Logistics sorting transport robot

Abstract

The utility model discloses a kind of logistics sorting transport robot, including lower chassis, control part, upper chassis, mechanical arm, arc track and classification box;The lower chassis is fixedly connected with support column, the lower chassis is fixedly connected with upper chassis by four support columns, the center of the upper chassis is installed and is connected with fixed bearing base, the mechanical arm bottom end is fixedly connected with fixed bearing base;A kind of logistics sorting transport robot, through the engagement of first motor drive pinion gear gear wheel and drive gimbal base rotation, cooperate first steering gear, second steering gear, third steering gear respectively control the action of first long arm, middle long arm and camera fixing frame, in combination with the goods identification function of camera, realize the accurate capture of mechanical arm, simultaneously rely on left classification box, right arc track, the classification layout of right upper side stacking platform, to reach the effect of one-time sorting and carrying multiple goods, greatly improve single-trip operation coverage.

Description

Technical Field

[0001] This utility model relates to the field of logistics and transportation technology, specifically a logistics sorting and transportation robot. Background Technology

[0002] Logistics handling robots, as a key technology for improving transportation efficiency, reducing labor costs, and enhancing operational safety, are widely used in warehouses, airports, waste sorting, and industrial fields. In existing technologies, such robots typically consist of a chassis, a robotic arm, and sensing devices. They control the joint movement and positioning of the robotic arm through programming, drive the robotic gripper to grasp objects, and rely on data transmitted from sensors to achieve path planning and obstacle avoidance for the chassis.

[0003] Most existing logistics robots can only carry a single type of goods and have limited transport capacity. They lack a dedicated classification structure that can adapt to multiple types of goods, making it difficult to simultaneously sort various types of goods such as regular goods, spherical goods, and ring-shaped goods. Mainstream sorting devices such as conveyor belts and automated sorting machines are not only costly and require a large area, but also have problems such as being unable to dynamically match the needs of goods transportation and being prone to equipment scheduling conflicts. This results in a lengthy and inefficient overall operation process. Even though some technologies have introduced logistics sorting and transportation robots, they still cannot solve the problem of integrating sorting and transportation. In existing warehouses, factories, and other scenarios, there are dense obstacles and varying shelf heights, which can easily lead to interference factors such as goods being obscured and ground reflections. Existing navigation and positioning technologies mostly rely on single sensors and lack multi-sensor collaborative mechanisms, resulting in positioning errors, deviations in walking routes, and low efficiency in obstacle avoidance.

[0004] Therefore, this utility model provides a logistics sorting and transportation robot to solve the above problems. Utility Model Content

[0005] To address the shortcomings of existing technologies, this utility model provides a logistics sorting and transportation robot that solves the aforementioned problems.

[0006] To achieve the above objectives, this utility model is implemented through the following technical solution: a logistics sorting and transportation robot, comprising a lower chassis, a control unit, an upper chassis, a robotic arm, an arc-shaped track, and sorting boxes; The lower chassis is fixedly connected to a support column, and the lower chassis is fixedly connected to an upper chassis via four support columns. A fixed bearing base is installed and connected to the center of the upper chassis. The bottom end of the robotic arm is fixedly connected to the fixed bearing base. The sorting box includes a first storage box servo motor, a storage box, and a first shipping track. A second storage box servo motor and a second shipping track are provided at the tail end of the arc-shaped track. A six-axis motion sensor is located on the right rear of the upper chassis.

[0007] Furthermore, two stepper motors equipped with Mecanum wheels are installed on both sides of the lower chassis. Motor housings are screwed onto the lower chassis, and each stepper motor is surrounded by a motor housing. A hydraulic spring shock absorber is provided between the motor housing and the lower chassis. A control unit is installed and connected to the left side of the lower chassis.

[0008] Furthermore, a battery box is installed and connected to the right side of the lower chassis, and the control unit is symmetrically mounted on the lower chassis with the battery box. A lidar is placed in the middle of the lower chassis, and a grayscale sensor is installed in front of both the control unit and the battery box.

[0009] Furthermore, two photoelectric switches and one photoelectric switch are respectively installed at the front and rear of the upper chassis. A palletizing platform is installed on the upper right side of the upper chassis. A fixing component is installed and connected to the front of the upper chassis. A platform servo is fixedly connected to the fixing component. The platform servo is equipped with a platform. The arc-shaped track is fixedly connected to the right side of the upper chassis by screws and slots. The sorting box is located on the left side of the upper chassis.

[0010] Furthermore, a large gear is embedded inside the fixed bearing base, and a first motor is provided between the upper and lower chassis. A small gear is fixedly connected to the first motor, and the small gear is engaged with the large gear.

[0011] Furthermore, a gimbal base is fixedly connected above the fixed bearing base, and a first mounting base is fixedly connected above the gimbal base.

[0012] Furthermore, a first servo motor is mounted and connected to the first mounting base, a first long arm is fixedly connected to the upper side of the first servo motor, a second mounting base is mounted and connected to the upper side of the first long arm, and a second servo motor is mounted and connected to the upper side of the second mounting base.

[0013] Furthermore, a medium-length arm is installed on the upper side of the second servo, a third mounting base is installed on the medium-length arm, a third servo is installed on the upper side of the third mounting base, and a camera mounting bracket is connected to the front side of the third servo. The camera mounting bracket is connected to the first claw and the second claw with screws through its own structure, and a camera is installed on the camera mounting bracket.

[0014] The six-axis motion sensor used is the MPU6050.

[0015] Beneficial effects: This utility model provides a logistics sorting and transportation robot. Compared with the prior art, it has the following beneficial effects: (1) A logistics sorting and transportation robot, which drives the small gear to mesh with the large gear through the first motor to drive the gimbal base to rotate, and cooperates with the first servo motor, the second servo motor and the third servo motor to control the movement of the first long arm, the middle long arm and the camera mounting bracket respectively. Combined with the cargo recognition function of the camera, the robot arm can achieve 360° rotation and precise grasping. At the same time, relying on the classification layout of the left classification box, the right arc track and the upper right palletizing platform, it can achieve the effect of sorting and transporting multiple types of goods at one time, and greatly improve the coverage of a single operation.

[0016] (2) A logistics sorting and transportation robot that uses a laser radar to scan the environment in real time, a six-axis motion sensor to monitor its own posture deviation, a camera to collect images and identify objects, and a photoelectric switch for distance detection and a grayscale sensor for path recognition. The multi-sensor collaboration and real-time data transmission achieves the effect of accurate positioning and instant obstacle avoidance, thereby improving the safety and path accuracy of operations in complex environments. Attached Figure Description

[0017] Figure 1 This is a side view of the overall device structure of this utility model; Figure 2 This is a structural diagram of the overall device of this utility model; Figure 3 This is a side view of the lower chassis structure of this utility model; Figure 4 This is a structural diagram of the six-axis motion sensor of this utility model; Figure 5 This is a side view of the robotic arm of this utility model; Figure 6 This is a side view of the structure of the large gear and small gear of this utility model; Figure 7 This is a side view of the control section structure of this utility model.

[0018] In the diagram: 1. Robotic arm; 2. Lower chassis; 3. Photoelectric switch; 4. Storage box; 5. First storage box servo motor; 6. First shipping track; 7. Control unit; 8. Mecanum wheel; 9. Arc track; 10. Palletizing table; 11. Motor housing; 12. Fixture; 13. Battery box; 14. LiDAR; 15. Grayscale sensor; 16. Upper chassis; 17. Platform; 18. Sorting box; 19. Second shipping track; 20. Stepper motor; 21. Platform servo motor ; 22. Camera mounting bracket; 23. First claw; 24. Second claw; 25. Third servo motor; 26. Third mounting base; 27. Medium-length arm; 28. First long arm; 29. ​​Second servo motor; 30. Second mounting base; 31. First servo motor; 32. Gimbal base; 33. Fixed bearing base; 34. First motor; 35. First mounting base; 36. Large gear; 37. Small gear; 38. Support column; 39. Six-axis motion sensor; 40. Second storage box servo motor. Detailed Implementation

[0019] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0020] Example 1: Please refer to Figure 1-7 A logistics sorting and transportation robot includes a lower chassis 2, a control unit 7, an upper chassis 16, a robotic arm 1, an arc-shaped track 9, and a sorting box 18. A support column 38 is fixedly connected to the lower chassis 2. The lower chassis 2 is fixedly connected to the upper chassis 16 through four support columns 38. A fixed bearing base 33 is installed and connected to the center of the upper chassis 16. The bottom end of the robotic arm 1 is fixedly connected to the fixed bearing base 33. The sorting box 18 includes a first storage box servo 5, a storage box 4, and a first delivery track 6. A second storage box servo 40 and a second delivery track 19 are set at the tail end of the arc-shaped track 9. A six-axis motion sensor 39 is located on the right rear of the upper chassis 16.

[0021] Two stepper motors 20 equipped with Mecanum wheels 8 are installed on both sides of the lower chassis 2. Motor housings 11 are screwed onto the lower chassis 2. The stepper motors 20 are all surrounded by motor housings 11. A hydraulic spring shock absorber is installed between the motor housings 11 and the lower chassis 2. A control unit 7 is installed and connected to the left side of the lower chassis 2.

[0022] The control section can use existing microcontrollers or PLC controllers, such as low-power STM32 microcontrollers or Siemens S7-200CN controllers, and the six-axis motion sensor can be an MPU6050.

[0023] A battery box 13 is installed and connected to the right side of the lower chassis 2. The control unit 7 is symmetrically installed on the lower chassis 2 with the battery box 13. A lidar 14 is placed in the middle of the lower chassis 2. A grayscale sensor 15 is installed in front of both the control unit 7 and the battery box 13.

[0024] At the front and rear of the upper chassis 16, there are two photoelectric switches and one photoelectric switch 3 respectively. A palletizing platform 10 is set on the upper right side of the upper chassis 16. A fixing component 12 is installed and connected to the front of the upper chassis 16. A platform servo motor 21 is fixedly connected to the fixing component 12. A platform 17 is equipped on the platform servo motor 21. The arc-shaped track 9 is fixedly connected to the right side of the upper chassis 16 by screws and slots. The sorting box 18 is set on the left side of the upper chassis 16.

[0025] A large gear 36 is embedded inside the fixed bearing base 33. A first motor 34 is arranged between the upper chassis 16 and the lower chassis 2. A small gear 37 is fixedly connected to the first motor 34, and the small gear 37 is engaged with the large gear 36.

[0026] A gimbal base 32 is fixedly connected above the fixed bearing base 33, and a first mounting base 35 is fixedly connected above the gimbal base 32.

[0027] A first servo motor 31 is mounted and connected to the first mounting base 35. A first long arm 28 is fixedly connected to the upper side of the first servo motor 31. A second mounting base 30 is mounted and connected to the upper side of the first long arm 28. A second servo motor 29 is mounted and connected to the upper side of the second mounting base 30.

[0028] The second servo motor 29 is connected to a medium-length arm 27 on its upper side. The medium-length arm 27 is connected to a third mounting base 26. The third mounting base 26 is connected to a third servo motor 25 on its upper side. The front of the third servo motor 25 is connected to a camera mounting bracket 22. The camera mounting bracket 22 is connected to the first claw 23 and the second claw 24 with screws through its own structure.

[0029] Work process: The robot works in collaboration with a lidar 14, a six-axis motion sensor 39, and a camera. The lidar 14 scans the surrounding environment in real time, while the six-axis motion sensor 39 monitors the robot's posture changes in real time to help correct deviations during movement. The camera is responsible for acquiring visual images and using image recognition technology to identify surrounding objects, further enhancing the accuracy of positioning. The photoelectric switch 3, in conjunction with the grayscale sensor 15, further assists in positioning and transmits data back in real time to achieve instant obstacle avoidance.

[0030] The first motor 34 drives the small gear 37 to rotate, which in turn drives the large gear 36 to rotate, thereby controlling the rotation of the gimbal base 32 and achieving a 360° rotation of the robotic arm 1. The first servo motor 31 then drives the first long arm 28 to rotate, the second servo motor 29 controls the angle of the medium long arm 27, and the third servo motor 25 adjusts the position of the camera mounting bracket 22 and the claw. The camera on top of the robotic arm 1 identifies and automatically classifies the goods. When the robotic arm 1 picks up regular goods, it places them in the corresponding storage box 4. When a spherical object is identified, the robotic arm 1 places it on the arc-shaped track 9. The spherical object rolls along the track to its designated storage position due to its own gravity. The second storage box servo motor 40 controls the unloading of the spherical object. The palletizing platform 10 on the upper right of the upper chassis 16 is used for classifying ring-shaped objects. The robotic arm 1 neatly stacks these ring-shaped objects on the palletizing platform 10, achieving classified storage of goods and enabling the simultaneous sorting and transport of multiple types of objects.

[0031] Two stepper motors 20 equipped with Mecanum wheels 8 are mounted on each side of the lower chassis 2, enabling various movements such as forward, backward, lateral movement, and rotation in place, adapting to complex environments such as warehouses. The motor housing 11 is connected to the lower chassis 2 by screws, enclosing the stepper motors 20. The hydraulic spring shock absorber between the motor housing 11 and the lower chassis 2 provides good shock absorption. When the robot travels on uneven ground, if one of the wheels hits a protrusion, the hydraulic spring shock absorber will be stretched, causing the motor housing 11 and the stepper motors 20 to be lifted together, thus effectively buffering the vibration and ensuring stable operation of the robot under different ground conditions.

[0032] Furthermore, any content not described in detail in this specification is existing technology known to those skilled in the art.

[0033] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0034] 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 logistics sorting and transportation robot, characterized in that, It includes a lower chassis (2), a control unit (7), an upper chassis (16), a robotic arm (1), an arc track (9), and a sorting box (18). The lower chassis (2) is fixedly connected to a support column (38). The lower chassis (2) is fixedly connected to an upper chassis (16) via four support columns (38). A fixed bearing base (33) is installed at the center of the upper chassis (16). The bottom end of the robotic arm (1) is fixedly connected to the fixed bearing base (33). The sorting box (18) includes a first storage box servo (5), a storage box (4), and a first delivery track (6). The tail end of the arc track (9) is provided with a second storage box servo (40) and a second delivery track (19). A six-axis motion sensor (39) is located on the right rear of the upper chassis (16).

2. The logistics sorting and transportation robot according to claim 1, characterized in that: Two stepper motors (20) equipped with Mecanum wheels (8) are installed on both sides of the lower chassis (2). A motor housing (11) is screwed onto the lower chassis (2). The stepper motors (20) are all surrounded by the motor housing (11). A hydraulic spring shock absorber is provided between the motor housing (11) and the lower chassis (2). A control unit (7) is installed and connected to the left side of the lower chassis (2).

3. A logistics sorting and transportation robot according to claim 2, characterized in that: A battery box (13) is installed on the right side of the lower chassis (2). The control part (7) and the battery box (13) are symmetrically installed on the lower chassis (2). A laser radar (14) is placed in the middle of the lower chassis (2). A grayscale sensor (15) is installed in front of both the control part (7) and the battery box (13).

4. A logistics sorting and transportation robot according to claim 3, characterized in that: Two photoelectric switches (3) are respectively provided at the front and rear of the upper chassis (16). A palletizing platform (10) is provided at the upper right of the upper chassis (16). A fixing component (12) is installed and connected to the front of the upper chassis (16). A platform servo motor (21) is fixedly connected to the fixing component (12). A platform (17) is provided on the platform servo motor (21). The arc-shaped track (9) is fixedly connected to the right side of the upper chassis (16) by the cooperation of screws and slots. The sorting box (18) is located on the left side of the upper chassis (16).

5. A logistics sorting and transportation robot according to claim 4, characterized in that: The fixed bearing base (33) has a large gear (36) embedded inside. A first motor (34) is provided between the upper chassis (16) and the lower chassis (2). A small gear (37) is fixedly connected to the first motor (34). The small gear (37) is engaged with the large gear (36).

6. A logistics sorting and transportation robot according to claim 5, characterized in that: A gimbal base (32) is fixedly connected above the fixed bearing base (33), and a first mounting base (35) is fixedly connected above the gimbal base (32).

7. A logistics sorting and transportation robot according to claim 6, characterized in that: The first mounting base (35) is connected to a first servo motor (31), the first servo motor (31) is fixedly connected to a first long arm (28), the first long arm (28) is connected to a second mounting base (30), and the second mounting base (30) is connected to a second servo motor (29).

8. A logistics sorting and transportation robot according to claim 7, characterized in that: The second servo (29) is connected to a medium-length arm (27) on its upper side. A third mounting base (26) is connected to the medium-length arm (27). A third servo (25) is installed on the upper side of the third mounting base (26). A camera mounting bracket (22) is connected to the front side of the third servo (25). The camera mounting bracket (22) is connected to the first claw (23) and the second claw (24) by screws through its own structure. A camera is installed on the camera mounting bracket (22).

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