CN115057251A

CN115057251A - Intelligent container carrying robot

Info

Publication number: CN115057251A
Application number: CN202210786864.5A
Authority: CN
Inventors: 李利华; 赵展晖
Original assignee: Guangzhou Feilan International Trade Co ltd
Current assignee: Guangzhou Feilan International Trade Co ltd
Priority date: 2022-07-04
Filing date: 2022-07-04
Publication date: 2022-09-16

Abstract

The invention discloses an intelligent container carrying robot which comprises a movable trolley, a machine arm, a gripper and a telescopic conveying track, wherein the machine arm is arranged at the top of the movable trolley, and the gripper is arranged at the front end of the machine arm. When carrying goods, one end of the telescopic conveying track is placed outside the goods cabinet, the position of a goods cabinet in the goods cabinet can be detected through the camera and the sensor, after the position of the goods cabinet is detected, the terminal control system controls the movable trolley to drive the mechanical arm to move, the mechanical arm drives the gripper to move, the gripper is moved to the place of the goods cabinet, the movable trolley can drive the telescopic conveying track to stretch in the moving process, the goods cabinet can be grabbed through the gripper, the goods cabinet is placed on the telescopic conveying track through the mechanical arm, the goods cabinet is output from the goods cabinet through the telescopic conveying track, the goods cabinet can be loaded and unloaded fully automatically, the labor intensity and the labor cost are reduced, and the purpose of avoiding the risk that a worker is infected with new crown viruses is achieved.

Description

Intelligent container carrying robot

Technical Field

The invention relates to the technical field of transfer robots, in particular to an intelligent container transfer robot.

Background

The traditional cargo loading and unloading method of the container is a manual carrying method, which has high labor intensity and wastes time and labor. The risk that new coronavirus infects people through the external package of goods is increased when the carrier carries the goods.

Most of the existing container carrying equipment uses roller guide rails and conveying belts, belongs to manual work and semi-automation, and can not be operated without people. The risk of infection of people by new coronavirus through external packing of goods during the process of transporting goods also exists. The defects limit further forward development and popularization and application of the field. Therefore, a cargo handling device is urgently needed, and the cargo handling device can fully automatically finish cargo loading and unloading of the container so as to achieve the purposes of reducing labor intensity and labor cost and avoiding the risk of infecting new corona viruses for workers.

Disclosure of Invention

The invention aims to overcome the technical defects, provides an intelligent container carrying robot, and solves the technical problems that a cargo carrying device in the prior art cannot fully automatically complete container cargo loading and unloading so as to reduce labor intensity and labor cost and avoid the risk of infecting new corona viruses for workers.

In order to achieve the technical purpose, the technical scheme of the invention provides an intelligent container carrying robot which comprises a movable trolley, a machine arm, a gripper and a telescopic conveying track, wherein the machine arm is arranged at the top of the movable trolley, the gripper is arranged at the front end of the machine arm, and the telescopic conveying track is arranged at the rear end of the machine arm;

the intelligent data terminal is connected with the robot arm, the gripper, the camera and the sensor respectively and is in wireless connection with the terminal control system.

Further, portable dolly includes base, wheel and rotates elevating system, and intelligent data terminal installs at the base top, and the wheel is installed to the base bottom, and the base top is connected bottom the machine arm through rotating elevating system, rotates elevating system and is used for driving the machine arm rotation and goes up and down.

Further, the rotary lifting mechanism comprises a first rotary motor, a first rotary table, a first hydraulic cylinder, a first hinged frame, a second hydraulic cylinder and a third hinged frame, the first rotary motor is installed in the base, the first rotary table is installed on an output shaft of the first rotary motor, the first hydraulic cylinder is installed at the top of the first rotary table, a piston rod of the first hydraulic cylinder is hinged to the first hinged frame, the first hinged frame is installed at the bottom of the machine arm, the second hinged frame is further installed at the top of the first rotary table, the second hinged frame is hinged to the second hydraulic cylinder, a piston rod of the second hydraulic cylinder is hinged to the third hinged frame, and the third hinged frame is also installed at the bottom of the machine arm.

Further, the robot arm includes first bottom plate, first conveyer belt, fixed plate, second rotation motor and fly leaf, and the camera is installed in first bottom plate one side, and first articulated frame and third articulated frame are all installed in first bottom plate bottom, and first conveyer belt is installed at first bottom plate top, and the fixed plate is installed to first bottom plate front end, installs the second on the fixed plate and rotates the motor, installs the fly leaf on the output shaft of second rotation motor, and the fly leaf is installed at the tongs rear end.

Further, the gripper comprises a second bottom plate, a second conveyor belt, a mounting plate, suckers, a suction pump and a translation lifting mechanism, wherein the movable plate is arranged at the rear end of the second bottom plate, the second conveyor belt is arranged at the top of the second bottom plate, a plurality of suckers are arranged on the front side of the mounting plate at equal intervals, each sucker is connected with the suction pump, two ends of the mounting plate are respectively connected with the translation lifting mechanism, the translation lifting mechanism is used for driving the mounting plate to move horizontally and lift so as to enable the mounting plate to move on the top of the second conveyor belt or to be placed at the rear end of the second conveyor belt,

further, translation elevating system includes the head rod, the third rotates the motor, the second connecting rod, the fourth rotates the motor, third connecting rod and linear electric motor, head rod one end is connected with the mounting panel, the head rod other end passes through the third and rotates the motor and be connected with second connecting rod one end, the second connecting rod other end passes through the fourth and rotates the motor and be connected with third connecting rod one end, the third connecting rod other end is installed on linear electric motor, linear electric motor installs at second bottom plate top.

Further, scalable delivery track includes the conveying roller, expansion bracket and hook plate, the conveying roller is many, many conveying roller equidistance sets up, the both ends of two adjacent conveying rollers are connected through the expansion bracket respectively, the expansion bracket includes two hinge bar, one of them hinge bar one end is articulated with one of them conveying roller, one of them hinge bar other end is connected with another hinge bar one end, another hinge bar other end is articulated with another conveying roller, the hook plate is two, two hook plate one end are articulated with first bottom plate rear end both sides respectively, two hook plate other ends hook respectively and establish the conveying roller both ends at foremost.

Furthermore, the hinged position of two hinged rods of the same telescopic frame is hinged with the upper end of the supporting rod, and the lower end of the supporting rod is provided with a roller.

The beneficial effects of the invention include: the invention provides an intelligent container carrying robot, when carrying goods, one end of a telescopic conveying rail is placed outside a container, the position of a container in the container can be detected through a camera and a sensor, when the position of the container is detected, a terminal control system controls a movable trolley to drive a machine arm to move, the machine arm drives a gripper to move, the gripper is moved to the container, the movable trolley can drive the telescopic conveying rail to stretch in the moving process, the container can be gripped by the gripper, the container is placed on the telescopic conveying rail through the machine arm, and then the container is output from the container through the telescopic conveying rail, so that the loading and unloading of the goods in the container can be completed fully automatically, the labor intensity and the labor cost are reduced, and the risk that a worker is infected with a new crown virus is avoided.

Drawings

FIG. 1 is a schematic view of an intelligent container handling robot according to an embodiment of the present invention;

FIG. 2 is a schematic view of a partial structure of an intelligent container handling robot according to an embodiment of the present invention;

FIG. 3 is a front view of FIG. 2;

FIG. 4 is a schematic structural view of a translational lift mechanism according to an embodiment of the present invention;

in the figure: 1. the trolley can be moved; 11. a base; 12. a wheel; 13. rotating the lifting mechanism; 131. a turntable; 132. a first hydraulic cylinder; 133. a first hinge frame; 134. a second hinge frame; 135. a second hydraulic cylinder; 136. a third hinge rod; 2. a robot arm; 21. a first base plate; 22. a first conveyor belt; 23. a fixing plate; 24. a second rotating electric machine; 25. a movable plate; 3. a gripper; 31. a second mounting plate; 32. a second conveyor belt; 33. mounting plate, 34, suction cup; 35. a translation lifting mechanism; 351. a first connecting rod; 352. a second rotating electric machine; 353. a second connecting rod; 354. a third rotating electric machine; 355. A third connecting rod; 2236. a linear motor; 4. a retractable conveying track; 41. a conveying roller; 42. A telescopic frame; 421. a hinged lever; 43. a hook plate; 44. a support bar; 45. a roller; 5. a sensor; 6. a camera; 7. and (6) an intelligent data terminal.

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. 1-4, the invention provides an intelligent container handling robot, which comprises a movable trolley 1, a robot arm 2, a gripper 3 and a telescopic conveying track 4, wherein the robot arm 2 is arranged at the top of the movable trolley 1, the gripper 3 is arranged at the front end of the robot arm 2, and the telescopic conveying track 4 is arranged at the rear end of the robot arm 2; the intelligent robot is characterized by further comprising a camera 5, a sensor 6, an intelligent data terminal 7 and a terminal control system, wherein the camera 5 is installed on the robot arm 2, the sensor 6 is installed on the gripper 3, the intelligent data terminal 5 is installed on the movable trolley 1, the robot arm 2, the gripper 3, the camera 5 and the sensor 6 are electrically connected with the intelligent data terminal 7 respectively, and the intelligent data terminal 7 is in wireless connection with the terminal control system. When goods are carried, one end of the telescopic conveying track 3 is placed outside the container, the position of the container in the container can be detected through the camera 5 and the sensor 6, after the position of the container is detected, the terminal control system controls the movable trolley 1 to drive the robot arm 2 to move, the robot arm 2 drives the gripper 3 to move, the gripper 3 is moved to the container, the movable trolley 1 can drive the telescopic conveying track 4 to stretch in the moving process, the container can be gripped through the gripper 3, the container is placed on the telescopic conveying track 3 through the robot arm 2, and then the container is output from the container through the telescopic conveying track 3, so that the goods loading and unloading of the container can be completed fully automatically, the labor intensity and the labor cost are reduced, and the risk that a worker is infected with a new crown virus is avoided.

When goods are carried, one end of the telescopic conveying track 4 is placed outside the container, the position of the container in the container can be detected through the camera 5 and the sensor 6, after the position of the container is detected, the terminal control system controls the movable trolley 1 to drive the robot arm 2 to move, the robot arm 2 drives the gripper 3 to move, the gripper 3 is moved to the container, the movable trolley 1 can drive the telescopic conveying track 4 to stretch in the moving process, the container can be gripped through the gripper 3, the container is placed on the telescopic conveying track 4 through the robot arm 2, and then the container is output from the container through the telescopic conveying track 4, so that the goods loading and unloading of the container can be completed fully automatically, the labor intensity and the labor cost are reduced, and the risk that a worker is infected with a new crown virus is avoided.

More specifically, portable dolly 1 includes base 11, wheel 12 and rotates elevating system 13, and intelligent data terminal 7 installs at base 11 top, and wheel 12 is installed to base 11 bottom, and base 11 top is connected with machine arm 2 bottom through rotating elevating system 13, rotates elevating system 13 and is used for driving machine arm 2 and rotates the lift. The lifting mechanism 13 can be rotated to drive the machine arm 2 to rotate and lift, the machine arm 2 can drive the gripper 3 to rotate and lift, and the position of the gripper 3 can be adjusted in all directions, so that containers in the container can be conveniently carried.

It should be noted that the wheels 12 are connected to a driving device for driving the wheels 12 to rotate and turn, and the driving device can drive the wheels 12 to rotate and turn, so as to further facilitate the transportation of the containers in the container.

More specifically, the rotary lifting mechanism 13 includes a first rotary motor, a first rotating disk 131, a first hydraulic cylinder 132, a first hinge bracket 133, a second hinge bracket 134, a second hydraulic cylinder 135 and a third hinge bracket 136, the first rotary motor is installed in the base 11, the first rotating disk 131 is installed on an output shaft of the first rotary motor, the first hydraulic cylinder 132 is installed on the top of the first rotating disk 131, a piston rod of the first hydraulic cylinder 132 is hinged to the first hinge bracket 133, the first hinge bracket 133 is installed on the bottom of the robot arm 2, the second hinge bracket 134 is also installed on the top of the first rotating disk 131, the second hinge bracket 134 is hinged to the second hydraulic cylinder 135, a piston rod of the second hydraulic cylinder 135 is hinged to the third hinge bracket 136, and the third hinge bracket 136 is also installed on the bottom of the robot arm 2. Can drive first carousel 131 through first rotation motor and rotate to can drive the robot arm 2 and rotate, can drive the robot arm 2 through the piston rod of first pneumatic cylinder 132 and second pneumatic cylinder 135 is flexible and go up and down, also can adjust the angle between robot arm 2 and the horizontal plane simultaneously.

More specifically, the robot arm 2 includes a first base plate 21, a first conveyor belt 22, a fixed plate 23, a second rotating motor 24, and a movable plate 25, the camera 6 is installed at one side of the first base plate 21, both a first hinge bracket 133 and a third hinge bracket 136 are installed at the bottom of the first base plate 21, the first conveyor belt 22 is installed at the top of the first base plate 21, the fixed plate 23 is installed at the front end of the first base plate 21, the second rotating motor 24 is installed on the fixed plate 23, the movable plate 25 is installed on an output shaft of the second rotating motor 24, and the movable plate 25 is installed at the rear end of the gripper 3. The container can be conveyed by the first conveyor belt 22 to the telescopic conveying track 4, the movable plate 25 can be driven to rotate by the second rotating motor 24, and the movable plate 25 drives the gripper 3 to rotate, so that the front end of the gripper 3 is aligned with the container.

More specifically, the gripper 3 comprises a second bottom plate 31, a second conveyor belt 32, a mounting plate 33, suction cups 34, a suction pump and a translational lifting mechanism 35, wherein the movable plate 25 is mounted at the rear end of the second bottom plate 31, the second conveyor belt 32 is mounted on the top of the second bottom plate 31, a plurality of suction cups 34 are equidistantly arranged on the front side of the mounting plate 33, each suction cup 34 is connected with the suction pump, two ends of the mounting plate 33 are respectively connected with the translational lifting mechanism 35, the translational lifting mechanism 35 is used for driving the mounting plate 33 to be translationally lifted so that the mounting plate 33 can be moved on the top of the second conveyor belt 32 or placed on the rear end of the second conveyor belt 32, the suction device can suck the gas in the suction cups 34 and suck the cargo box in the cargo box, after the suction, the mounting plate 33 can be driven to move on the second conveyor belt 32 by the translational lifting mechanism 35, the mounting plate 33 drives the suction cups 34 to move on the second conveyor belt 32, so as to transport the cargo box to the second conveyor belt 32, the suction pump is then deactivated and the suction cups 34 release the container and place it on the second conveyor 32 and the second conveyor 32 can deliver the container, and the translating elevator mechanism 35 can place the mounting plate 33 on the rear end of the second conveyor 32 to prevent the mounting plate 35 from catching the container during delivery of the container on the second conveyor 32.

Translation elevating system 35 includes head rod 351, third rotation motor 352, second connecting rod 353, fourth rotation motor 354, third connecting rod 355 and linear electric motor 356, head rod 351 one end is connected with mounting panel 33, the head rod 351 other end passes through third rotation motor 352 and is connected with second connecting rod 353 one end, the second connecting rod 353 other end passes through fourth rotation motor 354 and is connected with third connecting rod 355 one end, the third connecting rod 355 other end is installed on linear electric motor 356, linear electric motor 356 installs at the second bottom plate 31 top. The angle between the first connecting rod 351 and the second connecting rod 353 can be adjusted through the third rotating motor 353, the angle between the second connecting rod 353 and the third connecting rod 355 can be adjusted through the fourth rotating motor 354, so that the mounting plate 33 can be driven to lift, and the mounting plate 33 can be driven to translate through the linear motor 356.

Scalable delivery track 4 includes conveying roller 41, expansion bracket 42 and hook plate 43, conveying roller 41 is many, many conveying rollers 41 equidistance sets up, the both ends of two adjacent conveying rollers 41 are connected through expansion bracket 42 respectively, expansion bracket 42 includes two hinge bar 421, one of them hinge bar 421 one end is articulated with one of them conveying roller 41, one of them hinge bar 421 other end is connected with another hinge bar 421 one end, another hinge bar 421 other end is articulated with another conveying roller 41, hook plate 43 is two, two hook plate 43 one end are articulated with first bottom plate 21 rear end both sides respectively, two hook plate 43 other ends are hooked respectively and are established at the conveying roller 41 both ends at foremost. The distance between two adjacent conveying rollers 41 can be adjusted by the telescopic frame 42, so that the length of the telescopic conveying rail 4 can be adjusted.

More specifically, the hinged position of the two hinged rods 421 of the same telescopic frame 42 is hinged with the upper end of the supporting rod 44, and the lower end of the supporting rod 44 is provided with the roller 45. The retractable conveying rail 4 can be supported by the support rod 44, and the roller 45 can roll during the retraction of the retractable conveying rail 4.

It should be noted that the rollers 45 are universal wheels, and the universal wheels can facilitate the telescopic conveying track 4 to move in all directions.

The specific principle is as follows: when in use, the camera 5 and the sensor 6 can detect the container in the container, when the camera 5 and the sensor 6 detect the container at a certain position in the container, the terminal control system controls the movable trolley 1 to convey the hand grip 3 to the container, the first rotating motor can drive the turntable 131 to rotate, so as to drive the robot arm 2 to rotate, the piston rods of the first hydraulic cylinder 132 and the second hydraulic cylinder 135 can drive the robot arm 2 to lift, and the angle between the robot arm 2 and the horizontal plane can be adjusted, so as to adjust the position of the hand grip 3 in all directions, the second rotating motor 24 can drive the hand grip 3 to rotate, so that the hand grip 3 is opposite to the container, the linear motor 356 can drive the mounting plate 33 to translate, so that the suction cup 34 is in contact with the container in the container, and the suction pump can suck the gas in the suction cup 34 and suck the container, after the container is sucked, the linear motor 356 drives the mounting plate 33 to move on the second conveyor belt 32, the mounting plate 33 drives the suction cups 34 to move on the second conveyor belt 32, so that the container is conveyed to the second conveyor belt 32, then the suction pumps stop working, after the suction pumps stop working, the suction cups 34 loosen the container and place the container on the second conveyor belt 32, the second conveyor belt 32 can convey the container, meanwhile, the angle between the first connecting rod 351 and the second connecting rod 353 can be adjusted through the third rotating motor 352, the angle between the second connecting rod 353 and the third connecting rod 355 can be adjusted through the fourth rotating motor 354, so that the mounting plate 33 can be driven to descend, the mounting plate 33 can be placed at the rear end of the second conveyor belt 32, so that the situation that the mounting plate 33 blocks the container in the conveying process of the container on the second conveyor belt 32 can be avoided, and the container can be conveyed to the first conveyor belt 22 through the second conveyor belt 32, then transported to the telescopic conveyor track 4 by the first conveyor belt 22 and the container is then transported out of the container by the telescopic conveyor track 4.

The beneficial effects of the invention include: the invention provides an intelligent container carrying robot, when carrying goods, one end of a telescopic conveying rail 3 is placed outside a container, the position of a container in the container can be detected through a camera 5 and a sensor 6, when the position of the container is detected, the terminal control system controls the movable trolley 1 to drive the robot arm 2 to move, the robot arm 2 drives the gripper 3 to move, the gripper 3 is moved to the position of the container, the movable trolley 1 can drive the telescopic conveying track 4 to stretch and retract in the moving process, a container can be grabbed by the grab 3, the container is placed on the telescopic conveying track 3 by the robot arm 2, then the container is output from the container through the telescopic conveying track 3, thereby the loading and unloading of the container can be completed fully automatically, so as to achieve the purposes of reducing labor intensity and labor cost and avoiding the risk of infecting new coronavirus by workers.

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

1. An intelligent container carrying robot comprises a movable trolley, a robot arm, a gripper and a telescopic conveying rail, wherein the robot arm is installed at the top of the movable trolley, the gripper is installed at the front end of the robot arm, and the telescopic conveying rail is installed at the rear end of the robot arm;

still include camera, sensor, intelligent data terminal and terminal control system, the camera is installed on the robotic arm, the sensor is installed on the tongs, intelligent data terminal installs on portable dolly, robotic arm, tongs, camera and sensor are connected with intelligent data terminal electricity respectively, intelligent data terminal passes through radio connection with terminal control system.

2. The intelligent container handling robot as claimed in claim 1, wherein the movable cart comprises a base, wheels and a rotary lifting mechanism, the intelligent data terminal is mounted on the top of the base, the wheels are mounted on the bottom of the base, the top of the base is connected with the bottom of the robot arm through the rotary lifting mechanism, and the rotary lifting mechanism is used for driving the robot arm to rotate and lift.

3. The intelligent container handling robot of claim 2, wherein the rotary lifting mechanism comprises a first rotary motor, a first rotary table, a first hydraulic cylinder, a first hinge frame, a second hydraulic cylinder and a third hinge frame, the first rotary motor is installed in the base, the first rotary table is installed on an output shaft of the first rotary motor, the first hydraulic cylinder is installed on the top of the first rotary table, a piston rod of the first hydraulic cylinder is hinged to the first hinge frame, the first hinge frame is installed on the bottom of the robot arm, the second hinge frame is further installed on the top of the first rotary table, the second hinge frame is hinged to the second hydraulic cylinder, a piston rod of the second hydraulic cylinder is hinged to the third hinge frame, and the third hinge frame is also installed on the bottom of the robot arm.

4. The intelligent container handling robot of claim 3, wherein the robot arm comprises a first base plate, a first conveyor belt, a fixed plate, a second rotating motor and a movable plate, the camera is mounted on one side of the first base plate, the first hinge frame and the third hinge frame are both mounted on the bottom of the first base plate, the first conveyor belt is mounted on the top of the first base plate, the fixed plate is mounted on the front end of the first base plate, the second rotating motor is mounted on the fixed plate, the movable plate is mounted on the output shaft of the second rotating motor, and the movable plate is mounted on the rear end of the gripper.

5. The intelligent container handling robot as claimed in claim 4, wherein the gripper comprises a second base plate, a second conveyor belt, a mounting plate, sucking discs, a suction pump and a translational lifting mechanism, the movable plate is mounted at the rear end of the second base plate, the second conveyor belt is mounted at the top of the second base plate, a plurality of sucking discs are equidistantly arranged on the front side of the mounting plate, each sucking disc is connected with the suction pump, two ends of the mounting plate are respectively connected with the translational lifting mechanism, and the translational lifting mechanism is used for driving the mounting plate to move horizontally and lift, so that the mounting plate can move on the top of the second conveyor belt or be placed at the rear end of the second conveyor belt.

6. The intelligent container handling robot of claim 5, wherein the translational lifting mechanism comprises a first connecting rod, a third rotating motor, a second connecting rod, a fourth rotating motor, a third connecting rod and a linear motor, one end of the first connecting rod is connected to the mounting plate, the other end of the first connecting rod is connected to one end of the second connecting rod through the third rotating motor, the other end of the second connecting rod is connected to one end of the third connecting rod through the fourth rotating motor, the other end of the third connecting rod is mounted on the linear motor, and the linear motor is mounted on the top of the second base plate.

7. The intelligent container transfer robot as claimed in claim 6, wherein the telescopic conveying track comprises a plurality of conveying rollers, a telescopic frame and two hook plates, the plurality of conveying rollers are arranged at equal intervals, two ends of each two adjacent conveying rollers are connected with each other through the telescopic frame respectively, the telescopic frame comprises two hinged rods, one end of each hinged rod is hinged to one conveying roller, the other end of each hinged rod is connected with one end of the other hinged rod, the other end of each hinged rod is hinged to the other conveying roller, the two hook plates are hinged to two sides of the rear end of the first bottom plate respectively, and the other ends of the two hook plates are hooked to two ends of the conveying roller at the front end respectively.

8. The intelligent container handling robot as claimed in claim 7, wherein the joint of the two hinge rods of the same expansion bracket is hinged to the upper end of a support rod, and the lower end of the support rod is provided with a roller.