CN111994186A - Full-automatic express delivery is put in travelling bogie system for equipment - Google Patents

Full-automatic express delivery is put in travelling bogie system for equipment Download PDF

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Publication number
CN111994186A
CN111994186A CN202010865606.7A CN202010865606A CN111994186A CN 111994186 A CN111994186 A CN 111994186A CN 202010865606 A CN202010865606 A CN 202010865606A CN 111994186 A CN111994186 A CN 111994186A
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CN
China
Prior art keywords
servo motor
express delivery
arm
gripper
support
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
CN202010865606.7A
Other languages
Chinese (zh)
Inventor
王树宏
吴朝阳
滕媛媛
董达善
王树伟
牛方静
王鑫
邓江南
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Shanghai Maritime University
Original Assignee
Shanghai Maritime 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 Shanghai Maritime University filed Critical Shanghai Maritime University
Priority to CN202010865606.7A priority Critical patent/CN111994186A/en
Publication of CN111994186A publication Critical patent/CN111994186A/en
Pending legal-status Critical Current

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62DMOTOR VEHICLES; TRAILERS
    • B62D63/00Motor vehicles or trailers not otherwise provided for
    • B62D63/02Motor vehicles
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00Manipulators mounted on wheels or on carriages
    • B25J5/007Manipulators mounted on wheels or on carriages mounted on wheels
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62DMOTOR VEHICLES; TRAILERS
    • B62D63/00Motor vehicles or trailers not otherwise provided for
    • B62D63/02Motor vehicles
    • B62D63/04Component parts or accessories

Abstract

The invention discloses a transport trolley system for full-automatic express delivery equipment, which relates to the technical field of express delivery equipment and comprises an AGV trolley, a pneumatic transmission system, a mechanical arm gripper system and a 3D visual sensor system, wherein the AGV trolley is provided with an express delivery basket, the mechanical arm gripper system comprises a first servo motor, a mechanical arm rotating track, a rotating support, a second servo motor, a large arm, a third servo motor, a cylinder type middle arm, a fourth servo motor, a gripper pneumatic cylinder and a mechanical gripper, the first servo motor is connected with the rotating support, the second servo motor is connected with the large arm, the third servo motor is connected with the cylinder type middle arm, and the fourth servo motor is in transmission connection with the pneumatic cylinder. According to the express delivery system, the mechanical arm gripper system is carried on the AGV trolley, has multidirectional free movement capacity, grabs express delivery and delivers the express delivery into the express delivery cabinet, and scans express delivery bar codes through the code scanning sensor to send goods taking information to a user, so that full automation of express delivery is realized.

Description

Full-automatic express delivery is put in travelling bogie system for equipment
Technical Field
The invention relates to the technical field of logistics transportation, in particular to express delivery equipment.
Background
With the development of the logistics transportation industry towards automation and intellectualization, the express delivery cabinet is arranged in the cell, logistics personnel place the express delivery into the express delivery cabinet, a shopper can take the express delivery from the express delivery cabinet according to the delivery code, the problem of express delivery taking and placing when the shopper is not at home is solved,
however, after the express delivery is transported to the express delivery service center, although the intelligent code scanning and goods taking are realized, the express delivery still needs to be manually put into a corresponding express delivery cabinet, a large amount of manpower and time cost are consumed in the process, and therefore a trolley for transporting the express delivery in a full-automatic mode is needed.
Disclosure of Invention
Aiming at the problems, the invention aims to provide a transport trolley system for full-automatic express delivery equipment, which solves the technical problems that the existing express delivery needs to be manually delivered into an express delivery cabinet, the labor is wasted, and the efficiency is low.
In order to achieve the purpose, the invention adopts the technical scheme that:
the utility model provides a full-automatic express delivery is put in travelling bogie system for equipment, includes AGV dolly, pneumatic transmission system, arm gripper system and 3D vision sensor system, along vertical support that is provided with on the automobile body of AGV dolly, pneumatic transmission system sets up in the support, be provided with the express delivery basket on the automobile body of AGV dolly, 3D vision sensor system install the upper end of express delivery basket is kept away from one side of support, 3D vision sensor system orientation inside the express delivery basket, wherein:
the mechanical arm gripper system comprises a first servo motor, a mechanical arm rotating track, a rotating support, a second servo motor, a large arm, a third servo motor, a cylinder type middle arm, a fourth servo motor, a gripper pneumatic cylinder and a mechanical gripper, wherein the mechanical arm rotating track is transversely fixed at the top of the support, the rotating support is rotatably arranged on the mechanical arm rotating track, the first servo motor is arranged in the support, an output shaft of the first servo motor drives the rotating support, an upper transmission joint and a lower transmission joint are respectively arranged at two ends of the large arm, the lower transmission joint is connected with the rotating support, the upper transmission joint is rotatably connected with one end of the cylinder type middle arm, the second servo motor is arranged on the lower transmission joint, and an output shaft of the second servo motor is in transmission connection with the large arm, the third servo motor is arranged on the upper transmission joint, an output shaft of the third servo motor is in transmission connection with one end of the cylinder type middle arm, the other end of the cylinder type middle arm is fixed with a mounting seat, the middle part of the cylinder body of the gripper pneumatic cylinder is fixed with a movable block, the movable block is rotatably arranged in the mounting seat, the mechanical hand grip is driven by the hand grip pneumatic cylinder, the fourth servo motor is arranged on the mounting seat, an output shaft of the fourth servo motor is in transmission connection with the movable block, the cylinder type middle arm and the hand grip pneumatic cylinder are both pneumatically connected with the pneumatic transmission system, a servo motor driving system is arranged in the support, the servo motor driving system is used for controlling the first servo motor, the second servo motor, the third servo motor and the fourth servo motor.
The utility model provides an foretell travelling bogie system for equipment is put in full-automatic express delivery, wherein, the rotatory track of arm adopts the rectangle flat board, circular opening is seted up at the dull and stereotyped middle part of rectangle, set up on the dull and stereotyped inner wall of rectangle and be annular slot, rotatory support is chuck structure, the outer fringe of rotatory support is equipped with the arch, but protruding sliding connection in the slot, a servo motor's output shaft is located the center of rotatory support.
Foretell full-automatic express delivery is put in equipment and is used travelling bogie system, wherein, still includes the central control system of computer, the AGV dolly 3D vision sensor system servo motor actuating system with pneumatic transmission system all with the central control system signal connection of computer.
The utility model provides an foretell travelling bogie system for equipment is put in full-automatic express delivery, wherein, the upper surface of movable block is provided with ultrasonic sensor and sweeps a yard sensor, ultrasonic sensor with sweep a yard sensor all with computer central control system signal connection.
The transport trolley system for the full-automatic express delivery equipment is characterized in that the hand grip pneumatic cylinder is a hand grip pneumatic cylinder, and two piston rods of the hand grip pneumatic cylinder drive the mechanical hand grip.
Due to the adoption of the technology, compared with the prior art, the invention has the following positive effects:
according to the transport trolley system for the full-automatic express delivery equipment, the mechanical arm gripper system is mounted on the AGV trolley, the AGV trolley moves to the side of the express cabinet under the control of the computer central control system, the mechanical arm gripper system has multidirectional free movement capacity, the express delivery is grabbed and delivered into the express cabinet, the express bar code is scanned by the code scanning sensor to send goods taking information to a user, the user is waited to come from the express cabinet to scan the code and take goods, the express delivery efficiency of an express delivery service center is improved, and intelligent and full-automatic express delivery is achieved.
Drawings
Fig. 1 is a perspective view of a transportation trolley system for a full-automatic express delivery device according to the present invention.
FIG. 2 is a partial schematic view one of the mounting plate, large arm and swivel mount of the present invention.
Figure 3 is a partial schematic view of the mounting plate, large arm and rotating mount of the present invention.
Fig. 4 is a schematic view of the installation of the boom, cylinder type mid-boom and hand grip pneumatic cylinders of the present invention.
Fig. 5 is a schematic view of the installation of the cylinder type mid-arm, gripper cylinder and mechanical gripper of the present invention.
Reference numerals: 1. an AGV trolley; 11. a support; 12. an express basket; 13. a 3D vision sensor system; 2. a robotic arm gripper system; 21. a first servo motor; 22. the mechanical arm rotates the track; 221. a circular opening; 222. a slot; 23. rotating the support; 231. a protrusion; 24. a second servo motor; 25. a large arm; 251. an upper transmission joint; 252. a lower drive joint; 26. a third servo motor; 27. a cylinder type middle arm; 271. a mounting seat; 28. a fourth servo motor; 29. a gripper pneumatic cylinder; 291. a movable block; 30. a mechanical gripper; 301. a pressure sensor; 3. an ultrasonic sensor; 4. sweep a yard 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 and specific 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.
The transport trolley system for the full-automatic express delivery equipment, provided by the embodiment of the invention, is shown in fig. 1, and comprises an AGV trolley 1, an air pressure transmission system (not shown in the figure), a mechanical arm gripper system 2 and a 3D vision sensor system 13, wherein one end of the upper surface of the body of the AGV trolley 1 is vertically provided with a support 11, the interior of the support 11 is a containing cavity, the air pressure transmission system is arranged in the support 11, an express basket 12 is arranged on the body of the AGV trolley 1, the express basket 12 is used for placing express to be stored in the express cabinet, the 3D vision sensor system 13 is arranged on one side, far away from the support 11, of the upper end of the express basket 12, the 3D vision sensor system 13 faces the interior of the express basket 12 and is used for positioning the express position, so that the mechanical arm gripper system 2 can accurately grip express in the express basket 12, the AGV trolley 1 is, the 3D vision sensor system 13 is selected from commercially available vision sensors.
Referring to fig. 2, 3, 4 and 5, the robot gripper system 2 includes a first servo motor 21, a robot rotation rail 22, a rotation support 23, a second servo motor 24, a large arm 25, a third servo motor 26, a cylinder type middle arm 27, a fourth servo motor 28, a gripper pneumatic cylinder 29 and a robot gripper 30, the robot rotation rail 22 is transversely fixed on the top of the support 11 by a plurality of bolts, the rotation support 23 is rotatably mounted on the robot rotation rail 22, the first servo motor 21 is mounted in the support 11, an output shaft of the first servo motor 21 faces the rotation support 23, the output shaft of the first servo motor 21 drives the rotation support 23 to rotate on the robot rotation rail 22 in a horizontal direction, two ends of the large arm 25 are respectively provided with an upper transmission joint 251 and a lower transmission joint 252, the lower transmission joint 252 is connected with the rotation support 23, the upper transmission joint 251 is rotatably connected with one end of the cylinder type middle arm 27, the second servo motor 24 is installed on the outer wall of the lower transmission joint 252, the output shaft of the second servo motor 24 extends into the lower transmission joint 252 and is in transmission connection with the large arm 25, the output shaft of the second servo motor 24 drives the large arm 25 to pitch and adjust a certain angle along the rotating support 23, the third servo motor 26 is installed on the upper transmission joint 251, the output shaft of the third servo motor 26 extends into the upper transmission joint 251 and is in transmission connection with one end of the cylinder type middle arm 27, the third servo motor 26 drives the cylinder type middle arm 27 to pitch and adjust a certain angle around the large arm 25, the other end of the cylinder type middle arm 27 is fixed with a mounting seat 271, the middle part of the cylinder body of the hand grip pneumatic cylinder 29 is fixed with a movable block 291, the movable block 291 is rotatably installed in the mounting seat 271, the hand grip pneumatic cylinder 29 drives the hand grip mechanical 30, the fourth servo motor 28 is installed on the mounting seat 271, the output shaft of the fourth servo motor 28 is in transmission, the fourth servo motor 28 drives the movable block 291 to adjust a certain angle around the cylinder type middle arm 27 in a pitching mode, the gripper pneumatic cylinder 29 drives the mechanical gripper 30 to open or close, the cylinder type middle arm 27 and the gripper pneumatic cylinder 29 are both in pneumatic connection with a pneumatic transmission system, the pneumatic transmission system provides power for the cylinder type middle arm 27 and the gripper pneumatic cylinder 29, the cylinder type middle arm 27 can stretch out and draw back for a certain distance, the range of grabbing express items can be expanded, a servo motor driving system is arranged in the support 11 and used for controlling the first servo motor 21, the second servo motor 24, the third servo motor 26 and the fourth servo motor 28, the pneumatic transmission system is a conventional pneumatic transmission system in the market, and the servo motor driving system is a conventional servo motor driving system in the market.
It should be noted that the terms "upper" and "lower" as used herein are defined with reference to the relative positions of the components in the drawings of the present invention only for the clarity and convenience of the description of the technical solutions, and it should be understood that the application of the terms should not be construed as limiting the scope of the present application.
As shown in fig. 2 and 3, the robot arm rotation track 22 is a rectangular flat plate, the rectangular flat plate is installed at the top of the support 11, a circular opening 221 is formed in the middle of the rectangular flat plate, an annular slot 222 is formed in the inner wall of the rectangular flat plate, the rotation support 23 is of a chuck structure, a protrusion 231 is arranged on the outer edge of the rotation support 23, the protrusion 231 is slidably connected in the slot 222, the output shaft of the first servo motor 21 is located at the center of the rotation support 23, the central axis of the output shaft of the first servo motor 21 coincides with the central axis of the rotation support 23, and the rotation support 23 can stably run in the slot 222.
Furthermore, the AGV comprises a computer central control system (not shown in the figure), and the AGV trolley 1, the 3D vision sensor system 13, the servo motor driving system and the pneumatic transmission system are all in signal connection with the computer central control system.
In addition, as shown in fig. 5, the upper surface of the movable block 291 is provided with an ultrasonic sensor 3 and a code scanning sensor 4, the ultrasonic sensor 3 and the code scanning sensor 4 are both in signal connection with a central control system of a computer, the AGV trolley 1 moves to the front of an express cabinet, the ultrasonic sensor 3 is used for detecting the position of the opened empty express cabinet, the mechanical arm gripper system 2 sends express into the empty express cabinet, and the express bar code is scanned by the code scanning sensor 4 to send goods taking information to a user.
Further optimize above-mentioned technical scheme, tongs pneumatic cylinder 29 adopts double piston pneumatic cylinder, double piston pneumatic cylinder's two piston rods drive mechanical tongs 30, double piston pneumatic cylinder's two piston rod extension drives mechanical tongs 30 and opens, double piston pneumatic cylinder's two piston rod shrink drives mechanical tongs 30 closure in order to snatch the express delivery, be provided with pressure sensor 301 on mechanical tongs 30, when mechanical tongs 30 snatched the express delivery, the power of snatching the express delivery was measured through pressure sensor 301, pressure sensor 301 sends the pressure value to computer central control system, be convenient for adjust the flexible degree of double piston pneumatic cylinder's two piston rods, with stable snatching to the express delivery.
The working principle of the invention is as follows: firstly, a computer central control system detects an empty express cabinet and sends position information of the empty express cabinet to an AGV trolley 1, the AGV trolley 1 carries express to the position of the empty express cabinet, a 3D vision sensor system 13 is positioned at the express position in an express basket 12 and sends an express position signal to the computer central control system, the computer central control system processes the position signal and controls a motor driving system and a pneumatic transmission system to be started, firstly, a first servo motor 21 is started, the first servo motor 21 drives a rotary support 23 to rotate in a horizontal direction in a mechanical arm rotary rail 22, meanwhile, the rotary support 23 drives a large arm 25 to rotate, a second servo motor 24 is started, the second servo motor 24 drives the large arm 25 to rotate around the rotary support 23, a third servo motor 26 is started, the third servo motor 26 drives a cylinder type middle arm 27 to rotate around the large arm 25, the pneumatic transmission system provides power for the cylinder type middle arm 27, so that the cylinder type middle arm 27 can stretch out and draw back for a distance to expand the range of express delivery, the fourth servo motor 28 is started, the fourth servo motor 28 drives the gripper pneumatic cylinder 29 to rotate around the mounting seat 271, the gripper pneumatic cylinder 29 is started, the gripper pneumatic cylinder 29 drives the mechanical gripper 30 to grip express delivery, so that the express delivery is gripped from the express basket 12, the ultrasonic sensor 3 detects the position of an opened vacant express delivery cabinet, then the first servo motor 21, the second servo motor 24, the third servo motor 26, the fourth servo motor 28, the cylinder type middle arm 27 and the gripper pneumatic cylinder 29 work cooperatively to convey the express delivery into the vacant express delivery cabinet, the express delivery bar code is scanned by the code scanning sensor 4 to send delivery information to a user, the mechanical gripper 30 can be controlled to close the express delivery cabinet, and delivery of single express delivery is completed, then arm tongs 2 repeats above-mentioned action, transports all the other expressages in proper order to the express delivery cabinet of corresponding vacant, realizes the automatic release to in the express delivery cabinet of express delivery.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims (5)

1. The utility model provides a full-automatic express delivery is put in travelling bogie system for equipment, includes AGV dolly (1), pneumatic transmission system, arm tongs system (2) and 3D vision sensor system (13), along vertical support (11) that are provided with on the automobile body of AGV dolly (1), pneumatic transmission system sets up in support (11), be provided with express delivery basket (12) on the automobile body of AGV dolly (1), 3D vision sensor system (13) are installed keep away from the upper end of express delivery basket (12) one side of support (11), 3D vision sensor system (13) orientation inside express delivery basket (12), its characterized in that:
the mechanical arm gripper system (2) comprises a first servo motor (21), a mechanical arm rotating track (22), a rotating support (23), a second servo motor (24), a large arm (25), a third servo motor (26), a cylinder type middle arm (27), a fourth servo motor (28), a gripper pneumatic cylinder (29) and a mechanical gripper (30), wherein the mechanical arm rotating track (22) is transversely fixed at the top of the support (11), the rotating support (23) is rotatably arranged on the mechanical arm rotating track (22), the first servo motor (21) is arranged in the support (11), an output shaft of the first servo motor (21) drives the rotating support (23), an upper transmission joint (251) and a lower transmission joint (252) are respectively arranged at two ends of the large arm (25), and the lower transmission joint (252) is connected with the rotating support (23), the upper transmission joint (251) is rotatably connected with one end of the cylinder type middle arm (27), the second servo motor (24) is installed on the lower transmission joint (252), an output shaft of the second servo motor (24) is in transmission connection with the large arm (25), the third servo motor (26) is installed on the upper transmission joint (251), an output shaft of the third servo motor (26) is in transmission connection with one end of the cylinder type middle arm (27), the other end of the cylinder type middle arm (27) is fixedly provided with an installation seat (271), a movable block (291) is fixedly arranged in the middle of a cylinder body of the gripper pneumatic cylinder (29), the movable block (291) is rotatably installed in the installation seat (271), the gripper pneumatic cylinder (29) drives the mechanical gripper (30), and the fourth servo motor (28) is installed on the installation seat (271), an output shaft of the fourth servo motor (28) is in transmission connection with the movable block (291), the cylinder type middle arm (27) and the gripper pneumatic cylinder (29) are in pneumatic connection with the pneumatic transmission system, a servo motor driving system is arranged in the support (11), and the servo motor driving system is used for controlling the first servo motor (21), the second servo motor (24), the third servo motor (26) and the fourth servo motor (28).
2. The transportation trolley system for the full-automatic express delivery equipment according to claim 1, wherein the mechanical arm rotation track (22) is a rectangular flat plate, a circular opening (221) is formed in the middle of the rectangular flat plate, an annular slot (222) is formed in the inner wall of the rectangular flat plate, the rotation support (23) is of a chuck structure, a protrusion (231) is arranged on the outer edge of the rotation support (23), the protrusion (231) is slidably connected in the slot (222), and the output shaft of the first servo motor (21) is located at the center of the rotation support (23).
3. The transportation trolley system for the full-automatic express delivery equipment according to claim 1, further comprising a computer central control system, wherein the AGV trolley (1), the 3D vision sensor system (13), the servo motor driving system and the pneumatic transmission system are in signal connection with the computer central control system.
4. The transportation trolley system for the full-automatic express delivery equipment according to claim 3, wherein an ultrasonic sensor (3) and a code scanning sensor (4) are arranged on the upper surface of the movable block (291), and the ultrasonic sensor (3) and the code scanning sensor (4) are in signal connection with the computerized central control system.
5. The transportation trolley system for the full-automatic express delivery equipment according to claim 1, wherein the hand grip pneumatic cylinder (29) is a double-piston pneumatic cylinder, and two piston rods of the double-piston pneumatic cylinder drive the mechanical hand grip (30).
CN202010865606.7A 2020-08-25 2020-08-25 Full-automatic express delivery is put in travelling bogie system for equipment Pending CN111994186A (en)

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Application Number Priority Date Filing Date Title
CN202010865606.7A CN111994186A (en) 2020-08-25 2020-08-25 Full-automatic express delivery is put in travelling bogie system for equipment

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Application Number Priority Date Filing Date Title
CN202010865606.7A CN111994186A (en) 2020-08-25 2020-08-25 Full-automatic express delivery is put in travelling bogie system for equipment

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Application publication date: 20201127