A goods retrieval robot

Abstract

The application discloses a kind of goods taking robots, comprising: frame, mobile assembly is provided on frame, mobile assembly drives frame to move;Up-down moving mechanism, up-down moving mechanism is arranged on frame along up-down direction;Front-back moving mechanism, front-back moving mechanism is arranged on frame along front-back direction, and front-back moving mechanism moves along up-down direction by the drive of up-down moving mechanism;Taking department, taking department is arranged on front-back moving mechanism, and taking department moves along front-back direction by the drive of front-back moving mechanism;The taking department for taking and placing carrier by front-back movement and up-down movement, wherein commodity is placed on shelf by carrier.Solve the process that robot is taken and placed commodity by using 6-axis mechanical arm in prior art, cause the cost of entire goods taking robot high problem, and have the advantages that taking and placing success rate is close to 100%.

Description

Technical Field

[0001] This application relates to the field of robotics, and more particularly to a pickup robot. Background Technology

[0002] In the current market, some products on e-commerce platforms need to be sold in sets, such as cosmetics, which often include many categories and vary in shape. When fulfilling orders in offline distribution warehouses, the different shapes of various products must be taken into account, so visual robots are often used for order fulfillment.

[0003] Existing picking robots require highly flexible robotic arms, such as 6-axis robotic arms, to pick up goods. These arms can move forward, backward, left, right, and up, as well as rotate around the top, bottom, left, right, and front and back. Like a human arm, such robotic arms can achieve different angles and positions, thus enabling them to grasp different types of goods. However, the control and structure of a 6-axis robotic arm are very precise, resulting in high costs for the entire picking robot and making it difficult to meet market demands.

[0004] Therefore, existing technologies still need to be improved and developed. Utility Model Content

[0005] In view of the shortcomings of the prior art, the purpose of this application is to provide a pickup robot that solves the problem of high cost of the entire pickup robot caused by using a 6-axis robotic arm to pick up and place goods.

[0006] The technical solution of this application is as follows: This application proposes a pickup robot, including: a frame, on which a moving component is provided, and the moving component drives the frame to move; A vertical moving mechanism is installed on the frame along the vertical direction. The forward and backward moving mechanism is set on the frame in the forward and backward direction, and moves in the up and down direction by being driven by the up and down moving mechanism. The object-grabbing unit is mounted on the forward and backward moving mechanism and moves in the forward and backward direction by being driven by the forward and backward moving mechanism. The retrieval section, which moves back and forth and up and down, is used to pick up and place goods on the shelf via the carrier.

[0007] Optionally, the up-and-down moving mechanism includes: a synchronous belt, the upper and lower ends of which are respectively fixed to the frame; The movable support frame is mounted on the frame in a vertical direction. The first drive motor is mounted on the movable bracket. Synchronous pulley, the synchronous pulley is mounted on the shaft of the first drive motor and meshes with the synchronous belt; The synchronous pulley moves on the synchronous belt driven by the first drive motor, thereby driving the movable bracket to move along the frame.

[0008] Optionally, two tensioning wheels are spaced apart and rotatably arranged on the movable bracket along the vertical direction. The two tensioning wheels are located on the upper and lower sides of the synchronous belt pulley, respectively. Both the tensioning wheels and the synchronous belt pulley have a first side and a second side that are opposite to each other in the left and right direction. The timing belt overlaps on the first side of the two tension pulleys and is fitted onto the second side of the timing belt pulley.

[0009] Optionally, the frame includes a central column, and the two ends of the synchronous belt are respectively fixed to the central column; A first guide rail is provided on the middle column along the vertical direction, and a first slider is provided on the movable bracket. The first slider is slidably connected to the first guide rail.

[0010] Optionally, the forward and backward moving mechanism includes: a second drive motor, which is mounted on the movable bracket; The gear is connected to the shaft of the second drive motor; A rack is movably mounted on a movable support in the front-to-back direction and meshes with a gear; A support plate is mounted on a rack, and the object-taking part is located at one end of the support plate in the front-rear direction.

[0011] Optionally, a second guide rail is provided on the support plate, and the second guide rail is arranged parallel to the rack; The movable support is equipped with a second slide, and the second guide rail is slidably mounted on the second slide.

[0012] Optionally, the movable support includes: a first support plate, which is movably mounted on the frame, and a first drive motor connected to the first support plate; The second support plate is vertically connected to the first support plate, and the forward and backward moving mechanism is set on the second support plate.

[0013] Optionally, the retrieval unit includes a fixed cantilever hook, which is mounted on the forward and backward moving mechanism; Alternatively, the object-retrieving part may include a movable bionic robotic arm, which is mounted on a forward and backward moving mechanism.

[0014] Optionally, the frame includes: an outer support frame that encloses a storage space, with at least one side of the storage space in the front-rear direction forming an opening; The vertical moving mechanism is located within the storage space, and the retrieval part extends or retracts from the opening through the drive of the front and rear moving mechanism.

[0015] Optionally, the movable component is located at the bottom or top of the frame; The moving components include: a walking drive motor, which is located at the bottom of the frame; The drive wheel is connected to the shaft of the drive motor. The auxiliary wheels are rotatably connected to the bottom of the frame. The drive wheels are located on the front and rear sides of the frame.

[0016] The beneficial effects of the picking robot provided in this application are at least as follows: the entire picking robot can move by a moving component on the frame. The picking unit is driven by a vertical and horizontal moving mechanism, allowing for both vertical and horizontal movement. When all goods are placed on the shelf with uniform accessories at uniform distances, the picking unit, moving vertically and horizontally, is used to pick up and place the goods. Therefore, this picking robot only needs to accurately control the vertical and horizontal distances to accurately pick up and place the corresponding accessories. With all goods using uniform accessories, the robot's picking structure only needs to perform vertical and horizontal movements, and there is no need for complex control of the robot's arm shape. This simplifies the robot's picking structure, greatly increasing the stability of picking up and placing goods, increasing the success rate to almost 100%, and significantly reducing the cost of the picking robot, making its practical application in offline distribution warehouses possible. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the structure of a pickup robot according to an embodiment of this application; Figure 2 This is a schematic diagram of the vertical and horizontal movement mechanism and the forward and backward movement mechanism of a pickup robot according to an embodiment of this application. Figure 3 This is an exploded view of the vertical and horizontal movement mechanisms and the forward and backward movement mechanisms of a pickup robot according to an embodiment of this application. Figure 4 This is a schematic diagram of the vertical and horizontal movement mechanisms and the forward and backward movement mechanisms of a pickup robot according to an embodiment of this application; Figure 5 This is an exploded view from another perspective of the vertical and horizontal movement mechanisms and the forward and backward movement mechanisms of a pickup robot according to an embodiment of this application. Figure 6 This is a schematic diagram illustrating different forms of the picking unit of a picking robot according to an embodiment of this application, wherein... Figure 6 Figure (a) shows a schematic diagram of the bionic robotic arm in use. Figure 6 Figure (b) is a schematic diagram of the cantilever hook in use.

[0018] The following are the labels in the diagram: 100, frame; 110, outer support frame; 111, bottom frame; 112, side column; 113, top frame; 114, middle column; 115, first guide rail; 116, first slider; 120, moving component; 121, drive wheel; 122, walking drive motor; 123, auxiliary wheel; 130, retraction space; 131, opening; 200, up-and-down moving mechanism; 210, synchronous belt; 220, movable support; 221, first support plate; 222, main panel; 223, connecting crank plate; 224, side guard plate. ; 225. Reinforcing rib plate; 226. Second support plate; 230. First drive motor; 240. Synchronous belt pulley; 241. Upper belt gap; 242. Lower belt gap; 250. Tensioning wheel; 251. Wheel seat; 300. Forward and backward moving mechanism; 310. Second drive motor; 320. Gear; 330. Rack; 340. Supporting cross plate; 341. Second slide table; 342. Second guide rail; 400. Lifting part; 410. Cantilever hook; 411. Picking and placing slot; 420. Bionic manipulator; 500. Carrier; 510. Hanging rope. Detailed Implementation

[0019] This application provides a pickup robot. To make the purpose, technical solution, and effects of this application clearer and more explicit, the following detailed description is provided with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are merely illustrative and are not intended to limit the scope of this application.

[0020] It should be noted that in annotations, leader lines with arrows represent non-solid areas such as holes and slots, or non-specific solid features such as higher-level features, or specific directions. Leader lines without arrows represent solid features or specific lower-level features.

[0021] When a component is referred to as "fixed to" or "set on" another component, it may be directly or indirectly located on that other component. When a component is referred to as "connected to" another component, it may be directly or indirectly connected to that other component. The terms "upper," "lower," "left," "right," "front," "rear," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicate the orientation or position based on the accompanying drawings, and are for ease of description only, and should not be construed as limiting the technical solution. The terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features. "A plurality of" means two or more, unless otherwise explicitly defined.

[0022] like Figure 1 , Figure 2As shown, this embodiment proposes a picking robot for retrieving or placing goods on shelves in a warehouse. The picking robot mainly includes: a frame 100, a vertical moving mechanism 200, a horizontal moving mechanism 300, and a picking unit 400. The frame 100 can adopt a frame structure or a seat structure. Since vertical movement is required during the picking process, a frame structure provides better stability. This embodiment uses a frame structure as an example for structural description. The frame 100 has a vertical direction and two horizontal directions: a horizontal direction and a vertical direction. A moving component 120 is provided on the frame 100, which drives the frame 100 to move. The moving component 120 can also drive the frame 100 to move horizontally. For example, when the shelves are arranged horizontally, the frame 100, moving horizontally, can retrieve or place goods on shelves at different locations. The moving component 120 can also drive the frame 100 to move in the front-to-back direction, or it can enable the frame 100 to move in the left-to-right and front-to-back directions to achieve steering, etc. The up-and-down moving mechanism 200 is mounted on the frame 100 in the up-and-down direction, providing the power for up-and-down movement. The front-to-back moving mechanism 300 is mounted on the frame 100 in the front-to-back direction, moving in the up-and-down direction driven by the up-and-down moving mechanism 200, and providing the power for front-to-back movement. The picking unit 400 is mounted on the front-to-back moving mechanism 300, moving in the front-to-back direction driven by the front-to-back moving mechanism 300. When this picking robot is in use, goods are placed on the shelf using a uniform carrier 500. This allows for predictable height of goods on the shelf and predictable spacing between goods using the carriers. Furthermore, the picking and placing methods of the carriers 500 are the same, thus achieving standardized placement of different types of goods on the shelf. The carrier 500 can be a hanging rope 510, a packaging bag, or a packaging box. Taking the hanging rope 510 as an example, when the goods are uniformly hung on the shelf by the hanging rope 510, under the positioning action of the left and right moving component 120, the picking part 400, which moves back and forth and up and down, is used to pick up and put down the carrier 500, which greatly increases the stability of picking up and putting down the goods. By using the robot to pick up and put down the goods, the success rate of picking up and putting down the goods is greatly increased, and the success rate of picking up and putting down the goods is almost 100%.

[0023] The picking robot in this embodiment can move by the moving component 120 on the frame 100. The picking unit 400 is driven by the up-and-down moving mechanism 200 and the forward-and-backward moving mechanism 300, allowing it to move forward-and-backward and up-and-down. When all goods are placed on the shelf with uniform accessories at uniform distances, the picking unit 400, moving forward-and-backward and up-and-down, is used to pick up and place the goods. Therefore, this picking robot only needs to accurately control the forward-and-backward and up-and-down distances to accurately pick up and place the accessories corresponding to the goods. With all goods using uniform accessories, the robot's picking and placing structure only needs to complete up-and-down and forward-and-backward movements. Complex control of the robot's arm shape is also unnecessary, simplifying the picking and placing structure, greatly reducing the cost of the picking robot, and making the practical application of offline distribution warehouses possible.

[0024] like Figure 1 As shown, further, the frame 100 in this embodiment specifically includes an outer support frame 110, which encloses a storage space 130. At least one side of the storage space 130 in the front-back direction forms an opening 131, for example, the opening 131 faces forward. A vertical movement mechanism 200 is disposed within the storage space 130, and the retrieval part 400 extends or retracts from the opening 131 via the drive of the front-back movement mechanism 300. Specifically, the outer support frame 110 is constructed using profiles, primarily forming a bottom square frame 111. Side pillars 112 are vertically fixed at the four corners of the bottom square frame 111, and a top square frame 113 is formed at the top of the four side pillars 112. The entire internal area enclosed by the outer support frame 110 is the storage space 130, thus forming a stable outer support frame 110. A middle pillar 114 is fixed vertically within the storage space 130; the middle pillar 114 can also be made of profiles. The central column 114 provides a stable support structure for the vertical moving mechanism 200 and also provides stable support for the external support frame 110, thereby improving the load-bearing capacity.

[0025] like Figure 1As shown, the moving component 120 is further disposed at the bottom or top of the frame 100. This embodiment uses the bottom of the outer support frame as an example for structural description. The moving component 120 specifically includes two drive wheels 121, which are respectively connected to two travel drive motors 122. The two travel drive motors 122 can be stepper motors or servo motors, enabling precise rotation control and facilitating accurate calculation of the travel distance. The two travel drive motors 122 are disposed on opposite sides of the bottom of the frame 100 via a fixing plate, for example, the front and rear sides. Thus, the two drive wheels 121 are located on the front and rear sides respectively, driving the frame 100 to move in the left and right directions. In the specific structure, the fixing plate can be vertically disposed, with the travel drive motors 122 fixed to the fixing plate in the front-rear direction. The drive wheels 121 are fixed to the rotating shafts of the travel drive motors 122. Driven by the travel drive motors 122, the drive wheels 121 rotate in the front-rear direction, thereby realizing the left and right movement of the frame 100. In addition, to achieve more stable support, auxiliary wheels 123 can be installed on the left and right sides, with the auxiliary wheels 123 rotatably connected to the bottom of the frame 100 in the left-right direction. In this way, the frame 100 is supported by four wheels at the bottom, ensuring the stability of the frame 100 during movement.

[0026] like Figure 2 , Figure 3 , Figure 4 As shown, the vertical moving mechanism 200 of this embodiment further includes: a synchronous belt 210, a movable bracket 220, a first drive motor 230, and a synchronous pulley 240. The upper and lower ends of the synchronous belt 210 are respectively fixed to the middle column 114 of the frame 100. The movable bracket 220 is movably mounted on the frame 100 in the vertical direction, allowing it to move up and down. The first drive motor 230 is mounted on the movable bracket 220. The synchronous pulley 240 is mounted on the shaft of the first drive motor 230 and meshes with the synchronous belt 210. The synchronous pulley 240 moves on the synchronous belt 210 under the drive of the first drive motor 230, thereby moving the movable bracket 220 along the frame 100. Specifically, a first guide rail 115 is provided on the middle column 114 in the vertical direction, extending a predetermined length in the vertical direction. A first slider 116 is slidably mounted on the first guide rail 115, and the first slider 116 is fixed to the movable bracket 220. Thus, with the cooperation of the first slider 116 and the first guide rail 115, the movable bracket 220 can move stably in a straight line in the up and down direction.

[0027] like Figure 3 , Figure 4 , Figure 5As shown, two tensioning pulleys 250 are rotatably and vertically spaced on the side of the movable bracket 220 facing the first guide rail 115. The two tensioning pulleys 250 are located on the upper and lower sides of the synchronous pulley 240, respectively. Both the tensioning pulleys 250 and the synchronous pulley 240 have a first side and a second side that are opposite each other in the left-right direction. The synchronous belt 210 overlaps the first side of the two tensioning pulleys 250 and is sleeved on the second side of the synchronous pulley 240. In the specific structure, an upper belt-passing gap 241 is formed between the upper tensioning pulley 250 and the synchronous pulley 240, and a lower belt-passing gap 242 is formed between the lower tensioning pulley 250 and the synchronous pulley 240. The fixed synchronous belt 210 passes through the upper belt-passing gap 241, thereby overlapping the left side of the upper tensioning pulley 250, and then passes out through the lower belt-passing gap 242 in the lower direction, overlapping the right side of the synchronous pulley 240, and finally overlapping the left side of the lower tensioning pulley 250. This ensures that the toothed side of the synchronous belt 210 meshes with the synchronous pulley 240, while the toothless side abuts against the two tension pulleys 250. Furthermore, when the first drive motor 230 starts, it drives the synchronous pulley 240 to rotate, allowing the pulley 240 to move on the synchronous belt 210, thus enabling the entire movable support 220 to move up and down.

[0028] like Figure 3 , Figure 4 , Figure 5 As shown, the movable bracket 220 in this embodiment specifically includes: a first support plate 221 and a second support plate 226. The first support plate 221 is movably mounted on the frame 100, and the second support plate 226 is vertically connected to the first support plate 221. Thus, the first support plate 221 and the second support plate 226 form an L-shaped structure. A first slider 116 is fixed to the front side of the first support plate 221. A central column 114 and a first guide rail 115 are located on the front side of the first support plate 221. A first drive motor 230 is connected to the first support plate 221, and the shaft of the first drive motor 230 passes through the first support plate 221 and faces the central column 114, thereby positioning the synchronous pulley 240 connected to the shaft on the front side of the first support plate 221. The first support plate 221 is configured in a "U" shape, having a main panel 222 protruding towards the front, side plates 224 located on both sides of the main panel 222, and a connecting crank plate 223 connecting the main panel 222 and the side plates 224. There is a reinforcing rib 225 between the side plate 224 and the main panel 222, which makes the first support plate 221 structure stronger in load-bearing capacity. The first drive motor 230 is fixed on the main panel 222 to provide more stable support for the first drive motor 230.

[0029] Furthermore, oblong holes can be made on both the perpendicular connecting crank plate 223 and the side plate 224, allowing for two-way fixation of the tensioning wheel 250's seat 251 on both the upper and lower sides. Specifically, the tensioning wheel 250 is rotatably mounted on the seat 251 via bearings. Threaded holes can be provided on two adjacent surfaces of the seat 251, so that the threaded holes on different surfaces of the seat 251 correspond to the oblong holes on the connecting crank plate 223 and the side plate 224, respectively. Screws are driven through the oblong holes in two perpendicular directions to fix the seat 251, preventing the tensioning wheel 250 from loosening.

[0030] like Figure 2 , Figure 4 , Figure 5 As shown, the second support plate 226 is located to the right of the central column 114 and extends forward by a predetermined length. In this way, the central column 114 is enclosed within the semi-enclosed L-shaped area formed by the first support plate 221 and the second support plate 226, making the structure more compact and optimizing the structural space.

[0031] like Figure 3 , Figure 4 , Figure 5 As shown, the forward and backward moving mechanism 300 is mounted on the second support plate 226. Specifically, the forward and backward moving mechanism 300 includes a second drive motor 310, a gear 320, a rack 330, and a support plate 340. The second drive motor 310 is fixed to the second support plate 226 of the movable bracket 220 and is positioned in the left-right direction, with its rotating shaft passing through the second support plate 226. The gear 320 is located on the right side of the second support plate 226 and is fixedly connected to the rotating shaft. This fixes the second drive motor 310, placing it in front of the central column 114, resulting in a more compact structure. A second slide table 341 is fixed to the right side of the second support plate 226, and a second guide rail 342 is fitted to the second slide table 341. The second guide rail 342 is slidably mounted on the second slide table 341. The second guide rail 342 is fixed to the support plate 340. The rack 330 extends a predetermined length in the forward and backward direction and meshes with the gear 320. The second guide rail 342 is parallel to the rack 330.

[0032] like Figure 1 , Figure 2 , Figure 6 As shown, the picking part 400 is located at one end of the support plate 340 in the front-back direction. Therefore, when the second drive motor 310 drives the gear 320 to rotate, the second rack 330 is driven to move in the front-back direction and drives the support plate 340 to move back and forth. Since the picking part 400 is fixed to the front end of the support plate 340, the picking part 400 can move back and forth under the drive of the support plate 340.

[0033] like Figure 6 As shown in Figure (b), the retrieval unit 400 of this embodiment can take various forms. The first form of the retrieval unit 400 includes a fixed cantilever hook 410, which is mounted on the forward and backward moving mechanism 300. In the specific structure, an upward-facing retrieval groove 411 is formed on the cantilever hook 410, and the rear end of the cantilever hook 410 is fixed to the support cross plate 340, so that the cantilever hook 410 can move up and down and forward and backward to complete the retrieval and placement of the hanging rope 510.

[0034] like Figure 6 As shown in Figure (a), the second type of object-grabbing unit 400 includes a movable bionic robotic arm 420, which is mounted on the forward and backward moving mechanism 300. The bionic robotic arm 420 can be controlled by the system to perform various grasping and picking actions.

[0035] It should be understood that the application of this application is not limited to the examples above. Those skilled in the art can make improvements or modifications based on the above description, and all such improvements and modifications should fall within the protection scope of the appended claims.

Claims

1. A pickup robot, characterized in that, include: A frame, on which a movable component is provided, the movable component driving the frame to move; A vertical moving mechanism is provided on the frame in the vertical direction; A forward and backward moving mechanism is provided on the frame in the forward and backward direction, and the forward and backward moving mechanism moves in the up and down direction by being driven by the up and down moving mechanism; The object-grabbing part is disposed on the front-back moving mechanism and moves in the front-back direction by being driven by the front-back moving mechanism. The picking unit, which moves back and forth and up and down, is used to pick up and place goods on a shelf via the carrier.

2. The pickup robot according to claim 1, characterized in that, The up-and-down moving mechanism includes a synchronous belt, the upper and lower ends of which are respectively fixed to the frame. A movable support frame is movably mounted on the frame in the vertical direction. A first drive motor is mounted on the movable bracket. A synchronous pulley is mounted on the shaft of the first drive motor and meshes with the synchronous belt; The synchronous pulley moves on the synchronous belt under the drive of the first drive motor, thereby driving the movable bracket to move along the frame.

3. The pickup robot according to claim 2, characterized in that, The movable bracket is provided with two tensioning wheels spaced apart and rotatably along the vertical direction. The two tensioning wheels are located on the upper and lower sides of the synchronous belt pulley, respectively. Both the tensioning wheels and the synchronous belt pulley have a first side and a second side that are opposite to each other in the left and right direction. The synchronous belt overlaps on the first side of the two tensioning pulleys and is fitted onto the second side of the synchronous belt pulley.

4. The pickup robot according to claim 2, characterized in that, The frame includes a central column, and the two ends of the synchronous belt are respectively fixed on the central column; The central column is provided with a first guide rail along the vertical direction, and the movable bracket is provided with a first slider, which is slidably connected to the first guide rail.

5. The pickup robot according to claim 2, characterized in that, The forward and backward moving mechanism includes: a second drive motor, which is mounted on the movable bracket; A gear, which is connected to the shaft of the second drive motor; A rack, which is movably mounted on the movable bracket in the front-to-back direction and meshes with the gear; A support plate is provided, which is mounted on the rack, and the object-taking part is located at one end of the support plate in the front-rear direction.

6. The pickup robot according to claim 5, characterized in that, The support plate is provided with a second guide rail, which is arranged parallel to the rack. The movable support is provided with a second slide, and the second guide rail is slidably mounted on the second slide.

7. The pickup robot according to claim 5, characterized in that, The movable support includes: a first support plate, which is movably mounted on the frame, and a first drive motor connected to the first support plate; The second support plate is vertically connected to the first support plate, and the forward and backward moving mechanism is disposed on the second support plate.

8. The pickup robot according to claim 1, characterized in that, The object retrieval unit includes a fixed cantilever hook, which is mounted on the front and rear moving mechanism. Alternatively, the object-grabbing unit may include a movable bionic robotic arm, which is mounted on the forward and backward moving mechanism.

9. The pickup robot according to claim 1, characterized in that, The frame includes: an outer support frame that encloses a storage space, and at least one side of the storage space in the front-back direction forms an opening; The up-and-down moving mechanism is located within the storage space, and the retrieval part extends or retracts from the opening by being driven by the front-and-back moving mechanism.

10. The pickup robot according to claim 1, characterized in that, The movable component is located at the bottom or top of the frame; The moving component includes: a walking drive motor, which is disposed at the bottom of the frame; A drive wheel, which is connected to the shaft of the walking drive motor; Auxiliary wheels are rotatably connected to the bottom of the frame. The drive wheels are located on the front and rear sides of the frame.

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