Weighing and carrying robot

Abstract

The utility model belongs to disclose a kind of weighing carrying robot, comprising: body and pallet fork, the body is equipped with weighing sensor and weighing platform, the weighing sensor supports the weighing platform, the pallet fork is used to place the goods of insertion on the weighing platform. Weighing sensor is integrated on body, not on pallet fork, effectively avoid the deformation or stress that the pallet fork possibly exists of traditional integration has weighing sensor, lead to cannot achieve very high accuracy or with use time, accuracy decline or unstable problem, and also avoid the problem of inconvenience of use caused by the need of respective purchase maintenance caused by the separation of existing AGV and weighing equipment.

Description

Technical Field

[0001] This utility model relates to the field of intelligent warehousing and logistics equipment technology, and more specifically to a weighing and handling robot, which is suitable for cargo handling, measurement monitoring and sorting scenarios in automated warehouses. Background Technology

[0002] Pallet-lifting AGVs with forks are widely used in logistics and manufacturing due to their simple and stable vehicle structure, large load capacity, good site adaptability, and stable navigation algorithms. As material management systems in logistics and manufacturing become increasingly automated and intelligent, AGVs are required to accurately weigh the materials they carry, thereby enabling material quantity verification.

[0003] However, existing vehicle-mounted weighing systems install weighing sensors on the forks. While this simplifies the business process, the deformation or stress that may occur on the forks can lead to low accuracy or decreased accuracy or instability over time. Existing weighing systems that are separate from the AGV equipment, such as the existing technology publication CN221859695U titled "Barcode Weighing Equipment Applicable to Forklift-Type Planar Handling AGVs," require the AGV to move to the equipment location and place its goods on it for weighing. However, this separation of the AGV from the weighing equipment and reliance on external weighing equipment presents several problems: (1) the AGV and weighing equipment are purchased and maintained separately, affecting the normal operation of warehousing; (2) installing the weighing equipment requires installation space and access, occupying a significant portion of warehousing physical resources.

[0004] In addition, the lifting and lowering movements of the two forks of the handling robot are controlled by motors, which requires synchronous control of the two forks to lift and lower the goods. Synchronous control is difficult. If the two forks are out of sync, it can easily cause the goods to tilt or become unstable during handling. Furthermore, since there is a gap between the two forks when they are raised to support the goods, the contact area between the forks and the carrier is not large enough, resulting in poor handling stability. Utility Model Content

[0005] In view of this, the present invention provides a weighing and handling robot that integrates weighing function. Moreover, the fork arm mechanism has a larger contact area with the carrier after lifting, resulting in strong handling stability. It can also avoid the technical problems of high difficulty in synchronous control of fork arms and the tendency for the two fork arms to be out of sync, which can lead to tilting or instability in the handling of goods.

[0006] To achieve the above objectives, the present invention adopts the following technical solution:

[0007] A weighing and handling robot includes a body and forks. The body is equipped with a weighing sensor and a weighing platform. The weighing sensor supports the weighing platform, and the forks are used to place the inserted goods onto the weighing platform.

[0008] As can be seen from the above technical solution, compared with the prior art, the present invention discloses a weighing and handling robot that integrates the weighing sensor on the body instead of the fork, which effectively avoids the deformation or stress that may exist in traditional forks with integrated weighing sensors, resulting in the inability to achieve high accuracy or the decrease or instability of accuracy over time. It also avoids the inconvenience caused by the separation of AGV and weighing and measuring equipment, which requires separate purchase and maintenance.

[0009] Furthermore, the forks have a double fork structure.

[0010] Furthermore, the forks are a single-arm structure.

[0011] Furthermore, the machine body includes: a connecting beam, two supporting weighing arms, and a fork drive mechanism. The two supporting weighing arms are fixedly connected by the connecting beam. The space between the two supporting weighing arms is a storage space for the forks to enter and exit. The fork drive mechanism is disposed on the connecting beam and is used to drive the forks to move horizontally and vertically.

[0012] The weighing sensor and the weighing platform are both located on the top surface of the supporting weighing arm, and the bottom ends of the two supporting weighing arms are equipped with self-propelled wheels.

[0013] Furthermore, the fork drive mechanism includes:

[0014] A lifting mechanism is mounted on the connecting beam;

[0015] A translation mechanism is provided, which is mounted on the lifting end of the lifting mechanism, and the forks are connected to the translation mechanism.

[0016] Furthermore, the lifting mechanism includes:

[0017] A lifting motor, which is fixed to the connecting beam;

[0018] A lifting screw, one end of which is fixedly connected to the drive end of the lifting motor, and the other end is rotatably connected to the mounting plate on the connecting beam;

[0019] The lifting slider is threadedly connected to the lifting screw, and its two sides are slidably connected to two limiting rods on the connecting beam. The translation mechanism is connected to the lifting slider.

[0020] Furthermore, the translation mechanism includes:

[0021] A translation motor, which is fixed to the lifting slider;

[0022] A translation screw, one end of which is fixedly connected to the drive end of the translation motor;

[0023] A translation block, wherein the translation block is threadedly connected to the translation screw, and the top end of the translation block is fixedly connected to the bottom end of the fork;

[0024] The forks are slidably connected to the inner arms of the two supporting weighing arms on both sides.

[0025] Furthermore, both inner arms of the two supporting weighing arms are provided with annular grooves, and sliding rods are fixed on both sides of the forks, with the sliding rods slidably connected to the annular grooves.

[0026] Furthermore, the annular slide groove includes: a lower extension slide groove, an upper movement slide groove, an upper return slide groove, and a lower movement slide groove, wherein the lower extension slide groove, the upper movement slide groove, the upper return slide groove, and the lower movement slide groove are connected end to end. Attached Figure Description

[0027] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0028] Figure 1 This utility model provides a structural schematic diagram of a weighing and handling robot (with double forks) equipped with a weighing platform.

[0029] Figure 2 This utility model provides a structural diagram of a weighing and handling robot (with a single fork arm) equipped with a weighing platform.

[0030] Figure 3 This is a schematic diagram of the axonal structure of a weighing and handling robot (with a single fork arm) provided by this utility model.

[0031] Figure 4 This is a schematic diagram of the tilting structure of a weighing and handling robot (with a single fork arm) provided by this utility model.

[0032] Figure 5 This is an exploded structural diagram of a weighing and handling robot (with a single fork arm) provided by this utility model.

[0033] Figure 6 This is a block diagram of the control system.

[0034] Figure 7 This is a diagram of the weighing sub-block interface in the warehouse management system. Detailed Implementation

[0035] The embodiments of this utility model are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this utility model, and should not be construed as limiting this utility model.

[0036] In the description of this utility model, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and 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 utility model.

[0037] 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 technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this utility model, "a plurality of" means two or more, unless otherwise explicitly specified.

[0038] In this utility model, unless otherwise explicitly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0039] This utility model discloses a weighing and handling robot, including: a body 1 and a fork 2. The body 1 is provided with a weighing sensor 3 and a weighing platform 4. The weighing sensor 3 supports the weighing platform 4, and the fork 2 is used to place the inserted goods on the weighing platform 4.

[0040] Weighing sensor 3 can be a high-precision weighing sensor, and its products can be purchased directly on the market according to usage requirements.

[0041] The fork 2 of this utility model can be a double fork arm structure, which is the prior art.

[0042] The fork 2 of this utility model can also be a single fork arm structure. Specifically, the body 1 includes: a connecting beam 11, two supporting weighing arms 12, and a fork drive mechanism 13. The two supporting weighing arms 12 are fixedly connected by the connecting beam 11. The space between the two supporting weighing arms 12 is a storage space for the fork 2 to enter and exit. The fork drive mechanism 13 is set on the connecting beam 11 and is used to drive the fork 2 to move horizontally and vertically.

[0043] The weighing sensor 3 and the weighing platform 4 are both set on the top surface of the supporting weighing arm 12, and the bottom ends of the two supporting weighing arms 12 are equipped with self-propelled wheels.

[0044] Fork drive mechanism 13 includes:

[0045] Lifting mechanism 131 is mounted on connecting beam 11;

[0046] The translation mechanism 132 is installed on the lifting end of the lifting mechanism 131, and the forks 2 are connected to the translation mechanism 132.

[0047] The lifting mechanism 131 includes:

[0048] The lifting motor 1311 is fixed on the connecting beam 11;

[0049] The lifting screw 1312 has one end fixedly connected to the drive end of the lifting motor 1311, and the other end rotatably connected to the mounting plate 111 on the connecting beam 11.

[0050] The lifting slider 1313 is threadedly connected to the lifting screw 1312. The two sides of the lifting slider 1313 are slidably connected to the two limit rods 112 on the connecting beam 11. The translation mechanism 132 is connected to the lifting slider 1313.

[0051] Translation mechanism 132 includes:

[0052] Translation motor 1321 is fixed on lifting slider 1313;

[0053] Translation screw 1322, one end of which is fixedly connected to the drive end of translation motor 1321;

[0054] The translation block 1323 is threadedly connected to the translation screw 1322, and the top of the translation block 1323 is fixedly connected to the bottom of the fork 2.

[0055] The forks 2 are slidably connected to the inner arms of the two supporting weighing arms 12 on both sides.

[0056] Both inner arms of the two supporting weighing arms 12 are provided with annular grooves 121, and both sides of the forks 2 are fixed with sliding rods 21, which are slidably connected to the annular grooves 121.

[0057] The annular slide 121 includes: a lower extension slide 1211, an upper movement slide 1212, an upper return slide 1213, and a lower movement slide 1214, with the lower extension slide 1211, the upper movement slide 1212, the upper return slide 1213, and the lower movement slide 1214 connected end to end.

[0058] The weighing and handling robot of this application (with a single-arm fork) operates as follows: During use, the translation motor rotates forward, driving the translation screw to rotate, which in turn drives the translation block to move forward, causing the fork to move forward. Simultaneously, the sliding rod on the fork slides in the lower extension groove, extending the fork under the carrier (a shelf for placing goods, as per prior art). At this point, the sliding rod is located in the upper movement groove. Then, the lifting motor rotates forward, driving the lifting screw to rotate, which in turn drives the lifting slider to move upward, causing the fork to move upward and lift the carrier. At this point, the sliding rod is located in the upper return groove. Afterward, the translation motor rotates in reverse, driving the translation block to move backward, causing the fork to move backward. As the forks retract, the sliding rod slides from the upper retraction groove to the lower sliding groove, moving the carrier to the weighing platform. Then, the lifting motor reverses, driving the lifting screw to rotate, which in turn drives the lifting slider to move downwards, causing the forks to descend. The carrier on the forks lands on the weighing platform. At this point, the sliding rod returns to its lower extension groove, and the weighing sensor below the weighing platform weighs the goods and sends the weighing information to the warehouse management system. If overload or shortage is detected, the warehouse management system's alarm device is triggered, and pre-processing is initiated, such as separating the problematic goods for the next handling operation or stopping the operation. Alternatively, a barcode scanner (not shown) can be installed on the connecting beam to scan the picked goods, obtaining real-time goods list information, which is then sent to the warehouse management system for display.

[0059] The single forklift of this application has a larger contact area with the carrier after lifting, resulting in stronger handling stability. It can also avoid the technical problems of high difficulty in synchronous control of forklifts and the tendency for the two forklifts to be out of sync, which can lead to tilting or instability in the handling of goods.

[0060] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For the apparatus disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the description is relatively simple; relevant parts can be referred to the method section.

[0061] The above description of the disclosed embodiments enables those skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A weighing and handling robot, characterized in that, include: The machine body (1) and forks (2) are provided. The machine body (1) is equipped with a weighing sensor (3) and a weighing platform (4). The weighing sensor (3) supports the weighing platform (4). The forks (2) are used to place the inserted goods on the weighing platform (4).

2. The weighing and handling robot according to claim 1, characterized in that, The fork (2) has a double fork arm structure.

3. The weighing and handling robot according to claim 1, characterized in that, The fork (2) is a single fork arm structure.

4. A weighing and handling robot according to claim 3, characterized in that, The body (1) includes: a connecting beam (11), two supporting weighing arms (12), and a fork drive mechanism (13). The two supporting weighing arms (12) are fixedly connected by the connecting beam (11). The space between the two supporting weighing arms (12) is a storage space for the forks (2) to enter and exit. The fork drive mechanism (13) is set on the connecting beam (11) and is used to drive the forks (2) to move horizontally and vertically. The weighing sensor (3) and the weighing platform (4) are both located on the top surface of the supporting weighing arm (12), and the bottom ends of the two supporting weighing arms (12) are equipped with self-propelled wheels.

5. A weighing and handling robot according to claim 4, characterized in that, The fork drive mechanism (13) includes: A lifting mechanism (131) is provided on the connecting beam (11); Translation mechanism (132) is provided on the lifting end of the lifting mechanism (131), and the fork (2) is connected to the translation mechanism (132).

6. A weighing and handling robot according to claim 5, characterized in that, The lifting mechanism (131) includes: A lifting motor (1311) is fixed on the connecting beam (11); The lifting screw (1312) has one end fixedly connected to the drive end of the lifting motor (1311) and the other end rotatably connected to the mounting plate (111) on the connecting beam (11); The lifting slider (1313) is threadedly connected to the lifting screw (1312). The two sides of the lifting slider (1313) are slidably connected to the two limiting rods (112) on the connecting beam (11). The translation mechanism (132) is connected to the lifting slider (1313).

7. A weighing and handling robot according to claim 6, characterized in that, The translation mechanism (132) includes: A translation motor (1321) is fixed on the lifting slider (1313); Translation screw (1322), one end of which is fixedly connected to the drive end of translation motor (1321); Translation block (1323), the translation block (1323) is threadedly connected to the translation screw (1322), and the top end of the translation block (1323) is fixedly connected to the bottom end of the fork (2); The forks (2) are slidably connected to the inner arms of the two supporting weighing arms (12) on both sides.

8. A weighing and handling robot according to claim 7, characterized in that, Both inner arms of the two supporting weighing arms (12) are provided with annular grooves (121), and both sides of the forks (2) are fixed with sliding rods (21), which are slidably connected to the annular grooves (121).

9. A weighing and handling robot according to claim 8, characterized in that, The annular slide groove (121) includes: a lower extension slide groove (1211), an upper movement slide groove (1212), an upper return slide groove (1213), and a lower movement slide groove (1214), wherein the lower extension slide groove (1211), the upper movement slide groove (1212), the upper return slide groove (1213), and the lower movement slide groove (1214) are connected end to end.

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