Anti-collision sensing support for smart warehousing robots

Abstract

The utility model relates to the technical field of warehousing robot, concretely is the anti -collision response support of intelligent warehousing robot, including intelligent warehousing robot body, the middle position of intelligent warehousing robot body rear surface welds has auxiliary mechanism, and the auxiliary mechanism includes clamping mechanism and welds in the two symmetrical placement's anti -collision mechanism of clamping mechanism front end left and right sides. The utility model discloses a laser ranging sensor will send a signal to the intelligent warehousing robot and stop its rear movement when the rear side anti -collision plate of the intelligent warehousing robot contacts other objects and causes the ranging of the laser ranging sensor to change, preventing the intelligent warehousing robot body from colliding with other objects. The clamping plates on both sides can be clamped or loosened simultaneously under the action of the clamping mechanism, and the clamping plates can be moved freely to reduce the width occupied by the front of the intelligent warehousing robot, allowing the intelligent warehousing robot to move to a narrower place.

Description

Technical Field

[0001] This utility model relates to the field of warehouse robot technology, specifically to an anti-collision sensing bracket for an intelligent warehouse robot. Background Technology

[0002] Smart warehousing is a logistics and warehousing management scenario and an important application scenario of 5G industrial internet. Smart warehousing requires corresponding intelligent robots to assist in the handling of logistics goods. It is a core link in the modern logistics and supply chain system, and its development stems from the pain points of traditional warehousing models, the driving force of technological innovation, and the upgrading of market demands. By integrating automation, information technology, and intelligent technologies, it achieves high efficiency, precision, and automation in warehousing operations (inbound, storage, picking, outbound, inventory, etc.), making it an indispensable supporting module in Industry 4.0, intelligent manufacturing, and new retail systems.

[0003] Utility model patent CN218968799U discloses an intelligent warehousing robot. This utility model includes a handling robot body with a pair of symmetrically arranged wheels mounted on its lower end. Electric guide rails are mounted on both sides of the handling robot body, with sliding blocks slidably connected to the upper ends of the electric guide rails. Side rails are rotatably connected to the end of the sliding blocks closest to the handling robot body. In this design, when the handling robot body is handling goods, the goods can first be placed on the anti-slip, wear-resistant pad at the upper end of the handling robot body, and the wheels will transport them to the corresponding position. During transportation, the two side rails are driven by the electric guide rails to move closer to one side of the goods until they are in contact with the goods, thus clamping the goods on both sides and preventing them from swaying, tilting, or even shaking during movement. This increases the stability of the handling robot body and the safety of the goods.

[0004] While the aforementioned utility model can clamp and secure goods during transportation using side rails and vertical panels, only the camera on the front of the robot can observe road conditions during its movement. If the robot needs to reverse, the aforementioned utility model cannot prevent it from colliding with other objects during reversing, thus failing to provide effective protection for the robot. Therefore, we propose an anti-collision sensing bracket for intelligent warehousing robots. Utility Model Content

[0005] This utility model provides an anti-collision sensing bracket for intelligent warehousing robots to solve the problems mentioned in the background art.

[0006] To achieve the above objectives, this utility model provides the following technical solution: The anti-collision sensing bracket for the intelligent warehousing robot includes the intelligent warehousing robot body. An auxiliary mechanism is welded to the middle of the rear surface of the intelligent warehousing robot body. The auxiliary mechanism includes a clamping mechanism and two symmetrically placed anti-collision mechanisms welded to the left and right sides of the front end of the clamping mechanism. The anti-collision mechanism includes an anti-collision frame, two sliding sleeves slidably connected to the front and rear ends of the right side surface of the anti-collision frame, and an anti-collision plate welded to the right end of the sliding sleeve. An auxiliary piece is welded to the left end of the outer surface of the sliding sleeve, and a spring is welded to the left side surface of the auxiliary piece. A fixed rod is slidably connected inside the sliding sleeve. A through hole is opened in the middle of the right side surface of the anti-collision frame, and a laser rangefinder sensor is installed inside the left end of the through hole.

[0007] As a preferred technical solution, the right side surface of the anti-collision plate is covered with a rubber pad, and the surface of the rubber pad is provided with anti-slip texture.

[0008] This feature, with its rubber pads, increases the cushioning effect during collisions, reducing rigid impacts on the robot and obstacles.

[0009] As a preferred technical solution, the laser ranging sensor and the through hole are located on the same vertical line, and the laser ranging sensor is electrically connected to the intelligent warehousing robot body.

[0010] This collinear design ensures that the detection path of the laser rangefinder is unobstructed, improving distance measurement accuracy.

[0011] As a preferred technical solution, the clamping mechanism includes a fixed block welded to the middle position of the side surface of the intelligent warehousing robot body, a threaded rod rotatably connected to the lower middle position of the side surface of the fixed block, two movable plates threaded to both ends of the threaded rod, and a clamping plate welded to the outer surface of each movable plate. A driven gear is fixedly installed at the middle position of the threaded rod. A support plate is welded to the left end of the lower surface of the fixed block. A motor is fixedly installed on the lower surface of the support plate. The output shaft of the motor is coaxially connected to a driving gear.

[0012] This setup uses a motor that drives a threaded rod via gear transmission to automatically open and close the moving plate and clamping plate, replacing manual operation and improving clamping efficiency.

[0013] As a preferred technical solution, the fixed rod and the laser ranging sensor are both fixedly installed on the front surface of the moving plate. The moving plate has an overall L-shaped structure, and a moving piece that is threadedly connected to the threaded rod is welded to the right end of the front surface of the moving plate.

[0014] In this configuration, the anti-collision mechanism and the clamping mechanism are linked by a moving plate. When the clamping width is adjusted, the anti-collision range is adapted synchronously to ensure full coverage of anti-collision protection for goods of different sizes.

[0015] As a preferred technical solution, the lower surface of the fixed block is provided with a cavity for accommodating the driven gear, and the driving gear and the driven gear mesh with each other.

[0016] This feature, with its cavity design, provides protection for the gears, preventing dust and debris from affecting transmission accuracy and extending their service life.

[0017] As a preferred technical solution, the horizontal plane where the lowest end of the motor is located is above the horizontal plane where the lowest end of the wheel is located at the lower end of the intelligent warehousing robot body, and the threaded rod is a bidirectional threaded rod.

[0018] This design positions the motor higher than the wheels to prevent collisions with ground obstacles during driving and to protect the drive components.

[0019] As a preferred technical solution, the front surface of the anti-collision plate is located at the front end of the front surface of the fixing block, and the spring is in a compressed state when no external force is applied.

[0020] This feature places the front-mounted bumper, prioritizing contact with obstacles and triggering buffering and sensing in advance, thus enhancing the timeliness of protection.

[0021] Compared with the prior art, the beneficial effects of this utility model are: 1. By installing an anti-collision mechanism on the rear of the intelligent warehousing robot, when the rear anti-collision plate of the intelligent warehousing robot comes into contact with other objects, causing a change in the distance measured by the laser ranging sensor, the laser ranging sensor will send a signal to the intelligent warehousing robot to stop its subsequent movement, thus preventing the intelligent warehousing robot body from colliding with other items.

[0022] 2. The clamping plates on both sides can clamp or release simultaneously under the action of the clamping mechanism. The clamping plates that can move freely can reduce the width occupied by the front of the intelligent warehousing robot, allowing the intelligent warehousing robot to move to narrower places. Attached Figure Description

[0023] Figure 1 This is a schematic diagram of the overall structure of this utility model; Figure 2 This is a schematic diagram of the auxiliary mechanism in this utility model; Figure 3 This is a schematic diagram of the clamping mechanism in this utility model; Figure 4 This is a schematic diagram of the anti-collision mechanism in this utility model; The meanings of the labels in the diagram are as follows: 100. Intelligent warehousing robot body; 200. Auxiliary mechanism; 210. Clamping mechanism; 211. Fixed block; 212. Moving plate; 213. Clamping plate; 214. Threaded rod; 215. Support plate; 216. Motor; 217. Driving gear; 218. Driven gear; 220. Anti-collision mechanism; 221. Anti-collision frame; 222. Laser rangefinder sensor; 223. Spring; 224. Fixed rod; 225. Auxiliary piece; 226. Sliding sleeve; 227. Anti-collision plate; 228. Through hole. Detailed Implementation

[0024] 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.

[0025] Please see Figures 1-4 This embodiment provides a technical solution: The anti-collision sensing bracket for the intelligent warehousing robot includes the intelligent warehousing robot body 100. An auxiliary mechanism 200 is welded to the middle of the rear surface of the intelligent warehousing robot body 100. The auxiliary mechanism 200 includes a clamping mechanism 210 and two symmetrically placed anti-collision mechanisms 220 welded to the left and right sides of the front end of the clamping mechanism 210. The anti-collision mechanism 220 includes an anti-collision frame 221, two sliding sleeves 226 slidably connected to the front and rear ends of the right side surface of the anti-collision frame 221, and an anti-collision plate 227 welded to the right end of the sliding sleeve 226. An auxiliary piece 225 is welded to the left end of the outer surface of the sliding sleeve 226, and a spring 223 is welded to the left side surface of the auxiliary piece 225. A fixed rod 224 is slidably connected inside the sliding sleeve 226. A through hole 228 is opened in the middle of the right side surface of the anti-collision frame 221, and a laser ranging sensor 222 is installed inside the left end of the through hole 228. Through the above mechanism, the intelligent warehousing robot body 100 can be prevented from colliding with other objects during the backward movement of the intelligent warehousing robot body 100, thus protecting the intelligent warehousing robot body 100.

[0026] It should be added that the laser rangefinder 222 detects the change in distance between itself and the anti-collision plate 227 to determine whether the anti-collision plate 227 has been displaced due to contact with the obstacle. When the distance change exceeds the preset threshold, it sends a signal to the intelligent warehouse robot body 100 to stop its movement.

[0027] Furthermore, such as Figure 4As shown, the right side surface of the crash barrier 227 is covered with a rubber pad, and the surface of the rubber pad has anti-slip texture. The rubber pad can protect the crash barrier 227 and the object being hit to a certain extent when the crash barrier 227 is impacted.

[0028] Furthermore, such as Figure 4 As shown, the laser rangefinder 222 and the through hole 228 are located on the same vertical line. The laser rangefinder 222 is electrically connected to the intelligent warehouse robot body 100. The laser rangefinder 222 detects whether the anti-collision plate 227 has shifted and sends a signal to the intelligent warehouse robot body 100.

[0029] In this embodiment, as Figure 3 As shown, the clamping mechanism 210 includes a fixed block 211 welded to the middle of the side surface of the intelligent warehousing robot body 100, a threaded rod 214 rotatably connected to the lower middle of the side surface of the fixed block 211, two movable plates 212 threaded to both ends of the threaded rod 214, and a clamping plate 213 welded to the outer surface of each movable plate 212. A driven gear 218 is fixedly installed in the middle of the threaded rod 214. A support plate 215 is welded to the left end of the lower surface of the fixed block 211. A motor 216 is fixedly installed on the lower surface of the support plate 215. The output shaft of the motor 216 is coaxially connected to a drive gear 217. Through gear transmission, the motor 216 can drive the threaded rod 214 to rotate, thereby controlling the movement of the clamping plates 213 on both sides.

[0030] In this embodiment, as Figure 3 As shown, the fixed rod 224 and the laser range sensor 222 are both fixedly installed on the front surface of the movable plate 212. The movable plate 212 has an overall L-shaped structure, and a movable piece that is threadedly connected to the threaded rod 214 is welded to the right end of the front surface of the movable plate 212. The L-shaped movable plate takes into account both the clamping and anti-collision component installation, and has a compact structure that saves space.

[0031] In this embodiment, as Figure 3 As shown, the lower surface of the fixed block 211 has a cavity for accommodating the driven gear 218. The driving gear 217 and the driven gear 218 mesh with each other, and the gear meshing relationship is clear, ensuring that the motor power is stably transmitted to the threaded rod and improving the reliability of the clamping action.

[0032] In this embodiment, as Figure 3 As shown, the horizontal plane at the lowest point of the motor 216 is located above the horizontal plane at the lowest point of the wheel set at the lower end of the intelligent warehousing robot body 100. The threaded rod 214 is a bidirectional threaded rod, which can drive the two moving plates 212 on both sides to move synchronously in opposite directions, ensuring that the goods are centered when clamped and improving clamping stability.

[0033] In this embodiment, as Figure 3As shown, the front surface of the anti-collision plate 227 is located at the front end of the front surface of the fixed block 211. When no external force is applied, the spring 223 is in a compressed state. The pre-compression design of the spring can improve the initial buffer force, reduce the impact force transmission at the moment of collision, and protect the robot body and the cargo.

[0034] It is worth noting that the structure and working principle of the motor 216 and the laser ranging sensor 222 involved in this embodiment are as known to those skilled in the art, and will not be described in detail here. The structure and working principle of the intelligent warehousing robot body 100 involved in this embodiment are all technologies disclosed in the prior art, and will not be described in detail here.

[0035] In this embodiment, the anti-collision sensing bracket of the intelligent warehousing robot is used in the following way: First, the motor 216 is started in reverse. The motor 216 drives the driven gear 218 to rotate through the driving gear 217, causing the threaded rod 214 to rotate in the opposite direction. This causes the moving plates 212 on both sides to move outward simultaneously, driving the clamping plate 213 to move outward. After moving to the appropriate position, the motor 216 is turned off, and the object to be transported is placed on the upper part of the intelligent warehousing robot body 100. Then, the motor 216 is started in forward rotation, and the goods are fixed by the clamping plate 213. Subsequently, during the movement of the intelligent warehousing robot body 100, if the rear of the intelligent warehousing robot body 100 may collide with other objects, after the collision, the anti-collision plate 227 is displaced towards the intelligent warehousing robot body 100. The anti-collision plate 227 compresses the spring 223 through the sliding sleeve 226. At the same time, the laser range sensor 222 detects the movement of the anti-collision plate 227 and sends a signal to the intelligent warehousing robot body 100 to stop its movement and prevent the collision from escalating further.

[0036] The foregoing has shown and described the basic principles, main features, and advantages of this utility model. Those skilled in the art should understand that this utility model is not limited to the above embodiments. The embodiments and descriptions in the specification are merely preferred examples and are not intended to limit the utility model. Various changes and modifications can be made to this utility model without departing from its spirit and scope, and all such changes and modifications fall within the scope of the claimed utility model. The scope of protection of this utility model is defined by the appended claims and their equivalents.

Claims

1. A collision-resistant sensor bracket for an intelligent warehousing robot, comprising the intelligent warehousing robot body (100), characterized in that: An auxiliary mechanism (200) is welded to the middle of the rear surface of the intelligent warehousing robot body (100). The auxiliary mechanism (200) includes a clamping mechanism (210) and two symmetrically placed anti-collision mechanisms (220) welded to the left and right sides of the front end of the clamping mechanism (210). The anti-collision mechanism (220) includes an anti-collision frame (221), two sliding sleeves (226) slidably connected to the front and rear ends of the right side surface of the anti-collision frame (221), and an anti-collision plate (227) welded to the right end of the sliding sleeve (226). An auxiliary piece (225) is welded to the left end of the outer surface of the sliding sleeve (226), and a spring (223) is welded to the left side surface of the auxiliary piece (225). A fixed rod (224) is slidably connected inside the sliding sleeve (226). A through hole (228) is opened in the middle of the right side surface of the anti-collision frame (221), and a laser range sensor (222) is installed inside the left end of the through hole (228).

2. The anti-collision sensing bracket for the intelligent warehousing robot as described in claim 1, characterized in that: The right side surface of the anti-collision plate (227) is covered with a rubber pad, and the surface of the rubber pad is provided with anti-slip texture.

3. The anti-collision sensing bracket for the intelligent warehousing robot as described in claim 1, characterized in that: The laser rangefinder (222) and the through hole (228) are located on the same vertical line, and the laser rangefinder (222) is electrically connected to the intelligent warehousing robot body (100).

4. The anti-collision sensing bracket for the intelligent warehousing robot as described in claim 1, characterized in that: The clamping mechanism (210) includes a fixed block (211) welded to the middle position of the side surface of the intelligent warehousing robot body (100), a threaded rod (214) rotatably connected to the lower middle position of the side surface of the fixed block (211), two moving plates (212) threadedly connected to both ends of the threaded rod (214), and a clamping plate (213) welded to the outer surface of each moving plate (212). A driven gear (218) is fixedly installed in the middle position of the threaded rod (214). A support plate (215) is welded to the left end of the lower surface of the fixed block (211). A motor (216) is fixedly installed on the lower surface of the support plate (215). The output shaft of the motor (216) is coaxially connected to a drive gear (217).

5. The anti-collision sensing bracket for the intelligent warehousing robot as described in claim 4, characterized in that: The fixed rod (224) and the laser range sensor (222) are both fixedly installed on the front surface of the movable plate (212). The movable plate (212) has an overall L-shaped structure, and a movable piece that is threadedly connected to the threaded rod (214) is welded to the right end of the front surface of the movable plate (212).

6. The anti-collision sensing bracket for the intelligent warehousing robot as described in claim 4, characterized in that: The lower surface of the fixed block (211) has a cavity for the driven gear (218) to be accommodated, and the driving gear (217) meshes with the driven gear (218).

7. The anti-collision sensing bracket for the intelligent warehousing robot as described in claim 4, characterized in that: The horizontal plane at the lowest point of the motor (216) is located above the horizontal plane at the lowest point of the wheel set at the lower end of the intelligent warehousing robot body (100), and the threaded rod (214) is a bidirectional threaded rod.

8. The anti-collision sensing bracket for the intelligent warehousing robot as described in claim 4, characterized in that: The front surface of the anti-collision plate (227) is located at the front end of the front surface of the fixing block (211). When no external force is applied, the spring (223) is in a compressed state.

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