CN112875570A

CN112875570A - Warehouse logistics transportation robot

Info

Publication number: CN112875570A
Application number: CN202110215041.2A
Authority: CN
Inventors: 不公告发明人
Original assignee: Individual
Current assignee: Individual
Priority date: 2021-02-26
Filing date: 2021-02-26
Publication date: 2021-06-01

Abstract

The invention discloses a warehouse logistics transportation robot which comprises a lower machine body and an upper machine body, wherein damping mechanisms are arranged on the left side and the right side of the lower end of the lower machine body, a driving mechanism is arranged at the lower end of each damping mechanism, voice broadcasters are fixedly arranged on the left side and the right side of the front surface of the lower machine body, a camera is fixedly connected to the middle of the front surface of the upper machine body, a DSP (digital signal processor) controller is fixedly connected to the front surface of the lower machine body, a moving mechanism is arranged on the inner side of the lower machine body, a stabilizing assembly is fixedly connected to the inner side of the lower machine body through the moving mechanism, and a lifting mechanism. The third motor is controlled to rotate through the DSP controller, so that the two racks in gear linkage on the third motor move simultaneously to opposite directions respectively, and the racks are connected with the connecting plates with rubber pads, so that the goods can be clamped and fixed in the middle of the upper end of the upper machine body, and the goods are prevented from being shifted and falling in the moving process of the equipment.

Description

Warehouse logistics transportation robot

Technical Field

The invention relates to the field of transportation equipment, in particular to a warehouse logistics transportation robot.

Background

An intelligent robot is called an intelligent robot because it has a well-developed "brain" in which a central processor is acting, which computer has direct contact with the person operating it, and above all, it can perform actions arranged as intended, because it is said that it is a real robot, although its appearance may be different.

However, when the traditional logistics transportation robot transports goods, the staff still needs to go up and down to the goods through manpower or other equipment, so that the convenience of the logistics robot for loading and unloading goods is reduced, and the practicability of the logistics robot is reduced.

Disclosure of Invention

1. Technical problem to be solved

Aiming at the problems in the prior art, the invention aims to provide a warehouse logistics transportation robot, wherein a third motor is controlled to rotate by a DSP controller, so that a gear on the third motor is linked with two racks to simultaneously move towards opposite directions, and the racks are connected with a connecting plate with a rubber pad, so that goods can be clamped and fixed in the middle of the upper end of an upper machine body, and the goods are prevented from being shifted and falling off in the moving process of equipment.

2. Technical scheme

In order to solve the above problems, the present invention adopts the following technical solutions.

The utility model provides a warehouse logistics transportation robot, includes lower organism and last organism, the lower extreme left and right sides of organism all is equipped with damper down, damper's lower extreme is equipped with actuating mechanism, the equal fixed mounting in the positive left and right sides of organism has the voice broadcast ware down, on the positive middle part fixedly connected with camera of organism down, the positive fixedly connected with DSP controller of organism down, the inboard of organism is equipped with moving mechanism down, the inboard of organism is through moving mechanism fixedly connected with stabilizing component down, the upper end of organism is equipped with lifting mechanism down, the upper end of organism is through lifting mechanism and last organism for fixed connection down, the inboard of going up the organism is equipped with fixture.

Furthermore, the damping mechanism comprises a pressure bearing cylinder, the pressure bearing cylinder is fixedly connected to the left side and the right side of the lower end of the lower machine body, a damping plug is connected to the inner side of the pressure bearing cylinder in a sliding mode, a repelling component is arranged at the upper end of the damping plug, a push rod is fixedly connected to the lower end of the damping plug, the other end of the push rod penetrates through a wheel carrier fixedly connected to the lower end of the pressure bearing cylinder, the same spring is fixedly connected to the opposite sides of the wheel carrier and the pressure bearing cylinder, and the driving mechanism is arranged on the inner side of the wheel.

Furthermore, the repelling assembly comprises a second magnet which is fixedly connected to the upper end of the damping plug, and the top of the inner side of the pressure bearing cylinder is fixedly connected with a first magnet.

Furthermore, the driving mechanism comprises a wheel shaft, the wheel shaft is rotatably connected to the inner side of the wheel carrier, a driving wheel is fixedly connected to the outer side of the wheel shaft, a second transmission gear is fixedly connected to the outer side of the wheel shaft, a first motor is fixedly connected to the lower end of the lower machine body, a first transmission gear is fixedly connected to the end portion of an output shaft of the first motor, and the first transmission gear and the second transmission gear are in meshed connection.

Further, moving mechanism includes the lead screw, the lead screw rotates the inboard of connecting organism under, the inboard fixedly connected with guide arm of organism down, the equal fixedly connected with second motor in the left and right sides of organism down, the one end that the inner wall of organism and lead screw were run through down to the output shaft tip of second motor is fixed connection, the outside threaded connection of lead screw has the piece of joining in marriage, stable subassembly fixed connection and join in marriage the piece and be fixed connection.

Further, the stabilizing assembly comprises a base plate, the base plate is connected to the inner side of the lower machine body in a sliding mode, the upper end of the base plate is fixedly connected with the matching block, the lower end of the base plate is fixedly connected with a first electric rod, and the output end of the first electric rod is fixedly connected with a sucker.

Further, lifting mechanism includes the axle piece, axle piece difference fixed connection is in the lower extreme of last organism and the upper end of organism down, the lower extreme right side of going up the organism is rotated through the axle piece with the upper end left side of organism down and is connected with same second branch, the lower extreme left side of going up the organism is rotated through the axle piece with the upper end right side of organism down and is connected with same first branch, the offside of first branch and second branch is equipped with same public axle, the offside of second branch is rotated and is connected with the electronic pole of second, the offside of first branch and the output of the electronic pole of second are connected for rotating.

Furthermore, fixture includes the third motor, third motor fixed connection is in the inboard bottom of last organism, the inboard sliding connection who goes up the organism has the rack, the output shaft end fixedly connected with gear of third motor, gear and rack are the meshing connection, the upper end fixedly connected with connecting plate of rack, the upper end through going up the organism of connecting plate upper end adhesive bonding is connected with the rubber pad.

3. Advantageous effects

Compared with the prior art, the invention has the advantages that:

(1) this scheme passes through the rotation of DSP controller control third motor for two racks of gear linkage on the third motor move simultaneously to opposite position respectively, and owing to connect the connecting plate that has the rubber pad on the rack, thereby can fix the upper end middle part of last organism with the goods centre gripping, avoid the in-process production goods skew of equipment removal to drop.

(2) Control first motor through the DSP controller, utilize the epaxial second driving tooth of first transmission gear driving wheel on the first motor, make the drive wheel drive down the organism and begin to remove, the in-process of removal is owing to the lower extreme of organism has set up damper down, produce vibrations when the road surface appears the protruding thing, spring through between pressure-bearing cylinder and the wheel carrier can play absorbing effect, the residual force that vibrations produced simultaneously can consume through sliding friction in the pressure-bearing cylinder through the damping stopper, further promotion stability.

(3) Control the second motor through the DSP controller, the output shaft of second motor rotates and drives the lead screw and rotate, the rotation of lead screw makes to join in marriage the piece and slides on the guide arm, because the lower extreme of joining in marriage the piece has connected the base plate, join in marriage the piece and promote the base plate and slide flexible in organism inboard down, and the outside end that the base plate is located organism down has set up first electronic pole, first electronic pole stretches out and draws back downwards and promotes the sucking disc and accomplish with ground and stabilize fixed back to organism down, again through DSP controller control second electronic pole promote first branch and prop up, because set up the public axle between first branch and the second branch, consequently make first branch and second branch can lift up the organism of operating the computer, make things convenient for the goods to eminence transportation, the practical effect of equipment has been promoted greatly.

Drawings

FIG. 1 is a schematic structural view of the present invention;

FIG. 2 is a front view of the lower housing of the present invention;

FIG. 3 is a cross-sectional view of the upper housing of the present invention;

FIG. 4 is a bottom view of the drive mechanism of the present invention;

fig. 5 is a schematic diagram of a circuit connection module according to the present invention.

The reference numbers in the figures illustrate:

1. a lower machine body; 2. a damping mechanism; 201. a pressure-bearing cylinder; 202. a damping plug; 203. a spring; 204. a top rod; 205. a wheel carrier; 3. a rejection component; 301. a first magnet; 302. a second magnet; 4. a drive mechanism; 401. a drive wheel; 402. a wheel axle; 403. a first motor; 404. a first drive tooth; 405. a second gear; 5. a moving mechanism; 501. a second motor; 502. a screw rod; 503. a guide bar; 504. preparing blocks; 6. a stabilizing assembly; 601. a substrate; 602. a first electric lever; 603. a suction cup; 7. a lifting mechanism; 701. a shaft block; 702. a first support bar; 703. a second support bar; 704. a common shaft; 705. a second electric rod; 8. mounting the machine body; 9. a clamping mechanism; 901. a third motor; 902. a gear; 903. a rack; 904. a connecting plate; 905. a rubber pad; 10. a voice broadcaster; 11. a camera; 12. and a DSP controller.

Detailed Description

The technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention; it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments, and all other embodiments obtained by those skilled in the art without any inventive work are within the scope of the present invention.

In the description of the present invention, it should be noted that the terms "upper", "lower", "inner", "outer", "top/bottom", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" 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," "disposed," "sleeved/connected," "connected," and the like are to be construed broadly, e.g., "connected," which may be fixedly connected, detachably connected, or integrally connected; 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.

Example (b):

referring to fig. 1-5, a warehouse logistics transportation robot comprises a lower body 1 and an upper body 8, wherein damping mechanisms 2 are respectively arranged on the left and right sides of the lower end of the lower body 1, a driving mechanism 4 is arranged on the lower end of the damping mechanisms 2, voice broadcasters 10 are respectively fixedly arranged on the left and right sides of the front surface of the lower body 1, a camera 11 is fixedly connected to the middle of the front surface of the upper body 1, a DSP controller 12 is fixedly connected to the front surface of the lower body 1, a moving mechanism 5 is arranged on the inner side of the lower body 1, a stabilizing assembly 6 is fixedly connected to the inner side of the lower body 1 through the moving mechanism 5, a lifting mechanism 7 is arranged at the upper end of the lower body 1, the upper end of the lower body 1 is fixedly connected to the upper body 8 through the lifting mechanism 7, a clamping mechanism 9 is arranged on the inner side of the upper body 8, and the camera 11 is electrically connected to the, the voice broadcast device 10 is electrically connected with the DSP controller 12 through a wire, a wireless transmission function is arranged in the DSP controller 12, and corresponding handheld control equipment is arranged outside, so that the equipment not only has the automatic transportation function, but also can be manually controlled, and the humanized effect of equipment use is greatly improved.

Referring to fig. 1, the damping mechanism 2 includes a pressure-bearing cylinder 201, the pressure-bearing cylinder 201 is fixedly connected to the left and right sides of the lower end of the lower body 1, the inner side of the pressure-bearing cylinder 201 is slidably connected with a damping plug 202, the upper end of the damping plug 202 is provided with a repulsion component 3, the lower end of the damping plug 202 is fixedly connected with a push rod 204, the other end of the push rod 204 penetrates through the lower end of the pressure-bearing cylinder 201 and is fixedly connected with a wheel frame 205, the opposite sides of the wheel frame 205 and the pressure-bearing cylinder 201 are fixedly connected with a same spring 203, the driving mechanism 4 is arranged on the inner side of the wheel frame 205, the damping effect can be achieved through the spring 203 between the pressure-bearing cylinder 201 and the wheel frame 205, meanwhile, the residual force generated by vibration can be consumed through the sliding friction of.

Referring to fig. 1, the repelling assembly 3 includes a second magnet 302, the second magnet 302 is fixedly connected to the upper end of the damping plug 202, the top of the inner side of the pressure-bearing cylinder 201 is fixedly connected with a first magnet 301, and the arrangement of the first magnet 301 and the second magnet 302 can further achieve the damping effect by using the repelling force between the first magnet 301 and the second magnet 302.

Referring to fig. 4, the driving mechanism 4 includes a wheel shaft 402, the wheel shaft 402 is rotatably connected to the inner side of the wheel frame 205, a driving wheel 401 is fixedly connected to the outer side of the wheel shaft 402, a second transmission gear 405 is fixedly connected to the outer side of the wheel shaft 402, a first motor 403 is fixedly connected to the lower end of the lower body 1, a first transmission gear 404 is fixedly connected to an end of an output shaft of the first motor 403, the first transmission gear 404 and the second transmission gear 405 are in meshed connection, the front wheel and the rear wheel are driven by a transmission belt, so that the front wheel and the rear wheel have good synchronous operation stability, the DSP controller 12 controls the first motor 403, and the driving wheel 401 drives the second transmission gear 405 on the wheel shaft 402 by using the first transmission gear 404 on the first motor 403, so that the driving wheel 401 drives the lower body 1 to start moving.

Referring to fig. 1, the moving mechanism 5 includes a screw rod 502, the screw rod 502 is rotatably connected to the inner side of the lower body 1, the inner side of the lower body 1 is fixedly connected with a guide rod 503, both the left and right sides of the lower body 1 are fixedly connected with a second motor 501, the end of the output shaft of the second motor 501 penetrates through the inner wall of the lower body 1 and one end of the screw rod 502 is fixedly connected, the outer side of the screw rod 502 is connected with a matching block 504 in a threaded manner, the stabilizing assembly 6 is fixedly connected with the matching block 504, the DSP controller 12 controls the second motor 501, the output shaft of the second motor 501 rotates to drive the screw rod 502 to rotate, the rotation of the screw rod 502 enables the matching block 504 to slide on the guide rod 503, and the matching block 504 pushes the substrate 601 to slide and stretch on the inner side of the lower body 1 due to the lower end of the matching block 504 being connected with the substrate 601, so as to conveniently provide a larger, making the lower body 1 more stable.

Referring to fig. 1, the stabilizing assembly 6 includes a base plate 601, the base plate 601 is slidably connected to the inner side of the lower body 1, the upper end of the base plate 601 is fixedly connected to the matching block 504, the lower end of the base plate 601 is fixedly connected to a first electric rod 602, an output end of the first electric rod 602 is fixedly connected to a suction cup 603, and the suction cup 603 and the ground are pushed by the first electric rod 602 to extend and retract downward, so that the lower body 1 can be stably fixed.

Referring to fig. 1, the lifting mechanism 7 includes a shaft block 701, the shaft block 701 is fixedly connected to the lower end of the upper body 8 and the upper end of the lower body 1, the right side of the lower end of the upper body 8 and the left side of the upper end of the lower body 1 are rotatably connected to a same second strut 703 through the shaft block 701, the left side of the lower end of the upper body 8 and the right side of the upper end of the lower body 1 are rotatably connected to a same first strut 702 through the shaft block 701, a same common shaft 704 is disposed on the opposite sides of the first strut 702 and the second strut 703, a second electric rod 705 is rotatably connected on the opposite side of the second strut 703, the opposite side of the first strut 702 and the output end of the second electric rod 705 are rotatably connected, the second electric rod is controlled by the DSP controller 12 to push the first strut 702 to be supported, and the common shaft 704 is disposed between the first strut 702 and the second strut 703, so that the first strut 702 and the second strut 703 can lift the upper body 8, the goods are convenient to be transported to the high place.

Referring to fig. 3, the clamping mechanism 9 includes a third motor 901, the third motor 901 is fixedly connected to the bottom of the inner side of the upper body 8, the inner side of the upper body 8 is slidably connected with a rack 903, an end of an output shaft of the third motor 901 is fixedly connected with a gear 902, the gear 902 is in meshing connection with the rack 903, an upper end of the rack 903 is fixedly connected with a connecting plate 904, an upper end of the connecting plate 904 penetrates through the upper end of the upper body 8 and is adhesively connected with a rubber pad 905, the gear 902 on the third motor 901 rotates through the rotation of the third motor 901, so that the connecting plate 904 connected to the rack 903 and provided with the rubber pad 905 can clamp the object to the column through the change of the orientation of the rack 903, and the phenomenon that the goods are thrown off during the transportation.

When the device is used, firstly, goods are placed on the upper machine body 8, then the DSP controller 12 is used for controlling the third motor 901 to rotate so that the gear 902 on the third motor 901 rotates, and further the connecting plate 904 with the rubber pad 905 connected to the rack 903 can clamp an object through the change of the direction of the rack 903, after the goods are clamped and fixed, the DSP controller 12 is used for controlling the first motor 403, the first transmission gear 404 on the first motor 403 is used for transmitting the second transmission gear 405 on the wheel shaft 402, so that the driving wheel 401 drives the lower machine body 1 to start moving, in the moving process, as the lower end of the lower machine body 1 is provided with the damping mechanism 2, when a convex object appears on the road surface, vibration is generated, the damping effect can be achieved through the spring 203 between the pressure bearing cylinder 201 and the wheel carrier 205, and simultaneously, the residual force generated by the vibration can be consumed through the sliding friction of the damping plug 202 in the pressure bearing cylinder 201, further improving the stability, in cooperation with the arrangement of the repelling component 3, the first magnet 301 and the second magnet 302 can further achieve the damping effect by using the repelling force therebetween, meanwhile, the camera 11 on the lower machine body 1 can monitor the road condition, when an obstacle is encountered, the DSP controller 12 starts the voice broadcaster 10 to prompt the worker to remove a signal, when the device moves to a designated unloading area, the DSP controller 12 controls the second motor 501 first, the output shaft of the second motor 501 rotates to drive the lead screw 502 to rotate, the rotation of the lead screw 502 enables the matching block 504 to slide on the guide rod 503, because the lower end of the matching block 504 is connected with the substrate 601, the matching block 504 pushes the substrate 601 to slide and stretch in the inner side of the lower machine body 1, the first electric rod 602 is arranged at the outer end of the lower machine body 1, the first electric rod 602 stretches and stretches downward to push the suction cup 603 and the ground to complete the stable fixation of the lower machine body 1, the second electric rod 705 is controlled by the DSP controller 12 to push the first supporting rod 702 to be supported, and the common shaft 704 is disposed between the first supporting rod 702 and the second supporting rod 703, so that the first supporting rod 702 and the second supporting rod 703 can lift the upper machine body 8, thereby facilitating transportation of goods to a high place.

The foregoing is only a preferred embodiment of the present invention; the scope of the invention is not limited thereto. Any person skilled in the art should be able to cover the technical scope of the present invention by equivalent or modified solutions and modifications within the technical scope of the present invention.

Claims

1. The utility model provides a warehouse logistics transportation robot, includes organism (1) and last organism (8) down, its characterized in that: the left side and the right side of the lower end of the lower machine body (1) are both provided with a damping mechanism (2), the lower end of the damping mechanism (2) is provided with a driving mechanism (4), the left side and the right side of the front of the lower machine body (1) are both fixedly provided with a voice broadcasting device (10), the middle part of the front of the upper machine body (1) is fixedly connected with a camera (11), the front surface of the lower machine body (1) is fixedly connected with a DSP controller (12), the inner side of the lower machine body (1) is provided with a moving mechanism (5), the inner side of the lower machine body (1) is fixedly connected with a stabilizing component (6) through the moving mechanism (5), the upper end of organism (1) is equipped with lifting mechanism (7) down, the upper end of organism (1) is fixed connection through lifting mechanism (7) and last organism (8) down, the inboard of going up organism (8) is equipped with fixture (9).

2. The warehouse logistics transport robot of claim 1, wherein: the damping mechanism (2) comprises a pressure bearing cylinder (201), the pressure bearing cylinder (201) is fixedly connected to the left side and the right side of the lower end of the lower machine body (1), a damping plug (202) is connected to the inner side of the pressure bearing cylinder (201) in a sliding mode, a repelling assembly (3) is arranged at the upper end of the damping plug (202), a push rod (204) is fixedly connected to the lower end of the damping plug (202), the other end of the push rod (204) penetrates through a wheel carrier (205) fixedly connected to the lower end of the pressure bearing cylinder (201), the same spring (203) is fixedly connected to the opposite sides of the wheel carrier (205) and the pressure bearing cylinder (201), and the driving mechanism (4) is arranged on the inner side of the wheel.

3. The warehouse logistics transport robot of claim 2, wherein: the repelling assembly (3) comprises a second magnet (302), the second magnet (302) is fixedly connected to the upper end of the damping plug (202), and the top of the inner side of the pressure bearing cylinder (201) is fixedly connected with a first magnet (301).

4. The warehouse logistics transport robot of claim 2, wherein: the driving mechanism (4) comprises a wheel shaft (402), the wheel shaft (402) is rotatably connected to the inner side of the wheel carrier (205), a driving wheel (401) is fixedly connected to the outer side of the wheel shaft (402), a second transmission gear (405) is fixedly connected to the outer side of the wheel shaft (402), a first motor (403) is fixedly connected to the lower end of the lower machine body (1), a first transmission gear (404) is fixedly connected to the end portion of an output shaft of the first motor (403), and the first transmission gear (404) is in meshed connection with the second transmission gear (405).

5. The warehouse logistics transport robot of claim 1, wherein: moving mechanism (5) include lead screw (502), lead screw (502) rotate to be connected at the inboard of organism (1) down, the inboard fixedly connected with guide arm (503) of organism (1) down, the equal fixedly connected with second motor (501) in both sides about organism (1) down, the output shaft tip of second motor (501) runs through the inner wall of organism (1) down and the one end of lead screw (502) for fixed connection, the outside threaded connection of lead screw (502) has and joins in marriage piece (504), stabilizing component (6) fixed connection and join in marriage piece (504) and be fixed connection.

6. The warehouse logistics transport robot of claim 5, wherein: stabilize subassembly (6) and include base plate (601), base plate (601) sliding connection is in the inboard of organism (1) down, the upper end and the joining in marriage piece (504) of base plate (601) are fixed connection, the first electronic pole (602) of lower extreme fixedly connected with of base plate (601), the output fixedly connected with sucking disc (603) of first electronic pole (602).

7. The warehouse logistics transport robot of claim 1, wherein: lifting mechanism (7) are including axle piece (701), axle piece (701) fixed connection respectively is at the lower extreme of last organism (8) and the upper end of organism (1) down, the lower extreme right side of going up organism (8) and the upper end left side of organism (1) down are rotated through axle piece (701) and are connected with same second branch (703), the lower extreme left side of going up organism (8) and the upper end right side of organism (1) down are rotated through axle piece (701) and are connected with same first branch (702), the offside of first branch (702) and second branch (703) is equipped with same public axle (704), the offside of second branch (703) is rotated and is connected with second electric pole (705), the offside of first branch (702) and the output of second electric pole (705) are connected for rotating.

8. The warehouse logistics transport robot of claim 1, wherein: the clamping mechanism (9) comprises a third motor (901), the third motor (901) is fixedly connected to the bottom of the inner side of the upper machine body (8), a rack (903) is slidably connected to the inner side of the upper machine body (8), a gear (902) is fixedly connected to the end portion of an output shaft of the third motor (901), the gear (902) and the rack (903) are connected in a meshed mode, a connecting plate (904) is fixedly connected to the upper end of the rack (903), and a rubber pad (905) is connected to the upper end, penetrating through the upper machine body (8), of the connecting plate (904) in a bonded mode.