CN117446401A

CN117446401A - Floor type transfer robot

Info

Publication number: CN117446401A
Application number: CN202310890219.2A
Authority: CN
Inventors: 江俊
Original assignee: Suzhou Wisdom Intelligent Technology Co ltd
Current assignee: Suzhou Wisdom Intelligent Technology Co ltd
Priority date: 2023-07-19
Filing date: 2023-07-19
Publication date: 2024-01-26

Abstract

The invention provides a floor type transfer robot, comprising: a mobile base freely moving on the ground; set up in the clamp of removal base top and hold the mechanism, include: the device comprises at least two claw pieces, a zooming component for adjusting the distance between the claw pieces to realize clamping or releasing actions, a transverse displacement component for driving the claw pieces to synchronously transversely displace to realize moving the claw pieces to the position right above a material box to be taken or right above a moving base, and a lifting displacement component for driving the claw pieces to lift and controlling the lifting distance to realize controlling the number of single clamping; the mobile base includes: the device comprises a control unit, a sensing unit, a servo unit and a power supply unit; the control unit receives the sensing information of the sensing unit to navigate and avoid the obstacle, and controls the servo unit to drive the movable base to move along the route; the number of the single-taking bins can be controllably selected according to the number of the bins required by orders, so that the balance between the single-taking efficiency of the transfer robot and the order shipment rhythm of the warehousing system is realized, and the shipment efficiency is improved.

Description

Floor type transfer robot

Technical Field

The invention relates to the technical field of intelligent logistics, in particular to a floor type transfer robot.

Background

In the existing logistics system, a stereoscopic warehouse is not built for a small-sized warehouse, a ground stacking warehouse is used for storing goods, and a floor type transfer robot is generally used for a ground warehouse.

On the one hand, when fork truck formula moves and carries the robot, the quantity of getting at every turn is fixed, and this kind of robot that can't freely select the goods quantity of getting at every turn has following defect: for the goods taking orders, if the goods of each order are not fixed, if the goods of each order are not matched with the goods of the robot, for example, when the goods of each order are 3, but the goods of each order are 5, the robot needs to take a total of 6 goods twice, and then send the redundant 1 goods back to the stereoscopic warehouse, in the actual use process, the situation is more complicated, the situation that the goods of each order are not matched with the goods of each robot frequently occurs, the goods taking efficiency is greatly affected, and the matching degree is highest when the goods of each order are multiple of the goods of each robot, but only when the goods of each order are 1, the goods of each order are always multiple of the goods of each robot, but the goods of each order are too low in efficiency, and the goods of each order are not taken; in summary, such a robot that cannot freely select the number of goods taken at a time results in a significant disadvantage regardless of whether the number of goods taken at a time is large or small.

On the other hand, when the conventional floor type transfer robot moves, if the route planning is unreasonable, the problem that the transfer robot has a complicated moving route and low cargo carrying efficiency is easily caused, and if the robot collides with an obstacle by mistake, the situation that the fully loaded cargo on the robot falls down to cause accidents is easily caused.

Disclosure of Invention

In view of the above-mentioned drawbacks of the prior art, an object of the present invention is to provide a floor type transfer robot, which is used for solving the problems of low picking efficiency caused by the fact that the picking number of the robot cannot be freely selected, and accidents caused by unreasonable route planning of the floor type transfer robot during moving, which are caused by low efficiency or incorrect collision with obstacles.

To achieve the above and other objects, the present invention provides a floor-type transfer robot comprising:

a movable base which freely moves on the ground and is used for placing a material box to be taken out and put into the container;

a clamping mechanism disposed above the mobile base for transferring one or more stacked bins between the pallet and the mobile base, comprising: the device comprises at least two claw pieces used for clamping and holding the material box, a zooming component used for adjusting the distance between the claw pieces to realize clamping and holding or releasing actions, a transverse displacement component used for driving the claw pieces to synchronously transversely displace to realize that the claw pieces are moved to the position right above the material box to be taken or right above a movable base, and a lifting displacement component used for driving the claw pieces to lift and controlling the lifting distance so as to realize controlling the number of single clamping and holding;

the mobile base includes: the control unit is used for feeding back relative position information of other objects on the periphery of the mobile base and internal state information of the mobile base, the servo unit is used for driving the driving wheels on the lower part of the mobile base to rotate and turn and realizing accurate position and speed motion control, and the power supply unit is used for providing power sources for the whole robot; the control unit receives the sensing information of the sensing unit to navigate and avoid the obstacle, and controls the servo unit to drive the movable base to move along the route according to the planned route.

By adopting the technical scheme, when goods are required to be taken, the claw pieces are transversely moved to the position right above the goods to be taken, the lifting displacement assembly drives the claw pieces to move downwards, the descending distance is adaptively adjusted according to the quantity of the goods to be taken, the more the quantity of the goods to be taken is, the longer the descending distance of the claw pieces is, until the claw pieces descend to the two sides of the lowest workbin in the goods to be taken, the space between the two claw pieces is reduced by the zooming assembly so that the two claw pieces clamp the lowest workbin, then the lifting displacement assembly drives the claw pieces to slightly ascend to enable the workbin to be lifted, the transverse displacement assembly drives the claw pieces to transversely displace to enable the workbin to move to the position right above the movable base, the lifting displacement assembly drives the lower end face of the lowest workbin to be in contact with the movable base, and finally the distance between the two claw pieces is enlarged to enable the two claw pieces to release the workbin, so that the goods to be taken from the goods to be transferred to the movable base in a specified quantity is completed, and when goods are required to be delivered and put in storage, the operations are repeated in the reverse directions; the number of the single-time picking feed boxes can be freely selected, the number of the single-time picking feed boxes can be controllably selected according to the number of the feed boxes required by an actual order, the single-time picking feed boxes are firstly carried out according to the maximum number of the feed boxes of the single load of the transfer robot, and finally the residual quantity is picked by the transfer robot according to the number of the specific residual quantity, so that the balance between the single-time picking efficiency of the transfer robot and the order shipment rhythm of the ground warehouse is realized, and the shipment efficiency of the ground warehouse is integrally improved; and, because the workbin quantity that can freely select single to take, can follow-up need take the time of goods from top to bottom controllable clamp embrace required quantity workbin, consequently can be with the higher ratio of the layer height design of individual layer goods shelves to with the windrow workbin in the individual layer goods shelves, and the higher individual layer goods shelves of layer make personnel business turn over more convenient again, when the emergency such as robot trouble, outage appear, no matter the manual maintenance is also the manual work is got goods and is all more convenient.

In an embodiment of the invention, a mounting table for mounting the clamping mechanism is arranged above the movable base, and a plurality of upright posts are arranged between the mounting table and the movable base for connecting and supporting; the movable table is slidably arranged below the mounting table, the movable table is driven by a motor to transversely displace relative to the mounting table, and the scaling assembly is fixedly arranged at the lower part of the movable table and is driven by the movable table to transversely displace.

In an embodiment of the invention, a middle layer plate is arranged between the mounting table and the moving table, the middle layer plate is respectively connected with the mounting table and the moving table in a sliding way, a first rack with a downward tooth part and parallel to the displacement direction of the transverse displacement assembly is fixedly arranged on the lower end surface of the mounting table, a second rack with an upward tooth part and opposite to the first rack is fixedly arranged on the upper end surface of the moving table, and a transmission gear A meshed with the first rack and the second rack simultaneously is rotatably arranged in the middle of the middle layer plate; the upper end face of the middle layer plate is fixedly provided with a sliding rack with an upward tooth part, the upper part of the mounting table is rotationally provided with two transmission gears B meshed with the sliding rack, the upper end face of the mounting table is fixedly provided with a sliding motor, and a motor shaft of the sliding motor is sleeved with a driving gear meshed with the two transmission gears B simultaneously and driven by the sliding motor to rotate.

By adopting the technical scheme, when the claw piece moves from the position right above the movable base to the position right above the material box to be taken, the sliding motor drives the driving gears to rotate, so that the two transmission gears B are driven to rotate, the sliding racks meshed with the lower parts of the two transmission gears B are driven to move towards one side of the material box to be taken, the middle layer plate fixedly connected with the sliding racks is also driven to move towards one side of the material box to be taken, at the moment, the transmission gears A and the first racks above are relatively moved, the rotation of the transmission gears A is transferred to the second racks below to enable the second racks to relatively move relative to the transmission gears A, the movable table fixedly connected with the second racks is driven to move towards one side of the material box to be taken, and the transverse displacement assembly moves the claw piece from the position right above the movable base to the position right above the material box to be taken in a same way, so that the transverse driving of the claw piece by the transverse displacement assembly is realized; the displacement of the transmission gear A relative to the first rack is consistent with the displacement of the second rack relative to the transmission gear A, namely the displacement of the middle layer plate relative to the mounting table is consistent with the displacement of the middle layer plate relative to the moving table, doubling of the displacement rate is realized, and the displacement efficiency of the transverse displacement assembly for driving the claw piece to transversely displace is improved.

In an embodiment of the invention, two ends of the middle layer plate are symmetrically provided with I-shaped guide rails, two sides of each I-shaped guide rail are respectively provided with a first side fixing plate fixedly connected with the lower end surface of the mounting table and a second side fixing plate fixedly connected with the upper end surface of the mobile table, and one side of each of the first side fixing plate and the second side fixing plate, which faces the I-shaped guide rail, is provided with a plurality of rollers embedded into the I-shaped guide rail and in sliding fit with the I-shaped guide rail.

Through adopting above-mentioned technical scheme, through the gyro wheel and the inboard sliding fit of I-shaped guide rail of first side fixed plate lateral part between middle plywood and the mount table, through the gyro wheel and the outside sliding fit of I-shaped guide rail of second side fixed plate lateral part between mobile station and the middle plywood, improved the smooth degree of slip between middle plywood and the mount table, between mobile station and the middle plywood.

In one embodiment of the present invention, the scaling assembly comprises: the mounting plates are symmetrically arranged on two sides of the lower end face of the mobile station and slide relative to the mobile station, the lower end face of the mobile station is symmetrically provided with sliding rails, the mounting plates are L-shaped, a right-angle side is arranged in parallel with the mobile station, a sliding block in sliding fit with the sliding rails is fixedly arranged above the mounting plates, and the other right-angle side is perpendicular to the mobile station and is positioned outside the mobile station; the scaling rack is fixedly arranged on the upper part of each mounting plate and is parallel to the sliding direction of each mounting plate relative to the sliding direction of the moving table; the zoom motor is arranged on the lower end face of the mobile station in the middle, a motor shaft of the zoom motor is arranged upwards, a zoom gear is sleeved on the motor shaft, the two zoom racks are symmetrical relative to the rotation center of the zoom gear and meshed with the zoom gear, and the zoom gear is driven by the motor to rotate so as to drive the two zoom racks to transversely move in opposite directions, so that the two mounting plates are mutually close to or mutually far away from each other.

By adopting the technical scheme, when the distance between the two claw pieces is required to be reduced, the scaling motor drives the scaling gear to rotate positively, the two scaling racks are close to each other, the two mounting plates are driven to be close to each other along the sliding rail, namely the two claw pieces are close to each other, and the clamping and holding action of the claw pieces on the feed box is realized; when the distance between the two claw pieces is required to be enlarged, the zoom motor drives the zoom gear to rotate reversely, the two zoom racks are far away from each other, the two mounting plates are driven to be far away from each other along the sliding rail, namely, the two claw pieces are far away from each other, and the release action of the claw pieces to the feed box is realized.

In an embodiment of the invention, two ends of the inner side of each mounting plate are respectively provided with an outer sliding table, each mounting plate is provided with a plurality of sliding parts layer by layer from outside to inside, two ends of the inner side of each sliding part are respectively symmetrically provided with a secondary sliding table, the outermost sliding part in each sliding part is in sliding connection with the outer sliding table, the adjacent inner sliding part is in sliding connection with the secondary sliding table of the adjacent outer sliding part, and the claw part is arranged on the inner side of the innermost sliding part and is in sliding connection with the secondary sliding table of the innermost sliding part; the side part of the secondary sliding table of each sliding piece is fixedly connected with a pressing plate, one side of the lower part of each pressing plate facing the claw piece is provided with a lower flange step, one side of the upper part of each secondary sliding table facing away from the claw piece is provided with an upper flange step, the upper flange step of each sliding piece is in butt joint with the lower flange step of the adjacent pressing plate to realize the linkage pressing of the adjacent sliding piece, and the upper part of each claw piece is provided with a pressing table in butt joint with the lower flange steps of the two pressing plates of the innermost sliding piece to realize the linkage pressing of the claw piece to the innermost sliding piece.

By adopting the technical scheme, the claw member naturally descends under the gravity until the pressing table is abutted with the lower flange steps of the pressing plates on the two sides of the innermost sliding member so as to press the innermost sliding member, and the upper flange steps on the two sides of the adjacent inner sliding member are abutted with the lower flange steps of the pressing plates on the two sides of the adjacent outer sliding member so as to press the sliding member on the opposite outer side, so that the gradual pressing linkage between the middle claw member and the innermost sliding member and between the adjacent sliding members from inside to outside is realized.

In one embodiment of the present invention, the claw member includes: the sliding plate is in sliding connection with the secondary sliding table of the innermost sliding piece, the horizontal plate is vertically arranged at the lower part of the sliding plate and positioned at the inward side of the sliding plate, and the anti-drop step is arranged at the inward side of the upper end face of the horizontal plate.

By adopting the technical scheme, the sliding plate is similar to the arm and palm of a human hand, the horizontal plate is similar to the abdomen of a finger, the anti-falling step is similar to the tip of the finger of the human hand, and the simulation of the shape of the human hand is realized.

In an embodiment of the invention, two take-up rolls are symmetrically arranged on the lower end surface of the mobile station in a rotating way, a first pulley which is rotationally connected with the mounting plate is arranged right above the claw piece, and a second pulley which is rotationally connected with the lower part of the mobile station is arranged between the take-up rolls and the first pulley; the lifting cables are wound on the winding rollers in a rotating way, the winding rollers are driven by motors to rotate forwards or reversely to realize winding or releasing of the lifting cables, and the lifting cables are released from the winding rollers and fixedly connected with the upper parts of the claw pieces through the upper parts of the second pulleys and the upper parts of the first pulleys.

Through adopting above-mentioned technical scheme, carry and draw two claw pieces through the lift cable of reeving on two take-up rolls, take-up rolls will carry and draw the cable rolling and then the claw piece receives the pulling force to rise, take-up rolls will carry and draw the cable release then the claw piece receives gravity natural decline, has realized the controllable drive to the lift displacement of claw piece.

In an embodiment of the invention, a lifting motor is arranged below one of the two winding rollers, a double-link chain wheel is sleeved on a motor shaft of the lifting motor and driven by the lifting motor to rotate, and a transmission chain wheel is arranged at the side part of each winding roller and is respectively connected with the two transmission chain wheels through a chain in a transmission way; and the winding directions of the two winding rollers are opposite.

Through adopting above-mentioned technical scheme, set up the wire winding direction opposite with two receipts line rollers, can realize the synchronous receipts line or the synchronous unwrapping wire of two receipts line rollers under the circumstances that make two receipts line rollers co-rotating, only need adopt one to carry and draw the motor promptly and can realize the synchronous lifting of two claw pieces and rise or descend naturally.

In an embodiment of the invention, the sensing unit includes: the device comprises a laser navigation sensor, a visual obstacle avoidance sensor and a QR code scanning sensor, wherein the laser navigation sensor is arranged at the front side and the rear side of a mobile base and matched with a control unit to realize autonomous positioning and environment modeling, the visual obstacle avoidance sensor is arranged at the front side of the mobile direction of the mobile base, and the QR code scanning sensor is arranged below the mobile base and used for scanning a two-dimensional code of goods to realize goods positioning; the laser navigation sensor adopts a laser radar to emit laser beams and measures the time of the laser beams reflected back, the distance between the laser beams and a target object is calculated, so that the position and shape information of the object in a three-dimensional space are obtained and converted into point cloud data to realize laser SLAM navigation, the vision obstacle avoidance sensor adopts a vision camera to collect image information of the front side of a movable base and analyze and judge whether obstacles exist through a control unit, and the QR code scanning sensor adopts a two-dimensional code scanning camera and an attached two-dimensional code label of a goods carrying position to realize goods taking position positioning.

In an embodiment of the invention, the sensing unit further includes: and the system state sensor is used for monitoring whether the temperature, the current and the voltage of each component are abnormal.

By adopting the technical scheme, the transfer robot is prevented from being unable to normally operate due to abnormal state inside the robot.

In an embodiment of the invention, the power supply unit includes: the battery, the power management module used for carrying out battery power release management, the charge management module used for carrying out voltage and current management of battery charging.

In an embodiment of the invention, the control unit includes: the system comprises a main control processor, a navigation module, an image processing module, an industrial personal computer, an IO module and a communication module, wherein the main control processor is used for receiving relative position information measured by a laser radar, so as to acquire position and shape information of an object in a three-dimensional space, converting the position and shape information into point cloud data and realizing laser SLAM navigation, the image processing module is used for carrying out image processing on image information acquired by a visual obstacle avoidance sensor to identify whether an obstacle exists or not and sending the image information to the navigation module to assist in improving the accuracy of a laser SLAM modeling map, the industrial personal computer is used for providing calculation power, the IO module is used for carrying out data interaction, and the communication module is used for carrying out data communication with a control system.

As described above, the floor type transfer robot of the invention has the following beneficial effects:

1. the number of the single-time picking feed boxes can be freely selected, the number of the single-time picking feed boxes can be controllably selected according to the number of the feed boxes required by an actual order, the single-time picking feed boxes is firstly carried out according to the maximum number of the feed boxes of the single load of the transfer robot, and finally the residual quantity is picked up by the transfer robot according to the number of the specific residual quantity, so that the balance between the single-time picking efficiency of the transfer robot and the order shipment rhythm of the ground warehouse is realized, and the shipment efficiency of the ground warehouse is integrally improved;

2. the control unit receives the sensing information of the sensing unit to navigate and avoid the obstacle, and controls the servo unit to drive the movable base to move along the route according to the planned route, so that the situation that the transfer robot is low in efficiency or impacts the obstacle to cause an accident due to unreasonable route planning is avoided.

Drawings

Fig. 1 is an overall schematic diagram of a floor-type transfer robot according to an embodiment of the present invention.

Fig. 2 is a schematic partial view of a lateral displacement assembly of a floor-type transfer robot according to an embodiment of the present invention.

Fig. 3 is a schematic partial view of a zoom assembly and a lift displacement assembly of a floor-type transfer robot according to an embodiment of the present invention.

Fig. 4 is a partial schematic view showing a stretched state of a mounting plate, a slider, and a claw of a floor-type transfer robot according to an embodiment of the present invention.

Fig. 5 is a schematic partial view of a claw member of a floor-type transfer robot according to an embodiment of the present invention.

Fig. 6 is a schematic block diagram of a mobile base of a floor-type transfer robot according to an embodiment of the present invention.

Description of the reference numerals

1. A movable base; 11. a control unit; 111. a master control processor; 112. a navigation module; 113. an image processing module; 114. an industrial personal computer; 115. an IO module; 116. a communication module; 12. a sensing unit; 121. a laser navigation sensor; 122. a visual obstacle avoidance sensor; 123. a QR code scanning sensor; 124. a system state sensor; 13. a servo unit; 14. a power supply unit; 141. a battery; 142. a power management module; 143. a charging management module; 2. a claw member; 21. a sliding plate; 22. a horizontal plate; 23. an anti-falling step; 24. a pressing table; 3. a scaling assembly; 31. a slide rail; 32. a slide block; 33. scaling the rack; 34. a zoom motor; 35. a zoom gear; 4. a lateral displacement assembly; 401. a mobile station; 402. a middle layer plate; 403. a first rack; 404. a second rack; 405. a transmission gear A; 406. a sliding rack; 407. a transmission gear B; 408. a slip motor; 409. a drive gear; 410. an I-shaped guide rail; 411. a first side fixing plate; 412. a second side fixing plate; 413. a roller; 5. a lifting displacement assembly; 51. a wire winding roller; 52. a first pulley; 53. a second pulley; 54. pulling up the cable; 55. lifting the motor; 56. a duplex sprocket; 57. a drive sprocket; 6. a mounting table; 7. a column; 8. a mounting plate; 81. an outer slipway; 9. a slider; 91. a secondary sliding table; 911. an upper flange step; 92. a pressing plate; 921. a lower flange step.

Description of the embodiments

Further advantages and effects of the present invention will become apparent to those skilled in the art from the disclosure of the present invention, which is described by the following specific examples.

Please refer to fig. 1 to 6. It should be understood that the structures, proportions, sizes, etc. shown in the drawings are for illustration purposes only and should not be construed as limiting the invention to the extent that it can be practiced, since modifications, changes in the proportions, or otherwise, used in the practice of the invention, are not intended to be critical to the essential characteristics of the invention, but are intended to fall within the spirit and scope of the invention. Also, the terms such as "upper," "lower," "left," "right," "middle," and "a" and the like recited in the present specification are merely for descriptive purposes and are not intended to limit the scope of the invention, but are intended to provide relative positional changes or modifications without materially altering the technical context in which the invention may be practiced.

Referring to fig. 1, the present invention provides a floor type transfer robot, comprising:

a movable base 1 which freely moves on the ground and is used for placing a material box to be taken out and put into place;

a clasping mechanism disposed above the mobile base 1 for transferring one or more stacked bins between a pallet and the mobile base 1, comprising: the lifting device comprises at least two claw pieces 2 used for clamping and holding a material box, a zooming component 3 used for adjusting the distance between the claw pieces 2 to realize clamping and holding or releasing actions, a transverse displacement component 4 used for driving the claw pieces 2 to synchronously and transversely displace to realize moving the claw pieces 2 to the position right above the material box to be taken or right above a movable base 1, and a lifting displacement component 5 used for driving the claw pieces 2 to lift and controlling the lifting distance to realize controlling the number of single clamping and holding;

the mobile base 1 comprises: the control unit 11, the sensing unit 12 for feeding back relative position information of other objects on the periphery of the mobile base 1 and internal state information of the mobile base 1, the servo unit 13 for driving the driving wheel at the lower part of the mobile base 1 to rotate and turn and for realizing accurate position and speed motion control, and the power supply unit 14 for providing power source for the whole robot; the control unit 11 receives the sensing information of the sensing unit 12 to navigate and avoid the obstacle, and controls the servo unit 13 to drive the mobile base 1 to move along the route according to the planned route;

when goods are required to be taken, the claw pieces 2 are transversely moved to the position right above a to-be-taken material box by the transverse displacement assembly 4, the claw pieces 2 are driven to move downwards by the lifting displacement assembly 5, the descending distance is adaptively adjusted according to the quantity of the required goods to be taken, the more the quantity of the required goods to be taken is, the longer the descending distance of the claw pieces 2 is, until the claw pieces 2 descend to two sides of the lowest material box in the to-be-taken material box, the space between the two claw pieces 2 is reduced by the scaling assembly 3 so that the two claw pieces 2 clamp the lowest material box, then the lifting displacement assembly 5 drives the claw pieces 2 to slightly ascend to enable the material box to be lifted, the transverse displacement assembly 4 drives the claw pieces 2 to transversely displace to move the material box to the position right above the movable base 1, the lifting displacement assembly 5 drives the lower end face of the lowest material box to be in contact with the movable base 1, and finally the spacing between the two claw pieces 2 is enlarged so that the two claw pieces 2 release the material box, therefore, the specified quantity of the material box is transferred from the goods shelf to the two claw pieces 2 to the two material boxes to be taken by the lowest material boxes, and the specified quantity of goods can be taken and the goods can be repeatedly taken and delivered by the goods in the same process as required reverse directions; the number of the single-time picking feed boxes can be freely selected, the number of the single-time picking feed boxes can be controllably selected according to the number of the feed boxes required by an actual order, the single-time picking feed boxes is firstly carried out according to the maximum number of the feed boxes of the single load of the transfer robot, and finally the residual quantity is picked up by the transfer robot according to the number of the specific residual quantity, so that the balance between the single-time picking efficiency of the transfer robot and the order shipment rhythm of the ground warehouse is realized, and the shipment efficiency of the ground warehouse is integrally improved.

A mounting table 6 for mounting the clamping mechanism is arranged above the movable base 1, and a plurality of upright posts 7 are arranged between the mounting table 6 and the movable base 1 for connecting and supporting; a moving table 401 is slidably arranged below the mounting table 6, the moving table 401 is driven by a motor to transversely displace relative to the mounting table 6, and the scaling assembly 3 is fixedly arranged at the lower part of the moving table 401 and is driven by the moving table 401 to transversely displace.

A middle layer plate 402 is arranged between the mounting table 6 and the moving table 401, the middle layer plate 402 is respectively connected with the mounting table 6 and the moving table 401 in a sliding way, a first rack 403 with a downward tooth part and parallel to the displacement direction of the transverse displacement assembly 4 is fixedly arranged on the lower end surface of the mounting table 6, a second rack 404 with an upward tooth part and opposite to the first rack 403 is fixedly arranged on the upper end surface of the moving table 401, and a transmission gear A405 meshed with the first rack 403 and the second rack 404 simultaneously is rotatably arranged in the middle of the middle layer plate 402; the upper end surface of the middle layer plate 402 is fixedly provided with a sliding rack 406 with an upward tooth part, the upper part of the mounting table 6 is rotatably provided with two transmission gears B407 meshed with the sliding rack 406, the upper end surface of the mounting table 6 is fixedly provided with a sliding motor 408, a motor shaft of the sliding motor 408 is sleeved with a driving gear 409 meshed with the two transmission gears B407 at the same time, and the driving gear 409 is driven to rotate by the sliding motor 408; when the claw member 2 is moved to the position right above the material box to be taken from the upper side of the movable base 1 by the transverse displacement assembly 4, the sliding motor 408 drives the driving gear 409 to rotate so as to drive the two transmission gears B407 to rotate, the sliding rack 406 meshed with the lower parts of the two transmission gears B407 is driven to move towards the side of the material box to be taken, the middle layer 402 fixedly connected with the sliding rack 406 is also driven to move towards the side of the material box to be taken, at the moment, the transmission gear A405 and the first rack 403 above relatively move, the rotation of the transmission gear A405 is transmitted to the second rack 404 below relatively move the second rack 404 relatively to the transmission gear A405, the movable table 401 fixedly connected with the second rack 404 is driven to move towards the side of the material box to be taken, and the transverse displacement assembly 4 moves the claw member 2 to the position right above the material box to be taken from the upper side of the movable base 1 in a similar way, so that the transverse driving of the claw member 2 is realized by the transverse displacement assembly 4; the displacement of the transmission gear A405 relative to the first rack 403 is consistent with the displacement of the second rack 404 relative to the transmission gear A405, namely the displacement of the middle layer plate 402 relative to the mounting table 6 is consistent with the displacement of the movable table 401 relative to the middle layer plate 402, doubling of the displacement rate is achieved, and the displacement efficiency of the transverse displacement assembly 4 for driving the claw piece 2 to transversely displace is improved.

I-shaped guide rails 410 are symmetrically arranged at two ends of the middle layer plate 402, a first side fixing plate 411 fixedly connected with the lower end face of the mounting table 6 and a second side fixing plate 412 fixedly connected with the upper end face of the moving table 401 are respectively arranged at two sides of each I-shaped guide rail 410, and a plurality of rollers 413 are arranged on the sides, facing the I-shaped guide rails 410, of the first side fixing plate 411 and the second side fixing plate 412 and are embedded into the I-shaped guide rails 410 and are in sliding fit with the I-shaped guide rails 410; the middle plate 402 and the mounting table 6 are in sliding fit with the inner side of the I-shaped guide rail 410 through the roller 413 at the side part of the first side fixing plate 411, and the moving table 401 and the middle plate 402 are in sliding fit with the outer side of the I-shaped guide rail 410 through the roller 413 at the side part of the second side fixing plate 412, so that the sliding smoothness degree between the middle plate 402 and the mounting table 6 and between the moving table 401 and the middle plate 402 is improved.

The scaling assembly 3 comprises: the mounting plate 8 is symmetrically arranged on two sides of the lower end surface of the mobile station 401 and slides relative to the mobile station 401, the lower end surface of the mobile station 401 is symmetrically provided with the sliding rail 31, the mounting plate 8 is L-shaped, a right-angle side is arranged in parallel with the mobile station 401 and fixedly provided with a sliding block 32 which is in sliding fit with the sliding rail 31 above, and the other right-angle side is arranged perpendicular to the mobile station 401 and is positioned outside the mobile station 401; a zoom rack 33 fixedly provided on the upper portion of each mounting plate 8 and parallel to the sliding direction in which each mounting plate 8 slides relative to the moving table 401; the zoom motor 34 is arranged on the lower end surface of the mobile station 401 in the middle, a motor shaft of the zoom motor 34 is upwards arranged, a zoom gear 35 is sleeved on the motor shaft, the two zoom racks 33 are symmetrical relative to the rotation center of the zoom gear 35 and meshed with the zoom gear 35, and the zoom gear 35 is driven by the motor to rotate so as to drive the two zoom racks 33 to transversely move in opposite directions, so that the two mounting plates 8 are mutually close to or mutually far away from each other; when the distance between the two claw pieces 2 is required to be reduced, the zoom motor 34 drives the zoom gear 35 to rotate positively, the two zoom racks 33 are close to each other, the two mounting plates 8 are driven to be close to each other along the slide rail 31, namely the two claw pieces 2 are close to each other, and the clamping and holding action of the claw pieces 2 on the feed box is realized; when the distance between the two claw pieces 2 needs to be enlarged, the zoom motor 34 drives the zoom gear 35 to rotate reversely, the two zoom racks 33 are far away from each other, the two mounting plates 8 are far away from each other along the slide rail 31, namely the two claw pieces 2 are far away from each other, and the release action of the claw pieces 2 to the feed box is realized.

The two ends of the inner side of each mounting plate 8 are respectively provided with an outer sliding table 81, the mounting plates 8 are provided with a plurality of sliding pieces 9 layer by layer from outside to inside, the two ends of the inner side of each sliding piece 9 are respectively symmetrically provided with a secondary sliding table 91, the outermost sliding piece 9 in each sliding piece 9 is in sliding connection with the outer sliding table 81, the adjacent inner sliding piece 9 is in sliding connection with the secondary sliding table 91 of the adjacent outer sliding piece 9, and the claw piece 2 is arranged on the inner side of the innermost sliding piece 9 and is in sliding connection with the secondary sliding table 91 of the innermost sliding piece 9; the side part of the secondary sliding table 91 of each sliding piece 9 is fixedly connected with a pressing plate 92, one side of the lower part of each pressing plate 92 facing the jaw piece 2 is provided with a lower flange step 921, one side of the upper part of each secondary sliding table 91 facing away from the jaw piece 2 is provided with an upper flange step 911, the upper flange step 911 of each sliding piece 9 is in abutting fit with the lower flange step 921 of the adjacent pressing plate 92 to realize the linkage pressing of the adjacent sliding piece 9, and the upper part of each jaw piece 2 is provided with a pressing table 24 which is in abutting fit with the lower flange steps 921 of the two pressing plates 92 of the innermost sliding piece 9 to realize the linkage pressing of the jaw piece 2 to the innermost sliding piece 9; the claw member 2 naturally descends by gravity until the pressing table 24 abuts against the lower flange steps 921 of the pressing plates 92 on both sides of the innermost sliding member 9 to press down the innermost sliding member 9, the upper flange steps 911 on both sides of the adjacent inner sliding member 9 abut against the lower flange steps 921 of the pressing plates 92 on both sides of the adjacent outer sliding member 9 to press down the opposite outer sliding member 9, and the layer-by-layer pressing down linkage between the middle claw member 2 and the innermost sliding member 9 and between the adjacent sliding members 9 from inside to outside is realized.

The claw member 2 includes: a sliding plate 21 in sliding connection with the secondary sliding table 91 of the innermost sliding piece 9, a horizontal plate 22 vertically arranged at the lower part of the sliding plate 21 and positioned at the inward side of the sliding plate 21, and an anti-drop step 23 arranged at the inward side of the upper end surface of the horizontal plate 22; the sliding plate 21 is similar to the arm and palm of a human hand, the horizontal plate 22 is similar to the abdomen of a finger, the anti-drop step 23 is similar to the fingertip of the human hand, and the simulation of the human hand shape is realized.

Two take-up rollers 51 are symmetrically arranged on the lower end surface of the moving table 401 in a rotating way, a first pulley 52 which is rotationally connected with the mounting plate 8 is arranged right above the claw piece 2, and a second pulley 53 which is rotationally connected with the lower part of the moving table 401 is arranged between the take-up rollers 51 and the first pulley 52; the lifting cables 54 are wound on the winding rollers 51, the winding rollers 51 are driven by a motor to rotate forwards or reversely to realize winding or releasing of the lifting cables 54, the lifting cables 54 are released from the winding rollers 51, and the lifting cables are fixedly connected with the upper parts of the claw pieces 2 through the upper parts of the second pulleys 53 and the upper parts of the first pulleys 52; the two claw pieces 2 are lifted through the lifting cables 54 which are wound on the two winding rollers 51, the claw pieces 2 are lifted by pulling force when the winding rollers 51 wind the lifting cables 54, the claw pieces 2 are naturally lowered by gravity when the winding rollers 51 release the lifting cables 54, and the controllable driving of lifting displacement of the claw pieces 2 is realized.

A lifting motor 55 is arranged below one take-up roller 51 of the two take-up rollers 51, a double chain wheel 56 is sleeved on a motor shaft of the lifting motor 55 and driven by the lifting motor 55 to rotate, a transmission chain wheel 57 is arranged on the side part of each take-up roller 51, and the double chain wheel 56 is respectively connected with the two transmission chain wheels 57 through chain transmission; the winding directions of the two winding rollers 51 are opposite; the winding directions of the two winding rollers 51 are opposite, so that synchronous winding or synchronous paying-off of the two winding rollers 51 can be realized under the condition that the two winding rollers 51 rotate in the same direction, namely, synchronous lifting and lifting or natural descending of the two claw members 2 can be realized by only adopting one lifting motor 55.

The sensing unit 12 includes: the device comprises a laser navigation sensor 121, a visual obstacle avoidance sensor 122 and a QR code scanning sensor 123, wherein the laser navigation sensor 121 is arranged on the front side and the rear side of the mobile base 1 and matched with the control unit 11 to realize autonomous positioning and environment modeling, the visual obstacle avoidance sensor 122 is arranged on the front side of the mobile base 1 in the mobile direction, and the QR code scanning sensor 123 is arranged below the mobile base 1 and is used for scanning two-dimension codes of goods to realize goods positioning; the laser navigation sensor 121 adopts a laser radar to emit laser beams and measures the time of the laser beams reflected back, calculates the distance between the laser beams and a target object, thereby acquiring the position and shape information of the object in a three-dimensional space and converting the position and shape information into point cloud data to realize laser SLAM navigation, the vision obstacle avoidance sensor adopts a vision camera to acquire the image information of the front side of the mobile base 1 and analyzes and judges whether an obstacle exists through the control unit 11, and the QR code scanning sensor 123 adopts a two-dimensional code scanning camera and an attached two-dimensional code label of a goods carrying position to realize goods taking position positioning.

The sensing unit 12 further includes: and a system state sensor 124 for monitoring whether the temperature, current and voltage of each component are abnormal, so as to prevent the transfer robot from being unable to operate normally due to abnormal state inside the robot.

The power supply unit 14 includes: a battery 141, a power management module 142 for performing power release management of the battery 141, and a charge management module 143 for performing voltage and current management of charging the battery 141.

The control unit 11 includes: the system comprises a main control processor 111, a navigation module 112 for receiving relative position information measured by a laser radar so as to acquire position and shape information of an object in a three-dimensional space and converting the position and shape information into point cloud data to realize laser SLAM navigation, an image processing module 113 for carrying out image processing on image information acquired by a visual obstacle avoidance sensor so as to identify whether an obstacle exists or not and sending the image information to the navigation module to assist in improving the accuracy of a laser SLAM modeling map, an industrial personal computer 114 for providing calculation force, an IO module 115 for carrying out data interaction, and a communication module 116 for carrying out data communication with a control system.

The invention relates to a floor type transfer robot, which has the working principle that: when the goods are required to be taken, the claw pieces 2 are transversely moved to the position right above the goods to be taken by the transverse displacement assembly 4, the claw pieces 2 are driven to move downwards by the lifting displacement assembly 5, the descending distance is adaptively adjusted according to the quantity of the goods to be taken, the more the quantity of the goods to be taken is, the longer the descending distance of the claw pieces 2 is, until the claw pieces 2 descend to the two sides of the lowest goods box in the goods box to be taken, the space between the two claw pieces 2 is reduced by the scaling assembly 3, the two claw pieces 2 clamp the lowest goods box, then the lifting displacement assembly 5 drives the claw pieces 2 to slightly ascend to enable the goods box to be lifted, the transverse displacement assembly 4 drives the claw pieces 2 to transversely displace to move the goods box to the position right above the moving base 1, the lower end face of the lowest goods box is in contact with the moving base 1 by the lifting displacement assembly 5, finally, the spacing between the two claw pieces 2 is enlarged to enable the two claw pieces 2 to release the goods box, the goods box is transferred from the goods shelf to the two goods box to the two sides of the lowest goods box to be taken, and the goods box can be taken by the reverse goods feeding operation only when the goods are required to be repeatedly carried.

In summary, the floor type transfer robot can freely select the number of the single-time picking feed boxes, can controllably select the number of the single-time picking feed boxes according to the number of the feed boxes required by an actual order, firstly carries out the picking according to the maximum number of the single-time loading feed boxes of the transfer robot, and finally carries out the picking according to the number of the specific allowance by the transfer robot, thereby realizing the balance between the single-time picking efficiency of the transfer robot and the order shipment rhythm of the ground warehouse and integrally improving the shipment efficiency of the ground warehouse; the control unit 11 receives the sensing information of the sensing unit 12 to navigate and avoid the obstacle, and controls the servo unit 13 to drive the movable base 1 to move along the route according to the planned route, so that the situation that the transfer robot is low in efficiency or impacts the obstacle to cause an accident due to unreasonable route planning is avoided. Therefore, the invention effectively overcomes various defects in the prior art and has high industrial utilization value.

The above embodiments are merely illustrative of the principles of the present invention and its effectiveness, and are not intended to limit the invention. Modifications and variations may be made to the above-described embodiments by those skilled in the art without departing from the spirit and scope of the invention. Accordingly, it is intended that all equivalent modifications and variations of the invention be covered by the claims, which are within the ordinary skill of the art, be within the spirit and scope of the present disclosure.

Claims

1. A floor type transfer robot is characterized by comprising:

a movable base (1) which can freely move on the ground and is used for placing a material box to be taken out and put into place;

a clasping mechanism arranged above a moving base (1) for transferring one or more stacked bins between a rack and the moving base (1), comprising: the lifting device comprises at least two claw pieces (2) used for clamping and holding a material box, a zooming component (3) used for adjusting the distance between the claw pieces (2) to realize clamping and holding or releasing actions, a transverse displacement component (4) used for driving the claw pieces (2) to synchronously and transversely displace to realize moving the claw pieces (2) to the position right above the material box to be taken or the position right above a moving base (1), and a lifting displacement component (5) used for driving the claw pieces (2) to lift and controlling the lifting distance to realize controlling the number of single clamping and holding;

the mobile base (1) comprises: the control unit (11), a sensing unit (12) for feeding back relative position information of other objects on the periphery side of the mobile base and internal state information of the mobile base, a servo unit (13) for driving a driving wheel at the lower part of the mobile base to rotate and turn and for realizing accurate position and speed motion control, and a power supply unit (14) for providing power sources for the whole robot; the control unit (11) receives the sensing information of the sensing unit (12) to navigate and avoid obstacles, and controls the servo unit (14) to drive the movable base (1) to move along a route according to a planned route.

2. The floor-standing transfer robot of claim 1, wherein: a mounting table (6) for mounting the clamping mechanism is arranged above the movable base (1), and a plurality of upright posts (7) are arranged between the mounting table (6) and the movable base (1) for connecting and supporting; the movable platform (401) is slidably arranged below the mounting platform (6), the movable platform (401) is driven by a motor to transversely displace relative to the mounting platform (6), and the scaling assembly (3) is fixedly arranged at the lower part of the movable platform (401) and is driven by the movable platform (401) to transversely displace.

3. The floor-standing transfer robot of claim 2, wherein: a middle layer plate (402) is arranged between the mounting table (6) and the moving table (401), the middle layer plate (402) is respectively connected with the mounting table (6) and the moving table (401) in a sliding mode, a first rack (403) with a downward tooth part and parallel to the displacement direction of the transverse displacement assembly (4) is fixedly arranged on the lower end face of the mounting table (6), a second rack (404) with an upward tooth part and opposite to the first rack (403) is fixedly arranged on the upper end face of the moving table (401), and a transmission gear A (405) meshed with the first rack (403) and the second rack (404) is rotationally arranged in the middle of the middle layer plate (402); the utility model discloses a motor is provided with gear B (407), including middle layer board (402) up end, gear portion ascending slip rack (406) is fixedly provided with, mount table (6) upper portion rotates and is provided with two and slip rack (406) engaged drive gear B (407), mount table (6) up end is fixedly provided with motor (408) that slide, cup joint on the motor shaft of motor (408) that slide be provided with simultaneously with drive gear (409) and drive gear (409) by motor (408) that slide drive rotation.

4. A floor-standing transfer robot according to claim 3, wherein: i-shaped guide rails (410) are symmetrically arranged at two ends of the middle layer plate (402), a first side fixing plate (411) fixedly connected with the lower end face of the mounting table (6) and a second side fixing plate (412) fixedly connected with the upper end face of the mobile table (401) are respectively arranged at two sides of each I-shaped guide rail (410), and a plurality of rollers (413) are arranged on one side, facing the I-shaped guide rails (410), of each first side fixing plate (411) and each second side fixing plate (412) in a sliding fit with the I-shaped guide rails (410).

5. The floor-standing transfer robot of claim 2, wherein: the scaling assembly (3) comprises: the mounting plate (8) is symmetrically arranged on two sides of the lower end face of the mobile station (401) and slides relative to the mobile station (401), sliding rails (31) are symmetrically arranged on the lower end face of the mobile station (401), the mounting plate (8) is L-shaped, a right-angle side is arranged in parallel with the mobile station (401) and fixedly provided with a sliding block (32) which is in sliding fit with the sliding rails (31) above, and the other right-angle side is perpendicular to the mobile station (401) and is positioned outside the mobile station (401); a zoom rack (33) fixedly arranged on the upper part of each mounting plate (8) and parallel to the sliding direction of each mounting plate (8) relative to the moving table (401); the zoom motor (34) is arranged on the lower end face of the mobile station (401) in the middle, a motor shaft of the zoom motor (34) is upwards arranged, a zoom gear (35) is sleeved on the motor shaft, the two zoom racks (33) are symmetrical relative to the rotation center of the zoom gear (35) and meshed with the zoom gear (35), and the zoom gear (35) is driven by the motor to rotate so as to drive the two zoom racks (33) to transversely move in opposite directions, so that the two mounting plates (8) are mutually close to or mutually far away from each other.

6. The floor-standing transfer robot of claim 5, wherein: the two ends of the inner side of each mounting plate (8) are respectively provided with an outer sliding table (81), the mounting plates (8) are provided with a plurality of sliding pieces (9) layer by layer from outside to inside, the two ends of the inner side of each sliding piece (9) are respectively symmetrically provided with a secondary sliding table (91), the sliding piece (9) on the outermost side in each sliding piece (9) is in sliding connection with the outer sliding table (81), the sliding piece (9) on the adjacent inner side is in sliding connection with the secondary sliding table (91) of the sliding piece (9) on the adjacent outer side, and the claw piece (2) is arranged on the inner side of the sliding piece (9) on the innermost side and is in sliding connection with the secondary sliding table (91) of the sliding piece (9) on the innermost side; the side part of a secondary sliding table (91) of each sliding piece (9) is fixedly connected with a pressing plate (92), one side of the lower part of each pressing plate (92) facing the claw piece (2) is provided with a lower flange step (921), one side of the upper part of each secondary sliding table (91) facing away from the claw piece (2) is provided with an upper flange step (911), the upper flange step (911) of each sliding piece (9) is in butt fit with the lower flange step (921) of the adjacent pressing plate (92) to realize the linkage pressing of the adjacent sliding piece (9), and the lower flange steps (921) of the two pressing plates (92) of each claw piece (2) are in butt fit with the pressing table (24) of the innermost sliding piece (9) to realize the linkage pressing of the claw piece (2) to the innermost sliding piece (9).

7. The floor-standing transfer robot of claim 6, wherein: the claw member (2) includes: the sliding plate (21) is in sliding connection with the secondary sliding table (91) of the innermost sliding piece (9), the horizontal plate (22) is vertically arranged at the lower part of the sliding plate (21) and positioned at the inward side of the sliding plate (21), and the anti-falling step (23) is arranged at the inward side of the upper end surface of the horizontal plate (22).

8. The floor-standing transfer robot of claim 6, wherein: two take-up rollers (51) are symmetrically arranged on the lower end surface of the mobile station (401) in a rotating mode, a first pulley (52) which is rotationally connected with the mounting plate (8) is arranged right above the claw piece (2), and a second pulley (53) which is rotationally connected with the lower portion of the mobile station (401) is arranged between the take-up rollers (51) and the first pulley (52); the wire collecting rollers (51) are rotatably provided with lifting cables (54), the wire collecting rollers (51) are driven by a motor to rotate forwards or reversely to realize the winding or releasing of the lifting cables (54), the lifting cables (54) are released from the wire collecting rollers (51), and the lifting cables are fixedly connected with the upper parts of the claw pieces (2) through the upper parts of the second pulleys (53) and the upper parts of the first pulleys (52).

9. The floor-standing transfer robot of claim 8, wherein: a lifting motor (55) is arranged below one take-up roller (51) of the two take-up rollers (51), a double chain wheel (56) is sleeved on a motor shaft of the lifting motor (55) and driven by the lifting motor (55) to rotate, a transmission chain wheel (57) is arranged on the side part of each take-up roller (51), and the double chain wheels (56) are respectively connected with the two transmission chain wheels (57) through chain transmission; the winding directions of the two winding rollers (51) are opposite.

10. The floor-standing transfer robot of claim 1, wherein: the sensing unit includes: the automatic positioning and environment modeling device comprises a laser navigation sensor (121) which is arranged on the front side and the rear side of the mobile base and matched with a control unit to realize automatic positioning and environment modeling, a visual obstacle avoidance sensor (122) which is arranged on the front side of the mobile base in the moving direction, and a QR code scanning sensor (123) which is arranged below the mobile base and used for scanning two-dimensional codes of goods to realize goods positioning.