CN110654804A - Automatic loading and unloading system of logistics robot - Google Patents

Automatic loading and unloading system of logistics robot Download PDF

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Publication number
CN110654804A
CN110654804A CN201910952659.XA CN201910952659A CN110654804A CN 110654804 A CN110654804 A CN 110654804A CN 201910952659 A CN201910952659 A CN 201910952659A CN 110654804 A CN110654804 A CN 110654804A
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CN
China
Prior art keywords
support
driving rod
scissor
driving
feeding belt
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN201910952659.XA
Other languages
Chinese (zh)
Inventor
刘元恒
艾山
陈晓聪
方中阳
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Guangzhou University
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Guangzhou University
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Guangzhou University filed Critical Guangzhou University
Priority to CN201910952659.XA priority Critical patent/CN110654804A/en
Publication of CN110654804A publication Critical patent/CN110654804A/en
Pending legal-status Critical Current

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65GTRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G41/00Supporting frames or bases for conveyors as a whole, e.g. transportable conveyor frames
    • B65G41/001Supporting frames or bases for conveyors as a whole, e.g. transportable conveyor frames with the conveyor adjustably mounted on the supporting frame or base
    • B65G41/003Supporting frames or bases for conveyors as a whole, e.g. transportable conveyor frames with the conveyor adjustably mounted on the supporting frame or base mounted for linear movement only
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65GTRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G41/00Supporting frames or bases for conveyors as a whole, e.g. transportable conveyor frames
    • B65G41/007Means for moving conveyor frames and control arrangements therefor
    • B65G41/008Means for moving conveyor frames and control arrangements therefor frames mounted on wheels or caterpillar
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65GTRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90Devices for picking-up and depositing articles or materials
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65GTRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G67/00Loading or unloading vehicles
    • B65G67/02Loading or unloading land vehicles
    • B65G67/04Loading land vehicles
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65GTRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G67/00Loading or unloading vehicles
    • B65G67/02Loading or unloading land vehicles
    • B65G67/24Unloading land vehicles

Abstract

The invention relates to an automatic loading and unloading system of a logistics robot, which comprises a transportation mechanism, a lifting mechanism arranged on the transportation mechanism, a bracket arranged on the lifting mechanism, a conveying mechanism and a loading and unloading mechanical arm mechanism, wherein the conveying mechanism and the loading and unloading mechanical arm mechanism are both arranged on the bracket; one part of the support is arranged on the lifting mechanism, the other part of the support is suspended, the loading and unloading mechanical arm mechanism is arranged at the tail end of the suspended part of the support, the conveying mechanism comprises a driving motor arranged on the support, a driving wheel arranged on the output end of the driving motor, a driven wheel and a tightening wheel which are arranged on the support in a uniform rotating mode, and a feeding belt sleeved on the driving wheel and the driven wheel; the tightening wheel is located below the feeding belt and extrudes the lower surface of the belt, support columns and guardrail belts are arranged on two sides of the support, the support columns are fixed on the support, the guardrail belts are fixed on the support columns, and the guardrail belts are located on two sides of the feeding belt. The invention can realize automatic loading and unloading of containers and container trucks, and belongs to the technical field of logistics application robots.

Description

Automatic loading and unloading system of logistics robot
Technical Field
The invention relates to the technical field of logistics robots, in particular to an automatic loading and unloading system of a logistics robot.
Background
At present, cargo container loading still needs to be finished manually in the logistics transportation market, wastes time and labor, and can not meet the efficient demand of logistics transportation. The automatic loading and unloading system comprises an automatic warehousing system, aims at the regulated goods and the regulated goods shelves, and cannot meet the application scenes of irregular goods, unfixed positions and no goods shelf stacking in the logistics industry; the other automatic loading and unloading system is a mechanical arm loading and unloading system applied to a production line, aims at the application of single goods in a fixed space, and cannot meet the application scene that the loading and unloading space is mobile and the goods are irregular in the logistics field. The automatic loading and unloading equipment is applied to the logistics industry, has the characteristics of meeting the requirements of irregular loading and unloading space, unfixed cargo size and flexible movement, and can meet the requirements of the logistics field on the automation of loading and unloading.
Disclosure of Invention
Aiming at the technical problems in the prior art, the invention aims to: the automatic loading and unloading system can meet the loading and unloading requirements of containers and container trucks in the logistics industry, can adapt to the situations of irregular loading and unloading space, unfixed cargo size and the like, and has the characteristics of flexibility, high efficiency and the like.
In order to achieve the purpose, the invention adopts the following technical scheme:
a logistics robot automatic handling system comprises a transportation mechanism, a lifting mechanism arranged on the transportation mechanism, a support arranged on the lifting mechanism, a conveying mechanism and a handling mechanical arm mechanism, wherein the conveying mechanism and the handling mechanical arm mechanism are both arranged on the support; the transportation mechanism comprises a bottom plate and wheels rotatably arranged on the bottom plate; the conveying mechanism comprises a driving motor arranged on the support, a driving wheel arranged on the output end of the driving motor, a driven wheel and a tightening wheel which are arranged on the support in a uniform rotation mode, and a feeding belt sleeved on the driving wheel and the driven wheel; the tightening wheel is located below the feeding belt and extrudes the lower surface of the feeding belt, support columns and guardrail belts are arranged on two sides of the support, the support columns are fixed on the support, the guardrail belts are fixed on the support columns, and the guardrail belts are located on two sides of the feeding belt. The loading and unloading mechanical arm mechanism can be moved into a required unloading space through transportation of the transportation mechanism and adjustment of the lifting mechanism, the loading and unloading mechanical arm mechanism clamps and places the goods on the feeding belt to unload the goods, or the goods are placed on the feeding belt and sent to the loading and unloading mechanical arm mechanism, and the loading and unloading mechanical arm mechanism places the goods into the loading space.
Further, the method comprises the following steps: the automatic loading and unloading system of the logistics robot also comprises a hydraulic support mechanism arranged on the bracket; the hydraulic support mechanism comprises a hydraulic support group, a straight shaft arranged on the hydraulic support group and a support wheel rotatably arranged on the straight shaft; the hydraulic support group comprises a support hydraulic cylinder and a reinforcing rod; the hydraulic support groups are two groups, and the two groups of hydraulic support groups are arranged on two sides of the lower end of the support when viewed along the moving direction of the feeding belt; two ends of the straight shaft are respectively and fixedly connected with output shafts of the supporting hydraulic cylinders of the two groups of hydraulic supporting groups, two supporting wheels are arranged, and the two supporting wheels are respectively and rotatably arranged at two ends of the straight shaft. When the suspended part of the support moves into the loading and unloading space, the hydraulic supporting mechanism can provide support for the suspended part of the support, the suspended end of the support is prevented from collapsing due to too large gravity of goods, and the support wheels at the output end of the supporting hydraulic cylinder can facilitate the position of the support to be adjusted at will in the loading and unloading space.
Further, the method comprises the following steps: all there is a plurality of from the driving wheel with add tight round, and a plurality of is all along feeding belt's direction of motion evenly distributed from the driving wheel with add tight round, and all add tight round all are located feeding belt's below and extrude feeding belt's lower surface, lie in feeding belt and extrude feeding belt's upper surface from the driving wheel. The tightening wheel can increase the pretightening force of the feeding belt, so that the feeding belt is prevented from slipping, and a plurality of driven wheels can improve the supporting force at the upper end of the feeding belt.
Further, the method comprises the following steps: the supporting columns at two ends of the support are uniformly distributed along the moving direction of the feeding belt, the section of the feeding belt is V-shaped when viewed along the moving direction of the feeding belt, and the section of the guardrail belt is arc-shaped; the inner arc surfaces of the guardrail belts positioned at the two sides of the feeding belt are opposite, and the outer arc surfaces of the guardrail belts are tangent to the feeding belt. The cross-section of the feeding belt is V-shaped, and the guardrail belt can prevent goods from falling from two sides of the feeding belt.
Further, the method comprises the following steps: the loading and unloading mechanical arm mechanism comprises a supporting plate, a base fixed on the supporting plate, a rotary table, a first servo motor, a second servo motor, a first swing arm, a second swing arm, a third servo motor and a mechanical arm, wherein the first servo motor and the second servo motor are both arranged on the rotary table; the backup pad is fixed on the end of the unsettled part of support, the vertical setting of first servo motor, first servo motor's output and base fixed connection, the equal level setting of second servo motor and third servo motor and be parallel to each other, the output of second servo motor and third servo motor's output all with first swing arm fixed connection, the end at the second swing arm is installed to the manipulator. The loading and unloading mechanical arm mechanism is flexible in movement, and the mechanical arm can grab goods in any direction and at any angle.
Further, the method comprises the following steps: the supporting plate is provided with a laser radar and a binocular camera. Laser radar and binocular camera can all survey the shape of goods, position isoparametric.
Further, the method comprises the following steps: the automatic loading and unloading system of the logistics robot also comprises a parking stabilizing assembly; the parking stabilizing assembly comprises a fixed rod fixed on the side surface of the bottom plate, a parking hydraulic cylinder fixed on the fixed rod and a sucker arranged at the output end of the parking hydraulic cylinder; the telescopic link vertical setting down of parking pneumatic cylinder and the cylinder body of parking pneumatic cylinder are fixed on the dead lever. When the logistics robot automatic handling system loads and unloads goods, the parking stabilizing assembly can stabilize the logistics robot automatic handling system on the ground, and the logistics robot automatic handling system is prevented from moving.
Further, the method comprises the following steps: the lifting mechanism comprises a first scissor assembly, a second scissor assembly and a driving assembly; the first scissor assembly and the second scissor assembly are respectively arranged at two sides of the advancing direction of the bottom plate and respectively comprise a plurality of layers of scissor units which are sequentially connected from top to bottom; the shearing fork unit comprises an inner shearing fork arm and an outer shearing fork arm; one end of the inner scissor arm and one end of the outer scissor arm at the lowest end are hinged with the bottom plate, one end of the inner scissor arm and one end of the outer scissor arm at the highest end are hinged with the support, one end of the other inner scissor arm and one end of the other outer scissor arm are hinged with one end of the outer scissor arm and one end of the inner scissor arm of the adjacent layer respectively, the inner scissor arm and the outer scissor arm of the scissor unit of the same layer are hinged with each other at the middle part, and the driving assembly comprises a first driving rod, a second driving rod, a third driving rod, a fourth driving rod, a first driving hydraulic cylinder and a second driving hydraulic cylinder; the two ends of the first driving rod, the second driving rod, the third driving rod and the fourth driving rod are respectively and fixedly connected with the inner scissor arms on the same layer number in the first scissor assembly and the second scissor assembly, the first driving rod, the second driving rod, the third driving rod and the fourth driving rod are sequentially arranged in parallel from top to bottom, the two ends of the first driving rod are fixed on the inner scissor arm at the uppermost end, the two ends of the fourth driving rod are fixed on the inner scissor arm at the lowermost end, and the first driving rod and the third driving rod are positioned at the left end of the inner scissor arm, and the second driving rod and the fourth driving rod are positioned at the right end of the inner scissor arm when viewed along the axial direction of the first driving rod, the second driving rod, the third driving rod and the fourth driving rod; the cylinder body of the first driving hydraulic cylinder is fixed on the second driving rod, the output end of the first driving hydraulic cylinder is fixed on the first driving rod, the cylinder body of the second driving hydraulic cylinder is fixed on the fourth driving rod, and the output end of the second driving hydraulic cylinder is fixed on the third driving rod. The lifting mechanism can drive the support, the loading and unloading mechanical arm mechanism on the support and the conveying mechanism to reach proper heights.
Further, the method comprises the following steps: the moving directions of the wheels, the feeding belt and the supporting wheels are the same, and the loading and unloading mechanical arm mechanism is positioned at the tail end of the feeding belt. The automatic loading and unloading system of the logistics robot is convenient to control to move into the loading and unloading space.
Further, the method comprises the following steps: the bottom plate is provided with a dragging handle which is positioned at the front end of the advancing direction of the bottom plate, and the tail end of the dragging handle is provided with a holding ring. The automatic loading and unloading system of the logistics robot can be conveniently dragged to move by workers.
In summary, the present invention has the following advantages:
the invention discloses an automatic loading and unloading system of a logistics robot, which can meet the loading and unloading requirements of containers and container trucks in the logistics industry and overcome the problems of irregular loading and unloading space, unfixed cargo size and the like. Due to the adoption of a vehicle-mounted mode, the device can be flexibly moved, and the characteristic that the position of the logistics vehicle is not fixed is met. The lifting mechanism adopts a hydraulic adjustable mode, can flexibly change the heights of the conveying mechanism and the manipulator, and can meet the loading and unloading requirements of different logistics vehicles. The movable angle of the manipulator is flexible, and the limit of the limited space in the container truck can be met. The suspended part of the bracket is supported by a hydraulic wheel, and the bracket can extend into a loading and unloading space and can also bear a mechanical arm to grab goods with different weights. Laser radar and two mesh cameras are monitored the loading and unloading process in real time, make the manipulator snatch more fast firm, fix a position more accurately. The conveying mechanism, the loading and unloading mechanical arm mechanism, the laser radar and the binocular camera are fixed on the same mechanical structure, and the positions of the conveying mechanism, the loading and unloading mechanical arm mechanism, the laser radar and the binocular camera are fixed relative to coordinates, so that the space detection, the positioning and the path planning are very convenient.
Drawings
Fig. 1 is a left side view of the logistics robot auto-loading and unloading system.
Fig. 2 is a schematic structural view of the logistics robot automatic loading and unloading system.
Fig. 3 is a schematic structural view of the transfer mechanism and the loading and unloading robot arm mechanism.
Fig. 4 is an enlarged view at a in fig. 3.
Fig. 5 is a left side view of the transport mechanism and the lift mechanism.
Fig. 6 is a front view of the transport mechanism and the lift mechanism.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and detailed description.
To facilitate a uniform view of the various reference numbers within the drawings, reference numbers appearing in the drawings are now described collectively as follows:
1 is a bracket, 2 is a loading and unloading mechanical arm mechanism, 3 is a bottom plate, 4 is a wheel, 5 is a driving motor, 6 is a driving wheel, 7 is a driven wheel, 8 is a clamping wheel, 9 is a feeding belt, 10 is a supporting column, 11 is a guardrail belt, 12 is a hydraulic supporting mechanism, 13 is a hydraulic supporting group, 14 is a straight shaft, 15 is a supporting wheel, 16 is a supporting hydraulic cylinder, 17 is a reinforcing rod, 18 is a supporting plate, 19 is a base, 20 is a turntable, 21 is a first servo motor, 22 is a second servo motor, 23 is a first swing arm, 24 is a second swing arm, 25 is a third servo motor, 26 is a mechanical arm, 27 is a parking stabilizing component, 28 is a fixing rod, 29 is a parking hydraulic cylinder, 30 is a suction cup, 31 is a first scissor component, 32 is a second scissor component, 33 is a driving component, 34 is a scissor unit, 35 is an inner scissor driving rod arm, 36 is an outer scissor arm, 37 is a first scissor arm, reference numeral 38 denotes a second driving lever, 39 denotes a third driving lever, 40 denotes a fourth driving lever, 41 denotes a first driving cylinder, 42 denotes a second driving cylinder, 43 denotes a drag handle, 44 denotes a grip ring, 45 denotes a control box, 46 denotes a laser radar, 47 denotes a binocular camera, and 48 denotes a lifting mechanism.
For ease of description, the orientations described below will now be described as follows: the up-down direction described below coincides with the up-down direction in fig. 1, the front-back direction coincides with the left-right direction in fig. 1, and the left-right direction coincides with the front-back direction in the projection orientation in fig. 1.
Referring to fig. 1, 2, 3 and 4, an automatic loading and unloading system of a logistics robot includes a transportation mechanism, a lifting mechanism installed on the transportation mechanism, a support installed on the lifting mechanism, a conveying mechanism and a loading and unloading mechanical arm mechanism both installed on the support; the conveying mechanism can drive the lifting mechanism, the support, the conveying mechanism and the loading and unloading mechanical arm mechanism to move. The transportation mechanism comprises a bottom plate and wheels rotatably arranged on the bottom plate; the wheels are four and are rotatably arranged on the lower surface of the bottom plate. The lifting mechanism is arranged on the bottom plate, the support is a frame, one part (the front part) of the support is arranged on the lifting mechanism, the other part (the rear part) of the support is suspended, and the loading and unloading mechanical arm mechanism is arranged at the tail end (the rearmost end) of the suspended part of the support. The conveying mechanism comprises a driving motor arranged on the support, a driving wheel arranged on the output end of the driving motor, a driven wheel and a tightening wheel which are arranged on the support in a uniform rotation mode, and a feeding belt sleeved on the driving wheel and the driven wheel; the feeding belt is annular, the driving wheel and the driven wheel are provided with wheel teeth, the feeding belt is provided with wheel teeth, the driving wheel and the driven wheel are both positioned in the feeding belt, and the wheel teeth of the driving wheel and the driven wheel are matched with the wheel teeth of the feeding belt. The tightening wheel is located below the feeding belt and extrudes the lower surface of the feeding belt, and the tightening wheel can increase the pretightening force of the feeding belt and prevent the feeding belt from slipping. The both sides (the left and right sides) of support all are equipped with support column and guardrail area, and the support column is vertical to be fixed on the support, and the guardrail area is fixed on the support column, and the guardrail area is located feeding belt's both sides (the left and right sides), and the guardrail area prevents that the goods from dropping from feeding belt's both sides (the left and right sides). When the container is in work, the wheels drive the lifting mechanism, the conveying mechanism and the loading and unloading mechanical arm mechanism to move, and the loading and unloading mechanical arm mechanism and part of the conveying mechanism can enter the container.
The automatic loading and unloading system of the logistics robot also comprises a hydraulic support mechanism arranged on the bracket; the hydraulic support mechanism comprises a hydraulic support group, a straight shaft arranged on the hydraulic support group and a support wheel rotatably arranged on the straight shaft; the hydraulic support group comprises a support hydraulic cylinder and a reinforcing rod; the support hydraulic cylinder is vertically arranged, a cylinder body of the support hydraulic cylinder is fixed on the lower surface of the support, the reinforcing rods are obliquely arranged, one ends of the reinforcing rods are fixedly connected with the lower surface of the support, the other ends of the reinforcing rods are fixedly connected with the cylinder body of the support hydraulic cylinder, two groups of hydraulic support groups are arranged, and the two groups of hydraulic support groups are arranged on two sides (left and right sides) of the lower end of the support when viewed along the moving direction of the feeding belt; the both ends of straight axle respectively with the output shaft fixed connection of the support pneumatic cylinder of two sets of hydraulic pressure support groups, the support pneumatic cylinder of two sets of hydraulic pressure support groups can drive the straight axle simultaneously and move down, the straight axle level sets up, the supporting wheel has two, two supporting wheels respectively the rotary type install at the both ends of straight axle, return when the straight axle moves down and drive the supporting wheel and move down. When goods are loaded and unloaded, a supporting hydraulic cylinder of the hydraulic supporting mechanism can indirectly drive the supporting wheels to move downwards to the bottom of the container, the supporting wheels can roll on the bottom surface of the container, and the wheels and the supporting wheels can simultaneously move to adjust the position of the loading and unloading mechanical arm mechanism in the container.
All there is a plurality of from the driving wheel with add tight round, a plurality of follow driving wheel with add tight round all along the direction of motion evenly distributed of pay-off belt. All the tightening wheels are positioned below the feeding belt and extrude the lower surface of the feeding belt. The tightening wheels are mounted from the front end of the support to the rear end of the support in an equal rotating mode, and all the tightening wheels extrude the lower surface of the feeding belt to provide pre-tightening force for the feeding belt, so that the feeding belt is prevented from slipping. The driven wheels are all positioned in the annular feeding belt and extrude the upper surface of the feeding belt, and the driving wheel is positioned at the front end of the feeding belt. One driven wheel is located at the rear end of the feeding belt, the rest driven wheels are located between the driving wheel and the driven wheel at the rear end, the rest driven wheels upwards extrude the feeding belt, and the rest driven wheels can provide a supporting force to prevent the feeding belt from falling downwards due to overweight of goods.
The support columns at the two ends of the support are all provided with a plurality of support columns, the support columns are evenly distributed along the movement direction of the feeding belt and used for fixing the guardrail belt, and the number of the support columns is set according to the lengths of the guardrail belt and the feeding belt. The section of the feeding belt is V-shaped and the section of the guardrail belt is arc-shaped when viewed along the moving direction of the feeding belt; the inner arc surfaces of the guardrail belts positioned on two sides of the feeding belt are opposite, the inner arc surfaces of the two guardrail belts face to the center of the feeding belt, the outer arc surfaces of the guardrail belts are tangent to the feeding belt, and the outer arc surfaces are attached to the feeding belt to prevent very small goods from falling between the guardrail belts and the feeding belt. The cross sections of the guardrail belt and the feeding belt are V-shaped, so that goods can be effectively prevented from falling from the left side and the right side of the feeding belt,
the loading and unloading mechanical arm mechanism comprises a supporting plate, a base fixed on the supporting plate, a rotary table, a first servo motor, a second servo motor, a first swing arm, a second swing arm, a third servo motor and a mechanical arm, wherein the first servo motor and the second servo motor are both arranged on the rotary table; the backup pad is fixed on the end of rear end, the vertical setting of first servo motor, first servo motor's output and base fixed connection, and the equal level of second servo motor and third servo motor sets up and is parallel to each other, and the output of second servo motor and third servo motor's output all with first swing arm fixed connection, the end at the second swing arm is installed to the manipulator. When the first servo motor is started, the output end of the first servo motor is fixedly connected with the base, the body of the first servo motor is fixedly connected with the rotary table, the base is fixed, and the rotary table and the body of the first servo motor rotate together in a plane. The machine body of the first servo motor is fixed on the turntable, the output end of the first servo motor is fixedly connected with the first swing arm, and the second servo motor controls the first swing arm to swing back and forth. The body of the third servo motor is fixed on the second swing arm, the output end of the third servo motor is fixedly connected with the first swing arm, and the third servo motor can control the second swing arm to swing up and down and the second swing arm to swing up and down.
The supporting plate is provided with a laser radar and a binocular camera. Laser radar and two mesh camera detection directions all point to the rear end of support, and when using this system, the rear end of support is located the packing cupboard and points to the goods, therefore laser radar and two mesh camera can point to the goods and survey the goods. The moving directions of the wheels, the feeding belts and the supporting wheels are the same, the loading and unloading mechanical arm mechanism is positioned at the tail end of the feeding belts, the loading and unloading mechanical arm mechanism can extend into the container as long as the transporting mechanism moves towards the rear end, and the loading and unloading mechanical arm mechanism can be positioned at the innermost part of the container. The feeding belt can rotate forwards and reversely, namely goods can be transported to the rear end from the front end and also can be transported to the front end from the rear end, and the loading and unloading mechanical arm mechanism is positioned at the rear end of the feeding belt. The loading and unloading mechanical arm mechanism can clamp the goods of the container onto the feeding belt and can also clamp the goods from the feeding belt and put the goods into the container.
Referring to fig. 1, 2, 5 and 6, the logistics robot automatic loading and unloading system further comprises a parking securing assembly; the parking stabilizing assembly comprises a fixed rod fixed on the side surface of the bottom plate, a parking hydraulic cylinder fixed on the fixed rod and a sucker arranged at the output end of the parking hydraulic cylinder; the telescopic link vertical setting down of parking pneumatic cylinder and the cylinder body of parking pneumatic cylinder are fixed on the dead lever. The loading and unloading mechanical arm mechanism can enable the transportation mechanism to move in the process of clamping goods, after the transportation mechanism moves to a proper position, the telescopic rod of the parking hydraulic cylinder stretches out downwards, then the sucker can be sucked on the ground, and the wheels are prevented from driving the transportation mechanism to move. There are four parking securing assemblies, two of which are located on the right side of the base plate and the other two on the left side of the base plate.
The lifting mechanism comprises a first scissor assembly, a second scissor assembly and a driving assembly; the first scissor assembly and the second scissor assembly are respectively arranged on two sides of the advancing direction of the bottom plate, the first scissor assembly is positioned on the left side of the upper surface of the bottom plate, and the second scissor assembly is positioned on the right side of the upper surface of the bottom plate. The first scissor assembly and the second scissor assembly respectively comprise a plurality of layers of scissor units which are sequentially connected from top to bottom, the layers of the scissor units of the first scissor assembly and the second scissor assembly are the same, and the layers of the scissor units of the first scissor assembly and the second scissor assembly are distributed in a one-to-one equal-height corresponding mode. The shearing fork unit comprises an inner shearing fork arm and an outer shearing fork arm; in the same scissor unit, the middle of the inner scissor arm and the middle of the outer scissor arm are hinged with each other. One end of the inner scissor fork arm and one end of the outer scissor fork arm at the lowest end are both hinged with the bottom plate, one end of the inner scissor fork arm and one end of the outer scissor fork arm at the highest end are both hinged with the bracket, and in the scissor fork unit at the lowest end, the lower ends of the inner scissor fork arm and the outer scissor fork arm of the scissor fork unit are both hinged with the bottom plate; in the uppermost scissors fork unit, the upper ends of the inner scissors fork arm and the outer scissors fork arm of the scissors fork unit are hinged with the bracket. One end of the other inner scissor arm and one end of the other outer scissor arm are respectively hinged with one end of the outer scissor arm and one end of the inner scissor arm of the adjacent layer. In the other scissor units, the lower end of the inner scissor arm and the lower end of the outer scissor arm of each scissor unit are respectively hinged with the upper ends of the outer scissor arm and the inner scissor arm of the next layer of scissor unit; the upper end of the inner scissors fork arm and the upper end of the outer scissors fork arm of each scissors fork unit are respectively hinged with the lower ends of the outer scissors fork arm and the inner scissors fork arm of the previous scissors fork unit. The two ends of the inner scissor arm are hinged with the outer scissor arm, and the two ends of the outer scissor arm are hinged with the inner scissor arm. The inner scissor arm and the outer scissor arm of the scissor unit on the same layer are hinged with each other at the middle part. The driving assembly comprises a first driving rod, a second driving rod, a third driving rod, a fourth driving rod, a first driving hydraulic cylinder and a second driving hydraulic cylinder. The two ends of the first driving rod, the second driving rod, the third driving rod and the fourth driving rod are respectively and fixedly connected with the inner scissor arms on the same layer number in the first scissor assembly and the second scissor assembly. The left ends of the first driving rod, the second driving rod, the third driving rod and the fourth driving rod are connected with the inner scissor fork arm on the first scissor fork assembly, and the right ends of the first driving rod, the second driving rod, the third driving rod and the fourth driving rod are connected with the inner scissor fork arm on the second scissor fork assembly. The first driving rod, the second driving rod, the third driving rod and the fourth driving rod are sequentially arranged in parallel from top to bottom, the two ends of the first driving rod are fixed on the inner scissor arm at the uppermost end, the left end of the first driving rod is fixed at the front end of the inner scissor arm at the uppermost end of the first scissor assembly, and the right end of the first driving rod is fixed at the front end of the inner scissor arm at the uppermost end of the second scissor assembly. The two ends of the fourth driving rod are fixed on the inner scissor fork arm at the lowest end, the left end of the fourth driving rod is fixed at the rear end of the inner scissor fork arm at the lowest end of the first scissor fork assembly, and the right end of the fourth driving rod is fixed at the rear end of the inner scissor fork arm at the lowest end of the second scissor fork assembly.
When viewed along the axial direction of the first driving rod, the second driving rod, the third driving rod and the fourth driving rod (when viewed from the direction from the first scissor assembly to the second scissor assembly), the first driving rod and the third driving rod are positioned at the left end of the inner scissor arm, and the second driving rod and the fourth driving rod are positioned at the right end of the inner scissor arm, namely, when viewed from fig. 1, the first driving rod and the third driving rod are at the front end, the second driving rod and the fourth driving rod are at the rear end, the first driving rod is positioned right above the third driving rod, and the second driving rod is positioned right above the fourth driving rod; the cylinder body of first drive pneumatic cylinder is fixed on the second actuating lever, the output of first drive pneumatic cylinder is fixed on first actuating lever, the cylinder body of second drive pneumatic cylinder is fixed on fourth actuating lever, the output of second drive pneumatic cylinder is fixed on the third actuating lever, first drive pneumatic cylinder and second drive pneumatic cylinder all have two, be parallel to each other between two first drive pneumatic cylinders and set up side by side, be parallel to each other between two second drive pneumatic cylinders and set up side by side, set up side by side and can provide more sufficient lifting power for elevating system, the gravity that the fork unit can bear when preventing to load and unload is too little. The two first driving hydraulic cylinders are respectively positioned right above the two second driving hydraulic cylinders, and the two first driving hydraulic cylinders and the two second driving hydraulic cylinders stretch simultaneously, so that the first scissor assembly and the second scissor assembly synchronously ascend or descend.
The bottom plate is provided with a dragging handle which is positioned at the front end of the advancing direction of the bottom plate, and the tail end of the dragging handle is provided with a holding ring. The dragging handle is positioned at the rear end of the bottom plate, one end of the dragging handle is fixedly connected with the bottom plate, and the other end of the dragging handle is provided with a holding ring.
The working principle of the automatic loading and unloading system of the logistics robot is as follows: the transport mechanism is moved to the place needing loading and unloading by the towing handle and the holding ring, and the height of the support and the conveying mechanism is adjusted by the lifting mechanism, so that one end of the manipulator extends into the container of the automobile, the hydraulic support mechanism supports the hydraulic cylinder to extend downwards to support the support, the conveying mechanism and the loading and unloading mechanical arm mechanism, and the support wheels roll on the bottom surface of the container to adjust the positions of the conveying mechanism and the manipulator. After the conveying mechanism moves to a proper position, the sucker is loaded to the ground by the parking hydraulic cylinder, and the conveying mechanism is prevented from being accidentally moved. Starting the conveying mechanism and the loading and unloading mechanical arm mechanism, when the goods need to be loaded, putting the goods on a feeding belt, conveying the goods from one end of the feeding belt to one end of a mechanical arm, and clamping and placing the goods in the container by the mechanical arm; when unloading is needed, the manipulator grabs the goods in the container and places the goods on the feeding belt, and the feeding belt transports the goods out of the container and then moves the goods to other appointed places. No matter loading or unloading, the manipulator can rely on laser radar, binocular camera and put the goods according to certain rule according to the procedure of setting for, also can discern position, size, the shape of goods and press from both sides and get the goods.
The above embodiments are preferred embodiments of the present invention, but the present invention is not limited to the above embodiments, and any other changes, modifications, substitutions, combinations, and simplifications which do not depart from the spirit and principle of the present invention should be construed as equivalents thereof, and all such changes, modifications, substitutions, combinations, and simplifications are intended to be included in the scope of the present invention.

Claims (10)

1. The utility model provides a logistics robot automatic handling system which characterized in that: the device comprises a conveying mechanism, a lifting mechanism arranged on the conveying mechanism, a bracket arranged on the lifting mechanism, a conveying mechanism and a loading and unloading mechanical arm mechanism which are arranged on the bracket; the transportation mechanism comprises a bottom plate and wheels rotatably arranged on the bottom plate; the conveying mechanism comprises a driving motor arranged on the support, a driving wheel arranged on the output end of the driving motor, a driven wheel and a tightening wheel which are arranged on the support in a uniform rotation mode, and a feeding belt sleeved on the driving wheel and the driven wheel; the tightening wheel is located below the feeding belt and extrudes the lower surface of the feeding belt, support columns and guardrail belts are arranged on two sides of the support, the support columns are fixed on the support, the guardrail belts are fixed on the support columns, and the guardrail belts are located on two sides of the feeding belt.
2. The logistics robot auto-handling system of claim 1, wherein: the automatic loading and unloading system of the logistics robot also comprises a hydraulic support mechanism arranged on the bracket; the hydraulic support mechanism comprises a hydraulic support group, a straight shaft arranged on the hydraulic support group and a support wheel rotatably arranged on the straight shaft; the hydraulic support group comprises a support hydraulic cylinder and a reinforcing rod; the hydraulic support groups are two groups, and the two groups of hydraulic support groups are arranged on two sides of the lower end of the support when viewed along the moving direction of the feeding belt; two ends of the straight shaft are respectively and fixedly connected with output shafts of the supporting hydraulic cylinders of the two groups of hydraulic supporting groups, two supporting wheels are arranged, and the two supporting wheels are respectively and rotatably arranged at two ends of the straight shaft.
3. The logistics robot auto-handling system of claim 1, wherein: all there is a plurality of from the driving wheel with add tight round, and a plurality of is all along feeding belt's direction of motion evenly distributed from the driving wheel with add tight round, and all add tight round all are located feeding belt's below and extrude feeding belt's lower surface, all are located feeding belt and extrude feeding belt's upper surface from the driving wheel.
4. The logistics robot auto-handling system of claim 1, wherein: the supporting columns at two ends of the support are uniformly distributed along the moving direction of the feeding belt, the section of the feeding belt is V-shaped when viewed along the moving direction of the feeding belt, and the section of the guardrail belt is arc-shaped; the inner arc surfaces of the guardrail belts positioned at the two sides of the feeding belt are opposite, and the outer arc surfaces of the guardrail belts are tangent to the feeding belt.
5. The logistics robot auto-handling system of claim 1, wherein: the loading and unloading mechanical arm mechanism comprises a supporting plate, a base fixed on the supporting plate, a rotary table, a first servo motor, a second servo motor, a first swing arm, a second swing arm, a third servo motor and a mechanical arm, wherein the first servo motor and the second servo motor are both arranged on the rotary table; the backup pad is fixed on the end of the unsettled part of support, the vertical setting of first servo motor, first servo motor's output and base fixed connection, the equal level setting of second servo motor and third servo motor and be parallel to each other, the output of second servo motor and third servo motor's output all with first swing arm fixed connection, the end at the second swing arm is installed to the manipulator.
6. The logistics robot auto-handling system of claim 5, wherein: the supporting plate is provided with a laser radar and a binocular camera.
7. The logistics robot auto-handling system of claim 1, wherein: the automatic loading and unloading system of the logistics robot also comprises a parking stabilizing assembly; the parking stabilizing assembly comprises a fixed rod fixed on the side surface of the bottom plate, a parking hydraulic cylinder fixed on the fixed rod and a sucker arranged at the output end of the parking hydraulic cylinder; the telescopic link vertical setting down of parking pneumatic cylinder and the cylinder body of parking pneumatic cylinder are fixed on the dead lever.
8. The logistics robot auto-handling system of claim 1, wherein: the lifting mechanism comprises a first scissor assembly, a second scissor assembly and a driving assembly; the first scissor assembly and the second scissor assembly are respectively arranged at two sides of the advancing direction of the bottom plate and respectively comprise a plurality of layers of scissor units which are sequentially connected from top to bottom; the shearing fork unit comprises an inner shearing fork arm and an outer shearing fork arm; one end of the inner scissor arm and one end of the outer scissor arm at the lowest end are hinged with the bottom plate, one end of the inner scissor arm and one end of the outer scissor arm at the highest end are hinged with the support, one end of the other inner scissor arm and one end of the other outer scissor arm are hinged with one end of the outer scissor arm and one end of the inner scissor arm of the adjacent layer respectively, the inner scissor arm and the outer scissor arm of the scissor unit of the same layer are hinged with each other at the middle part, and the driving assembly comprises a first driving rod, a second driving rod, a third driving rod, a fourth driving rod, a first driving hydraulic cylinder and a second driving hydraulic cylinder; the two ends of the first driving rod, the second driving rod, the third driving rod and the fourth driving rod are respectively and fixedly connected with the inner scissor arms on the same layer number in the first scissor assembly and the second scissor assembly, the first driving rod, the second driving rod, the third driving rod and the fourth driving rod are sequentially arranged in parallel from top to bottom, the two ends of the first driving rod are fixed on the inner scissor arm at the uppermost end, the two ends of the fourth driving rod are fixed on the inner scissor arm at the lowermost end, and the first driving rod and the third driving rod are positioned at the left end of the inner scissor arm, and the second driving rod and the fourth driving rod are positioned at the right end of the inner scissor arm when viewed along the axial direction of the first driving rod, the second driving rod, the third driving rod and the fourth driving rod; the cylinder body of the first driving hydraulic cylinder is fixed on the second driving rod, the output end of the first driving hydraulic cylinder is fixed on the first driving rod, the cylinder body of the second driving hydraulic cylinder is fixed on the fourth driving rod, and the output end of the second driving hydraulic cylinder is fixed on the third driving rod.
9. The logistics robot auto-handling system of claim 2, wherein: the moving directions of the wheels, the feeding belt and the supporting wheels are the same, and the loading and unloading mechanical arm mechanism is positioned at the tail end of the feeding belt.
10. The logistics robot auto-handling system of claim 9, wherein: the bottom plate is provided with a dragging handle which is positioned at the front end of the advancing direction of the bottom plate, and the tail end of the dragging handle is provided with a holding ring.
CN201910952659.XA 2019-10-09 2019-10-09 Automatic loading and unloading system of logistics robot Pending CN110654804A (en)

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Application publication date: 20200107