An intelligent warehousing robot

Abstract

The utility model relates to warehousing robot technical field especially is a kind of intelligent warehousing robot, including AGV mobile chassis, AGV mobile chassis is provided with robot mechanism and is used for material handling, and robot mechanism includes: main component, including the fuselage of fixed in AGV mobile chassis upper end, fuselage front end is equipped with mechanical arm;Grabbing component, including the mount of fixed in mechanical arm, mount lower end is equipped with main frame, and the both ends of main frame top are all equipped with guide seat, and the first optical axis is slidably installed in guide seat and is transversely penetrated, and the outer end of first optical axis is equipped with clamping arm;Anti -drop component, including the mounting plate of fixed in the lower end of clamping arm outer wall, mounting plate bottom is equipped with shaft seat, and the lower end of shaft seat is hinged and has armrest, and armrest is equipped with the supporting plate on;When grabbing component clamps material, support by anti -drop component, prevent material slip or overturn due to inertia in the process of carrying;And, reduce resistance by cylinder, avoid material surface abrasion.

Description

Technical Field

[0001] This utility model relates to the field of warehouse robot technology, specifically to an intelligent warehouse robot. Background Technology

[0002] With the rapid development of modern logistics, intelligent warehousing systems, as a key link in improving supply chain efficiency, are receiving increasing attention. According to CN219278473U, an intelligent warehousing and logistics robot is disclosed. This technology discloses a technical solution including a stacking mechanism, a clamping mechanism, and a limiting mechanism. The stacking mechanism includes a rotating base, a control component for movement mounted on the rotating base, and a mechanical arm connected to the control component. The clamping mechanism includes a support arm mounted on the mechanical arm, a gear mounted inside the support arm, a rack connected to the gear, a bracket fixed to the rack, a clamping plate fixed to the bracket, a vacuum pump mounted on the support arm, and a suction cup connected to the side wall of the support arm. This technology has the technical effect of enabling the clamping and stacking of items of different sizes through the cooperation of the support arm, gear, clamping plate, and other structures, avoiding the need for workers to change mechanical grippers as needed, which affects the stacking speed and increases the workload of workers. In existing intelligent warehousing robots, materials are fixed from both sides by clamping mechanisms during handling operations. When the AGV mobile chassis accelerates, decelerates, or turns during operation, the materials tend to slide forward, backward, or sideways due to inertia. Especially for heavy-duty, irregularly shaped, or smooth-surfaced materials, the friction between the materials and the clamping surface may not be sufficient to completely overcome this inertial force. This can lead to the materials shifting position or even slipping out of the clamping mechanism and overturning during handling, resulting in operational failure or safety accidents. Utility Model Content

[0003] To address the shortcomings of existing technologies, this utility model provides an intelligent warehousing robot. After the gripping component clamps the material, the anti-detachment component supports it to prevent the material from slipping or tipping over due to inertia during transportation. Furthermore, the rollers reduce resistance and prevent wear on the material surface.

[0004] To achieve the above objectives, this utility model provides the following technical solution: an intelligent warehousing robot, comprising an AGV mobile chassis, wherein a robot mechanism is mounted on the AGV mobile chassis for material handling, and the robot mechanism includes: The main components include a body fixed to the top of the AGV mobile chassis, with a robotic arm installed at the front end of the body; The gripping component includes a mounting frame fixed to a robotic arm. A main frame is fixed to the lower end of the mounting frame. Guide seats are fixed to the left and right ends of the top of the main frame. A first optical axis is slidably mounted through the guide seats. A clamping arm is fixed to the outer end of the first optical axis. The anti-detachment assembly includes a mounting plate fixed to the lower end of the outer wall of the clamping arm, a bearing seat fixed to the bottom of the mounting plate, a support arm pivotally connected to the lower end of the bearing seat, a support plate fixed to the support arm, a shaft bracket fixed to the upper end of the mounting plate, a third cylinder pivotally connected to the shaft bracket, and the lower output end of the third cylinder pivotally connected to the outer end of the support arm.

[0005] Preferably, the anti-detachment component further includes a plurality of rollers rotatably mounted in an array inside the tray.

[0006] Preferably, the gripping assembly further includes a first cylinder installed inside the guide seat, and the output end of the first cylinder is fixed to the gripping arm.

[0007] Preferably, the gripping component further includes a second optical axis that is longitudinally slidably installed inside the mounting frame. A pressure plate is fixed at the bottom of the second optical axis. A second cylinder is installed inside the mounting frame, and the pressure plate is fixed to the output end below the second cylinder.

[0008] Preferably, the main body component also includes two first RGB-D cameras mounted on the robotic arm, a second RGB-D camera mounted on the front end of the top of the body, and a lidar mounted on the rear end of the top of the body.

[0009] Preferably, the machine body is equipped with an edge computing module for real-time processing of perception data from the first RGB-D camera, the second RGB-D camera, and the LiDAR; the machine body is equipped with a collaborative scheduling module for dynamic task allocation and path planning; and the machine body is equipped with a control module for collaborative control of the movement of the AGV mobile chassis and the operation of the robotic arm. Beneficial effects

[0010] This invention provides an intelligent warehouse robot. Compared with the prior art, it has the following advantages: 1. After the clamping arm clamps the material, the third cylinder extends and pushes the support arm to rotate upward around the shaft seat, thereby lifting the pallet and roller fixed on the support arm smoothly from the bottom of the material, forming a reliable bottom support; avoiding material slippage or overturning problems that may occur due to inertia when the AGV mobile chassis accelerates, decelerates or turns, improving the safety and stability of the handling process of heavy-duty, irregularly shaped or smooth-surfaced materials.

[0011] 2. When the pallet contacts the material and lifts it up, the roller can rotate flexibly with the relative movement trend between the material and the pallet, converting the sliding friction with the material into rolling friction, reducing the frictional resistance between the material and the material, and avoiding wear on the material surface that may be caused by friction. Attached Figure Description

[0012] Figure 1 This is a three-dimensional structural diagram of the present invention; Figure 2 This is a schematic diagram of the gripping component in this utility model; Figure 3 This is a schematic diagram of the anti-detachment component in this utility model; Figure 4 This is a schematic diagram of the structure of the tray in this utility model.

[0013] In the diagram: 1. AGV mobile chassis; 2. Robot mechanism; 21. Main component; 211. Body; 212. Robotic arm; 213. First RGB-D camera; 214. Second RGB-D camera; 215. LiDAR; 22. Gripping component; 221. Mounting frame; 222. Main frame; 223. Guide seat; 224. First optical axis; 225. Gripping arm; 226. First cylinder; 227. Second optical axis; 228. Second cylinder; 229. Pressure plate; 23. Anti-detachment component; 231. Mounting plate; 232. Shaft seat; 233. Support arm; 234. Support plate; 235. Shaft bracket; 236. Third cylinder; 237. Roller. Detailed Implementation

[0014] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings. 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.

[0015] Please see Figure 1 - Figure 4 This utility model provides a technical solution: an intelligent warehousing robot, including an AGV mobile chassis 1, on which a robot mechanism 2 is mounted for material handling, the robot mechanism 2 including: The main component 21 includes a body 211 fixed to the upper end of the AGV mobile chassis 1, and a robotic arm 212 is installed at the front end of the body 211; The gripping component 22 includes a mounting frame 221 fixed on the robotic arm 212. A main frame 222 is fixed at the lower end of the mounting frame 221. Guide seats 223 are fixed at both the left and right ends of the top of the main frame 222. A first optical axis 224 is horizontally slidably mounted on the guide seat 223. A clamping arm 225 is fixed at the outer end of the first optical axis 224. The anti-detachment component 23 includes a mounting plate 231 fixed to the lower end of the outer wall of the clamping arm 225. A bearing seat 232 is fixed to the bottom of the mounting plate 231. A support arm 233 is pivotally connected to the lower end of the bearing seat 232. A support plate 234 is fixed on the support arm 233. A shaft bracket 235 is fixed to the upper end of the mounting plate 231. A third cylinder 236 is pivotally connected to the shaft bracket 235, and the lower output end of the third cylinder 236 is pivotally connected to the outer end of the support arm 233.

[0016] In this embodiment, after the clamping arm 225 clamps the material, the third cylinder 236 extends and pushes the support arm 233 to rotate upward around the shaft seat 232, thereby causing the pallet 234 and roller 237 fixed on the support arm 233 to be steadily lifted from the bottom of the material, forming a reliable bottom support; avoiding material slippage or overturning problems that may occur due to inertia when the AGV mobile chassis 1 accelerates, decelerates or turns, and improving the safety and stability of the material handling process for heavy-duty, irregularly shaped or smooth-surfaced materials.

[0017] Specifically, the anti-detachment component 23 also includes several rollers 237 that are rotatably mounted in an array inside the tray 234.

[0018] In this embodiment, when the pallet 234 contacts the material and lifts it up, the roller 237 can rotate flexibly with the relative movement trend between the material and the pallet 234, converting the sliding friction with the material into rolling friction, reducing the frictional resistance between the material and the material, and avoiding wear on the material surface that may be caused by friction.

[0019] Specifically, the gripping assembly 22 also includes a first cylinder 226 installed inside the guide seat 223, and the output end of the first cylinder 226 is fixed to the gripping arm 225.

[0020] In this embodiment, when it is necessary to grasp the material, the first cylinder 226 extends and retracts, pushing the clamping arm 225 to slide inward along the first optical axis 224, thereby clamping the material from both sides; conversely, when it is necessary to release the material, the first cylinder 226 extends, driving the clamping arm 225 to move outward, releasing the material.

[0021] Specifically, the gripping component 22 further includes a second optical axis 227 that is longitudinally slidably installed inside the mounting frame 221. A pressure plate 229 is fixed at the bottom of the second optical axis 227. A second cylinder 228 is installed inside the mounting frame 221, and the pressure plate 229 is fixed to the output end below the second cylinder 228.

[0022] In this embodiment, after the material is clamped from both sides by the clamping arms 225, the second cylinder 228 can drive the pressure plate 229 to move downward along the mounting frame 221 with the cooperation of the second optical axis 227, thereby causing the pressure plate 229 to press the top surface of the material; together with the lateral clamping force of the clamping arms 225 and the bottom support of the anti-detachment component 23, a constraint on the material is formed in all directions.

[0023] Specifically, the main body component 21 also includes two first RGB-D cameras 213 mounted on the robotic arm 212, a second RGB-D camera 214 mounted on the top front end of the body 211, and a lidar 215 mounted on the top rear end of the body 211.

[0024] In this embodiment, two first RGB-D cameras 213 are installed at a certain angle at the end of the robotic arm 212 to capture the surface texture, shape, and local three-dimensional structure of the material at close range, providing visual guidance for precise grasping; the second RGB-D camera 214 is arranged at the top front end of the body 211, which has global scene coverage capability and collects two-dimensional height map of the working area in real time to monitor the overall distribution and dynamic changes of the goods; the lidar 215 is installed at the top rear end of the body 211 to scan the surrounding environment horizontally, collect ground height change data, and detect dynamic obstacles.

[0025] Specifically, the body 211 is equipped with an edge computing module for real-time processing of perception data from the first RGB-D camera 213, the second RGB-D camera 214 and the lidar 215. The body 211 is also equipped with a collaborative scheduling module for dynamic task allocation and path planning. Furthermore, the body 211 is equipped with a control module for collaborative control of the movement of the AGV mobile chassis 1 and the operation of the robotic arm 212.

[0026] In this embodiment, the edge computing module processes multimodal perception data from the first RGB-D camera 213, the second RGB-D camera 214, and the LiDAR 215 in real time. It unifies the multi-source data into the robot's base coordinate system through a point cloud-pixel feature matching algorithm, forming a scene representation that combines a bird's-eye view with a voxel grid. The collaborative scheduling module realizes multi-machine state sharing based on industrial Ethernet, uses a priority-resource matching algorithm and an improved Hungarian algorithm for task allocation, and achieves dynamic game adjustment through Nash equilibrium solution. The control module uses the SAC architecture that integrates maximum entropy reinforcement learning to control the movement of the AGV mobile chassis 1, and controls the operation of the robotic arm 212 based on the PPO algorithm and expert prior constraints. It achieves collaborative control of movement and operation through a spatiotemporal motion consistency algorithm.

[0027] The working principle and usage process of this utility model are as follows: First, when the AGV mobile chassis 1 drives the robot mechanism 2 to move to the location of the target material, the first RGB-D camera 213 on the robotic arm 212 and the second RGB-D camera 214 on the top of the body 211 work together to identify the precise position and posture of the material from close range and global perspective, respectively. At the same time, the lidar 215 monitors the surrounding environment in real time to ensure safety. Then, the first cylinder 226 pushes the first optical shaft 224 to drive the clamping arm 225 to move inward, stably clamping the material from both sides; immediately afterward, the second cylinder 228 can drive the pressure plate 229 to move downward along the mounting frame 221 with the cooperation of the second optical shaft 227, causing the pressure plate 229 to press the top surface of the material, forming upper and lower constraints; at the same time, the third cylinder 236 pushes the support arm 233 to rotate around the shaft seat 232, causing the support plate 234 and its roller 237 to support the material from the bottom.

[0028] 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.

[0029] 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. An intelligent warehousing robot, comprising an AGV mobile chassis (1), characterized in that: The AGV mobile chassis (1) is equipped with a robot mechanism (2) for material handling. The robot mechanism (2) includes: The main component (21) includes a body (211) fixed to the upper end of the AGV mobile chassis (1), and a robotic arm (212) is installed at the front end of the body (211). The gripping component (22) includes a mounting bracket (221) fixed on the robotic arm (212). A main frame (222) is fixed at the lower end of the mounting bracket (221). Guide seats (223) are fixed at both the left and right ends of the top of the main frame (222). A first optical axis (224) is horizontally slidably mounted on the guide seat (223). A clamping arm (225) is fixed at the outer end of the first optical axis (224). The anti-detachment component (23) includes a mounting plate (231) fixed to the lower end of the outer wall of the clamping arm (225). A bearing seat (232) is fixed to the bottom of the mounting plate (231). A support arm (233) is pivotally connected to the lower end of the bearing seat (232). A support plate (234) is fixed on the support arm (233). A shaft bracket (235) is fixed to the upper end of the mounting plate (231). A third cylinder (236) is pivotally connected to the shaft bracket (235), and the lower output end of the third cylinder (236) is pivotally connected to the outer end of the support arm (233).

2. The intelligent warehousing robot according to claim 1, characterized in that: The anti-detachment component (23) also includes a plurality of rollers (237) rotatably mounted in an array inside the tray (234).

3. The intelligent warehousing robot according to claim 1, characterized in that: The gripping assembly (22) also includes a first cylinder (226) installed inside the guide seat (223), and the output end of the first cylinder (226) is fixed to the gripping arm (225).

4. The intelligent warehousing robot according to claim 1, characterized in that: The gripping component (22) also includes a second optical axis (227) that is longitudinally slidably installed inside the mounting frame (221). A pressure plate (229) is fixed at the bottom of the second optical axis (227). A second cylinder (228) is installed inside the mounting frame (221), and the pressure plate (229) is fixed to the output end below the second cylinder (228).

5. The intelligent warehousing robot according to claim 1, characterized in that: The main body component (21) also includes two first RGB-D cameras (213) mounted on the robotic arm (212), a second RGB-D camera (214) mounted on the top front end of the body (211), and a lidar (215) mounted on the top rear end of the body (211).

6. The intelligent warehousing robot according to claim 5, characterized in that: The body (211) is equipped with an edge computing module for real-time processing of perception data from the first RGB-D camera (213), the second RGB-D camera (214) and the lidar (215). The body (211) is equipped with a collaborative scheduling module for dynamic task allocation and path planning. The body (211) is equipped with a control module for collaborative control of the movement of the AGV mobile chassis (1) and the operation of the robotic arm (212).

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