direction of the chassis module 1. The first active walking component 301 and the second active walking component 302 are driven by independent power sources. Therefore, differential motion between the two can be realized, thereby enabling the robot to perform functions such as turning around on the spot and improving its flexible movement in a limited storage space.
[0051] Accordingly, by setting omnidirectional wheels 303 at the four corners of the chassis module 1, it can work with the first active walking component 301 and the second active walking component 302 to support the overall robot and simultaneously realize flexible changes in the direction of the robot's movement.
[0052] Optionally, such as Figure 2 As shown, the first active walking component 301 and the second active walking component 302 in this application both include a drive motor 3011, a reducer 3012 and a walking wheel 3013; the output end of the drive motor 3011 is connected to the input end of the reducer 3012, and the output end of the reducer 3012 is connected to the walking wheel 3013. The drive motor 3011 and the reducer 3012 are both mounted on the chassis module 1, and the walking wheel 3013 can rotate relative to the chassis module 1.
[0053] The drive motor 3011 and reducer 3012 in this application provide walking power for the walking wheel 3013, and as Figure 2 As shown, the drive motor 3011 and reducer in this application are both integrated on the upper surface of the chassis module 1, which facilitates installation and subsequent maintenance.
[0054] Optionally, such as Figure 2 As shown, the automatic handling robot provided by this utility model also includes a suspension mechanism, which includes a positioning seat 304, a guide member 305, an elastic member 306, a positioning rod 307, and an adjusting member 308. The drive motor 3011 and the reducer 3012 are both mounted on the positioning seat 304. The guide member 305 is mounted vertically on the chassis module 1, and the positioning seat 304 is slidably connected to the guide member 305. One end of the positioning rod 307 is connected to the positioning seat 304, and the other end is connected to the chassis module 1. The elastic member 306 and the adjusting member 308 are both sleeved on the positioning rod 307, and the adjusting member 308 is threadedly engaged with the positioning rod 307. The elastic member 306 is located between the adjusting member 308 and the positioning seat 304.
[0055] Since the ground in the storage space cannot be guaranteed to be absolutely flat, the design of a suspension mechanism can improve the robot's obstacle-crossing ability during movement to a certain extent, ensuring smooth operation of the robot.
[0056] The suspension mechanism in this application includes a positioning seat 304, a guide member 305, an elastic member 306, a positioning rod 307, and an adjusting member 308. The positioning seat 304 is disposed on the upper surface of the chassis module 1 and can provide an installation base for the drive motor 3011 and the reducer 3012. The positioning seat 304 is not connected to the chassis module 1. The positioning seat 304 is slidably connected to the guide member 305, and the guide member 305 is connected to the chassis module 1. The guide member 305 in this application can be a slide rail. Correspondingly, a slider is formed on the positioning seat 304 at the position corresponding to the slide rail, thereby realizing the sliding connection between the positioning seat 304 and the guide member 305.
[0057] Accordingly, a positioning rod 307 is further provided, and one end of the positioning plate 510 in this application is connected to the chassis module 1, while the other end passes through the positioning seat 304. The positioning seat 304 can slide relative to the positioning rod 307. The elastic element 306 is a pressure spring, sleeved on the positioning rod 307. The adjusting element 308 is an adjusting nut. By machining threads on the positioning rod 307, the adjusting element 308 is threadedly connected to the positioning rod 307. Thus, the adjusting nut can be used to restrict the elastic element 306 between the positioning seat 304 and the adjusting element 308. When the traveling wheel 3013 encounters the road surface... When the terrain undulates, the robot will move up or down accordingly. Taking upward movement as an example, when the walking wheel 3013 encounters a slope and moves uphill, since the walking wheel 3013 is connected to the reducer 3012, and the reducer 3012 is connected to the drive motor 3011, and the drive motor 3011 and reducer 3012 are mounted on the positioning seat 304, the positioning seat 304 drives the reducer 3012 and drive motor 3011 to move up synchronously and slide relative to the guide member 305 and the positioning rod 307. At the same time, since the adjusting member 308 is sleeved on the positioning rod 307, the elastic member 306 on the positioning rod 307 can be compressed. After overcoming the obstacle, under the synchronous action of the walking wheel 3013's own weight and the restoring force of the elastic member 306, the walking wheel 3013 can always keep in contact with the ground, thereby ensuring the stability of the overall robot's walking process to a certain extent.
[0058] It should be noted that there are two guide members 305 in this application, which are arranged opposite to each other on both sides of the positioning seat 304. Correspondingly, there are two positioning rods 307, adjusting members 308 and elastic members 306, which are arranged opposite to each other on both sides of the walking wheel 3013, so as to ensure the stable operation of the overall walking module 3.
[0059] Optionally, such as Figures 1-8 As shown, the automatic handling robot provided by this utility model also includes a lifting module 4 and a pick-and-place module 5. The lifting module 4 extends in the vertical direction, and the pick-and-place module 5 is connected to the lifting module 4. The lifting module 4 can drive the pick-and-place module 5 to reciprocate in the vertical direction.
[0060] The lifting module 4 in this application can adopt the mast structure commonly used in existing forklifts or stackers, thereby enabling the vertical lifting of the pick-up and place module 5. The pick-up and place module 5 can adopt the existing telescopic fork structure, thereby enabling horizontal movement, and thus enabling the picking and placing of goods.
[0061] Preferably, such as Figures 6-10As shown, the lifting module 4 in this application includes an outer gantry 401, a middle gantry 402, an inner gantry 403, a first lifting drive 405, a first chain 404, and a first roller 406; the pick-and-place module 5 includes a second lifting drive 501, a second chain 502, a second roller 503, a bracket 504, a support platform 505, a telescopic fork 506, a vertical drive assembly 507, a horizontal drive assembly 508, a rotary drive assembly 509, and a positioning plate 510; the outer gantry 401 extends vertically... The first lifting drive 405 extends and is positioned on the chassis module 1 at one end. The middle gantry 402 is set inside the outer gantry 401. The positioning end of the first lifting drive 405 is connected to the outer gantry 401, and the telescopic end is connected to the middle gantry 402. One end of the first chain 404 is fixedly connected to the outer gantry 401, and the other end is fixedly connected to the inner gantry 403. The first roller 406 is rotatably connected to the middle gantry 402, and the first chain 404 is arranged around the first roller 406. The positioning end of the second lifting drive 501 is connected to the inner gantry 402. The 03 is connected, the telescopic end is connected to the second roller 503, the second roller 503 is connected to the bracket 504, the second chain 502 is arranged around the second roller 503, and one end of the second chain 502 is fixedly connected to the inner gantry 403, and the other end is fixedly connected to the bracket 504; the vertical drive assembly 507 is arranged between the bracket 504 and the inner gantry 403, and is used to drive the bracket 504 to move vertically relative to the inner gantry 403; the horizontal drive assembly 508 is along the length of the chassis module 1. The directional extension is located between the support platform 505 and the bracket 504, and is used to drive the support platform 505 to move relative to the bracket 504 in the length direction of the chassis module 1; the positioning plate 510 is located on the support platform 505, and the output end of the rotary drive assembly 509 is connected to the positioning plate 510, and is used to drive the positioning plate 510 to rotate relative to the support platform 505; the telescopic fork 506 is located on the positioning plate 510, and is capable of reciprocating relative to the positioning plate 510 in the width direction of the chassis module 1.
[0062] In this application, one end of the outer gantry 401 is fixedly connected to the chassis module 1 and extends vertically, serving as the positioning and installation base for the overall gantry. The middle gantry 402 is located inside the outer gantry 401. The first lifting drive 405 mentioned above in this application extends vertically, with its positioning end fixedly connected to the outer gantry 401 and its telescopic end connected to the middle gantry 402 through the outer gantry 401 using a connecting piece or other structure. Therefore, in actual operation, when the first lifting drive 405 extends, it can drive the middle gantry 402 to slide relative to the outer gantry 401, thereby achieving the stretching between the two.
[0063] The middle gantry 402 and the inner gantry 403 move relative to each other via a first chain 404. One end of the first chain 404 is fixedly connected to the outer gantry 401, and the other end is fixedly connected to the inner gantry 403. The first roller 406 is rotatably connected to the middle gantry 402. The first chain 404 is positioned around the first roller 406. Therefore, when the middle gantry 402 is lifted by the first lifting drive 405, it can drive the first roller 406 to lift synchronously. Since one end of the first chain 404 is fixedly connected to the outer gantry 401, and the other end is fixedly connected to the inner gantry 403, and the outer gantry 401 is a fixed structure, the lifting of the first roller 406 will force the end of the first chain 404 connected to the inner gantry 403 to rise, thereby driving the inner gantry 403 to rise. In other words, the synchronous lifting of the middle gantry 402 and the inner gantry 403 can be achieved simply by extending the first lifting drive 405.
[0064] The first lifting drive 405 in this application can adopt a telescopic structure such as a hydraulic cylinder or a pneumatic cylinder, and the number can be designed according to specific needs, such as being arranged opposite each other on both sides of the outer gantry 401, thereby ensuring the stability of the overall structure operation. Multiple sets of the aforementioned first chain 404 and first roller 406 can also be designed to ensure the smooth operation of the overall structure.
[0065] It is understood that the movement between the pick-and-place module 5 and the inner gantry 403 in this application is the same, the only difference being that the second lifting drive 501 is connected to the second roller 503. That is, when the second lifting drive 501 extends, it drives the second roller 503 to rise. Since one end of the second chain 502 is fixedly connected to the inner gantry 403 and the other end is fixedly connected to the pick-and-place module 5, the inner gantry 403, as a fixed structure, can force the second chain 502 to drive the pick-and-place module 5 to rise when the second roller 503 rises, so as to realize the movement of the pick-and-place module 5.
[0066] Of course, the second lifting drive 501 can also adopt a telescopic structure such as a hydraulic cylinder or a pneumatic cylinder, and the second roller 503 and the second chain 502 can also be designed in two or more sets according to requirements.
[0067] It should be noted that the telescopic structure in this application mainly uses hydraulic cylinders, which can provide a more stable driving force, thereby ensuring the stability of the overall robot operation.
[0068] Furthermore, such as Figure 9 Combination Figure 10As shown, the pick-and-place module 5 in this application includes a bracket 504, a support platform 505, a telescopic fork 506, a vertical drive assembly 507, a horizontal drive assembly 508, a rotary drive assembly 509, and a positioning plate 510. The vertical drive assembly 507 includes a motor, a lead screw, and a lead screw nut. The motor is connected to the lead screw and drives the lead screw to rotate, thereby causing the lead screw nut to slide on the lead screw. The lead screw nut is connected to the bracket 504 to realize the lifting and lowering movement of the bracket 504. The horizontal drive assembly 508 can be a conveyor belt structure or a sprocket and chain structure, that is, the support platform 505 is connected to the conveyor belt through a clamp. The motor drives the transmission wheel to rotate and drive the conveyor belt to move, thereby realizing the reciprocating movement of the support platform 505 in the horizontal direction.
[0069] The positioning plate 510 is set on the support platform 505, and the rotary drive assembly 509 is connected to the positioning plate 510. The rotary drive assembly 509 includes a rotary drive motor 3011 and a rotary table. Through the connection between the rotary table and the positioning plate 510, when the rotary drive motor 3011 rotates, it can drive the positioning plate 510 to rotate, thereby realizing the adjustment of the angle of the telescopic fork 506 set on the positioning plate 510 in the horizontal direction.
[0070] The telescopic fork 506 is a commonly used telescopic fork structure in the market, which can freely extend and retract in two directions, thereby enabling the picking and placing of goods in two directions.
[0071] Preferably, such as Figure 10 As shown, the automatic handling robot provided by this utility model also includes a first depth camera 511 and a second depth camera 512, which are disposed opposite to each other at both ends of the support platform 505 in the width direction of the chassis module 1.
[0072] Since the telescopic fork 506 provided in this application can extend and retract in two directions, by setting a first depth camera 511 and a second depth camera 512 at both ends of the bearing platform 505 respectively, the depth position of the telescopic fork 506 can be monitored. Thus, it is possible to determine whether the goods are in place or whether the telescopic fork 506 is in place based on the extension state, thereby ensuring the accuracy of the goods placement and retrieval process to a certain extent.
[0073] It should be further noted that the front end of the chassis module 1 in this application is further provided with a safety contact edge 9. This safety contact edge 9, through its design, can reduce the impact force when the robot collides with walls, shelves, or other structures during its movement, thereby ensuring the stability of the robot's movement. The automated handling robot provided in this application primarily uses a telescopic fork 506 for picking up and placing goods. Therefore, the front end of the telescopic fork 506 in this application is also provided with a collision mechanism 10. On the one hand, the collision mechanism 10 can reduce the impact force of the telescopic fork 506; on the other hand, when a collision occurs, feedback can be sent to the robot's control system, causing the telescopic fork 506 to stop moving, avoiding the problem of the telescopic fork 506 over-extending and affecting the shelf or its own structure. Therefore, the collision mechanism 10 in this application can also integrate a pressure sensor to monitor the contact pressure and achieve the above functions.
[0074] Preferably, the front end of the chassis module 1 provided in this application is also integrated with a lidar 8 and a QR code camera 7, so that the robot can automatically avoid obstacles and automatically identify shelf and goods information through the lidar 8 and the QR code camera 7. The technology of lidar 8 and QR code camera 7 is mature and will not be described in detail here.
[0075] More preferably, such as Figure 1 Combination Figure 2 As shown, the chassis module 1 in this application includes a structural frame 101 and a support link 6. The structural frame 101 can provide installation space and connection foundation for the lifting module 4, the walking module 3, and the support module 2. One end of the support link 6 in this application is connected to the structural frame 101, and the other end is connected to the outer gantry 401, thereby providing a certain degree of support for the outer gantry 401 and ensuring the stability of the overall structure operation.
[0076] It should be further explained here that, in this application, one end of the supporting link 6 is detachably connected to the structural frame 101, and the other end is detachably connected to the outer gantry 401. Correspondingly, a connecting shaft 102 is also provided between the outer gantry 401 and the structural frame 101. Since the lifting module 4 provided in this application is relatively high, it is inconvenient to transfer and transport. This application, through the connecting shaft 102, enables the lifting module 4 to rotate relative to the structural frame 101. Thus, during transportation, the lifting module 4 can be rotated 90 degrees, changing its extension from a vertical direction to a horizontal direction, thereby reducing the overall height of the robot to a certain extent and facilitating the transport of the entire equipment. After moving to the work area, the lifting module 4 can be returned to the vertical direction, thereby achieving the above-mentioned operation.
[0077] It should be further noted that the rotation process of the lifting module 4 in this application can be carried out by auxiliary equipment such as forklifts.
[0078] It should be noted that, where there is no conflict, the features in the embodiments of this application can be combined with each other.
[0079] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.
Claims
1. An automated transport robot, characterized in that, Includes chassis module and support module; The support module is disposed within the chassis module, and the support module includes a first horizontal component, a second horizontal component, a first vertical component, and a second vertical component; Both the first horizontal component and the second horizontal component extend along the width direction of the chassis module, and one end of both the first horizontal component and the second horizontal component is connected to the chassis module. The other end of the first horizontal component and the other end of the second horizontal component can extend or retract into the chassis module in a direction away from each other. The first vertical component is connected to the extended end of the first horizontal component, and the second vertical component is connected to the extended end of the second horizontal component. The telescopic ends of both the first vertical component and the second vertical component can move towards or away from the ground.
2. The automated handling robot according to claim 1, characterized in that, The support module further includes a mounting base, the first horizontal component includes a first telescopic drive and a first mounting member, and the second horizontal component includes a second telescopic drive and a second mounting member. The positioning end of the first telescopic drive is connected to the mounting base, the telescopic end is connected to the first mounting component, and the first vertical component is connected to the first mounting component. The positioning end of the second telescopic drive is connected to the mounting base, the telescopic end is connected to the second mounting component, the second vertical component is connected to the second mounting component, and the telescopic direction of the first telescopic drive is opposite to the telescopic direction of the second telescopic drive.
3. The automated handling robot according to claim 2, characterized in that, The support module further includes a first guide rail and a second guide rail, both of which extend along the length of the mounting base and are arranged parallel to each other on the mounting base. The first mounting component and the second mounting component are slidably connected to the first guide rail and the second guide rail.
4. The automated handling robot according to claim 3, characterized in that, The first mounting component includes two parallel first mounting plates and a second mounting plate that is perpendicular to the first mounting plates and connected to the end of the first mounting plates. The two first mounting plates are slidably connected to one side of the first guide rail and the second guide rail, respectively. The telescopic end of the first telescopic drive is connected to the second mounting plate. The second mounting component includes two parallel third mounting plates and a fourth mounting plate that is perpendicular to the third mounting plates and connected to the end of the third mounting plates. The two third mounting plates are slidably connected to the other side of the first guide rail and the second guide rail, respectively. The telescopic end of the second telescopic drive is connected to the fourth mounting plate. The first vertical component is connected to the second mounting plate, and the second vertical component is connected to the fourth mounting plate.
5. The automated handling robot according to claim 1, characterized in that, It also includes a walking module, which includes a first active walking component, a second active walking component, and multiple omnidirectional wheels; The first active walking component and the second active walking component are disposed opposite to each other on both sides of the chassis module along the width direction, and both the first active walking component and the second active walking component are disposed at the middle position of the chassis module in the length direction. The chassis module is equipped with casters at at least at its four corners.
6. The automated handling robot according to claim 5, characterized in that, Both the first active walking component and the second active walking component include a drive motor, a reducer, and walking wheels; The output end of the drive motor is connected to the input end of the reducer, and the output end of the reducer is connected to the walking wheel. Both the drive motor and the reducer are mounted on the chassis module, and the walking wheel can rotate relative to the chassis module.
7. The automated handling robot according to claim 6, characterized in that, It also includes a suspension mechanism, which includes a positioning seat, a guide member, an elastic element, a positioning rod, and an adjusting element; Both the drive motor and the reducer are mounted on the positioning seat, and the guide member is mounted vertically on the chassis module. The positioning seat and the guide member are slidably connected. One end of the positioning rod is connected to the positioning seat, and the other end is connected to the chassis module. The elastic element and the adjusting element are both sleeved on the positioning rod, and the adjusting element is threadedly engaged with the positioning rod. The elastic element is located between the adjusting element and the positioning seat.
8. The automated handling robot according to claim 1, characterized in that, It also includes a lifting module and a pick-and-place module. The lifting module extends vertically, and the pick-and-place module is connected to the lifting module. The lifting module can drive the pick-and-place module to reciprocate in the vertical direction.
9. The automated handling robot according to claim 8, characterized in that, The lifting module includes an outer gantry, a middle gantry, an inner gantry, a first lifting drive, a first chain, and a first roller; The pick-and-place module includes a second lifting drive, a second chain, a second roller, a bracket, a support platform, a telescopic fork, a vertical drive assembly, a horizontal drive assembly, a rotary drive assembly, and a positioning plate; The outer gantry extends vertically and one end is positioned on the chassis module. The middle gantry is located inside the outer gantry. The positioning end of the first lifting drive is connected to the outer gantry, and the telescopic end is connected to the middle gantry. One end of the first chain is fixedly connected to the outer gantry and the other end is fixedly connected to the inner gantry. The first roller is rotatably connected to the middle gantry, and the first chain is arranged to bypass the first roller. The positioning end of the second lifting drive is connected to the inner gantry, the telescopic end is connected to the second roller, the second roller is connected to the bracket, the second chain is arranged around the second roller, and one end of the second chain is fixedly connected to the inner gantry and the other end is fixedly connected to the bracket; The vertical drive assembly is disposed between the bracket and the inner gantry, and is used to drive the bracket to move in the vertical direction relative to the inner gantry. The horizontal drive assembly extends along the length direction of the chassis module and is disposed between the support platform and the bracket, and is used to drive the support platform to move in the length direction of the chassis module relative to the bracket. The positioning plate is disposed on the support platform, and the output end of the rotary drive assembly is connected to the positioning plate for driving the positioning plate to rotate relative to the support platform; The telescopic fork is mounted on the positioning plate and can reciprocate relative to the positioning plate in the width direction of the chassis module.
10. The automated handling robot according to claim 9, characterized in that, It also includes a first depth camera and a second depth camera, which are disposed opposite to each other at both ends of the support platform in the width direction of the chassis module.