CN114798453A - Full-automatic intelligent storage logistics transport trolley - Google Patents
Full-automatic intelligent storage logistics transport trolley Download PDFInfo
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- CN114798453A CN114798453A CN202210439571.XA CN202210439571A CN114798453A CN 114798453 A CN114798453 A CN 114798453A CN 202210439571 A CN202210439571 A CN 202210439571A CN 114798453 A CN114798453 A CN 114798453A
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- trolley
- guide rail
- grabbing
- frame
- rack
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/36—Sorting apparatus characterised by the means used for distribution
- B07C5/361—Processing or control devices therefor, e.g. escort memory
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/36—Sorting apparatus characterised by the means used for distribution
- B07C5/361—Processing or control devices therefor, e.g. escort memory
- B07C5/362—Separating or distributor mechanisms
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/36—Sorting apparatus characterised by the means used for distribution
- B07C5/38—Collecting or arranging articles in groups
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Warehouses Or Storage Devices (AREA)
Abstract
The invention relates to the technical field of logistics storage trolleys, and particularly discloses a full-automatic intelligent storage logistics transport trolley which comprises a trolley frame and a trolley frame, wherein the trolley frame is used for fixedly mounting all components of the trolley; the travelling mechanism is used for completing the overall omnibearing movement of the trolley; the guide rail mechanism is used for providing a movably adjusted track for realizing that the trolley grabs the target goods; the conveying mechanism is arranged on the frame below the guide rail mechanism; the grabbing mechanism is used for grabbing target goods; the storage mechanism is used for storing goods and is provided with a retractable door capable of being automatically opened and closed, an image acquisition device and a controller, the image acquisition device is used for identifying target goods to be grabbed, and the controller is electrically connected with each mechanism and is used for controlling all parts to perform coordinated operation. The automatic control device realizes full-automatic control of the trolley through the automatic control module, does not need any manual operation, and greatly improves the operation efficiency.
Description
Technical Field
The invention relates to the technical field of intelligent logistics trolleys, in particular to a full-automatic intelligent storage logistics transport trolley.
Background
At present, the development trend of warehouse logistics automation and intellectualization is more and more obvious. The intelligent logistics trolley is an automatic trolley which is controlled by a microcontroller and is matched with a mechanical structure to complete tracking, code scanning recognition, material grabbing, obstacle avoidance, material placing and the like, and the intelligent logistics trolley is based on the principle that the trolley is controlled by the microcontroller to move forward to avoid the obstacle and control a mechanical arm to grab specified materials and place the specified materials on a vehicle and then move forward to a specified area to place the specified materials in the specified area, so that automatic and intelligent material conveying is realized, manpower is saved, and efficiency is improved.
The existing logistics trolleys are generally divided into two types: the other is a goods shelf type trolley, which combines goods shelves with universal wheels to transport goods. The feeding and discharging of the material trolley are carried manually by people, and the material trolley needs to be pushed to move forwards by manpower, so that time and labor are wasted, and the great waste of human resources is caused. The other type is an intelligent carrying trolley which can carry out tracking positioning and goods conveying according to magnetic nails on the ground, but has the defects that the trolley body can only be used for placing materials, the grabbing of the materials needs other devices for assistance, the trolley only plays a role in carrying, and the function is single. Therefore, a fully-automatic intelligent storage logistics transport trolley is urgently needed to be designed.
Disclosure of Invention
The invention aims to provide a full-automatic intelligent storage logistics transport trolley which breaks through the limitation of the existing single execution operation, adopts machine vision to grab a specified object, realizes full-automatic control of the trolley through an automatic control module, does not need any manual operation, and greatly improves the operation efficiency.
In order to achieve the technical purpose, the invention provides a full-automatic intelligent warehouse logistics transport trolley, which comprises a trolley frame, a travelling mechanism, a guide rail mechanism, a conveying mechanism, a grabbing mechanism, a storage mechanism, an image acquisition device and a controller, wherein the trolley frame is used for fixedly mounting all components of the trolley, the travelling mechanism is mounted at the bottom of the trolley frame and used for completing the overall omnibearing movement of the trolley, the guide rail mechanism is fixed at the top of the trolley frame and used for providing a movably adjustable track for the trolley to grab target cargos, the conveying mechanism is connected with the trolley frame and positioned below the guide rail mechanism, the grabbing mechanism is fixed on the conveying mechanism and matched and connected with a guide rail of the guide rail mechanism, can move along the guide rail mechanism under the driving of the conveying mechanism and used for grabbing the target cargos, the storage mechanism is mounted at the lower part of the trolley frame, the device comprises a frame, an image acquisition device, a controller and a storage mechanism, wherein the image acquisition device is fixedly installed at the top of the frame, the controller is electrically connected with the image acquisition device, the advancing mechanism, the conveying mechanism, the grabbing mechanism and the storage mechanism respectively, the controller obtains corresponding position information that target cargos are to be placed in the storage mechanism after analyzing and processing cargo image information acquired by the image acquisition device, and controls the advancing mechanism, the conveying mechanism, the grabbing mechanism and the storage mechanism to coordinate operation at the same time to place the target cargos in an inventory area.
Furthermore, the guide rail mechanism is a closed rail formed by welding a plurality of sections of rails, the upper surfaces of two sides of the closed rail are fixedly connected to the frame, and the outer side surface of the closed rail is provided with a sliding rail working surface used for the grabbing mechanism to move.
Further, transport mechanism includes four band pulleys, hold-in range and band pulley driving motor, four two liang of a set of, the symmetry of band pulley is installed and is located below the closed track on the frame, band pulley driving motor installs on one of them band pulley, just band pulley driving motor with the controller electricity is connected, the hold-in range overlaps simultaneously and is established four the outside of band pulley, it fixes to snatch the mechanism on the hold-in range.
Furthermore, the grabbing mechanism comprises a guide wheel, a mounting seat, a first electric push rod, a grabbing hand driving motor and a grabbing hand, the rolling surface of the guide wheel is connected with the working surface of the slide rail in a sliding mode, two ends of the guide wheel are connected to the mounting seat in a rotating mode, the first electric push rod is fixed in the middle of the bottom surface of the mounting seat, the other end of the first electric push rod is connected with a shell of the grabbing hand driving motor, an output shaft of the grabbing hand driving motor is connected with the grabbing hand through a rotating shaft, and the electric push rod and the grabbing hand driving motor are electrically connected with the controller.
Furthermore, there is a U type groove in the centre of mount pad, the leading wheel sets up in this U type groove, and the upper surface in this U type groove is equipped with two backing sheets of symmetry be equipped with be used for preventing to snatch the anti-rocking wheel that the mechanism rocked between the upper surface of backing sheet and the lower surface of closed track.
Further, be equipped with fixed guider on first electric putter's the lateral wall, fixed guider comprises fixed block and buckle, fixed block fixed mounting is on first electric putter's lateral wall, the draw-in groove that is used for the hold-in range to pass is offered on the outside surface of fixed block, the both ends of buckle will the hold-in range is fixed in the draw-in groove.
Furthermore, the storage mechanism comprises a gear rack assembly, a connecting rod and at least one group of telescopic doors consisting of L-shaped plates, the gear rack assembly consists of a first gear and two first racks, the first gear is connected to a first gear motor, the first gear motor is fixed on the frame, the two first racks are respectively meshed with two sides of the first gear, the two first racks are respectively fixed on the two guide rail bars, the first gear motor is electrically connected with the controller, the two first racks are driven by the rotation of the first gear to simultaneously and synchronously move in two directions so as to move the two guide rail bars, the connecting rods are respectively connected on the two guide rail bars, the L-shaped plates are symmetrically arranged on the connecting rod, the vertical part of the L-shaped plate is in threaded connection with the connecting rod, and the horizontal part of the L-shaped plate penetrates through a notch formed on a side plate of the frame, the horizontal portion of the L-shaped panel constitutes the retractable door of the storage mechanism.
Further, the lower part of frame, with still be equipped with temporary storage mechanism on depositing the corresponding position in mechanism position, temporary storage mechanism includes X type elevating platform and second electric putter, X type elevating platform fixed connection be in on the frame, second electric putter with the connecting axle of X type elevating platform is connected, and second electric putter with the controller electricity is connected, under the control of controller, X type elevating platform can go up and down under second electric putter's promotion.
Further, still be equipped with push mechanism on the X type elevating platform, push mechanism includes second gear, second rack, rack balance bar, rack guide rail and protruding dish, the output at second gear motor is installed to the second gear, second gear motor fixes on the X type elevating platform, just second gear motor with the controller electricity is connected, the second rack with the second gear meshing, just the second rack is installed on the rack guide rail, the other end of rack guide rail is fixed respectively on the baffle of X type elevating platform, rack balance bar is installed on the rack guide rail with second rack symmetry side, the both ends of protruding dish respectively with the second rack with rack balance bar is connected.
Furthermore, the advancing mechanism is composed of four Mecanum wheels, the four Mecanum wheels are respectively installed at four corners of the bottom of the frame, and each Mecanum wheel is connected with a control motor.
Compared with the existing warehouse logistics transport trolley, the full-automatic intelligent warehouse logistics transport trolley provided by the invention has the advantages that the target goods to be grabbed are identified through the image acquisition device, the acquired goods image information is analyzed and processed to obtain the corresponding position information of the target goods to be placed in the storage mechanism, the controller coordinately controls the conveying mechanism to drive the grabbing mechanism to move on the guide rail mechanism and adjust to the position of the target goods, then the grabbing is carried out, the grabbed goods are placed on the storage mechanism, then the trolley moves to the specified position through the advancing mechanism, and the goods are unloaded in the area to be stored through the telescopic door on the storage mechanism. The invention can identify target goods with different colors and different shapes by adopting machine vision, realizes full-automatic intelligent grabbing and unloading of the warehouse logistics transport trolley, does not need any manual operation in the process, and greatly improves the transport operation efficiency of the warehouse logistics.
Drawings
FIG. 1 is a schematic diagram of the overall structure of a fully automatic intelligent warehouse logistics transport trolley according to the invention;
FIG. 2 is a partial view of the track mechanism of the present invention;
FIG. 3 is a schematic view of the gripping mechanism of the present invention;
FIG. 4 is a schematic view of the connection between the gripping mechanism and the rail mechanism according to the present invention;
FIG. 5 is a schematic view of the storage mechanism of the present invention;
FIG. 6 is a schematic view of the rack and pinion arrangement of the storage mechanism of the present invention;
FIG. 7 is a schematic structural diagram of a temporary storage mechanism according to the present invention;
fig. 8 is a schematic structural view of the pushing mechanism of the present invention.
Shown in the figure:
1-a vehicle frame;
2-a traveling mechanism;
3-guide rail mechanism, 31-slide rail working surface;
4-a transmission mechanism, 41-a belt wheel, 42-a synchronous belt and 43-a belt wheel driving motor;
5-a grabbing mechanism, 51-a guide wheel, 52-a mounting seat, 521-a U-shaped groove, 522-a supporting sheet, 523-an anti-rocking wheel, 53-a first electric push rod, 531-a fixing block, 532-a buckle, 54-a gripper driving motor, 55-a gripper, 551-a first gripper and 552-a second gripper;
6-storage mechanism, 61-first gear, 62-first rack, 63-connecting rod, 64-L-shaped plate, 65-first gear motor, 66-guide rail bar;
7-temporary storage mechanism, 71-X type lifting table, 72-second electric push rod and 73-connecting shaft;
8-pushing mechanism, 81-second gear, 82-second rack, 83-rack balance bar, 84-rack guide rail, 85-protruding disc and 86-second gear motor.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
As shown in fig. 1, the invention provides a full-automatic intelligent storage logistics transport trolley, which comprises a trolley frame 1, a travelling mechanism 2, a guide rail mechanism 3, a conveying mechanism 4, a grabbing mechanism 5, a storage mechanism 6, an image acquisition device and a controller, wherein the travelling mechanism 2 is installed at the bottom of the trolley frame 1 and is used for completing the overall omnibearing movement of the trolley; the guide rail mechanism 3 is fixed at the top of the frame 1 and provides a movably adjustable track for realizing that the trolley grabs target goods; the conveying mechanism 4 is connected with the frame 1 and is positioned below the guide rail mechanism 3; the grabbing mechanism 5 is fixed on the conveying mechanism 4, is matched and connected with a guide rail of the guide rail mechanism 3, can move along the guide rail mechanism 3 under the driving of the conveying mechanism 4, and is used for grabbing target goods; the storage mechanism 6 is arranged at the lower part of the frame 1 and used for storing goods; the image acquisition device is fixedly installed at the top of the frame 1, the controller is electrically connected with the image acquisition device, the advancing mechanism 2, the conveying mechanism 4, the grabbing mechanism 5 and the storage mechanism 6 respectively, the controller obtains corresponding position information that the target goods are to be placed in the storage mechanism after analyzing and processing goods image information acquired by the image acquisition device, and controls the advancing mechanism, the conveying mechanism, the grabbing mechanism and the storage mechanism to coordinate operation at the same time to place the target goods in the stock area.
According to the technical scheme, the trolley can move in all directions through the travelling mechanism 2, when the trolley moves to a specified position, the target to be grabbed is obtained through the image obtaining device to identify the marks, the marks comprise characteristics of colors, shapes and the like of goods, the target goods to be grabbed are judged, signals are fed back to the controller, the controller controls the conveying mechanism 4 to drive the grabbing mechanism 5 to move on the guide rail mechanism 3, when the grabbing mechanism 5 moves to the position right above the target goods, the controller controls the grabbing mechanism 5 to grab the goods downwards and place the goods on the storage mechanism 6, meanwhile, the conveying mechanism 4 continues to move to drive the rest grabbing mechanism 5 to continue to grab the goods, after the storage mechanism 6 and the grabbing mechanism 5 are filled with the goods, the controller controls the travelling mechanism 2 to enable the trolley to move to a specified unloading area along a tracking path, and the goods are placed in a stock area through the automatic telescopic door on the storage mechanism 6, the automatic transport function is completed.
Wherein, in order to better acquire the characteristics of the target cargo, the image acquisition device adopts a camera which is preferably arranged at the topmost part of the vehicle frame 1 so as to identify the target cargo. The controller adopts a raspberry group as an upper computer, and the camera, the grabbing mechanism 5 and the conveying mechanism 4 are electrically connected with the raspberry group upper computer; STM32F4 is regarded as the lower computer to with advancing mechanism 2, temporary storage mechanism 7, push mechanism 8 and deposit mechanism 6, and with lower computer through serial interface and host computer communication connection, so, the controller obtains the corresponding position information that the target goods should be placed at the mechanism of depositing through carrying out analysis processes to the goods image information that the image acquisition device gathered, and transmits this corresponding position information to the lower computer, controls advancing mechanism 2, temporary storage mechanism 7, push mechanism 8 and deposits mechanism 6 and coordinate the operation simultaneously and place the target goods in the stock district by the lower computer, and the control is accomplished the dolly and is discerned from the target, is snatched, is transported and the automatic overall process of unloading, realizes the unmanned operation of complete machine.
In a specific embodiment, the frame 1 is a frame structure constructed by aluminum profiles of 20mm × 20mm, and the whole vehicle is 1300mm long and 900mm wide. In practical application, the material, size and shape of the frame 1 can be flexibly selected according to actual needs, but the selection should meet the load bearing requirements for carrying all components.
In a specific embodiment, the traveling mechanism 2 is composed of four mecanum wheels, the four mecanum wheels are respectively installed at four corners of the bottom of the frame 1, and each mecanum wheel is connected with a control motor for independent control, so that longitudinal and steering movement can be realized.
Preferably, 4 infrared tracking sensors are installed at the bottom of the trolley, when the infrared tracking sensors irradiate black lines, low level is output, the return value is 0, when the infrared tracking sensors irradiate white ground, high level is output, and the return value is 1.
In a specific embodiment, as shown in fig. 1 and 2, the guide rail mechanism 3 is a closed rail formed by welding a plurality of sections of rails, the upper surfaces of both sides of the closed rail are fixedly connected to the frame 1, and the outer side surface of the closed rail is provided with a slide rail working surface 31 for moving the gripping mechanism 5.
Because the object moves on the guide rail and requires higher transmission accuracy and stability, the form of combining a synchronous belt and a belt wheel is preferably selected to finish the transmission action, the synchronous belt also has the advantage of high transmission efficiency, and the selected motor has lower power, so that the weight of the whole device is conveniently reduced. Specifically, transport mechanism 4 includes four band pulleys 41, hold-in range 42 and band pulley driving motor 43, four two double-phase a set of, the symmetry of band pulley 41 is installed and is located below the closed track on frame 1, band pulley driving motor 43 installs on one of them band pulley 41, just band pulley driving motor 43 with the controller electricity is connected, hold-in range 42 overlaps simultaneously and is established four the outside of band pulley 41, it fixes to snatch mechanism 5 on the hold-in range 42.
In a specific embodiment, as shown in fig. 3, the grasping mechanism 5 includes a guide wheel 51, a mounting seat 52, a first electric push rod 53, a gripper driving motor 54 and a gripper 55, a rolling surface of the guide wheel 51 is slidably connected to the sliding rail working surface 31, two ends of the guide wheel 51 are rotatably connected to the mounting seat 52, the first electric push rod 53 is fixed in the middle of the bottom surface of the mounting seat 52, the other end of the first electric push rod 53 is connected to a housing of the gripper driving motor 54, an output shaft of the gripper driving motor 54 is connected to the gripper 55 through a rotating shaft, and the first electric push rod 53 and the gripper driving motor 54 are electrically connected to the controller.
Preferably, the gripper 55 is composed of a first gripper 551 and a second gripper 552, the first gripper 551 and the second gripper 552 are arranged in a mirror image manner, one end of the first gripper 551 is of a gear structure, the gear is rotatably connected to a rotating shaft connected with the gripper driving motor 54, and the edge of one end of the second gripper 552 is of a sawtooth shape meshed with the gear structure of the first gripper 551.
Preferably, a U-shaped groove 521 is formed in the middle of the mounting seat 52, the guide wheel 51 is disposed in the U-shaped groove 521, two supporting pieces 522 are symmetrically disposed on the upper surface of the U-shaped groove 521, and an anti-shaking wheel 523 for preventing the grabbing mechanism 5 from shaking is disposed between the upper surface of the supporting pieces 522 and the lower surface of the closed track.
Preferably, as shown in fig. 4, a fixed guide device is arranged on the side wall of the first electric push rod 53, the fixed guide device is composed of a fixed block 531 and a buckle 532, the fixed block 531 is fixedly mounted on the side wall of the first electric push rod 53, a clamping groove for the synchronous belt 42 to pass through is formed in the outer side surface of the fixed block 531, and the synchronous belt 42 is fixed in the clamping groove at two ends of the buckle 532.
The working principle of the guide rail mechanism 3, the conveying mechanism 4 and the grabbing mechanism 5 is as follows: the belt wheel driving motor 43 is started under the control of the controller, the belt wheel 41 is driven to rotate, the synchronous belt 42 is driven to move, the number of the grabbing mechanisms 5 is multiple, the grabbing mechanisms are fixed on the synchronous belt 42 through the fixed guide device, the grabbing mechanisms 5 move along with the movement of the synchronous belt 42, when the grabbing mechanisms 5 move right above target goods, the first electric push rod 53 is started under the control of the controller to enable the grabbers 55 to face downwards, meanwhile, the grabber driving motor 54 is started under the control of the controller to enable the first grabber 551 and the second grabber 552 to be opened to grab the goods, the first electric push rod 53 returns and lifts the grabbers 55 after the goods are grabbed, and then the synchronous belt 42 drives the grabbing mechanisms 5 to continue to move to complete one grabbing action. In the process that the conveying mechanism 4 drives the grabbing mechanism 5 to move, the guide wheel 51 rolls along the slide rail working surface 31 of the guide rail mechanism 3, the anti-shaking wheel 523 is arranged to prevent the grabbing mechanism 5 from shaking in the moving process, meanwhile, the fixed guide device plays a role in fixing the grabbing mechanism 5 on the one hand, and plays a role in guiding the grabbing mechanism 5 to move on the other hand, by adopting the structure, the problem that relative sliding is easily generated between the guide wheel 51 and the slide rail working surface 31 due to the existence of a gap is solved, the closed rail becomes a bearing structure, and the damage to the synchronous belt 42 is reduced.
In a specific embodiment, as shown in fig. 5 and 6, the storage mechanism 6 includes a rack and pinion assembly, a connecting rod 63 and at least one set of retractable doors including L-shaped plates 64, the rack and pinion assembly includes a first gear 61 and two first racks 62, the first gear 61 is connected to a first gear motor 65, the first gear motor 65 is fixed on the frame 1, the two first racks 62 are respectively engaged with two sides of the first gear 61, the two first racks 62 are respectively fixed on two guide rail bars 66, the first gear motor 65 is electrically connected to the controller, the two first racks 62 are driven by the rotation of the first gear 61 to simultaneously and simultaneously move in two directions at the same speed, so that the two guide rail bars 66 move, the connecting rods 63 are respectively connected to the two guide rail bars 66, the L-shaped plates 64 are symmetrically arranged on the connecting rod 63, and the vertical part of the L-shaped plate 64 is connected to the connecting rod 63 by screw thread, the horizontal part of the L-shaped plate 64 passes through a notch arranged on a side plate of the frame 1, and the horizontal part of the L-shaped plate 64 forms a telescopic door of the storage mechanism 6.
The above is the structural composition of a storage mechanism 6, in practical use, the number of the storage mechanisms 6 can be multiple, and the connecting rods 63 of multiple storage mechanisms 6 are all connected to the guide rail bar 66, so that the retractable doors of multiple storage mechanisms 6 can be opened and closed simultaneously, the process can be completed by one motor of the first gear motor 65, and the weight of the whole machine is reduced.
Preferably, each storage mechanism 6 is provided with two retractable doors, that is, two sets of L-shaped plates 64 are provided, one set is provided at the lower part of the storage mechanism 6, the other set is provided at the upper part of the storage mechanism 6, and the plate length of the horizontal part of the upper set of L-shaped plates 64 is smaller than that of the horizontal part of the lower set of L-shaped plates 64, so that when the first gear motor 65 controls the connecting rod 63 to open, the gap between the upper set of L-shaped plates 64 is larger than that between the lower set of L-shaped plates 64, the goods fall from the upper layer to the lower layer, and then are unloaded from the lower layer to the designated area.
In a specific embodiment, as shown in fig. 1 and 7, a temporary storage mechanism 7 is further disposed at a position corresponding to the position of the storage mechanism 6 at the lower portion of the vehicle frame 1, the temporary storage mechanism 7 includes an X-shaped lifting platform 71 and a second electric push rod 72, the X-shaped lifting platform 71 is fixedly connected to the vehicle frame 1, the second electric push rod 72 is connected to a connecting shaft 73 of the X-shaped lifting platform 71, and the second electric push rod 72 is electrically connected to the controller, under the control of the controller, the X-shaped lifting platform 71 can be lifted and lowered by the second electric push rod 72.
In a specific embodiment, as shown in fig. 8, a pushing mechanism 8 is further disposed on the X-shaped lifting platform 71, the pushing mechanism 8 comprises a second gear 81, a second rack 82, a rack balance bar 83, a rack guide 84 and a protruding disc 85, the second gear 81 is arranged at the output end of a second gear motor 86, the second gear motor 86 is fixed on the X-shaped lifting platform 71, and the second gear motor 86 is electrically connected with the controller, the second rack 82 is engaged with the second gear 81, and the second rack 82 is installed on a rack guide rail 84, the other ends of the rack guide rail 84 are respectively fixed on the baffle plate of the X-shaped lifting platform 71, the rack balance bar 83 is installed on the rack guide 84 at the symmetrical side of the second rack 82, both ends of the protruding disc 85 are respectively connected with the second rack 82 and the rack balance bar 83.
Above-mentioned temporary storage mechanism 7 is used for depositing the goods temporarily, and when the goods was snatched by snatching mechanism 5 and transported the goods to temporary storage mechanism 7 top under the drive of transport mechanism 4, snatch mechanism 5 and let out and keep in the goods to X type elevating platform 71 for snatch mechanism 5 and can get back to and snatch the region and snatch other goods, lay the basis for realizing the synchronous coordinated motion of each part of dolly. The temporary storage mechanism 7 and the pushing mechanism 8 arranged in the temporary storage mechanism 7 can achieve stacking of upper and lower layers of different goods, for example, a red milk box and a blue milk box, the grabbing mechanism 5 can grab the red milk box through a control program of the controller, the red milk box is placed on the X-shaped lifting platform 71 of the temporary storage mechanism 7 after being grabbed, the X-shaped lifting platform 71 is lifted through the second electric push rod 72, when the red milk box is lifted to be the same as the height of the storage mechanism 6, the red milk box is pushed to the storage mechanism 6 through the protruding disc 85 of the pushing mechanism 8, the red milk box is sent to the lower layer of the storage mechanism 6 through opening the telescopic door of the storage mechanism 6, the grabbing mechanism 5 grabs the blue milk box and places the blue milk box on the temporary storage mechanism 7, and then the red milk box is pushed to the storage mechanism 6 through the pushing mechanism 8, and the red milk box stacking required is completed until the lower layer, Blue milk boxes are stacked on the upper layer.
It should be noted that the center line of the protruding disc 85 is 75mm higher than the plane of the X-shaped lifting table 71, and the center line of the protruding disc 85 is exactly aligned with the center line of the milk box, so that the milk box is smoothly pushed onto the temporary storage mechanism 7. The pushing mechanism 8 controls the second gear 81 to rotate by the second gear motor 86, and the second gear 81 is engaged with the second rack 82 to move the second rack 82 along the rack guide rail 84, so that the protruding disc 85 fixed at the tail end of the second rack 82 horizontally moves, and the milk box is pushed to the storage mechanism 6.
In summary, the invention provides a fully automatic intelligent warehouse logistics transport trolley, which comprises a trolley placed at a starting point, an image acquisition device opened to identify the identified target goods, a controller controlled by the controller to move a transport mechanism 4 to drive a grabbing mechanism 5 to move, when the trolley moves to a position right above the target goods, the controller controlled by the controller to grab the target goods 5 downwards, the temporary storage mechanism 7 placed with the goods after grabbing, the pushing mechanism 8 pushed to a storage mechanism 6, the controller controlled by the transport mechanism 4 to continue driving the grabbing mechanism 5 to move to grab again, when the storage mechanism 6 and/or the temporary storage mechanism 7 and/or the grabbing mechanism 5 are full or partially full of the goods, the trolley moved to a designated position by a travel mechanism 2 to put down the goods, and finishing the work. The warehouse logistics transport trolley disclosed by the invention realizes the automation of the whole process from grabbing, transferring to unloading, does not need any manpower in the whole process, and greatly improves the operation efficiency.
The above-described embodiments of the present invention should not be construed as limiting the scope of the present invention. Any other corresponding changes and modifications made according to the technical idea of the present invention should be included in the protection scope of the claims of the present invention.
Claims (10)
1. The utility model provides a full-automatic intelligent storage commodity circulation transport dolly which characterized in that includes:
a frame;
the traveling mechanism is mounted at the bottom of the frame;
the guide rail mechanism is fixed at the top of the frame and provides a movably adjusted track for realizing that the trolley grabs the target goods;
the conveying mechanism is connected with the frame and is positioned below the guide rail mechanism;
the grabbing mechanism is fixed on the conveying mechanism, is matched and connected with the guide rail of the guide rail mechanism, can move along the track of the guide rail mechanism under the driving of the conveying mechanism, and is used for grabbing target cargos;
the storage mechanism is arranged at the lower part of the frame and is used for storing goods;
the image acquisition device is fixedly installed at the top of the frame, the controller is electrically connected with the image acquisition device, the advancing mechanism, the conveying mechanism, the grabbing mechanism and the storing mechanism respectively, the controller analyzes and processes cargo image information acquired by the image acquisition device to obtain corresponding position information of target cargos to be placed in the storing mechanism, and controls the advancing mechanism, the conveying mechanism, the grabbing mechanism and the storing mechanism to coordinate operation at the same time to place the target cargos in a stock area.
2. The fully automatic intelligent storage and logistics transport trolley as claimed in claim 1, wherein the guide rail mechanism is a closed rail formed by welding a plurality of sections of rails, the upper surfaces of two sides of the closed rail are fixedly connected to the frame, and the outer side surface of the closed rail is provided with a slide rail working surface for the grabbing mechanism to move.
3. The fully-automatic intelligent storage logistics transportation trolley as claimed in claim 2, wherein the conveying mechanism comprises four belt wheels, a synchronous belt and a belt wheel driving motor, the four belt wheels are symmetrically arranged on the frame below the closed track in a group of two belt wheels, the belt wheel driving motor is arranged on one belt wheel, the belt wheel driving motor is electrically connected with the controller, the synchronous belt is sleeved outside the four belt wheels at the same time, and the grabbing mechanism is fixed on the synchronous belt.
4. The full-automatic intelligent storage logistics transportation trolley of claim 3, wherein the grabbing mechanism comprises a guide wheel, a mounting seat, a first electric push rod, a grabbing hand driving motor and a grabbing hand, a rolling surface of the guide wheel is in sliding connection with a working surface of the sliding rail, two ends of the guide wheel are rotatably connected onto the mounting seat, the first electric push rod is fixed in the middle of the bottom surface of the mounting seat, the other end of the first electric push rod is connected with a shell of the grabbing hand driving motor, an output shaft of the grabbing hand driving motor is connected with the grabbing hand through a rotating shaft, and the first electric push rod and the grabbing hand driving motor are electrically connected with the controller.
5. The fully automatic intelligent storage logistics transportation trolley as claimed in claim 4, wherein a U-shaped groove is formed in the middle of the mounting base, the guide wheels are arranged in the U-shaped groove, two symmetrical support sheets are arranged on the upper surface of the U-shaped groove, and anti-shaking wheels for preventing the grabbing mechanism from shaking are arranged between the upper surfaces of the support sheets and the lower surface of the closed track.
6. The full-automatic intelligent storage logistics transportation trolley according to claim 5, wherein a fixed guide device is arranged on a side wall of the first electric push rod, the fixed guide device is composed of a fixed block and a buckle, the fixed block is fixedly installed on the side wall of the first electric push rod, a clamping groove for a synchronous belt to pass through is formed in the outer side surface of the fixed block, and the synchronous belt is fixed in the clamping groove by two ends of the buckle.
7. The fully automatic intelligent storage logistics transportation trolley according to claim 1, wherein the storage mechanism comprises a gear rack assembly, a connecting rod and at least one set of retractable doors consisting of L-shaped plates, the gear rack assembly comprises a first gear and two first racks, the first gear is connected to a first gear motor, the first gear motor is fixed on the trolley frame, the two first racks are respectively engaged with two sides of the first gear, the two first racks are respectively fixed on the two guide rail bars, the first gear motor is electrically connected with the controller, the two first racks are driven by the rotation of the first gear to simultaneously move in two directions at the same speed so as to enable the two guide rail bars to move, the connecting rod is respectively connected to the two guide rail bars, the L-shaped plates are symmetrically arranged on the connecting rod, and the vertical part of the L-shaped plate is in threaded connection with the connecting rod, the horizontal part of the L-shaped plate passes through a notch arranged on a side plate of the frame, and the horizontal part of the L-shaped plate forms a telescopic door of the storage mechanism.
8. The fully-automatic intelligent storage logistics transportation trolley according to claim 1, wherein a temporary storage mechanism is further arranged at a position corresponding to the position of the storage mechanism at the lower portion of the trolley frame, the temporary storage mechanism comprises an X-shaped lifting table and a second electric push rod, the X-shaped lifting table is fixedly connected to the trolley frame, the second electric push rod is connected with a connecting shaft of the X-shaped lifting table, the second electric push rod is electrically connected with the controller, and the X-shaped lifting table can be lifted under the pushing of the second electric push rod under the control of the controller.
9. The full-automatic intelligent storage logistics transportation trolley according to claim 8, wherein a pushing mechanism is further arranged on the X-shaped lifting platform, the pushing mechanism comprises a second gear, a second rack, a rack balance bar, a rack guide rail and a protruding disc, the second gear is installed at the output end of a second gear motor, the second gear motor is fixed on the X-shaped lifting platform and is electrically connected with the controller, the second rack is meshed with the second gear and is installed on the rack guide rail, the other end of the rack guide rail is respectively fixed on a baffle of the X-shaped lifting platform, the rack balance bar is installed on the rack guide rail on the side symmetrical to the second rack, and two ends of the protruding disc are respectively connected with the second rack and the rack balance bar.
10. The automated warehouse logistics transport cart of claim 1, wherein the travel mechanism comprises four Mecanum wheels, the four Mecanum wheels are respectively mounted at four corners of the bottom of the frame, and a control motor is connected to each Mecanum wheel.
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| CN114798453B (en) | 2023-08-15 |
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