Metal adaptive logistics robot

Abstract

The utility model relates to a kind of metal adaptive logistics robot, comprising: guide rail, for guiding the moving path of robot;Chassis, chassis is formed by high-strength carbon steel square tube welding, forms solid frame structure, for bearing component and metal workpiece weight, and with anti-seismic performance, chassis includes chassis one and chassis two, chassis one and chassis two are interconnected;Material temporary storage device is placed on chassis two, for temporarily storing the metal workpiece to be carried;Vehicle body mechanical arm, located above chassis one.Combination of parallel two-degree-of-freedom mechanical arm and servo motor, can flexibly adapt to metal workpiece of different shape and size, realize fast and accurate grabbing and placing operation.The application of high-precision laser displacement sensor, inertial navigation sensor and D435i depth camera ensures the real-time monitoring and accurate control of the position, speed and attitude information of the robot during the carrying process, further improves the accuracy and efficiency of carrying.

Description

Technical Field

[0001] This utility model relates to the field of logistics handling equipment technology, specifically a metal adaptive logistics robot. Background Technology

[0002] In today's highly industrialized era, the manufacturing and logistics industries are booming. Metal workpieces, as key basic components in many fields, play a crucial role in the production process through handling. However, existing logistics handling equipment is gradually revealing many insurmountable problems when dealing with metal workpiece handling tasks, severely restricting the further development of the industry.

[0003] Traditional material handling equipment is mostly based on relatively simple and fixed mechanical structures, lacking sufficient flexibility and adaptability. In terms of shape, it often struggles with complex and varied metal workpieces, such as those with curved surfaces, sharp edges, or irregular contours. This severely limits the types of workpieces it can handle and makes it difficult to meet the complex handling needs arising from the diversified production of modern manufacturing. For example, in automotive parts manufacturing workshops, the handling of irregularly shaped metal components such as engine blocks and crankshafts often proves impossible for traditional equipment.

[0004] In terms of size adaptability, traditional material handling equipment also has significant limitations. They are usually designed only for workpieces within a specific size range. For tiny and precision metal connectors, such as extremely small metal parts in electronic devices, stable and safe handling is difficult due to limitations in gripping accuracy and operating space. On the other hand, for large industrial metal structures, such as steel beams in the construction industry and the main frames of heavy machinery, insufficient load-bearing capacity and inadequate mechanical structural rigidity make them unsuitable for handling tasks. This forces companies to equip themselves with a variety of different sizes of material handling equipment, increasing equipment procurement and maintenance costs as well as warehouse space occupancy.

[0005] In terms of operational precision, there is a significant gap between existing material handling equipment and the requirements of modern precision manufacturing. The bottom-mounted moving devices lack high-precision displacement sensors and advanced control systems, often resulting in large placement errors when moving metal workpieces to processing equipment or assembly stations. This is undoubtedly a fatal flaw for industries with extremely high precision requirements, such as precision instrument manufacturing. Subsequent processing and assembly steps are highly susceptible to defects due to inaccurate initial workpiece positioning, severely impacting product quality and production pass rates. Furthermore, the end-effector gripping mechanism is poorly designed, unable to precisely control magnetic force (if electromagnetic gripping is used) or other gripping forces, and struggles to achieve precise angle adjustments to ensure a tight fit to the workpiece surface, frequently leading to problems such as unstable gripping, workpiece slippage, and even damage.

[0006] In terms of handling efficiency, traditional equipment falls far short of expectations. On the one hand, the control system is outdated, the algorithm is simple, and it is difficult to respond quickly to complex and ever-changing handling instructions. The coordination between various components is slow, and the entire process from receiving the handling task to completing the grabbing and placement of the workpiece is time-consuming. In scenarios such as logistics and warehousing centers where the turnover speed of goods is extremely important, this leads to serious backlog of goods, significantly extended waiting times, and a sharp increase in enterprise operating costs. On the other hand, due to the lack of flexible operating space design, such as the lack of a gimbal structure with 360-degree turning freedom, traditional handling equipment is restricted in its movement in narrow or complex work spaces. It requires frequent manual intervention to adjust its position and posture, which is not only inefficient but also increases labor costs and makes it difficult to effectively improve the utilization rate of the site.

[0007] Furthermore, traditional logistics handling equipment has many shortcomings in terms of intelligent control and operational reliability. Its low level of intelligence means it cannot perceive the various characteristics of metal workpieces and surrounding environmental information in real time, nor can it automatically adjust handling parameters based on changes in the workpiece. It still relies heavily on manual experience, increasing the complexity of manual operation and resulting in a high probability of errors. Moreover, once equipment malfunctions, the lack of effective remote monitoring and fault diagnosis capabilities makes it difficult for maintenance personnel to promptly identify problems and accurately locate fault points. This leads to prolonged equipment downtime, severely impacting production progress and further increasing maintenance costs and production losses caused by shutdowns.

[0008] In summary, given the problems existing in the handling of metal workpieces, such as poor adaptability to shape and size, low operational precision, low handling efficiency, and insufficient intelligent control and operational reliability, there is an urgent need for a new type of metal adaptive logistics robot that can comprehensively meet the needs of modern manufacturing and logistics industries, so as to promote the industry towards higher efficiency and higher quality. Utility Model Content

[0009] To address the problems of existing technologies, this invention provides a metal adaptive logistics robot.

[0010] To solve the above-mentioned technical problems, this utility model is achieved through the following technical solution: a metal adaptive logistics robot, comprising: Guide rails are used to guide the robot's movement path; The chassis is made of high-strength carbon steel square tubes welded together to form a sturdy frame structure, which is used to bear the weight of components and metal workpieces and has seismic resistance. The chassis includes chassis one and chassis two, which are connected to each other. The material storage device is placed on chassis 2 and is used to temporarily store metal workpieces to be transported. A vehicle body robotic arm, located above the chassis, comprises a three-axis robotic arm, a pitch adjustment mechanism, an electromagnet actuator, and a counterweight box, wherein: The three-axis robotic arm is a parallel two-degree-of-freedom robotic arm. The connecting rods and joints are made of aluminum alloy. The joints are equipped with high-precision servo motors and reducers, and the connecting rods rotate together. The electromagnet actuator uses high-permeability electrical pure iron as the core material, and the coil is wound with high-temperature resistant and highly conductive enameled copper wire. The magnetic pole shape is optimized and the magnetic force is precisely controlled by PWM technology. It is connected to the end of the robotic arm with high-strength bolts and shock-absorbing pads, and a proximity sensor is installed on the surface. The robot arm also includes an end-effector pulley, which uses a high-strength polyurethane synchronous belt and a high-quality aluminum alloy pulley. Its drive motor is a closed-loop controlled stepper motor, coupled with a high-precision encoder. A moving device is installed under the chassis, which includes solid rubber casters and drive wheels. The drive wheel motor is a high-efficiency AC servo motor, which is connected to the wheel through gear or belt drive. It is also equipped with a high-precision laser displacement sensor and inertial navigation sensor to monitor the position, time, speed and attitude information of the transporter in real time, realize closed-loop control, and make the transporter move according to the preset path. The gimbal is mounted on the top of the chassis and its top end is connected to the bottom end of the vehicle body robotic arm, which is used to drive the vehicle body robotic arm to rotate.

[0011] In this method, the robot moves precisely along a preset path using guide rails and a moving device. The chassis, welded from high-strength carbon steel square tubing, can bear the weight of the metal workpiece and has shock resistance. The material storage device is used to temporarily store the metal workpieces to be transported, improving transport efficiency. The robot arm on the vehicle body uses a three-axis robotic arm, a pitch adjustment mechanism, and an electromagnet actuator to accurately grasp and place the metal workpiece. Closed-loop control of the robot is achieved through laser displacement sensors, inertial navigation sensors, and high-precision encoders, ensuring the accuracy and stability of the transport process.

[0012] In some specific implementations, the motor driving the gimbal rotation is a high-power DC brushless motor, which, together with a precision reducer and angle sensor, enables the gimbal and the top of the vehicle's robotic arm to rotate rapidly and smoothly 360 degrees. The main structure of the gimbal is made of cast steel, and the slewing bearing is made of high-precision crossed roller bearing, which can withstand large axial and radial loads, ensuring the gimbal's rotational accuracy and flexibility on the horizontal plane.

[0013] In some specific implementations, a sensor application system is also included. The D435i depth camera uses a deep learning algorithm to extract point cloud and visual data. Based on pre-training, it realizes the perception of material pose and uses deep learning to locate the installation position. The extracted pose is matched and aligned with the material pose. After data processing, it is sent through serial communication to control the motor to achieve precise installation and handling.

[0014] In some specific implementations, the control system of the electromagnet actuator can automatically adjust the current of the electromagnet according to the different metal materials and workpiece weight information stored in the database in advance, so as to adapt to the handling needs of different metal workpieces.

[0015] Parallel two-degree-of-freedom robotic arms can handle metal workpieces of various shapes and sizes. They are highly adaptable to different workpiece sizes and can automatically adjust the gripping position and handling posture based on the extension and retraction of the robotic arm and the coordinated action of each degree of freedom.

[0016] In some specific implementations, the mobile device is equipped with a displacement sensor and a control system, which can achieve planar movement and positioning with millimeter-level or higher precision. When transporting metal workpieces to processing equipment or assembly stations, the workpieces can be accurately placed in predetermined positions with minimal error.

[0017] In some specific implementations, the high-precision rotation of the end synchronous pulley enables the electromagnet actuator to fit the workpiece surface at the optimal angle, further improving the stability and accuracy of gripping and reducing the risk of workpiece displacement or damage caused by improper gripping.

[0018] In some specific implementations, the conveyor supports remote monitoring. Operators can monitor and remotely operate the conveyor in real time through a host computer or mobile terminal. At the same time, the control system of the conveyor has fault diagnosis capabilities, which can automatically detect and identify the operational faults of various components, issue alarm information in a timely manner, and transmit the fault information to the monitoring terminal, so as to facilitate maintenance personnel to quickly locate and solve problems.

[0019] In some specific implementations, the counterweight box is placed on top of the chassis to increase the weight of the chassis and improve the overall stability of the equipment when hoisting workpieces.

[0020] The beneficial effects of this utility model are as follows: 1. This utility model combines a parallel two-degree-of-freedom robotic arm with a high-precision servo motor, enabling the robot to flexibly adapt to metal workpieces of different shapes and sizes, achieving fast and precise grasping and placement operations. The application of high-precision laser displacement sensors, inertial navigation sensors, and a D435i depth camera ensures real-time monitoring and precise control of the robot's position, speed, and attitude information during the handling process, further improving the accuracy and efficiency of handling. 2. The electromagnet actuator can automatically adjust the magnetic force based on pre-stored information about different metal materials and workpiece weights in a database, thereby achieving reliable gripping of various metal workpieces and avoiding problems caused by insufficient or excessive magnetic force. The extension and retraction of the robotic arm and the coordinated action of its various degrees of freedom enable the robot to cope with various complex handling scenarios, demonstrating strong inclusiveness and adaptability. 3. With its unique design combining a parallel two-degree-of-freedom robotic arm with a timing pulley at the end, this material handling machine can handle metal workpieces of various shapes. Whether it's a regular geometric shape, such as a cuboid or cylinder, or a complex irregular shape, such as a metal part with curved surfaces, sharp edges, or varied contours, precise gripping can be achieved through the flexible movement of the robotic arm and the accurate angle adjustment of the timing pulley. For example, in automotive parts manufacturing workshops, the material handling machine can easily adapt to and complete the handling tasks for metal parts such as engine blocks and crankshafts of various shapes, effectively solving the problem of traditional material handling equipment being unable to operate due to shape limitations. 4. Its structural design makes the handling machine highly adaptable to the size of metal workpieces. From small, precision metal parts, such as tiny metal connectors in electronic devices, to large industrial metal components, such as steel beams for construction and the main frames of large machinery, all are within its handling capacity. Through the extension and retraction of the robotic arm and the coordinated action of its various degrees of freedom, it can automatically adjust the gripping position and handling posture according to workpieces of different sizes, ensuring stable and reliable handling operations. This greatly expands the applicable scenarios and meets the diverse needs of different industries for handling metal workpieces. 5. The moving device at the bottom of the conveyor is equipped with high-precision displacement sensors and an advanced control system, enabling millimeter-level or even higher precision planar movement and positioning. When transporting metal workpieces to processing equipment or assembly stations, it can accurately place the workpieces in predetermined positions with minimal error. For example, in the precision instrument manufacturing industry, for metal components requiring high-precision assembly, the conveyor ensures that each component is accurately placed in the designated position, providing a solid foundation for subsequent processing and assembly procedures, effectively improving product quality and production pass rate. 6. The end effector electromagnet excels in magnetic force control and angle adjustment, enabling precise gripping of metal workpieces. The electromagnet's magnetic force can be intelligently adjusted based on factors such as the workpiece's weight and material, ensuring that the workpiece won't slip due to insufficient magnetic force or be damaged or deformed due to excessive magnetic force during gripping. Simultaneously, the high-precision rotation of the end-effector pulley allows the electromagnet to contact the workpiece surface at the optimal angle, further improving gripping stability and accuracy, and reducing the risk of workpiece displacement or damage due to improper gripping. 7. The entire handling machine's control system employs advanced algorithms and a high-speed processor, enabling rapid response to various operational commands and coordinated action of all components. From receiving a handling task to completing the gripping and placement of the metal workpiece, the entire process is significantly shortened. For example, in the sorting and handling stages of a logistics warehousing center, the handling machine can quickly identify and grip the target workpiece among numerous metal goods, then rapidly and accurately transport it to the designated shelf or shipping area, greatly improving logistics turnover efficiency, reducing inventory backlog and waiting time, and saving enterprises substantial time costs. 8. The bottom gimbal design provides the transporter with 360 degrees of freedom of movement, enabling it to operate flexibly in narrow or complex workspaces. Whether in a production workshop with limited space or a compact warehouse corner, the transporter can easily adjust its position and posture by rotating the gimbal to quickly complete the task of transporting metal workpieces. Unlike traditional transport equipment, it does not require a large operating space and frequent manual intervention, thus improving the utilization rate of the work area and production efficiency. 9. The handling machine is equipped with various sensors, such as vision sensors, weight sensors, and distance sensors, which can perceive various characteristics of metal workpieces in real time, including shape, size, weight, material, and surrounding environmental information. Based on the data feedback from these sensors, the control system automatically adjusts parameters such as the robotic arm's movement trajectory, the electromagnet's magnetic force, the synchronous pulley's rotation angle, and the speed and direction of the moving device, achieving adaptive handling of different metal workpieces. For example, when the handling machine encounters metal workpieces of different materials, such as iron, aluminum, and copper, the control system automatically adjusts the electromagnet's current intensity based on the material's magnetic differences to ensure optimal gripping performance. This intelligent recognition and automatic adjustment function greatly improves the handling machine's automation level and adaptability, reducing the complexity and error probability of manual operation. 10. Supports remote monitoring, allowing operators to monitor and remotely operate the conveyor in real time via a host computer or mobile terminal. Simultaneously, the conveyor's control system possesses fault diagnosis capabilities, automatically detecting and identifying operational faults in various components and promptly issuing alarm information. This information is transmitted to the monitoring terminal, facilitating rapid problem location and resolution by maintenance personnel, reducing equipment downtime, improving equipment reliability and availability, and lowering maintenance costs and production losses. 11. High-strength materials, such as aluminum alloy and carbon steel, are used to manufacture all components, ensuring the handling machine has sufficient mechanical strength and rigidity. The parallel two-degree-of-freedom robotic arm design not only improves the flexibility of movement but also enhances load-bearing capacity and stability, effectively preventing deformation and vibration of the robotic arm when handling heavy metal workpieces. The chassis structure has been optimized for excellent shock resistance and stability, enabling stable operation in complex working environments and reducing the risk of collisions and damage to metal workpieces caused by equipment shaking, thus ensuring a safe and reliable handling process. 12. The electrical control system employs high-quality electronic components and a stable power supply system, possessing excellent anti-interference capabilities and stability. The wiring connections between motors, sensors, and controllers are meticulously designed and protected to effectively prevent electromagnetic interference, short circuits, open circuits, and other electrical faults. Furthermore, the control system features comprehensive backup and redundancy design. When critical components fail, it automatically switches to the backup system or implements appropriate safety protection measures, ensuring that the overall operation of the conveyor is not significantly affected. This further improves the reliability and stability of the equipment and reduces the risk of production interruptions due to equipment failure. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the overall structure of the front of this utility model.

[0022] Figure 2 This is a schematic diagram of the overall structure of the back of this utility model.

[0023] Figure 3 This is a side view of the overall structure of this utility model.

[0024] Figure 4 This is a schematic diagram of the bottom structure of this utility model.

[0025] Figures 1 to 4 In the middle: 1. Guide rail; 2. Chassis; 21. Chassis 1; 22. Chassis 2; 3. Material temporary storage device; 4. Body robotic arm; 41. Three-axis robotic arm; 42. Pitch adjustment mechanism; 43. Electromagnetic actuator; 44. Counterweight box; 45. End synchronous pulley; 5. Moving device; 6. Gimbal; 7. Sensor application system. Detailed Implementation

[0026] The technical solutions of this utility model will be clearly and completely described below with reference to the embodiments of this utility model. Obviously, the described embodiments are only some embodiments of this utility model, and not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of this utility model.

[0027] like Figures 1 to 4 The metal adaptive logistics robot shown includes: Guide rail 1 is used to guide the robot's movement path; The chassis 2 is made of high-strength carbon steel square tubes welded together to form a sturdy frame structure, which is used to bear the weight of components and metal workpieces and has anti-vibration performance. The chassis 2 includes chassis 1 21 and chassis 22, which are connected to each other. The material storage device 3 is placed on the chassis 22 and is used to temporarily store metal workpieces to be transported. The vehicle body robotic arm 4 is located above the chassis 21. The vehicle body robotic arm 4 includes a three-axis robotic arm 41, a pitch adjustment mechanism 42, an electromagnet actuator 43, and a counterweight box 44, wherein: The three-axis robotic arm 41 is a parallel two-degree-of-freedom robotic arm. It is made of aluminum alloy for the connecting rods and joints. The joints are equipped with high-precision servo motors and reducers, and the connecting rods are rotatably connected. The electromagnet actuator 43 uses high-permeability electrical pure iron as the core material, the coil is wound with high-temperature resistant and high-conductivity enameled copper wire, the magnetic pole shape is optimized, the magnetic force is precisely controlled by PWM technology, and it is connected to the end of the robotic arm with high-strength bolts and shock-absorbing pads, and a proximity sensor is installed on the surface. The vehicle body robotic arm 4 also includes an end-effector pulley 45, which uses a high-strength polyurethane synchronous belt and a high-quality aluminum alloy pulley. Its drive motor is a closed-loop controlled stepper motor, coupled with a high-precision encoder. The chassis 2 is provided with a moving device 5. The moving device 5 includes solid universal wheels made of rubber and drive wheels. The drive wheel motor adopts a high-efficiency AC servo motor, which is connected to the wheel through gear or belt transmission. It is also equipped with a high-precision laser displacement sensor and inertial navigation sensor to monitor the position, time, speed and attitude information of the transporter in real time, realize closed-loop control, and make the transporter move according to the preset path. The gimbal 6 is located at the top of the chassis 2, and the top of the gimbal 6 is connected to the bottom of the vehicle body robotic arm 4, which is used to drive the vehicle body robotic arm 4 to rotate.

[0028] In the gimbal 6, the motor that drives the rotation of the gimbal 6 is a high-power DC brushless motor, which, together with a precision reducer and angle sensor, enables the gimbal 6 and the top-mounted robotic arm to rotate quickly and smoothly 4360 degrees. The main structure of the gimbal 6 is made of cast steel, and the slewing bearing uses a high-precision crossed roller bearing, which can withstand large axial and radial loads, ensuring the rotational accuracy and flexibility of the gimbal 6 on the horizontal plane.

[0029] It also includes a sensor application system 7, which uses a D435i depth camera to extract point cloud and visual data based on deep learning algorithms. Based on pre-training, it realizes the perception of material pose and uses deep learning to locate the installation position. It extracts the pose and matches it with the material pose. After processing, the data is sent through serial communication to control the motor to achieve precise installation and handling.

[0030] The control system of the electromagnet actuator 43 can automatically adjust the current of the electromagnet according to the different metal materials and workpiece weight information stored in the database in advance, so as to adapt to the handling needs of different metal workpieces.

[0031] The parallel two-degree-of-freedom robotic arm 41 can handle metal workpieces of various shapes and has a strong tolerance for the size of metal workpieces. Through the extension and retraction of the robotic arm and the coordinated action of each degree of freedom, it can automatically adjust the gripping position and handling posture according to the different sizes of workpieces.

[0032] The mobile device 5 is equipped with a displacement sensor and a control system, which can achieve planar movement and positioning with millimeter-level or higher precision. When transporting metal workpieces to processing equipment or assembly stations, it can accurately place the workpieces in the predetermined positions with minimal error.

[0033] The high-precision rotation of the end synchronous pulley 45 enables the electromagnet actuator 43 to fit the workpiece surface at the optimal angle, further improving the stability and accuracy of gripping and reducing the risk of workpiece displacement or damage caused by improper gripping.

[0034] The transporter supports remote monitoring, allowing operators to monitor and remotely operate the transporter's status in real time via a host computer or mobile terminal. Furthermore, the transporter's control system has fault diagnosis capabilities, automatically detecting and identifying operational faults in various components and promptly issuing alarms. The fault information is transmitted to the monitoring terminal, facilitating quick location and resolution of problems by maintenance personnel.

[0035] The counterweight box 44 is placed on top of the chassis 21 to increase the weight of the chassis 21 and improve the overall stability of the equipment when hoisting workpieces.

[0036] Workflow Task reception and initiation When the metal adaptive logistics robot system receives a handling task instruction from an external source, the control system starts, and all components enter the initialization state, ready to execute the handling operation. At this time, the handling robot is located in its initial standby position, such as a specific parking area in a logistics warehouse or an empty corner in a production workshop.

[0037] Mobile positioning The moving device 5, located beneath chassis 2, begins operation. Following commands from the control system, the drive wheel motor drives the solid rubber casters and drive wheels to rotate, propelling the transporter towards the target metal workpiece. During this movement, high-precision laser displacement sensors and inertial navigation sensors monitor the transporter's position, speed, and attitude in real time, feeding this data back to the control system. Based on a preset path algorithm and sensor feedback data, the control system precisely adjusts the drive wheel motor's speed and direction to ensure the transporter quickly and accurately approaches the target workpiece along the optimal path, ultimately stopping at a suitable gripping position with minimal error.

[0038] Robotic arm adjustment and gripping preparation The parallel two-degree-of-freedom robotic arm 41 in the vehicle body robotic arm 4 begins to move. High-precision servo motors and reducers at the joints drive the connecting rods and joint components according to the motion trajectory planned by the control system. Because the connecting rods are made of aluminum alloy, both mechanical strength and weight are ensured, facilitating rapid response to motion commands. Through extension and retraction, and the coordinated action of each degree of freedom, the robotic arm quickly and accurately approaches the target metal workpiece, preparing for the gripping operation. Simultaneously, the drive motor (a closed-loop controlled stepper motor) of the end-effector pulley 45, with feedback assistance from a high-precision encoder, precisely adjusts the pulley's rotation angle, driving the electromagnet actuator 43 to adjust to the optimal gripping angle, ensuring a tight fit to the workpiece surface.

[0039] Workpiece gripping After the electromagnet actuator 43 approaches the workpiece at a suitable distance, the control system automatically and precisely adjusts the current of the electromagnet using PWM technology based on the workpiece's metal material and weight information stored in the database beforehand, so that it generates a magnetic force of appropriate intensity. The electromagnet uses high-permeability electrical pure iron as its core material, and the coil is wound with high-temperature resistant, high-conductivity enameled copper wire. The magnetic pole shape is optimized to ensure uniform magnetic force distribution and firm adsorption of the metal workpiece. When the proximity sensor mounted on the electromagnet surface detects that the distance between the workpiece and the electromagnet has reached the preset stable gripping value, it sends a confirmation signal to the control system, indicating that the workpiece has been successfully gripped.

[0040] Handling and transportation After grasping the workpiece, the transporter, relying on the moving device 5, moves towards the target placement location, such as the loading area or assembly station next to the processing equipment, according to the new path planned by the control system. During transportation, the gimbal 6 under the chassis 2 plays a crucial role. Its drive motor (a high-power brushless DC motor), in conjunction with a precision reducer and angle sensor, enables the gimbal 6 to rotate rapidly and smoothly 360 degrees according to changes in the transport route and the requirements of the target placement location. This precisely adjusts the attitude of the transporter, ensuring the stability of the workpiece during transportation and preventing collisions with surrounding equipment or the environment.

[0041] Place the workpiece Once the transporter reaches the target placement position, the high-precision displacement sensor and control system of the moving device 5 work together to achieve millimeter-level or even higher precision planar movement and positioning, accurately placing the workpiece in the predetermined position with minimal error. For example, in the precision instrument manufacturing industry, the transporter can ensure that each metal component is accurately placed in the designated processing or assembly position, providing a solid foundation for subsequent processes. After placement, the electromagnet actuator 43 is de-energized, the magnetic force disappears, and the grip on the workpiece is released, preparing the transporter to accept the next transport task.

[0042] II. Working Principle Mechanical structure principle The parallel two-DOF robotic arm 41 is designed based on its unique linkage and joint structure. Through the coordinated movement of multiple linkages and the precise control of high-precision servo motors and reducers at the joints, it can achieve flexible movement in both horizontal and vertical directions, thus adapting to the gripping needs of metal workpieces in different positions and shapes. The end-effector synchronous pulley 45 utilizes the precise transmission characteristics of high-strength polyurethane synchronous belts and high-quality aluminum alloy pulleys, combined with a closed-loop controlled stepper motor and a high-precision encoder, to achieve high-precision adjustment of the angle of the electromagnet actuator 43, ensuring the accuracy and stability of gripping. The chassis 2 is welded from high-strength carbon steel square tubing, forming a robust frame that can support the weight of the upper robotic arm 4, material storage device 3, and other components, as well as the metal workpieces, while also possessing good shock resistance to ensure the overall stability of the equipment during handling. The solid casters and drive wheels in mobile device 5 are made of rubber, balancing wear resistance, grip, and shock absorption to adapt to various ground conditions and provide reliable support for the movement of the transporter. The drive motor and wheels utilize gear or belt transmission to ensure efficient power transmission, enabling fast and precise positioning. The pallet is made of lightweight, high-strength carbon fiber composite material, reducing the overall load on the transporter while maintaining sufficient load-bearing capacity. Anti-slip rubber pads on the surface prevent workpieces from sliding and colliding. Its size and shape are compatible with the overall structure of the transporter and common metal workpieces, facilitating workpiece storage and retrieval.

[0043] Principles of the Actuator The electromagnet actuator 43 operates based on the principle of electromagnetic induction. When current passes through the iron core coil (wound with high-temperature resistant, high-conductivity enameled copper wire) made of high-permeability electrical pure iron, it generates a strong and stable magnetic force. The current magnitude is precisely controlled using PWM technology. Based on information about different metal materials (such as iron, aluminum, and copper) and workpiece weight, the control system retrieves relevant parameters from the database and adjusts the magnetic force output to reliably grip various metal workpieces. This avoids insufficient magnetic force causing workpiece slippage, while also preventing excessive magnetic force from damaging or deforming the workpiece. A proximity sensor monitors the contact state between the workpiece and the electromagnet in real time, providing feedback to the control system to ensure the accuracy and automation of the gripping and placement operations.

[0044] Sensor and Control System Principles The D435i depth camera in sensor application system 7, based on deep learning algorithms, extracts point cloud and visual data, and uses a pre-trained model to perceive the pose of materials. During the operation of the conveyor, the depth camera captures the shape, size, and position of the workpiece in real time and transmits this information to the control system. Simultaneously, the laser displacement sensor and inertial navigation sensor on the mobile device 5 continuously monitor the position, speed, and attitude of the conveyor itself. The control system integrates the data from these sensors and uses advanced algorithms and a high-speed processor to adjust parameters such as the motion trajectory of the robotic arm 4, the magnetic force of the electromagnet actuator 43, the rotation angle of the end synchronous pulley 45, and the speed and direction of the mobile device 5 in real time, achieving adaptive handling of different metal workpieces. Furthermore, when the conveyor supports remote monitoring, operators can connect to the control system via a host computer or mobile terminal to monitor the conveyor's operating status and perform remote operation. In addition, the built-in fault diagnosis module of the control system can automatically detect and identify operational faults in various components. Once an abnormality is detected, it promptly issues an alarm and transmits the fault information to the monitoring terminal, facilitating rapid location and resolution of problems by maintenance personnel and ensuring the reliable operation of the conveyor.

[0045] In summary, this metal adaptive logistics robot, through the aforementioned workflow and principles, achieves efficient, precise, and adaptive handling of metal workpieces of various shapes and sizes. It effectively solves many problems faced by existing logistics handling equipment, improves the automation level and overall efficiency of logistics handling, reduces production costs, and ensures the integrity of metal workpieces and the accuracy of installation and positioning during the handling process.

[0046] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A metal adaptive logistics robot, characterized in that, include: Guide rail (1) is used to guide the robot's movement path; The chassis (2) is made of high-strength carbon steel square tube welded together to form a sturdy frame structure, which is used to bear the weight of components and metal workpieces and has anti-vibration performance. The chassis (2) includes chassis one (21) and chassis two (22), which are connected to each other. The material storage device (3) is placed on the chassis 2 (22) for temporary storage of metal workpieces to be transported; The vehicle body robotic arm (4) is located above the chassis (21). The vehicle body robotic arm (4) includes a three-axis robotic arm (41), a pitch adjustment mechanism (42), an electromagnet actuator (43), and a counterweight box (44), wherein: The three-axis robotic arm (41) is a parallel two-degree-of-freedom robotic arm. It is made of aluminum alloy to create the connecting rods and joint components. The joints are equipped with high-precision servo motors and reducers, and the connecting rods are rotatably connected. The electromagnet actuator (43) uses high-permeability electrical pure iron as the core material, the coil is made of high-temperature resistant and highly conductive enameled copper wire, and is connected to the end of the robotic arm by bolts and shock-absorbing pads, and a proximity sensor is installed on the surface. The vehicle body robotic arm (4) also includes an end synchronous pulley (45), which is made of polyurethane synchronous belt and high-quality aluminum alloy pulley. Its drive motor is a closed-loop controlled stepper motor, with a high-precision encoder. The chassis (2) is provided with a moving device (5) below it. The moving device (5) includes a solid universal wheel made of rubber and a drive wheel. The drive wheel motor is an AC servo motor, which is connected to the wheel through gear or belt transmission. It is also equipped with a high-precision laser displacement sensor and an inertial navigation sensor to monitor the position, time, speed and attitude information of the conveyor in real time. The gimbal (6) is located at the top of the chassis (2). The top of the gimbal (6) is connected to the bottom of the vehicle body mechanical arm (4) and is used to drive the vehicle body mechanical arm (4) to rotate.

2. The metal adaptive logistics robot according to claim 1, characterized in that: In the gimbal (6), the motor that drives the gimbal (6) to rotate is a DC brushless motor, which, together with a precision reducer and angle sensor, enables the gimbal (6) and the top body mechanical arm (4) to rotate 360 ​​degrees quickly and smoothly. The main structure of the gimbal (6) is made of cast steel, and the slewing bearing is made of high-precision crossed roller bearing.

3. The metal adaptive logistics robot according to claim 1, characterized in that: The high-precision rotation of the end synchronous pulley (45) enables the electromagnet actuator (43) to fit the workpiece surface at the optimal angle.

4. The metal adaptive logistics robot according to claim 1, characterized in that: The counterweight box (44) is placed on top of the chassis (21).

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