CN111673759A

CN111673759A - Intelligent logistics carrying robot

Info

Publication number: CN111673759A
Application number: CN202010480490.5A
Authority: CN
Inventors: 丁梦清
Original assignee: Changxing Zhengli Logistics Equipment Co ltd
Current assignee: Changxing Zhengli Logistics Equipment Co ltd
Priority date: 2020-05-30
Filing date: 2020-05-30
Publication date: 2020-09-18

Abstract

The invention discloses an intelligent logistics carrying robot, which relates to the technical field of logistics and comprises a machine base, wherein a first electromagnetic slide rail is arranged on one side of the top of the machine base, a placing rack is fixed on the top of the machine base, a second electromagnetic slide rail is arranged on the top of the placing rack, a plurality of groups of transverse plates are fixed inside the placing rack, and a plurality of groups of vertical plates are fixed on the top of the transverse plates. According to the invention, the third electromagnetic slide rail is used for moving the forklift fixing plate up and down, the first electromagnetic slide rail and the second electromagnetic slide rail are used for moving the forklift fixing plate back and forth, so that the goods can be placed and taken out, the machine base is moved to the large goods unloading area, the goods reach the right side of the conveyor belt through other conveying mechanisms, the infrared sensor senses the object and sends a motor signal, the output end of the motor drives the supporting roller to rotate, so that the conveyor belt moves leftwards, the large goods in the unloading area enter the conveyor belt, and the large goods can be moved conveniently.

Description

Intelligent logistics carrying robot

Technical Field

The invention relates to the technical field of logistics, in particular to an intelligent logistics carrying robot.

Background

In recent years, the logistics industry in China continues to develop at a high speed, the requirements and the improvement on various internal processing equipment are continuously increased, the logistics equipment is a main mark of the level of the logistics technology, the modern logistics equipment embodies the development of the modern logistics technology, the modernization and the automation degree of the logistics equipment in China in recent years are higher, and the transportation equipment has the characteristics that the socialization degree of the equipment is higher and higher, the equipment structure is more and more complex, the gradual matching of logistics and logistics conveying equipment is formed, and the transportation equipment with the transfer function by utilizing an automatic navigation transport vehicle (AGV) according to a specified path form is realized.

An automatic Navigation transport vehicle is an intelligent logistics Robot, which is an automatic Navigation mobile Robot (automated Navigation mobile Robot), is a mobile logistics carrying device integrating multiple functions of environment perception, dynamic decision and planning, behavior control and execution, and generally comprises: the logistics robot is characterized by comprising a navigation system, a vehicle-mounted computer system, a vehicle-mounted control system, a direct-current speed regulation driving and steering control system, a safety warning system, a storage battery power supply charging system, a mechanical vehicle body and the like, wherein the core technology of the logistics robot is an autonomous navigation technology, a two-dimensional bar code deployed on the ground is used as a reference coordinate point and is fused with information of an inertial navigation module to carry out combined positioning navigation, the logistics robot is communicated with a master control system through WiFi (wireless fidelity), and a walking path is dynamically planned.

In current transfer robot, the AGV technique of adoption can remove and operation such as transport, be greater than the removal of big goods, need carry out solitary robot and carry, different robots carry out different removal or transport operation, the service function can not combine, it is more single to use, and carry or move the in-process at transfer robot, need utilize fork truck to take out the goods, it places again to remove appointed place, the complexity of using has been increased in the operation of making a round trip, work efficiency is also not high, and in carrying out the support of goods and placing the operation, can not be fine carry out the effect of fixing to the goods, make its result of use not good.

Disclosure of Invention

The invention aims to: in order to solve the operation of carrying or removing etc. and need carry out a plurality of different robots and operate, can not carry out the function combination, and utilize fork truck to make a round trip to load in different regions and get the operation of goods, work efficiency is not high, and in carrying out the support of goods and placing the operation, can not be fine carry out the effect of fixing to the goods, makes its not good problem of result of use, provides an intelligence commodity circulation transfer robot.

In order to achieve the purpose, the invention provides the following technical scheme: an intelligent logistics carrying robot comprises a machine base, wherein a first electromagnetic slide rail is installed on one side of the top of the machine base, a placing rack is fixed to the top of the machine base, a second electromagnetic slide rail is installed on the top of the placing rack, a plurality of transverse plates are fixed inside the placing rack, a plurality of vertical plates are fixed to the top of each transverse plate, a plurality of groups of transverse plates and a plurality of groups of vertical plates form a plurality of groups of containing cavities, gravity sensors are installed at the bottom ends of the interiors of the containing cavities, display lamps are installed at the tops of the groups of containing cavities, a supporting plate is arranged on one side of the placing rack, a plurality of groups of connecting plates are arranged below the supporting plates, a plurality of groups of supporting columns are fixed to the interiors of the connecting plates, a third electromagnetic slide rail is installed inside each supporting column, motors are installed at the tops of the, one side of connecting plate is provided with supplementary frame, and the both ends of supplementary frame one side all are fixed with the fork truck fixed plate, the inside of supplementary frame is provided with the multiunit recess, the internally mounted of recess has the hydraulic stem, and one side of hydraulic stem is fixed with electronic sucking disc, the top of machine base is fixed with the fixed disk, and the top of fixed disk is fixed with the multiunit pneumatic cylinder, the top of pneumatic cylinder is fixed with the chassis, and the both ends at chassis top all rotate and be connected with multiunit supporting roller, wherein a set of supporting roller is with wherein a set of the output fixed connection of motor, supporting roller's the outside is provided with the conveyer belt, infrared ray sensor is all installed at the both ends of fixed disk one side.

Preferably, the bottom of connecting plate rotates and is connected with the first slider that mutually supports with first electromagnetism slide rail, and the connecting plate through mutually supporting of first electromagnetism slide rail and first slider down with machine base sliding connection.

Preferably, a bearing seat is welded at the bottom of one group of the connecting plates, and the top of the first sliding block is rotatably connected with the connecting plates through the bearing seat.

Preferably, one side of the supporting plate is fixed with a second sliding block matched with the second electromagnetic sliding rail, and the supporting plate is in sliding connection with the placing frame through the matching of the second electromagnetic sliding rail and the second sliding block.

Preferably, a plurality of groups of third sliding blocks matched with the third electromagnetic sliding rail are fixed on one side of the auxiliary frame, and the auxiliary frame is in sliding connection with the supporting column under the matching of the third electromagnetic sliding rail and the third sliding block.

Preferably, the first electromagnetic slide rail, the second electromagnetic slide rail, the third electromagnetic slide rail, the motor, the hydraulic rod, the infrared sensor, the electric sucker, the gravity sensor, the display lamp and the hydraulic cylinder are all electrically connected with an external controller.

Preferably, the length, width and height of the plurality of groups of cavities are different.

Preferably, a plurality of groups of the grooves are arranged at equal intervals.

Preferably, the machine base comprises a navigation system, a vehicle-mounted computer system, a vehicle-mounted control system, a direct current speed regulation driving and steering control system, a safety warning system, a storage battery power supply and charging system, a mechanical vehicle body and the like.

Preferably, a rubber damping pad is fixed on the top of the conveyor belt.

Compared with the prior art, the invention has the beneficial effects that:

1. the invention drives a forklift fixing plate to move leftwards through a machine base, so that the forklift fixing plate supports goods, the machine base is continuously moved to carry the goods, an output end of a motor drives a connecting plate to rotate, the forklift fixing plate drives the goods to rotate by a certain angle, the direction of the forklift fixing plate is aligned to the position of a placing frame, a supporting column drives the goods to move forwards and backwards to a designated position by sending a first electromagnetic slide rail moving signal and a second electromagnetic slide rail moving signal, the goods are placed, conversely, the forklift fixing plate takes the goods out of a cavity to take the goods down, the machine base is moved to a large goods unloading area in combination with the movement of the machine base, the goods reach the position on the right side of a conveying belt through other conveying mechanisms, an infrared sensor senses an object and sends a motor signal, an output end of the motor drives a supporting roller to rotate, the large goods in the unloading area enter the conveyor belt, the conveyor belt stops moving after the infrared sensor does not sense the objects, the movement of the large goods can be matched, or the machine base is directly moved to the bottom of the large goods to be moved, the output end of the hydraulic cylinder upwards jacks up the chassis, the large goods can be moved conveniently, and the using function of the large goods is better;

2. according to the invention, the auxiliary frame drives the forklift fixing plate to move upwards along the path of the third electromagnetic slide rail, so that goods move in the vertical direction, the forklift fixing plate moves in the front and back directions through the first electromagnetic slide rail and the second electromagnetic slide rail, so that the goods can be placed and taken out of the containing cavity, when the gravity sensor senses that the goods are stored in the containing cavity, a signal is sent to the display lamp and the background terminal, the display lamp is red to indicate that the containing cavity is used for storing the goods, the display lamp is green to indicate that the containing cavity is not provided with the goods, the goods storage can be controlled, the loading and unloading in different areas are avoided, and the working efficiency is improved;

3. according to the invention, goods are placed on the forklift plate, the forklift fixing plate extends into the forklift plate base under the movement of the machine base, then a hydraulic rod signal is sent to push the output end of the hydraulic rod, so that the output end of the hydraulic rod drives the electric sucker to be close to the goods, the sucker at the bottom is fixed with the forklift plate, the sucker at the top is fixed on the surface of the goods to assist in the fixation of the goods, after the goods follow the forklift fixing plate to reach the position of the designated containing cavity, the output end of the hydraulic rod continuously pushes the forklift plate to move towards the direction of the containing cavity until the goods enter the position of the gravity sensor, the electric sucker is released, and the output end of the motor drives the forklift fixing plate to return to the original position to perform continuous loading or unloading operation to assist.

Drawings

FIG. 1 is a front view of the present invention;

FIG. 2 is a schematic structural view of the present invention;

FIG. 3 is a partial schematic view of the present invention;

FIG. 4 is a schematic structural view of a fixing plate according to the present invention;

fig. 5 is a schematic structural view of the rack of the present invention.

In the figure: 1. a machine base; 2. a first electromagnetic slide rail; 3. placing a rack; 4. a second electromagnetic slide rail; 5. a transverse plate; 6. a vertical plate; 7. a display lamp; 8. a gravity sensor; 9. a cavity; 10. a support plate; 11. a connecting plate; 12. a support pillar; 13. a motor; 14. a third electromagnetic slide rail; 15. an auxiliary frame; 16. a forklift fixed plate; 17. a groove; 18. a hydraulic lever; 19. an electric suction cup; 20. fixing the disc; 21. a hydraulic cylinder; 22. a chassis; 23. supporting the rollers; 24. a conveyor belt; 25. an infrared sensor.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "disposed" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art. The following describes an embodiment of the present invention based on its overall structure.

The first electromagnetic slide rail, the second electromagnetic slide rail and the third electromagnetic slide rail (the model is ECP-RN-SI-104W-09ZH-1600L-5B), the motor (the model is TC7122), the hydraulic rod (the model is TG5O-180), the infrared sensor (the model is LHl958), the electric suction cup (the model is FVL-G400-4), the gravity sensor (the model is BMA425 BMA456) and the hydraulic cylinder (the model is HOB) are all available in the market or are obtained by private order.

Referring to fig. 1-5, an intelligent logistics carrying robot comprises a machine base 1, a first electromagnetic slide rail 2 is installed on one side of the top of the machine base 1, a placing rack 3 is fixed on the top of the machine base 1, a second electromagnetic slide rail 4 is installed on the top of the placing rack 3, a plurality of groups of transverse plates 5 are fixed inside the placing rack 3, a plurality of groups of vertical plates 6 are fixed on the top of the transverse plates 5, a plurality of groups of containing cavities 9 are formed by the plurality of groups of transverse plates 5 and the plurality of groups of vertical plates 6, a gravity sensor 8 is installed at the bottom end inside each containing cavity 9, display lamps 7 are installed on the tops of the plurality of groups of containing cavities 9, a supporting plate 10 is arranged on one side of the placing rack 3, a plurality of groups of connecting plates 11 are arranged below the supporting plate 10, a plurality of groups of supporting columns 12 are fixed inside the connecting plates 11, a third, wherein the output and the connecting plate 11 fixed connection of a set of motor 13, one side of connecting plate 11 is provided with auxiliary frame 15, and the both ends of auxiliary frame 15 one side all are fixed with fork truck fixed plate 16, the inside of auxiliary frame 15 is provided with multiunit recess 17, the internally mounted of recess 17 has hydraulic stem 18, and one side of hydraulic stem 18 is fixed with electric suction cup 19, the top of machine base 1 is fixed with fixed disk 20, and the top of fixed disk 20 is fixed with multiunit pneumatic cylinder 21, the top of pneumatic cylinder 21 is fixed with chassis 22, and the both ends at chassis 22 top all are rotated and are connected with multiunit supporting roller 23, wherein a set of supporting roller 23 and the output fixed connection of a set of motor 13 among them, the outside of supporting roller 23 is provided with conveyer belt 24, infrared ray sensor 25 is all installed at the both ends of.

In this embodiment, the third electromagnetic slide rail 14 moves the forklift fixing plate 16 up and down, the first electromagnetic slide rail 2 and the second electromagnetic slide rail 4 move the forklift fixing plate 16 back and forth, so as to place and take out the goods, the machine base 1 is moved to the large goods unloading area in combination, the goods reach the right side of the conveyor belt 24 through other conveying mechanisms, the infrared sensor 25 senses the object and sends a motor signal, the output end of the motor 13 drives the supporting roller 23 to rotate, so that the conveyor belt 24 moves to the left, the large goods in the unloading area enter the conveyor belt 24, and the large goods can be moved conveniently.

Please refer to fig. 1, 2 and 3, the bottom of the connecting plate 11 is rotatably connected with a first sliding block matched with the first electromagnetic sliding rail 2, and the connecting plate 11 is slidably connected with the machine base 1 through the mutual matching of the first electromagnetic sliding rail 2 and the first sliding block, so that the goods can be placed in and taken out of the accommodating cavities 9 at different front and rear positions in cooperation with the front and rear movement of the goods.

Please refer to fig. 1, 2 and 3, wherein a bearing seat is welded at the bottom of the connecting plate 11, and the top of the first sliding block is rotatably connected with the connecting plate 11 through the bearing seat, and can drive the rotation direction of the forklift fixing plate 16 by matching with the output end of the motor 13, so as to facilitate the placement and the taking out of the goods.

Please refer to fig. 1, 2 and 3, a second slider cooperating with the second electromagnetic slide rail 4 is fixed on one side of the supporting plate 10, and the supporting plate 10 is connected with the placing rack 3 in a sliding manner by the cooperation of the second electromagnetic slide rail 4 and the second slider, so as to cooperate with the front-back movement of the goods to place and take out the goods in the cavities 9 at different front-back positions.

Please refer to fig. 1, 2 and 3, a plurality of sets of third sliders matched with the third electromagnetic slide rail 14 are fixed on one side of the auxiliary frame 15, and the auxiliary frame 15 is connected with the supporting column 12 in a sliding manner through the mutual matching of the third electromagnetic slide rail 14 and the third sliders, so that the auxiliary frame can be used for placing and taking out the cargo in the accommodating cavities 9 with different heights in cooperation with the vertical movement of the cargo.

Please refer to fig. 1, the first electromagnetic slide rail 2, the second electromagnetic slide rail 4, the third electromagnetic slide rail 14, the motor 13, the hydraulic rod 18, the infrared sensor 25, the electric suction cup 19, the gravity sensor 8, the display lamp 7 and the hydraulic cylinder 21 are electrically connected to an external controller, so that the intelligent and automatic control can be realized, and the operation of placing and taking out the logistics goods is facilitated.

Referring to fig. 1, 2 and 5, the plurality of sets of cavities 9 are different in length, width and height to accommodate different sizes of goods.

Referring to fig. 1, 2 and 3, the plurality of grooves 17 are arranged at equal intervals, so that the electric suction cups 19 in the grooves 17 at different positions fix the forklift fixing plate 16 and the goods.

Referring to fig. 1 and 2, the machine base 1 includes a navigation system, a vehicle-mounted computer system, a vehicle-mounted control system, a dc speed-adjusting driving and steering control system, a safety warning system, a battery-powered charging system, a mechanical vehicle body, etc. so that the logistics robot can navigate through a magnetic tape track attached to the ground or an invisible magnetic tape track buried underground by using an AGC technique.

Referring to fig. 1 and 4, a plurality of rubber damping cushions are mounted on the top of the conveyor belt 24 to assist in securing the load.

The working principle is as follows: goods are placed on the forklift plate, the machine base 1 drives the forklift fixing plate 16 to move to the position of the designated goods by using the AGV technology (the prior art is not repeated in the description), then the forklift fixing plate 16 extends into the forklift plate, at the moment, the hydraulic rod 18 drives the electric sucker 19 to contact with the goods for fixing, the electric sucker 19 at the bottom contacts with the forklift plate for fixing, then a signal is received through the third electromagnetic slide rail 14, the auxiliary frame 15 drives the goods to move upwards, then the output end of the motor 13 drives the connecting plate 11 to rotate for a certain angle, so that the goods are aligned with the position of the accommodating cavity 9, then the output end of the hydraulic rod 18 drives the forklift plate and the goods to be pushed to the accommodating cavity 9 until the gravity sensor 8 in the accommodating cavity 9 senses the goods, at the moment, the display lamp of the accommodating cavity 9 is red by green edge to indicate that the accommodating cavity 9 is used for storage, and a plurality of goods can be, machine base 1 moves to appointed shipment region, can conveniently get in stocks and the operation of getting in the stocks, combine to move machine base 1 to big goods uninstallation district, the goods reaches the position on conveyer belt 24 the right through other transport mechanism, infrared sensor 25 experiences the object, send motor signal, the output of motor 13 drives supporting roller 23 and rotates, make conveyer belt 24 move left, make the big goods in uninstallation district enter into on conveyer belt 24, infrared sensor 25 does not experience the object after, conveyer belt 24 stop motion, can cooperate the removal of big goods, or directly make machine base 1 move the bottom of the big goods that need to remove, the output of pneumatic cylinder 21 upwards decides jack-up chassis 22, can be convenient for remove big goods, make things convenient for the transportation transport of goods to carry.

It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.

Claims

1. The utility model provides an intelligence commodity circulation transfer robot, includes machine base (1), its characterized in that: the electromagnetic vibration damping device is characterized in that a first electromagnetic sliding rail (2) is installed on one side of the top of a machine base (1), a placing rack (3) is fixed to the top of the machine base (1), a second electromagnetic sliding rail (4) is installed on the top of the placing rack (3), a plurality of groups of transverse plates (5) are fixed to the inside of the placing rack (3), a plurality of groups of vertical plates (6) are fixed to the top of the transverse plates (5), a plurality of groups of transverse plates (5) and a plurality of groups of vertical plates (6) form a plurality of groups of accommodating cavities (9), gravity sensors (8) are installed at the bottom ends of the insides of the accommodating cavities (9), display lamps (7) are installed on the tops of the accommodating cavities (9), a supporting plate (10) is arranged on one side of the placing rack (3), a plurality of groups of connecting plates (11) are arranged, and the internally mounted of the support column (12) has a third electromagnetic slide rail (14), the top of the support plate (10) and one end of the chassis (22) are all provided with a motor (13), wherein one set of the output end of the motor (13) is fixedly connected with a connecting plate (11), one side of the connecting plate (11) is provided with an auxiliary frame (15), and both ends of one side of the auxiliary frame (15) are all fixed with a forklift fixing plate (16), the inside of the auxiliary frame (15) is provided with a plurality of groups of grooves (17), the inside of the grooves (17) is provided with a hydraulic rod (18), and one side of the hydraulic rod (18) is fixed with an electric suction cup (19), the top of the machine base (1) is fixed with a fixed plate (20), and the top of the fixed plate (20) is fixed with a plurality of hydraulic cylinders (21), the top of the hydraulic cylinder (21) is fixed with the chassis (22), and both ends of the top of the chassis, wherein a set of supporting roller (23) and wherein a set of the output fixed connection of motor (13), the outside of supporting roller (23) is provided with conveyer belt (24), infrared ray sensor (25) are all installed at the both ends of fixed disk (20) one side.

2. The intelligent logistics handling robot of claim 1, wherein: the bottom of connecting plate (11) rotates and is connected with the first slider that mutually supports with first electromagnetism slide rail (2), and connecting plate (11) through mutually supporting of first electromagnetism slide rail (2) and first slider down with machine base (1) sliding connection.

3. The intelligent logistics handling robot of claim 2, wherein: a bearing seat is welded at the bottom of one group of the connecting plates (11), and the top of the first sliding block is rotatably connected with the connecting plates (11) through the bearing seat.

4. The intelligent logistics handling robot of claim 1, wherein: one side of the supporting plate (10) is fixed with a second sliding block matched with the second electromagnetic sliding rail (4), and the supporting plate (10) is in sliding connection with the placing frame (3) through the mutual matching of the second electromagnetic sliding rail (4) and the second sliding block.

5. The intelligent logistics handling robot of claim 1, wherein: and a plurality of groups of third sliding blocks matched with the third electromagnetic sliding rails (14) are fixed on one side of the auxiliary frame (15), and the auxiliary frame (15) is in sliding connection with the supporting column (12) through the mutual matching of the third electromagnetic sliding rails (14) and the third sliding blocks.

6. The intelligent logistics handling robot of claim 1, wherein: the first electromagnetic slide rail (2), the second electromagnetic slide rail (4), the third electromagnetic slide rail (14), the motor (13), the hydraulic rod (18), the infrared sensor (25), the electric sucker (19), the gravity sensor (8), the display lamp (7) and the hydraulic cylinder (21) are all electrically connected with an external controller.

7. The intelligent logistics handling robot of claim 1, wherein: the length, the width and the height of the plurality of groups of cavities (9) are different.

8. The intelligent logistics handling robot of claim 1, wherein: the grooves (17) are arranged at equal intervals.

9. The intelligent logistics handling robot of claim 1, wherein: the machine base (1) comprises a navigation system, a vehicle-mounted computer system, a vehicle-mounted control system, a direct-current speed-regulating driving and steering control system, a safety warning system, a storage battery power supply and charging system, a mechanical vehicle body and the like.

10. The intelligent logistics handling robot of claim 1, wherein: and a rubber damping pad is fixed at the top of the conveyor belt (24).