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

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

A logistics robot automatic loading and unloading system

technical field

The invention relates to the technical field of logistics robots, in particular to an automatic loading and unloading system for logistics robots.

Background technique

In the current logistics transportation market, cargo container loading still needs to be done manually, which is time-consuming and labor-intensive, and cannot meet the efficient needs of logistics transportation. There are two existing automatic loading and unloading systems, one is the automatic storage system, which is aimed at regularized goods and regularized shelves, which cannot meet the application scenarios of irregular goods, irregular positions, and no shelf palletizing in the logistics industry; An automatic loading and unloading system is a system that is applied to the robotic arm of the assembly line to pick up and load goods. It is aimed at the application of a single cargo in a fixed space, and it cannot meet the requirements of the logistics field. The loading and unloading space is mobile and the goods are irregular. application scenarios. The automatic loading and unloading equipment of the invention is applied in the logistics industry, and has the characteristics of irregular loading and unloading space, unfixed size of the goods, flexible movement, and can meet the requirements of the logistics field for loading and unloading automation.

SUMMARY OF THE INVENTION

In view of the technical problems existing in the prior art, the purpose of the present invention is: an automatic loading and unloading system that can meet the loading and unloading requirements of containers and container trucks in the logistics industry, and the system can adapt to irregular loading and unloading spaces, irregular cargo sizes, etc. In this case, the automatic loading and unloading system has the characteristics of flexibility and high efficiency.

In order to achieve the above object, the present invention adopts the following technical solutions:

An automatic loading and unloading system for a logistics robot, comprising a transport mechanism, a lift mechanism installed on the transport mechanism, a bracket mounted on the lift mechanism, a transmission mechanism and a loading and unloading mechanical arm mechanism all mounted on the bracket; the transport mechanism includes a base plate and a rotating type Wheels mounted on the bottom plate; the lifting mechanism is mounted on the bottom plate, a part of the bracket is mounted on the lifting mechanism, the rest of the bracket is suspended, the loading and unloading mechanical arm mechanism is mounted on the end of the suspended part of the bracket, and the transmission mechanism includes being installed on the bracket The drive motor, the drive pulley installed on the output end of the drive motor, the driven pulley and the tightening pulley, both of which are rotatably installed on the bracket, and the feeding belt sleeved on the driving pulley and the driven pulley; the tightening pulley is located under the feeding belt and squeezes The lower surface of the feeding belt is pressed, and both sides of the bracket are provided with support columns and guardrail belts, the support columns are fixed on the bracket, the guardrail belts are fixed on the support column, and the guardrail belts are located on both sides of the feeding belt. The loading and unloading mechanical arm mechanism can be moved to the required unloading space through the transportation of the transport mechanism and the adjustment of the lifting mechanism. The feeding belt is sent to the loading and unloading robotic arm mechanism, and the loading and unloading robotic arm mechanism places the goods into the loading space.

Further, the logistics robot automatic loading and unloading system also includes a hydraulic support mechanism installed on the bracket; the hydraulic support mechanism includes a hydraulic support group, a straight shaft installed on the hydraulic support group, and a rotary support wheel installed on the straight shaft; hydraulic The support group includes a support hydraulic cylinder and a reinforcement rod; the cylinder body of the support hydraulic cylinder is fixed at the lower end of the support, one end of the reinforcement rod is fixedly connected with the support, and the other end of the reinforcement rod is fixedly connected with the cylinder body of the support hydraulic cylinder. The hydraulic support group has Two groups, viewed along the movement direction of the feeding belt, the two groups of hydraulic support groups are located on both sides of the lower end of the bracket; the two ends of the straight shaft are respectively fixedly connected with the output shafts of the support hydraulic cylinders of the two groups of hydraulic support groups, and the support wheels have Two, two supporting wheels are respectively rotatably installed at both ends of the straight shaft. When the suspended part of the bracket moves into the loading and unloading space, the hydraulic support mechanism can provide support for the suspended part of the bracket to prevent the suspended end of the bracket from collapsing due to the excessive gravity of the goods. Adjust the position at will.

Further, there are several driven pulleys and tightening pulleys, and several driven pulleys and tightening pulleys are evenly distributed along the moving direction of the feeding belt. All tightening pulleys are located under the feeding belt and squeeze the lower surface of the feeding belt. , the driven pulley is located in the feeding belt and squeezes the upper surface of the feeding belt. The tightening wheel can increase the pre-tightening force of the feeding belt to prevent the feeding belt from slipping, and multiple driven wheels can improve the supporting force of the upper end of the feeding belt.

Further, there are several supporting columns at both ends of the bracket, and the supporting columns are evenly distributed along the moving direction of the feeding belt. Viewed along the moving direction of the feeding belt, the section of the feeding belt is V-shaped, and the section of the guardrail belt is V-shaped. It is arc-shaped; the inner arc surfaces of the guardrail belt located on both sides of the feeding belt are opposite, and the outer arc surface of the guardrail belt is tangent to the feeding belt. The section of the feeding belt is V-shaped and the guardrail belt can prevent the goods from falling from both sides of the feeding belt.

Further, the loading and unloading mechanical arm mechanism includes a support plate, a base fixed on the support plate, a turntable, a first servo motor and a second servo motor, a first swing arm, and a second swing arm, all installed on the turntable. The third servo motor and the manipulator on the second swing arm; the support plate is fixed on the end of the suspended part of the bracket, the first servo motor is vertically arranged, the output end of the first servo motor is fixedly connected with the base, the second servo motor and the first servo motor are fixedly connected to the base. The three servo motors are arranged horizontally and parallel to each other, the output end of the second servo motor and the output end of the third servo motor are fixedly connected to the first swing arm, and the manipulator is installed at the end of the second swing arm. The loading and unloading manipulator mechanism is flexible, and the manipulator can grab the goods in any direction and angle.

Further, there are lidar and binocular cameras on the support plate. Both lidar and binocular cameras can detect the shape, location and other parameters of the goods.

Further, the logistics robot automatic loading and unloading system also includes a parking stabilization component; the parking stabilization component includes a fixing rod fixed on the side of the base plate, a parking hydraulic cylinder fixed on the fixing rod, and a suction cup installed on the output end of the parking hydraulic cylinder ; The telescopic rod of the parking hydraulic cylinder is vertically arranged downward and the cylinder block of the parking hydraulic cylinder is fixed on the fixed rod. When the logistics robot automatic loading and unloading system is loading and unloading goods, the parking stabilization component can stabilize the logistics robot automatic loading and unloading system on the ground, preventing the logistics robot automatic loading and unloading system from moving.

Further, the lifting mechanism includes a first scissor assembly, a second scissor assembly and a driving assembly; the first scissor assembly and the second scissor assembly are located on opposite sides of the forward direction of the bottom plate, and the first scissor assembly and the second scissor assembly The fork assemblies all include multi-layer scissor fork units sequentially connected from top to bottom; the scissor fork unit includes inner scissor fork arms and outer scissor fork arms; one end of the inner scissor fork arm and outer scissor fork arm at the lowermost end is hinged with the bottom plate, One ends of the uppermost inner scissor fork arm and outer scissor fork arm are both hinged with the bracket, and one end of the remaining inner scissor fork arm and outer scissor fork arm are respectively hinged with one end of the outer scissor fork arm and the inner scissor fork arm of the adjacent layer, 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, and the driving assembly includes a first driving rod, a second driving rod, a third driving rod, a fourth driving rod, and a first driving hydraulic cylinder. , the 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 the same as the inner parts of the first scissor assembly and the second scissor assembly on the same layer. The scissor arms are fixedly connected, the first drive rod, the second drive rod, the third drive rod, and the fourth drive rod are arranged in parallel from top to bottom in order, and both ends of the first drive rod are fixed on the uppermost inner scissor fork arm, Both ends of the fourth driving rod are fixed on the inner scissor arm at the lowermost end. Viewed along the axis direction of the first driving rod, the second driving rod, the third driving rod and the fourth driving rod, the first driving rod and The third drive rod is located at the left end of the inner scissor arm, the second drive rod and the fourth drive rod are located at the right end of the inner scissor arm; the cylinder block of the first drive hydraulic cylinder is fixed on the second drive rod, and the first drive hydraulic cylinder The output end of the second 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 bracket, the loading and unloading mechanical arm mechanism and the transmission mechanism on the bracket to a suitable height.

Further, the movement directions of the wheels, the feeding belt and the supporting wheel are the same, and the loading and unloading mechanical arm mechanism is located at the end of the feeding belt. It is convenient to control the automatic loading and unloading system of the logistics robot to move into the loading and unloading space.

Further, the bottom plate is provided with a drag handle, the drag handle is located at the front end of the bottom plate in the forward direction, and the end of the drag handle is provided with a grip ring. It is convenient for workers to drag the logistics robot automatic loading and unloading system to move.

In general, the present invention has the following advantages:

An automatic loading and unloading system of a logistics robot is an automatic equipment that can meet the loading and unloading requirements of containers and container trucks in the logistics industry. Due to the vehicle-mounted method, the equipment can be moved flexibly, and the location of the logistics vehicle is not fixed. The lifting mechanism adopts a hydraulic adjustable method, which can flexibly change the height of the transmission mechanism and the manipulator, and can meet the loading and unloading requirements of different logistics vehicles. The movable angle of the manipulator is flexible, which can meet the limitation of the limited space in the container truck. The suspended part of the bracket is supported by hydraulic wheels, the bracket can extend into the loading and unloading space, and can also withstand the mechanical arm to grab goods of different weights. Lidar and binocular cameras monitor the loading and unloading process in real time, making the manipulator grasp faster and more firmly and position more accurately. The transmission mechanism, the loading and unloading mechanical arm mechanism, the lidar and the binocular camera are fixed on the same mechanical structure, and their relative coordinates are fixed, which is extremely convenient for space detection, positioning and path planning.

Description of drawings

Figure 1 is the left side view of the logistics robot automatic loading and unloading system.

Figure 2 is a schematic diagram of the structure of the logistics robot automatic loading and unloading system.

FIG. 3 is a schematic structural diagram of the conveying mechanism and the loading and unloading mechanical arm mechanism.

FIG. 4 is an enlarged view at A in FIG. 3 .

Figure 5 is a left side view of the transport mechanism and the lift mechanism.

Figure 6 is a front view of the transport mechanism and the lift mechanism.

Detailed ways

The present invention will be described in further detail below with reference to the accompanying drawings and specific embodiments.

In order to facilitate the unified viewing of the various reference signs in the drawings of the specification, the reference signs appearing in the drawings of the specification are now uniformly explained as follows:

1 is the bracket, 2 is the loading and unloading mechanical arm mechanism, 3 is the base plate, 4 is the wheel, 5 is the driving motor, 6 is the driving wheel, 7 is the driven wheel, 8 is the tightening wheel, 9 is the feeding belt, 10 is the support column, 11 12 is the hydraulic support mechanism, 13 is the hydraulic support group, 14 is the straight shaft, 15 is the supporting wheel, 16 is the supporting hydraulic cylinder, 17 is the reinforcement rod, 18 is the supporting plate, 19 is the base, and 20 is the turntable, 21 is the first servo motor, 22 is the second servo motor, 23 is the first swing arm, 24 is the second swing arm, 25 is the third servo motor, 26 is the manipulator, 27 is the parking stabilization component, and 28 is the fixing rod , 29 is the parking hydraulic cylinder, 30 is the suction cup, 31 is the first scissor assembly, 32 is the second scissor assembly, 33 is the drive assembly, 34 is the scissor unit, 35 is the inner scissor arm, 36 is the outer scissor Fork arm, 37 is the first driving rod, 38 is the second driving rod, 39 is the third driving rod, 40 is the fourth driving rod, 41 is the first driving hydraulic cylinder, 42 is the second driving hydraulic cylinder, 43 is the dragging rod The handle, 44 is the grip ring, 45 is the control box, 46 is the lidar, 47 is the binocular camera, and 48 is the lifting mechanism.

For the convenience of description, the orientations mentioned below are described as follows: the up and down directions mentioned below are consistent with the up and down directions in FIG. 1 , the front and rear directions are consistent with the left and right directions in FIG. 1 , and the left and right directions are projected with FIG. The front and rear directions of the azimuth are the same.

As shown in Figure 1, Figure 2, Figure 3 and Figure 4, an automatic loading and unloading system for a logistics robot includes a transport mechanism, a lifting mechanism installed on the transport mechanism, a bracket mounted on the lifting mechanism, and a The conveying mechanism and the loading and unloading mechanical arm mechanism; the transport mechanism can drive the lifting mechanism, the bracket, the conveying mechanism, and the loading and unloading mechanical arm mechanism to move. The transport mechanism includes a base plate and wheels rotatably mounted on the base plate; there are four wheels, and the four wheels are rotatably mounted on the lower surface of the base plate. The lifting mechanism is installed on the bottom plate, the bracket is a frame, one part of the bracket (the front part) is installed on the lifting mechanism, the rest of the bracket (the rear part) is suspended, and the loading and unloading mechanical arm mechanism is installed on the end of the suspended part of the bracket (the last part). end). The transmission mechanism includes a drive motor installed on the bracket, a drive wheel installed on the output end of the drive motor, a driven wheel and a tightening wheel that are both rotated and installed on the bracket, and a feeding belt sleeved on the driving wheel and the driven wheel. It is annular, the driving wheel and the driven wheel are provided with teeth, the feeding belt is provided with teeth, the driving wheel and the driven wheel are both located in the feeding belt, and the teeth of the driving wheel and the driven wheel are matched with the teeth of the feeding belt. The tightening wheel is located under the feeding belt and squeezes the lower surface of the feeding belt. The tightening wheel can increase the pre-tightening force of the feeding belt and prevent the feeding belt from slipping. Both sides of the bracket (left and right sides) are provided with support columns and guardrail belts, the support columns are vertically fixed on the bracket, the guardrail belts are fixed on the support columns, and the guardrail belts are located on both sides (left and right sides) of the feeding belt. The belt prevents the goods from falling off both sides (left and right) of the feeding belt. When working, the wheels drive the lifting mechanism, the transfer mechanism and the loading and unloading mechanical arm mechanism to move, and the loading and unloading mechanical arm mechanism and part of the transfer mechanism will enter the container.

The logistics robot automatic loading and unloading system also includes a hydraulic support mechanism installed on the bracket; the hydraulic support mechanism includes a hydraulic support group, a straight shaft installed on the hydraulic support group, and a rotary support wheel installed on the straight shaft; the hydraulic support group includes a support wheel Hydraulic cylinder and reinforcement rod; the supporting hydraulic cylinder is vertically arranged, the cylinder body supporting the hydraulic cylinder is fixed on the lower surface of the bracket, the reinforcement rod is arranged obliquely, one end of the reinforcement rod is fixedly connected with the lower surface of the bracket, and the other end of the reinforcement rod is connected to the support The cylinder body of the hydraulic cylinder is fixedly connected, and there are two groups of hydraulic support groups. Viewed along the movement direction of the feeding belt, the two groups of hydraulic support groups are located on both sides (left and right sides) of the lower end of the bracket; The output shafts of the support hydraulic cylinders of the hydraulic support group are fixedly connected. The support hydraulic cylinders of the hydraulic support groups of the two groups can simultaneously drive the straight shaft to move downward. The straight shaft is set horizontally. Installed on both ends of the straight shaft, when the straight shaft moves down, it drives the support wheel to move down. When loading and unloading goods, the support hydraulic cylinder of the hydraulic support mechanism will indirectly drive the support wheel to move down to the bottom of the container, the support wheel can roll on the bottom surface of the container, and the wheel and support wheel can move at the same time to adjust the loading and unloading mechanical arm mechanism in the container s position.

There are several driven pulleys and tightening pulleys, and the multiple driven pulleys and tightening pulleys are evenly distributed along the movement direction of the feeding belt. All pinch rollers are located below the feed belt and squeeze the lower surface of the feed belt. From the front end of the bracket to the rear end of the bracket, there are rotatable tightening wheels, all the tightening wheels squeeze the lower surface of the feeding belt to provide pre-tightening force for the feeding belt to prevent the feeding belt from slipping. The driven pulleys are all located in the annular feeding belt and squeeze the upper surface of the feeding belt, and the driving pulley is located at the front end of the feeding belt. One of the driven pulleys is located at the rear end of the feeding belt, and the other driven pulleys are located between the driving pulley and the driven pulley at the rear end. Too heavy and fall down.

There are several support columns at both ends of the bracket, which are evenly distributed along the moving direction of the feeding belt. The supporting columns are used to fix the guardrail belt. The number of supporting columns is set according to the length of the guardrail belt and the feeding belt. Viewed from the direction of movement of the feeding belt, the section of the feeding belt is V-shaped, and the section of the guardrail belt is arc-shaped; All are towards the center of the feeding belt, the outer arc surface of the guardrail is tangent to the feeding belt, and the outer arc surface is attached to the feeding belt to prevent small goods from falling between the guardrail and the feeding belt. The V-shaped section of the guardrail belt and the feeding belt can effectively prevent the goods from falling from the left and right sides of the feeding belt.

The loading and unloading mechanical arm mechanism includes a support plate, a base fixed on the support plate, a turntable, a first servo motor and a second servo motor both mounted on the turntable, a first swing arm, and a second swing arm, all mounted on the second swing arm. The support plate is fixed on the end of the rear end, the first servo motor is set vertically, the output end of the first servo motor is fixedly connected to the base, and the second servo motor and the third servo motor are both set horizontally And parallel to each other, the output end of the second servo motor and the output end of the third servo motor are both fixedly connected with the first swing arm, and the manipulator is installed at the end of the second swing arm. When the first servo motor is started, the output end of the first servo motor is fixedly connected to the base, the body of the first servo motor is fixedly connected to the turntable, the base is fixed, and the turntable and the body of the first servo motor rotate together in a plane. The body of the first servo motor is fixed on the turntable, the output end 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, and the output end is fixedly connected to the first swing arm. 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.

There are lidar and binocular cameras on the support plate. The detection directions of the lidar and binocular cameras point to the rear end of the bracket. When using this system, the rear end of the bracket is located in the container and points to the cargo, so the lidar and binocular cameras can point to the cargo and detect the cargo. Wheels, feeding belts and support wheels move in the same direction. The loading and unloading mechanical arm mechanism is located at the end of the feeding belt. As long as the transport mechanism is moved to the rear end, the loading and unloading mechanical arm mechanism can extend into the container, and the loading and unloading mechanical arm mechanism will be located in the container. the innermost. The feeding belt can rotate forward and reverse, that is, the goods can be transported from the front end to the back end, or from the back end to the front end, and the loading and unloading mechanical arm mechanism is located at the back end of the feeding belt. The loading and unloading robot arm mechanism can clamp the goods of the container to the feeding belt, and can also take it from the feeding belt and put it into the container.

As shown in Figure 1, Figure 2, Figure 5, Figure 6, the logistics robot automatic loading and unloading system also includes a parking stabilization component; the parking stabilization component includes a fixing rod fixed on the side of the bottom plate, and a parking hydraulic The cylinder and the suction cup installed at the output end of the parking hydraulic cylinder; the telescopic rod of the parking hydraulic cylinder is vertically arranged downward, and the cylinder block of the parking hydraulic cylinder is fixed on the fixed rod. The loading and unloading mechanical arm mechanism may move the transport mechanism during the process of gripping the goods. After the transport mechanism moves to a suitable position, the telescopic rod of the parking hydraulic cylinder will extend downward, and then the suction cup will be sucked on the ground to prevent the wheels from driving the transport. Organization moves. There are four parking stabilizers, two of which are located on the right side of the base plate and the other two are located on the left side of the base plate.

The lifting mechanism includes a first scissor assembly, a second scissor assembly and a drive assembly; the first scissor assembly and the second scissor assembly are located on opposite sides of the forward direction of the base plate, the first scissor assembly is located on the left side of the upper surface of the base plate, and the first scissor assembly is located on the left side of the upper surface of the base plate. Two scissor assemblies are located on the right side of the upper surface of the base plate. Both the first scissor assembly and the second scissor assembly include multiple layers of scissor units connected in sequence from top to bottom. The scissor units of each layer of the fork assembly and the second scissor assembly are distributed in one-to-one correspondence with the same height. The scissor unit includes an inner scissor arm and an outer scissor arm; in the same scissor unit, the middle of the inner scissor arm and the middle of the outer scissor arm are hinged to each other. One ends of the lowermost inner scissor arm and outer scissor arm are both hinged with the bottom plate, and one end of the uppermost inner scissor arm and outer scissor arm are hinged with the bracket. In the lowermost scissor unit, the scissor unit The lower ends of the inner scissor arm and the outer scissor arm are hinged with the bottom plate; in the uppermost scissor unit, the upper ends of the inner scissor arm and the outer scissor arm of the scissor unit are both hinged with the bracket. One ends of the remaining inner and outer scissor arms are respectively hinged with one end of the outer and inner scissor arms of adjacent layers. In the remaining 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 units; each The upper end of the inner scissor arm and the upper end of the outer scissor arm of the scissor unit are respectively hinged with the lower ends of the outer scissor arm and the inner scissor arm of the upper layer scissor unit. Two ends of the inner scissor arm are hinged with the outer scissor arm, and both ends of the outer scissor arm are hinged with the inner scissor arm. The inner scissor arms and the outer scissor arms of the scissor units on the same layer are hinged to each other at the middle. The driving assembly includes 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. Both ends of the first driving rod, the second driving rod, the third driving rod and the fourth driving rod are respectively fixedly connected with the inner scissor arms on the same layers in the first scissor fork assembly and the second scissor fork assembly. The left ends of the first driving rod, the second driving rod, the third driving rod and the fourth driving rod are all connected with the inner scissor arm on the first scissor fork assembly, the first driving rod, the second driving rod and the third driving rod and the right ends of the fourth driving rod are all connected with the inner scissor arm on the second scissor assembly. The first driving rod, the second driving rod, the third driving rod and the fourth driving rod are arranged in parallel from top to bottom in order, the two ends of the first driving rod are fixed on the uppermost inner scissor arm, the left end of the first driving rod is The front end of the inner scissor arm fixed on the uppermost end of the first scissor fork assembly, and the right end of the first driving rod is fixed at the front end of the inner scissor fork arm at the uppermost end of the second scissor fork assembly. Both ends of the fourth drive rod are fixed on the lowermost inner scissor arm, the left end of the fourth drive rod is fixed on the rear end of the inner scissor arm at the lowermost end of the first scissor assembly, and the right end of the fourth drive rod is fixed on the The rear end of the inner scissor arm at the lowermost end of the second scissor assembly.

Viewed along the axial direction of the first driving rod, the second driving rod, the third driving rod, and the fourth driving rod (viewed from the direction of the first scissors assembly to the second scissor assembly), the first driving rod and The third drive rod is located at the left end of the inner scissor arm, and the second drive rod and the fourth drive rod are located at the right end of the inner scissor arm. The driving rod and the fourth driving rod are at the rear end, the first driving rod is located directly above the third driving rod, and the second driving rod is located directly above 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, the output end of the second driving hydraulic cylinder is fixed on the third driving rod, the third driving rod There are two first driving hydraulic cylinders and two second driving hydraulic cylinders. The two first driving hydraulic cylinders are arranged parallel to each other and side by side, and the two second driving hydraulic cylinders are parallel to each other and arranged side by side. The mechanism provides more sufficient lifting force to prevent the scissor unit from being too weak when loading and unloading goods. The two first driving hydraulic cylinders are respectively located directly above the two second driving hydraulic cylinders, and the first scissor assembly and the second scissors are realized through the simultaneous expansion and contraction of the two first driving hydraulic cylinders and the two second driving hydraulic cylinders. Components rise or fall synchronously.

The bottom plate is provided with a drag handle, the drag handle is located at the front end of the base plate in the forward direction, and the end of the drag handle is provided with a grip ring. The drag handle is located at the rear end of the bottom plate, one end of the drag handle is fixedly connected with the bottom plate, and the other end of the drag handle is provided with a grip ring.

The working principle of this logistics robot automatic loading and unloading system: use the drag handle and the grip ring to move the transport mechanism to the place that needs to be loaded and unloaded, and at the same time use the lifting mechanism to adjust the height of the bracket and the transmission mechanism, so that the end with the manipulator extends into the container of the car, and the hydraulic pressure The support mechanism supports the hydraulic cylinder to extend downward to support the bracket, the transfer mechanism and the loading and unloading mechanical arm mechanism, and the support wheel rolls on the bottom surface of the container to adjust the position of the transfer mechanism and the manipulator. After the transport mechanism is moved to a suitable position, the suction cup is loaded onto the ground by the parking hydraulic cylinder to prevent the transport mechanism from being moved accidentally. Start the conveying mechanism and the loading and unloading mechanical arm mechanism. When loading, put the goods on the feeding belt. The feeding belt transports the goods from one end to the end with the manipulator, and the manipulator picks up the goods and puts them in the container; when unloading is required , the manipulator grabs the goods in the container and puts it on the feeding belt, and the feeding belt transports the goods out of the container and then moves to other designated places. Whether it is loading or unloading, the manipulator can rely on lidar, binocular cameras and place the goods according to certain rules according to the set program, and can also identify the position, size and shape of the goods to pick up the goods.

The above-mentioned embodiments are preferred embodiments of the present invention, but the embodiments of the present invention are not limited by the above-mentioned embodiments, and any other changes, modifications, substitutions, combinations, The simplification should be equivalent replacement manners, which are all included in the protection 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.

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