Feeding mechanical arm and feeding system

Abstract

The utility model discloses a kind of feeding mechanical arm and feeding system, it is related to logistics equipment field, to realize automatic restocking operation. Feeding mechanical arm includes support module, suction cup module and lifting module. Support module is structured as movable;Suction cup module is liftable and is installed in support module;Lifting module is installed in the support module, and lifting module is structured as lifting goods to the position that suction cup module can adsorb the goods. The above-mentioned feeding mechanical arm can take away goods in multiple positions of temporary storage device, very flexible and convenient.

Description

Technical Field

[0001] This utility model relates to the field of logistics equipment, specifically to a loading robotic arm and a loading system. Background Technology

[0002] Replenishment is a critical step in order production, and with the development of automated equipment, automated replenishment has become an industry trend. Currently, in the warehousing field, systems that can achieve fully automated replenishment of goods are relatively rare. The existing practice is to transport containers to the replenishment workstation using transport equipment, and then manually complete the corresponding container replenishment operations.

[0003] The inventors have discovered that the prior art has at least the following problems: it is difficult to achieve automatic replenishment in the prior art. Utility Model Content

[0004] This utility model proposes a loading robotic arm and a loading system for achieving automatic replenishment.

[0005] Some embodiments of this utility model provide a loading robotic arm, including:

[0006] The support module is constructed to be movable;

[0007] The suction cup module is vertically and retractably mounted on the support module; and

[0008] A lifting module is installed on the support module, and the lifting module is configured to lift the goods to a position where the suction cup module can hold the goods.

[0009] In some embodiments, the support module includes:

[0010] Support columns are constructed to provide support;

[0011] A first drive mechanism is mounted on the support column; and

[0012] A first transmission mechanism, wherein a first drive mechanism is drivenly connected to the first transmission mechanism to drive the first transmission mechanism to move relative to the support column.

[0013] In some embodiments, the suction cup module includes:

[0014] The first bracket is installed on the first transmission mechanism;

[0015] The swing arm assembly is rotatably mounted at one end to the first bracket;

[0016] The second drive mechanism is mounted on the first bracket and is drivenly connected to the swing arm assembly to drive the swing arm assembly to rotate relative to the first bracket and relative to the support column.

[0017] A suction cup is mounted on the other end of the swing arm assembly; and

[0018] The third drive mechanism is installed on the swing arm assembly and connected to the suction cup drive to drive the suction cup to rotate the adsorbed goods.

[0019] In some embodiments, each support column is equipped with two or more suction cup modules, and each suction cup module operates independently.

[0020] In some embodiments, the loading robotic arm further includes:

[0021] The ranging module is installed on the support column and located on the lifting path of the suction cup module.

[0022] In some embodiments, the number of the lifting module and the ranging module is one, and all the suction cup modules correspond to the same ranging module and the lifting module.

[0023] In some embodiments, the ranging module includes:

[0024] The ranging bracket is fixedly installed on the support column;

[0025] A first ranging sensor is mounted on the ranging bracket; and

[0026] A second ranging sensor is mounted on the ranging bracket; the first ranging sensor and the second ranging sensor have different ranging directions, and both are configured to jointly detect the position of the goods in order to determine the center of the goods based on the position of the goods.

[0027] In some embodiments, the measuring direction of the ranging module is perpendicular to the lifting direction of the lifting module.

[0028] In some embodiments, the support column includes two columns, each column is provided with a set of first drive mechanism and first transmission mechanism, and each first transmission mechanism is equipped with a suction cup module;

[0029] Alternatively, the support column includes a profile, and the outer periphery of the profile is provided with two sets of independent first driving mechanisms. Each first driving mechanism is provided with a first transmission mechanism, and each first transmission mechanism is equipped with a suction cup module.

[0030] In some embodiments, the lifting module includes:

[0031] A support member, installed at the bottom of the support column; and

[0032] The lifting component is mounted on the support component in a height-adjustable manner.

[0033] In some embodiments, the lifting module further includes:

[0034] A fourth drive mechanism is mounted on the support member; and

[0035] The second transmission mechanism is drivenly connected to the fourth drive mechanism to move under the drive of the fourth drive mechanism;

[0036] The lifting member is installed on the second transmission mechanism so as to rise and fall with the movement of the second transmission mechanism.

[0037] In some embodiments, the lifting module further includes:

[0038] The control component is electrically connected to the fourth drive mechanism; and

[0039] A position detection element is mounted on the support column to detect the distance between the cargo and the position detection element; the position detection element is electrically connected to the control assembly.

[0040] The control component is configured to control the start and stop of the fourth drive mechanism based on the distance detected by the position detection element.

[0041] In some embodiments, the lifting module further includes:

[0042] A guide member is installed on the support member, and the guide member is configured to provide linear guidance for the lifting member's movement.

[0043] In some embodiments, the length direction of the support member forms an angle with the length direction of the support column of the support module, and the angle is a set angle.

[0044] In some embodiments, the loading robotic arm further includes:

[0045] A barcode scanning module is installed on the support column to capture the identification information of the goods.

[0046] In some embodiments, the number of the scanning modules is two, and the two scanning modules work together to capture the entire surface of the goods.

[0047] This utility model embodiment also provides a feeding system, including:

[0048] Support frame;

[0049] The loading robotic arm provided by any of the technical solutions of this utility model is movably mounted on the support frame; and

[0050] A temporary storage device is configured to temporarily store the goods.

[0051] In some embodiments, the temporary storage device is a material cart configured to transport goods, the material cart comprising:

[0052] Frame;

[0053] Multiple cargo pallets are arranged in rows at an angle inside the vehicle frame; the length direction of the support member of the lifting module is parallel to the tilt direction of the cargo pallets;

[0054] Guide components, each of the said cargo pallets is equipped with the guide components; and

[0055] A pallet assembly is slidably mounted on the guide assembly; the pallet assembly is configured to cooperate with the lifting module to move under the drive of the lifting module.

[0056] In some embodiments, the tray assembly includes:

[0057] A pallet frame, movably mounted on the cargo pallet and extending out of the vehicle frame; the pallet frame is configured to cooperate with the lifting module to achieve lifting and lowering under the drive of the lifting module; and

[0058] A tray is mounted on the tray frame to move synchronously with the tray frame.

[0059] In some embodiments, the feeding system further includes:

[0060] A lifting assembly is configured to lift the temporary storage device; wherein the lifting assembly includes a mounting component, a fifth drive mechanism, a third transmission mechanism, and a wheel seat; the fifth drive mechanism is mounted on the mounting component and is drively connected to the third transmission mechanism to drive the wheel seat to rotate, thereby switching the wheel seat between a support position and a clearance position; and

[0061] The matching component is installed at the bottom of the temporary storage device;

[0062] When the wheel seat is in the supported position, the wheel seat and the mating component engage and fix it in place.

[0063] In some embodiments, the third transmission mechanism includes:

[0064] A gear set, rotatably mounted on the mounting member; and

[0065] A drive shaft is driven and connected to the gear set; at least one end of the drive shaft is fitted with the wheel seat.

[0066] The loading robotic arm provided by the above technical solution has its own suction cup module and lifting module, which has adsorption and lifting functions. It can automatically complete the position determination, adsorption and lifting of goods at different positions. It does not require the setting of sensors at fixed positions to meet the docking needs of multiple temporary storage devices and cargo channels, nor does it require setting up lifting devices on temporary storage devices. It is highly efficient and low-cost, and is suitable for large-scale automatic replenishment in warehousing and logistics scenarios. In addition, the loading robotic arm can move, and the replenishment operation is highly flexible. The replenishment position can be changed by stopping at the corresponding replenishment temporary storage device at different positions. The loading robotic arm can move to the replenishment position to automatically replenish goods, and it is also convenient to expand the scale of the replenishment area. Attached Figure Description

[0067] The accompanying drawings, which are included to provide a further understanding of the present invention and form part of this application, illustrate exemplary embodiments of the present invention and, together with the description thereof, serve to explain the present invention and do not constitute an undue limitation thereof. In the drawings:

[0068] Figure 1 This is a three-dimensional structural diagram of the feeding system provided in an embodiment of the present utility model.

[0069] Figure 2 A schematic diagram showing the relative positions of the loading robotic arm, guide rail, and temporary storage device provided in an embodiment of this utility model.

[0070] Figure 3 for Figure 2 A magnified schematic diagram of part A.

[0071] Figure 4 for Figure 2 A magnified schematic diagram of part B.

[0072] Figure 5 for Figure 2 A magnified schematic diagram of part C.

[0073] Figure 6 This is a three-dimensional structural diagram of the loading robotic arm provided in an embodiment of the present utility model.

[0074] Figure 7 for Figure 6 A magnified three-dimensional structural diagram at point M.

[0075] Figure 8 for Figure 6 A magnified three-dimensional structural diagram at point N.

[0076] Figure 9 A three-dimensional structural diagram of the loading robotic arm (excluding the lifting module) provided in an embodiment of this utility model.

[0077] Figure 10 For the corresponding Figure 9A magnified three-dimensional structural diagram of point D.

[0078] Figure 11 For the corresponding Figure 9 A magnified three-dimensional structural diagram of point E.

[0079] Figure 12 This is a three-dimensional structural diagram of the lifting module of the loading robotic arm provided in an embodiment of the present utility model.

[0080] Figure 13 A partial three-dimensional structural diagram of the junction between the ranging module and the temporary storage device of the loading robotic arm provided in this embodiment of the utility model.

[0081] Figure 14 This is another partial three-dimensional structural diagram of the junction between the loading robotic arm and the temporary storage device provided in an embodiment of the present utility model.

[0082] Figure 15 This is a partial three-dimensional structural diagram of the distance measuring module of the loading robotic arm provided in an embodiment of the present utility model.

[0083] Figure 16 This is a partial three-dimensional structural diagram of the loading robotic arm provided in an embodiment of the present utility model.

[0084] Figure 17 A three-dimensional structural diagram of the temporary storage device and lifting assembly provided in the embodiments of this utility model.

[0085] Figure 18 Another perspective structural diagram of the temporary storage device and lifting assembly provided in the embodiment of this utility model.

[0086] Figure 19 This is a top view of the temporary storage device provided in an embodiment of the present utility model.

[0087] Figure 20 A three-dimensional structural diagram of the storage device, including the storage plate, guide assembly, and pallet assembly, provided in an embodiment of this utility model.

[0088] Figure 21 A three-dimensional structural diagram of the lifting component provided in an embodiment of this utility model.

[0089] Figure 22 This is a schematic diagram illustrating the cooperation between the lifting component and the temporary storage device provided in an embodiment of the present utility model.

[0090] Figure label:

[0091] 100. Support frame; 200. Loading robotic arm; 300. Temporary storage device; 400. Lifting assembly; 500. Matching assembly; P. Cargo;

[0092] 1. Support module; 2. Suction cup module; 3. Lifting module; 4. Distance measuring module; 5. Barcode scanning module;

[0093] 11. Support column; 12. First drive mechanism; 13. First transmission mechanism;

[0094] 21. First support; 22. Swing arm assembly; 23. Second drive mechanism; 24. Suction cup; 25. Third drive mechanism; 26. Walking mechanism; 211. Opening slot; 212. Rotating shaft; 221. First swing arm; 222. Second swing arm;

[0095] 31. Support component; 32. Fourth drive mechanism; 33. Second transmission mechanism; 34. Lifting component; 35. Position detection element mounting bracket; 36. Position detection element; 37. Guide component;

[0096] 41. Distance measuring bracket; 42. First distance measuring sensor; 43. Second distance measuring sensor;

[0097] 301. Chassis; 302. Cargo pallet; 303. Guide assembly; 304. Pallet assembly; 305. Wheel frame; 306. Positioning plate;

[0098] 304a, pallet frame; 304b, pallet;

[0099] 401. Mounting component; 402. Fifth drive mechanism; 403. Third transmission mechanism; 404. Wheel seat; 405. V-shaped wheel;

[0100] 403a, Gear set; 403b, Drive shaft;

[0101] 101. Guide rail;

[0102] 51. Camera; 52. Camera mount;

[0103] 61. Drive motor; 62. Drive shaft; 63. Drive gear; 64. Rack and pinion track. Detailed Implementation

[0104] The following is combined with Figures 1 to 22 The technical solutions provided by this utility model will be described in more detail below. The descriptions of exemplary embodiments are merely illustrative and are in no way intended to limit this disclosure or its application or use. This disclosure can be implemented in many different forms and is not limited to the embodiments described herein. These embodiments are provided to make this disclosure thorough and complete, and to fully express the scope of this disclosure to those skilled in the art. It should be noted that, unless otherwise specifically stated, the relative arrangement of components and steps, the composition of materials, numerical expressions, and values ​​set forth in these embodiments should be interpreted as merely exemplary and not as limiting.

[0105] The terms “first,” “second,” and similar words used in this disclosure do not indicate any order, quantity, or importance, but are merely used to distinguish different parts. Words such as “including” or “contains” mean that the element preceding the word covers the element listed after the word, and do not exclude the possibility of covering other elements as well.

[0106] In this disclosure, when a specific device is described as being located between a first device and a second device, an intermediary device may or may not be present between the specific device and the first or second device. When a specific device is described as being connected to other devices, the specific device may be directly connected to the other devices without an intermediary device, or it may be not directly connected to the other devices but have an intermediary device.

[0107] All terms used in this disclosure, including technical or scientific terms, have the same meaning as understood by one of ordinary skill in the art to which this disclosure pertains, unless otherwise specifically defined. It should also be understood that terms defined in a general dictionary, such as a dictionary, should be interpreted as having a meaning consistent with their meaning in the context of the relevant art, and not as having an idealized or highly formalized meaning, unless expressly defined herein.

[0108] Techniques, methods, and equipment known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and equipment shall be considered part of the specification.

[0109] The dimensions of the various parts shown in the accompanying drawings are not drawn to actual scale. Common structural elements or elements of the same kind are given the same reference numerals in the various drawings, and repeated descriptions of them are omitted where appropriate.

[0110] See Figure 1 , Figure 2 and Figure 6 This utility model embodiment provides a loading robotic arm 200, including a support module 1, a suction cup module 2, and a lifting module 3. The support module 1 is configured to be movable. The suction cup module 2 is vertically mounted on the support module 1. The lifting module 3 is mounted on the support module 1, and the lifting module 3 is configured to lift the goods P to a position where the suction cup module 2 can adhere to them.

[0111] The support module 1 is used to achieve horizontal engagement with the guide rail 101, enabling the support module 1 to move horizontally. The lifting module 3 is located below the support module 1 and moves with it. The support module 1 can be moved in various ways, such as by using a gear and rack structure, a belt mechanism, or wheels.

[0112] The first transmission mechanism 13 can employ a belt mechanism, gear mechanism, or similar method to transmit power. For details, see [link to details]. Figure 9 and Figure 10 The first transmission mechanism 13 includes a synchronous pulley 131 and a synchronous belt 132. The synchronous pulley 131 is rotatably mounted on the support column 11, and a synchronous pulley 131 is fixed at the top and bottom of the support column 11. The synchronous belt 132 is wound around the outside of the two synchronous pulleys 131 and rotates under the drive of the synchronous pulleys 131.

[0113] The loading robotic arm 200 provided by the above technical solution is equipped with a suction cup module 2, a lifting module 3, and a ranging module 4. Without the assistance of other mechanisms, it can use the lifting module 3 to raise the goods P on the temporary storage device 300, then use the ranging module 4 to determine the position of the goods P, and finally use the suction cup module 2 to smoothly suck up the goods P. After the loading robotic arm 200 removes the goods P, the suction cup module 2 can move the goods P up and down along the support column 11 to transport the goods P to the required position. The loading robotic arm 200 as a whole can also move, such as... Figure 1 As shown by the middle arrow S1, the loading robotic arm 200 can move linearly along the guide rail 101 to transport goods P to more cargo channels and dock with the corresponding cargo storage structure or material conveying mechanism at different positions.

[0114] During the loading process of the loading robot arm 200, the cooperating temporary storage device 300 does not require the installation of the ranging module 4 and the lifting module 3. The temporary storage device 300 can be placed at any position accessible to the loading robot arm 200, and the loading robot arm 200 can load materials smoothly. Because the temporary storage device 300 has more options for placement, it can connect to corresponding cargo storage structures or material conveying mechanisms at different locations, greatly improving the flexibility of the entire loading operation. Furthermore, one loading robot arm 200 can be equipped with multiple temporary storage devices 300, such as… Figure 1 and Figure 2 As shown, after completing the retrieval operation of one temporary storage device 300, the loading robotic arm 200 can move as a whole to the location of the next temporary storage device 300 and continue the operation.

[0115] See also Figure 1 In some embodiments, each support column 11 is equipped with two or more suction cup modules 2, and each suction cup module 2 works independently. A loading robotic arm 200 is equipped with multiple suction cup modules 2, and each suction cup module 2 works independently, which can greatly improve loading efficiency.

[0116] The number of lifting module 3 and ranging module 4 is one. All suction cup modules 2 correspond to the same ranging module 4 and lifting module 3. That is, before each suction cup module 2 adsorbs the goods P, it uses the same lifting module 3 to lift the goods P and the same ranging module 4 to locate the position of the goods P. The entire loading robot arm 200 only needs to be equipped with one ranging module 4 and one lifting module 3 to meet the adsorption operation of all suction cup modules 2. When one suction cup module 2 transports the adsorbed goods P to the docking position, another suction cup module 2 can adsorb the next goods P lifted by the lifting module 3, which greatly simplifies the structure of the loading robot arm 200 and improves the loading efficiency.

[0117] To ensure that the movements of the two suction cup modules 2 do not interfere with each other, please refer to [link / reference]. Figure 2 The support column 11 includes two columns, which are parallel and side by side, and can be fixedly connected or integrally formed. Each column is provided with a set of first drive mechanism 12 and first transmission mechanism 13, and each first transmission mechanism 13 is equipped with a suction cup module 2.

[0118] In other embodiments, the support column 11 includes a profile, which can be formed in the shape of an I-beam. Two sets of independent first drive mechanisms 12 are provided on the outer periphery of the profile. Each first drive mechanism 12 is provided with a first transmission mechanism 13, and each first transmission mechanism 13 is equipped with a suction cup module 2.

[0119] The lifting module 3 can be installed on any one of the support columns 11, or it can be fixedly connected to two columns at the same time to improve the stability of the installation of the lifting module 3.

[0120] The ranging module 4 can also be installed on any one of the support columns 11, or fixedly connected to two columns at the same time, to improve the stability of the ranging module 4 installation.

[0121] The ranging module 4 and the barcode scanning module 5 are fixedly installed at fixed positions on the column, located on the front and rear sides of the column respectively. The front side corresponds to the picking side. The suction cup 24 picks up the goods on the front side through lifting and lowering movement, and then moves to the other side by rotating the swing arm assembly 22 (described later) to move the goods P to the position of the barcode scanning module 5 (described later). The camera 51 of the barcode scanning module 5 takes a picture and uses an algorithm to identify the goods information.

[0122] See Figures 2 to 4 Please refer to the enlarged image. Figure 11 The loading robotic arm includes two suction cup modules 2 to improve loading efficiency, and each suction cup module 2 can adopt the same structure. In some embodiments, the suction cup module 2 includes a first support 21, a swing arm assembly 22, a second drive mechanism 23, a suction cup 24, and a third drive mechanism 25.

[0123] The first support 21 is mounted on the first transmission mechanism 13. With the movement of the first transmission mechanism 13, the first support 21 can move up and down along the support column 11. The first support 21 includes an opening slot 211, within which one end of a swing arm assembly 22 is fixedly mounted via a rotating shaft 212, allowing one end of the swing arm assembly 22 to be rotatably mounted on the first support 21. The axial direction of the rotating shaft 212 is parallel to the longitudinal direction of the support column 11. The rotating shaft 212 passes through one side wall of the opening slot 211. The second drive mechanism 23 is located outside the opening slot 211 and is drivenly connected to the rotating shaft 212. The second drive mechanism 23 is supported by the first support 21. A suction cup 24 is mounted on the other end of the swing arm assembly 22. A third drive mechanism 25 is mounted on the swing arm assembly 22 and drivenly connected to the suction cup 24, driving the suction cup 24 to rotate the adsorbed cargo P around the center of the suction cup 24. The suction cup 24 is evacuated by a pump (not shown) to achieve adsorption of the cargo P.

[0124] Specifically, the swing arm assembly 22 includes a first swing arm 221 and a second swing arm 222 that are rotatably connected. One end of the first swing arm 221 is connected to and driven by the second drive mechanism 23, and the other end of the first swing arm 221 is equipped with a second swing arm drive motor 27. The second swing arm drive motor 27 is drivenly connected to the second swing arm 222 to drive the second swing arm 222 to rotate relative to the first swing arm 221.

[0125] The second drive mechanism 23 drives the rotating shaft 212 to rotate, which in turn drives the swing arm assembly 22 to rotate synchronously. That is, the swing arm assembly 22 rotates relative to the support column 11, and the suction cup 24 connected to the swing arm assembly 22 also rotates. In this way, the suction cup 24 can pick up goods P located at different positions. In addition, it also allows the suction cups 24 of multiple suction cup modules 2 to swing to the same position, so that multiple suction cup modules 2 can share a set of lifting module 3, ranging module 4, and barcode scanning module 5 described later. This configuration makes the loading robot arm structure more compact, lightweight, easy to move, and energy-efficient.

[0126] See Figure 6 and Figure 8 In some embodiments, the lifting module 3 includes a support member 31 and a lifting member 34. The support member 31 is mounted on the bottom of the support column 11. The lifting member 34 is vertically mounted on the support member 31.

[0127] The support member 31 can be a rod-shaped or long strip-shaped plate structure. The length direction of the support member 31 forms an angle with the length direction of the support column 11. The length direction of the support member 31 is parallel to the length direction of the cargo compartment plate 302 of the temporary storage device 300, which will be described later, so that the lifting member 34 can more easily lift the cargo P.

[0128] There are several ways to achieve lifting and lowering motion in the lifting component 34, such as using a self-driven mechanism or a gear and rack mechanism.

[0129] In some embodiments, the lifting module 3 further includes a fourth drive mechanism 32 and a second transmission mechanism 33. The fourth drive mechanism 32 is mounted on the support member 31; the second transmission mechanism 33 is drivenly connected to the fourth drive mechanism 32 to move under the drive of the fourth drive mechanism 32; wherein, the lifting member 34 is mounted on the second transmission mechanism 33 to rise and fall with the movement of the second transmission mechanism 33.

[0130] The fourth drive mechanism 32 is mounted on the support member 31. The second transmission mechanism 33 is driven by the fourth drive mechanism 32 and moves under the drive of the fourth drive mechanism 32. The second transmission mechanism 33 may be a synchronous pulley and a synchronous belt. The synchronous pulley is mounted on the support member 31, and the synchronous belt is wound around the synchronous pulley. The fourth drive mechanism 32 may specifically be a motor.

[0131] The lifting member 34 is mounted on the second transmission mechanism 33, specifically on the synchronous belt, so as to rise and fall with the movement of the second transmission mechanism 33. The lifting member 34 can be a plate, and the length direction of the lifting member 34 is not the same as the length direction of the support member 31, specifically it can be perpendicular.

[0132] The fourth drive mechanism 32 drives the synchronous pulley to rotate, and the synchronous belt reciprocates with the synchronous pulley. The lifting component 34 moves up and down with the rotation of the synchronous belt.

[0133] See Figure 6 In some embodiments, the lifting module 3 further includes a control component (not shown) and a position detection element 36. The control component is electrically connected to the fourth drive mechanism 32; the position detection element 36 is mounted on the support column 11 to detect the distance between the cargo P and the position detection element 36; the position detection element 36 may specifically be a distance sensor. The position detection element 36 is specifically mounted on the support column 11 via a position detection element mounting bracket 35. The position detection element 36 is electrically connected to the control component. The control component is configured to control the start and stop of the fourth drive mechanism 32 based on the distance detected by the position detection element 36. Figure 6 The middle arrow S4 indicates the direction of the detection light of the position detection element 36.

[0134] See Figure 8In some embodiments, the lifting module 3 further includes a guide member 37, the length direction of which is parallel to the length direction of the support member 31. The guide member 37 is mounted on the support member 31 and is immovable relative to the support member 31. The guide member 37 is configured to provide linear guidance for the lifting of the lifting member 34. Specifically, a through hole can be provided on the lifting plate, through which the guide member 37 passes. During the lifting process with the second transmission mechanism 33, the lifting plate can only move along the linear direction defined by the guide member 37.

[0135] See Figures 2 to 4 The loading robotic arm also includes a ranging module 4, which is mounted on the support column 11 and located on the lifting path of the suction cup module 2. The ranging module 4 is used to measure the position of the cargo P.

[0136] Back Figures 2 to 4 In some embodiments, the ranging module 4 includes a ranging bracket 41, a first ranging sensor 42, and a second ranging sensor 43.

[0137] The ranging bracket 41 is fixedly installed on the support column 11. The ranging bracket 41 adopts a semi-circular mechanism so that the two first ranging sensors 42 and the second ranging sensor 43 can measure the cargo P. In addition, the ranging bracket 41 can also avoid the cargo compartment plate 302, because the measuring height of the first ranging sensor 42 and the second ranging sensor 43 is actually lower than the top height of the cargo compartment plate 302. This is because the cargo P in the position to be grabbed cannot be fully raised out of the opening of the temporary storage device 300, and the lower surface of the cargo P is lower than the top edge of the cargo compartment plate 302.

[0138] In some embodiments, the ranging module 4 is installed at an angle, see [reference]. Figure 6 The side direction of the ranging module 4 is perpendicular to the lifting direction of the lifting module 3. The ranging module 4 uses a laser ranging sensor. This setting ensures that the measuring light beam of the laser ranging sensor is basically parallel to the top surface of the cargo P, increasing the accuracy of the ranging.

[0139] See Figure 3 The first ranging sensor 42 is mounted on the ranging bracket 41. The second ranging sensor 43 is mounted on the ranging bracket 41. The first ranging sensor 42 and the second ranging sensor 43 are arranged at intervals. Figure 3 and Figure 15S2 illustrates the measurement direction of the first ranging sensor 42, and S3 illustrates the measurement direction of the second ranging sensor 43. The first ranging sensor 42 and the second ranging sensor 43 have different measuring directions, and both are configured to jointly detect the position of the cargo P, thereby determining the center of the cargo P based on its position. The first ranging sensor 42 detects one side of the cargo P, and the second ranging sensor 43 detects the other side. The center position of the cargo P is determined by the detection values ​​of the first ranging sensor 42 and the second ranging sensor 43. Based on this center position, the suction cup 24 is controlled to pick up the cargo, resulting in a more stable and accurate picking operation.

[0140] Both the first ranging sensor 42 and the second ranging sensor 43 can be laser ranging sensors. The plane formed by the detection directions of the first ranging sensor 42 and the second ranging sensor 43 is parallel to the plane of the cargo P. This is to ensure that the laser ranging ray is basically horizontal with the plane of the cargo and to ensure accurate ranging.

[0141] See Figure 3 and Figure 4 In some embodiments, the loading robotic arm 200 further includes a barcode scanning module 5, which is mounted on the support column 11 to capture the identification information of the goods P. The barcode scanning module 5 includes, for example, a camera 51 and a camera bracket 52. The camera 51 is mounted on the camera bracket 52, which is mounted on the support column 11. The camera 51 can capture images of the goods P. The surface of the goods P has a barcode affixed to it. By capturing images of the goods P, the barcode of the goods P can be obtained, thereby determining the detailed information of the goods P and its storage location.

[0142] In some embodiments, two scanning modules 5 are used, working together with the suction cup 24 to rotate the goods P and capture images of the entire surface of the goods P. Each scanning module 5 can capture images of three different surfaces of the goods P. The two scanning modules 5 can capture images of the entire surface of the goods P. Thus, regardless of the orientation of the goods P placed on the temporary storage device 300, the lifting module 3 only needs to lift the goods P directly. Subsequently, when the goods P is attracted by the suction cup 24 and passes through the scanning modules 5, its information can be accurately collected, facilitating the storage of the goods P.

[0143] See Figure 1 This utility model embodiment also provides a loading system, including a support frame 100, a temporary storage device 300, and a loading robotic arm 200 provided in any of the technical solutions of this utility model. The loading robotic arm 200 is movably mounted on the support frame 100. The temporary storage device 300 is configured to temporarily store goods P. The loading robotic arm 200 is configured to remove goods P from the temporary storage device 300.

[0144] The support frame 100 includes a guide rail 101, and the loading robotic arm 200 is equipped with a walking mechanism 26, which can move linearly along the guide rail 101. Figure 1 In the process, the loading robotic arm 200 is equipped with two traveling mechanisms 26, each traveling mechanism 26 corresponding to a guide rail 101, and the two guide rails 101 are arranged in parallel. The traveling mechanism 26 cooperates with the guide rail 101 to enable the loading robotic arm 200 to move along the S1 direction.

[0145] See Figures 9 to 11 The following mechanism drives the walking mechanism 26: The feeding system also includes a drive motor 61, a transmission shaft 62, a drive gear 63, and a rack and pinion track 64. The drive motor 61 is mounted on the support column 11 of the support module 1. The transmission shaft 62 is driven and connected to the drive motor 61. There are two drive gears 63, which are respectively mounted at the upper and lower ends of the support column 11. The two drive gears are fixedly connected by the transmission shaft 62. The drive gear 63 rotates as the transmission shaft 62 rotates. The rack and pinion track 64 is fixedly mounted on the guide rail 101, or the rack and pinion track 64 is fixedly integrated with the guide rail 101. The drive gear 63 meshes with the rack and pinion track 64. The rotation of the drive motor 61 drives the drive gear 63 to move relative to the rack and pinion track 64.

[0146] In some embodiments, each drive gear 63 is provided with a corresponding drive motor 61. By using two drive wheels, higher acceleration can be obtained, and the movement of the loading robot arm 200 is more stable. The transmission shaft 62 connects the two drive gears 63 to ensure synchronous operation.

[0147] See also Figures 17 to 20 In some embodiments, the temporary storage device 300 is a material cart configured to transport goods P. The material cart includes a frame 301, a guide assembly 303, a pallet assembly 304, and a plurality of cargo trays 302.

[0148] The frame 301 adopts a frame structure. The bottom of the frame 301 is equipped with wheels 305 to enable the temporary storage device 300 to move.

[0149] The storage pallet 302 can be arranged in two rows to increase storage capacity. The storage pallet 302 is formed by bending a single plate to create two approximately perpendicular plates, or by placing and welding two flat plates vertically. Multiple storage pallets 302 are arranged in rows at an angle within the frame 301. The goods P being stacked tend to shift towards the two flat plates, and with the support of the pallet 304b, they can be stably stacked within the temporary storage device 300. Simultaneously, the position of the goods P is generally maintained in the inclined direction, which is beneficial for the accurate operation of the suction cup 24 and the accurate measurement of the ranging module 4 and the barcode scanning module 5.

[0150] See Figure 17Positioning plates 306 are provided on both sides of the frame 301. The positioning plates 306 cooperate with the corresponding positioning structures to ensure that the temporary storage device 300 can be in the accurate position when docking with the loading robot arm.

[0151] The longitudinal direction of the support member 31 of the lifting module 3 is parallel to the inclination direction of the cargo tray 302. Each cargo tray 302 is equipped with a guide assembly 303. A pallet assembly 304 is slidably mounted on the guide assembly 303; the pallet assembly 304 is configured to cooperate with the lifting module 3 to move under the drive of the lifting module 3.

[0152] See Figures 12 to 16 The lifting module 3 is installed at a certain angle relative to the support column 11 of the support module 1. The tilt angle of the lifting module 3 is the same as that of the cargo platform 302. The guide angle of the guide component 307 of the lifting module 3 is the same as that of the guide component 303 of the cargo platform 302. The lifting paths of the two are the same. This setting can minimize the size of the lifting module 3 and make the structure of the loading robot arm 200 more compact.

[0153] See Figure 20 The pallet assembly 304 includes a pallet frame 304a and a pallet 304b. The pallet frame 304a is movably mounted on the cargo pallet 302 and extends out of the vehicle frame 301; the pallet frame 304a is used to cooperate with the lifting module 3 to achieve lifting and lowering under the drive of the lifting module 3. The pallet 304b is mounted on the pallet frame 304a to move synchronously with the pallet frame 304a.

[0154] When the pallet frame 304a is lifted, the lifting module 3 is located outside the temporary storage device 300, supporting the pallet frame 304a located outside the frame 301 from outside the temporary storage device 300, and then lifting all the goods P on the cargo pallet 302. The suction cup module 2 sucks up the topmost goods P. The remaining goods P can be returned to their original position, or they can continue to be lifted after the topmost goods P are removed, to wait for the next topmost goods P to be removed.

[0155] See Figure 17 and Figure 18 In some embodiments, the feeding system also includes a lifting assembly 400 and a cooperating assembly 500.

[0156] The lifting assembly 400 is configured to lift the temporary storage device 300 to achieve leveling of the temporary storage device 300. The lifting assembly 400 itself is pre-leveled on the ground using shims to maintain its horizontal position. The lifting assembly 400 includes a mounting component 401, a fifth drive mechanism 402, a third transmission mechanism 403, a wheel seat 404, and a V-shaped wheel 405 rotatably mounted on the wheel seat 404. The surface of the V-shaped wheel 405 is provided with a V-shaped groove. The mating assembly 500 is correspondingly provided with a V-shaped protrusion. The V-shaped groove and the V-shaped protrusion engage.

[0157] See Figure 21 The fifth drive mechanism 402 is mounted on the mounting member 401 and is driven by the third transmission mechanism 403 to rotate the wheel seat 404, allowing the wheel seat 404 to switch between a support position and a clearance position. The mating assembly 500 is mounted on the bottom of the temporary storage device 300. When the wheel seat 404 is in the support position, it engages with the mating assembly 500 to form a locking mechanism.

[0158] The warehouse floor may be uneven, and the temporary storage device 300 may shake. The lifting component 400 and the cooperating component 500 are provided so that the temporary storage device 300 can be lifted up completely when needed to better secure the temporary storage device 300.

[0159] See Figure 21 In some embodiments, the third transmission mechanism 403 includes a gear set 403a and a drive shaft 403b. The gear set 403a is rotatably mounted on the mounting member 401; the drive shaft 403b is drivenly connected to the gear set 403a; at least one end of the drive shaft 403b is equipped with a wheel seat 404. A set of gear sets 403a may correspond to two drive shafts 403b, each end of each drive shaft 403b is provided with a wheel seat 404, and all wheel seats 404 rotate synchronously, simultaneously being in a supporting position or simultaneously in a clearance position.

[0160] During use, staff place the goods to be replenished (P-code) into the warehouse of temporary storage device 300 according to the replenishment order. Replenishment may take place at the replenishment workstation, platform, or other goods replenishment location.

[0161] After the goods are stacked, the staff pushes the cart to the replenishment position and uses the positioning plate 306 to position the temporary storage device 300, including front, back, left and right. Then, the lifting mechanism is controlled to lift the temporary storage device 300 to control its level.

[0162] At this point, the temporary storage device 300 at the replenishment location is in place and ready for replenishment. The loading robot arm 200 then connects to each storage compartment of the temporary storage device 300 according to control, picking up each item P, scanning the barcode to record information, and inputting it into the subsequent replenishment module. The temporary storage device 300 is a double-row unit. Once one row is replenished, the temporary storage device 300 is pushed out to change its orientation, aligning the other row of storage compartment plates 302 with the loading robot arm 200, and then continuing the replenishment process. Specifically, changing the orientation involves pushing out the temporary storage device 300, rotating it 180°, pushing it back to its original position, and then lifting and leveling it. The horizontal positioning of the temporary storage device 300 relies on the cooperation of the support column 11 and the positioning plate 306.

[0163] The process of picking up goods P is as follows: Lifting module 3 raises pallet assembly 304, lifting all goods located on warehouse pallet 302. Information detected by position detection element 36 indicates that goods P has been lifted into position. Then, the distance measured by ranging module 4 determines the specific location of goods P, facilitating positioning by suction cup module 2. Subsequently, the topmost goods P are sucked away by suction cup module 2. After suction cup 24 picks up the goods, it moves them between the fields of view of the two barcode scanning modules 5. Suction cup 24 rotates, causing goods P to rotate as well. Simultaneously, the camera takes a picture and uses an algorithm to identify the goods' barcode information, thereby obtaining the information of the goods entering the warehouse and recording it in the system. The goods are then sucked to the barcode scanning module 5 for scanning to identify the information and connection position of goods P. Then, under the control of the control system, suction cup module 2 moves along support module 1, moving goods P to the connection position, where subsequent automated equipment continues to replenish goods P into the corresponding cargo channel.

[0164] Once all the goods P in one of the storage channels of the temporary storage device 300 have been replenished, the loading robot arm 200 moves to the next channel to continue replenishing the goods.

[0165] In the description of this utility model, it should be understood that the terms "center," "longitudinal," "lateral," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used 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 limiting the scope of protection of this utility model. When the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0166] In the description of this utility model, each technical feature may be combined with other technical features where feasible.

[0167] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this utility model, and not to limit it. Although this utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or make equivalent substitutions for some of the technical features. However, these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this utility model.

Claims

1. A loading robotic arm, characterized in that, include: The support module (1) is constructed to be movable; The suction cup module (2) is vertically mounted on the support module (1); as well as A lifting module (3) is installed on the support module (1), and the lifting module (3) is configured to lift the cargo (P) to a position where the suction cup module (2) can hold the cargo (P).

2. The loading robotic arm according to claim 1, characterized in that, The support module (1) includes: The support column (11) is constructed to provide support; A first drive mechanism (12) is mounted on the support column (11); and The first transmission mechanism (13) is driven by the first drive mechanism (12) and the first transmission mechanism (13) to drive the first transmission mechanism (13) to move relative to the support column (11).

3. The loading robotic arm according to claim 2, characterized in that, The suction cup module (2) includes: The first bracket (21) is installed on the first transmission mechanism (13); The swing arm assembly (22) is rotatably mounted at one end to the first bracket (21). The second drive mechanism (23) is mounted on the first bracket (21) and is driven to connect with the swing arm assembly (22) to drive the swing arm assembly (22) to rotate relative to the first bracket (21) and relative to the support column (11); The suction cup (24) is mounted on the other end of the swing arm assembly (22); and The third drive mechanism (25) is installed on the swing arm assembly (22) and is driven to the suction cup (24) to drive the suction cup (24) to rotate the adsorbed goods (P).

4. The loading robotic arm according to claim 2, characterized in that, Each of the support columns (11) is equipped with two or more of the suction cup modules (2), and each of the suction cup modules (2) works independently.

5. The loading robotic arm according to claim 2, characterized in that, Also includes: The ranging module (4) is installed on the support column (11) and located on the lifting path of the suction cup module (2).

6. The loading robotic arm according to claim 5, characterized in that, The number of the lifting module (3) and the ranging module (4) is one, and all the suction cup modules (2) correspond to the same ranging module (4) and the lifting module (3).

7. The loading robotic arm according to claim 5, characterized in that, The ranging module (4) includes: The ranging bracket (41) is fixedly installed on the support column (11). A first ranging sensor (42) is mounted on the ranging bracket (41); and The second distance sensor (43) is mounted on the distance measuring bracket (41); the distance measuring directions of the first distance sensor (42) and the second distance sensor (43) are different, and the two are configured to jointly detect the position of the cargo (P) in order to determine the center of the cargo (P) based on the position of the cargo (P).

8. The loading robotic arm according to claim 5, characterized in that, The measuring direction of the ranging module (4) is perpendicular to the lifting direction of the lifting module (3).

9. The loading robotic arm according to claim 2, characterized in that, The support column (11) includes two columns, each column is provided with a set of first drive mechanism (12) and first transmission mechanism (13), and each first transmission mechanism (13) is equipped with a suction cup module (2). Alternatively, the support column (11) may include a profile, and the outer periphery of the profile may be provided with two sets of independent first drive mechanisms (12), each of the first drive mechanisms (12) may be provided with a first transmission mechanism (13), and each of the first transmission mechanisms (13) may be equipped with a suction cup module (2).

10. The loading robotic arm according to claim 2, characterized in that, The lifting module (3) includes: Support member (31) is installed at the bottom of the support column (11); and The lifting member (34) is vertically mounted on the support member (31).

11. The loading robotic arm according to claim 10, characterized in that, The lifting module (3) also includes: The fourth drive mechanism (32) is mounted on the support member (31); and The second transmission mechanism (33) is drivenly connected to the fourth drive mechanism (32) to move under the drive of the fourth drive mechanism (32); The lifting member (34) is installed on the second transmission mechanism (33) to rise and fall with the movement of the second transmission mechanism (33).

12. The loading robotic arm according to claim 11, characterized in that, The lifting module (3) also includes: The control component is electrically connected to the fourth drive mechanism (32); and A position detection element (36) is mounted on the support column (11) to detect the distance between the cargo (P) and the position detection element (36); the position detection element (36) is electrically connected to the control assembly. The control component is configured to control the start and stop of the fourth drive mechanism (32) based on the distance detected by the position detection element (36).

13. The loading robotic arm according to claim 12, characterized in that, The lifting module (3) also includes: A guide (37) is mounted on the support (31), and the guide (37) is configured to provide linear guidance for the lifting (34) as it rises and falls.

14. The loading robotic arm according to claim 10, characterized in that, The length direction of the support member (31) forms an angle with the length direction of the support column (11) of the support module (1), and the angle is a set angle.

15. The loading robotic arm according to claim 2, characterized in that, Also includes: A barcode scanning module (5) is installed on the support column (11) to capture the identification information of the goods (P).

16. The loading robotic arm according to claim 15, characterized in that, The number of the scanning modules (5) is two, and the two scanning modules (5) work together to capture the entire surface of the goods (P).

17. A feeding system, characterized in that, include: Support frame (100); The loading robotic arm (200) according to any one of claims 1 to 16 is movably mounted on the support frame (100); and The temporary storage device (300) is configured to temporarily store the goods (P).

18. The feeding system according to claim 17, characterized in that, The temporary storage device (300) is a material cart configured to transport goods (P), and the material cart includes: Frame (301); Multiple cargo pallets (302) are arranged in a row at an angle inside the vehicle frame (301); the length direction of the support member (31) of the lifting module (3) is parallel to the tilt direction of the cargo pallets (302); Guide assembly (303), each of the said cargo pallets (302) is equipped with the guide assembly (303); and A pallet assembly (304) is slidably mounted on the guide assembly (303); the pallet assembly (304) is configured to cooperate with the lifting module (3) to move under the drive of the lifting module (3).

19. The feeding system according to claim 18, characterized in that, The pallet assembly (304) includes: A pallet frame (304a) is movably mounted on the cargo pallet (302), and the pallet frame (304a) extends out of the vehicle frame (301); the pallet frame (304a) is used to cooperate with the lifting module (3) to achieve lifting and lowering under the drive of the lifting module (3); and The pallet (304b) is mounted on the pallet frame (304a) to move synchronously with the pallet frame (304a).

20. The feeding system according to claim 18, characterized in that, Also includes: A lifting assembly (400) is configured to lift the temporary storage device (300); wherein the lifting assembly (400) includes a mounting member (401), a fifth drive mechanism (402), a third transmission mechanism (403), and a wheel seat (404); the fifth drive mechanism (402) is mounted on the mounting member (401), and the fifth drive mechanism (402) is drivenly connected to the third transmission mechanism (403) to drive the wheel seat (404) to rotate, thereby switching the wheel seat (404) between a support position and a clearance position; and The matching component (500) is installed at the bottom of the temporary storage device (300); When the wheel seat (404) is in the support position, the wheel seat (404) and the mating component (500) are engaged and fixed in a concave-convex fit.

21. The feeding system according to claim 20, characterized in that, The third transmission mechanism (403) includes: Gear set (403a), rotatably mounted on said mounting member (401); and A drive shaft (403b) is driven to the gear set (403a); at least one end of the drive shaft (403b) is fitted with the wheel seat (404).

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