CN208199726U - cargo transfer robot and system - Google Patents
cargo transfer robot and system Download PDFInfo
- Publication number
- CN208199726U CN208199726U CN201820548966.2U CN201820548966U CN208199726U CN 208199726 U CN208199726 U CN 208199726U CN 201820548966 U CN201820548966 U CN 201820548966U CN 208199726 U CN208199726 U CN 208199726U
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- CN
- China
- Prior art keywords
- cargo transfer
- pedestal
- cargo
- transfer robot
- supportive body
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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- 238000012546 transfer Methods 0.000 title claims abstract description 80
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 43
- 230000003319 supportive effect Effects 0.000 claims abstract description 37
- 230000000007 visual effect Effects 0.000 claims description 17
- 238000010408 sweeping Methods 0.000 claims description 6
- 239000002390 adhesive tape Substances 0.000 claims description 3
- 238000005286 illumination Methods 0.000 claims description 2
- 230000033001 locomotion Effects 0.000 abstract description 12
- 230000004888 barrier function Effects 0.000 abstract description 6
- 238000012544 monitoring process Methods 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 5
- 238000001514 detection method Methods 0.000 description 4
- 238000013461 design Methods 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 238000001179 sorption measurement Methods 0.000 description 2
- 238000010521 absorption reaction Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004140 cleaning Methods 0.000 description 1
- 230000000295 complement effect Effects 0.000 description 1
- 230000004069 differentiation Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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Abstract
The utility model discloses a kind of cargo transfer robot, including pedestal, control system, the supportive body set on pedestal, the mechanical arm set on supportive body, set on supportive body and the sensor unit that is connect with control system signal and set on the clamp device of mechanical arm.The invention also discloses a kind of cargo transfer systems, including above-mentioned cargo transfer robot, cargo transfer system further includes for the working face of pedestal for placed, set on working face and the carrying pad for arrangement of goods, the vertical plate set on working face and set on vertical plate and for for platform of unloading goods on unloading goods on unmanned plane.When the work of cargo transfer robot, mechanical arm drives clamping to have cargo or the clamp device of zero load to move to predeterminated position, the environment on sensor unit real-time monitoring periphery simultaneously, if detecting in the presence for having barrier in the motion range of mechanical arm, safety when using has been effectively ensured in the then moving parts stop motion such as mechanical arm.
Description
Technical field
The utility model relates to cargo transfer field more particularly to a kind of cargo transfer robots and system.
Background technique
Currently, unmanned plane has been applied to Express Logistics field, usual unmanned plane is all that the cargo of transport is placed in loading dock,
Then recycle corresponding cargo transfer means that the cargo of loading dock is transferred to memory block；Conversely, unmanned plane turns in embarkation area
The cargo of fortune is also to be transferred to embarkation area from Distribution Area by cargo transfer means；Therefore cargo transfer means are in Express Logistics field
Importance more become obviously, design a substitution manually to cooperate unmanned plane logistics to realize that cargo automatically picks and places, and be suitble to
Home environment deployment, makes cargo prolonged stay external platform and causes unmanned plane that can not connect to avoid because behaviour is gone out or is forgotten
It is continuous that the cargo transfer robot of the damage of picking and external environment to cargo is sent to become extremely urgent.And existing cargo transfer
The safety that device is not appropriate for when being deployed in home environment and using is poor.
Utility model content
One of the utility model is designed to provide a kind of cargo transfer robot, it is intended to solve in the prior art, machine
The poor problem of safety when the cargo transfer means of tool hand formula use.
For this purpose, the utility model uses following technical scheme:
Cargo transfer robot, including pedestal, control system, set on the pedestal supportive body, be set to the support
Main body and the mechanical arm connecting with the control system signal are set to the supportive body and connect with the control system signal
Sensor unit and clamp device set on the mechanical arm.
Further, the sensor unit is visual sensor mould group.
Further, the supportive body is additionally provided with lighting system.
Further, the pedestal is equipped with driving wheel and universal wheel；
And/or clump weight is equipped in the pedestal.
Further, the pedestal is detachably connected with the supportive body, and sweeping robot sheet is equipped in the pedestal
Body and/or floor-mopping robot ontology.
Another of the utility model is designed to provide a kind of cargo transfer system, shifts machine including above-mentioned cargo
People, the cargo transfer system further include for arrangement of goods and the glove unit that matches with the sensor unit.
Further, the cargo transfer system further includes flat for placing the work of the pedestal and the glove unit
Face, set on the vertical plate of the working face and set on the vertical plate and for for platform of unloading goods on unloading goods on unmanned plane.
Further, the vertical plate is equipped with clamping protrusion, and the supportive body, which is equipped with, is clamped what protrusion matched with described
Clamping groove.
Further, the supportive body is equipped with charge port, and the vertical plate is equipped with the power supply matched with the charge port
Mouthful.
Further, the glove unit is carrying pad, and the sensor unit is visual sensor mould group, the glove
The edge of unit is equipped with the identification figure code matched with the visual sensor mould group；
Alternatively, the glove unit is adhesive tape, the sensor unit is visual sensor mould group.
The utility model has the beneficial effects that when cargo transfer robot work when, mechanical arm drive clamping have cargo or
Unloaded clamp device moves to predeterminated position, while the environment on sensor unit real-time monitoring periphery, if detecting in machinery
There is the presence of barrier in the motion range of arm or detect that barrier is moved into the motion range of mechanical arm, then controls
Safety when using has been effectively ensured in the moving parts stop motions such as system control machine tool arm.
Detailed description of the invention
It, below will be to embodiment or the prior art in order to illustrate more clearly of the technical scheme in the embodiment of the utility model
Attached drawing needed in description is briefly described, it should be apparent that, the accompanying drawings in the following description is only that this is practical new
Some embodiments of type for those of ordinary skill in the art without any creative labor, can be with
It obtains other drawings based on these drawings.
Structural schematic diagram when Fig. 1 is the cargo transfer robot arrangement of goods of the utility model；
Fig. 2 is the partial enlarged view in Fig. 1 at A；
Structural schematic diagram when Fig. 3 is the charging of cargo transfer robot or off working state of the utility model；
Fig. 4 is the structural schematic diagram of the cargo transfer system of the utility model (when cargo transfer robot charges)；
Fig. 5 is that (cargo transfer robot is unloaded goods platform from above for the structural schematic diagram of the cargo transfer system of the utility model
When grabbing cargo)；
Fig. 6 is that (cargo transfer robot arrangement of goods is in setting for the structural schematic diagram of the cargo transfer system of the utility model
When on object pad)；
Fig. 7 is the partial enlarged view in Fig. 6 at B；
In figure:
100, cargo transfer robot；1, pedestal；2, supportive body；3, mechanical arm；4, sensor unit；5, clamping dress
It sets；6, driving wheel；7, universal wheel；8, working face；9, vertical plate；10, it unloads goods on platform；11, carrying pad；12, clamping protrusion；
13, clamping groove；14, charge port；15, power supply port；16, cargo.
Specific embodiment
In order to make the purpose of the utility model, technical solutions and advantages more clearly understood, below in conjunction with attached drawing and implementation
Example, the present invention will be further described in detail.It should be appreciated that specific embodiment described herein is only used to explain
The utility model is not used to limit the utility model.
It should be noted that it can be directly another when element is referred to as " being fixed on " or " being set to " another element
On one element or indirectly on another element.When an element is known as " being connected to " another element, it can
To be directly to another element or be indirectly connected on another element.
It is to be appreciated that term " length ", " width ", "upper", "lower", "front", "rear", "left", "right", "vertical",
The orientation or positional relationship of the instructions such as "horizontal", "top", "bottom" "inner", "outside" is that orientation based on the figure or position are closed
System, is merely for convenience of describing the present invention and simplifying the description, rather than the device or element of indication or suggestion meaning are necessary
It with specific orientation, is constructed and operated in a specific orientation, therefore should not be understood as limiting the present invention.
The realization of the utility model is described in detail below in conjunction with specific embodiment.
As shown in Figure 1-Figure 3, the utility model embodiment proposes a kind of cargo transfer robot, including pedestal 1, control
System, set on pedestal 1 supportive body 2, set on supportive body 2 and connect with control system signal mechanical arm 3, be set to support
Main body 2 and the sensor unit 4 being connect with control system signal and the clamp device 5 set on mechanical arm 3.
In the embodiments of the present invention, pedestal 1 exists for carrying supportive body 2, supportive body 2 for carrying setting
Mechanical arm 3 thereon and for installing sensor unit 4, clamp device 5 is equipped with and is used for for clamping cargo 16, cargo 16
The groove matched with clamp device 5, for driving clamp device 5 to move to each clamping position, control system is used for mechanical arm 3
The control of the working condition of each component, sensor unit 4 is for the detection of 16 position of cargo and the detection of barrier to realize
The work of auxiliary mechanical arm 3.The driving portion of crawl movement is carried out on clamp device 5 with grasping mechanism and driving grasping mechanism
Part.In the embodiments of the present invention, mechanical arm 3 can be by structure compositions such as connecting rod, telescopic rod and drivers, while root
The selection of different freedom degrees is carried out according to application demand difference.When cargo transfer robot 100 works, mechanical arm 3 drives clamping
There are cargo 16 or the clamp device 5 of zero load to move to predeterminated position, while the environment on 4 real-time monitoring periphery of sensor unit,
If detecting in the presence for having barrier in the motion range of mechanical arm 3 or having detected mobiles close to and positioned at centainly
In distance, then the moving parts cut-through object movements such as control system control mechanical arm 3 or stop motion, being effectively ensured makes
The safety of used time mechanical arm 3 and safety for periphery pedestrian.
Further, referring to Fig. 1, a kind of specific embodiment party as cargo transfer robot provided by the utility model
Formula, sensor unit 4 are visual sensor mould group.Specifically, sensor unit 4 is selected as visual sensor mould group, vision passes
Real time image collection is carried out in the motion range of sensor mould grouping machine tool arm 3 and vision guide is done to the movement of mechanical arm 3, and
Detect whether that mobiles are close.
Further, a kind of specific embodiment as cargo transfer robot provided by the utility model, support master
Body 2 is additionally provided with lighting system.Specifically, lighting system can be used as auxiliary unit when visual sensor mould group works, in cargo
When luminance range in the use environment of transfer robot 100, visual sensor mould group can still carry out image preferable
Acquisition.Certainly in the embodiments of the present invention, said lighting system can also be used separately as illumination, be arranged in supportive body
Lighting system on 2 can preferably realize the illuminating effect of floor lamp.
Further, a kind of specific embodiment as cargo transfer robot provided by the utility model, sensor
Unit 4 is laser radar.Specifically, sensor unit 4 is selected as laser radar, namely by laser radar to mechanical arm 3
Laser radar detection is carried out in motion range, and recognises that the presence of barrier or whether there are mobiles close to simultaneously position
In in certain distance.
Further, referring to Fig. 1, a kind of specific embodiment party as cargo transfer robot provided by the utility model
Formula, pedestal 1 are equipped with driving wheel 6 and universal wheel 7；Clump weight is equipped in pedestal 1.Specifically, on pedestal 1 be equipped with driving wheel 6 and
Universal wheel 7, driving wheel 6 and universal wheel 7 can drive pedestal 1 to be moved and turned to, so that cargo transfer robot 100 is in work
Coverage area when making is wider；Also, pedestal can be slided according to the detection result of sensor unit 4, with avoiding obstacles.?
Clump weight can be further set in pedestal 1 to reduce the center of gravity of cargo transfer robot 100, promote cargo transfer robot
100 stability.It, can also should by being arranged the battery pack of large capacity in pedestal 1 in the embodiments of the present invention
Battery pack is used as clump weight.
Further, a kind of specific embodiment as cargo transfer robot provided by the utility model, pedestal 1 with
Supportive body 2 is detachably connected (such as electromagnetic adsorption connection or electronic lock clamping), is equipped with sweeping robot ontology in pedestal 1
And/or floor-mopping robot.Specifically, pedestal 1 is detachably connected with supportive body 2, and pedestal 1 and supportive body 2 are set respectively
The data-interface that can be docked is set, being electrically connected for the two can also be realized when pedestal 1 carries out physical connection with supportive body 2.Simultaneously
Sweeping robot ontology and/or floor-mopping robot are equipped in pedestal 1；It is shifted when cargo transfer robot 100 does not undertake cargo 16
Pedestal 1 can control to be automatically separated with supportive body 2 when work, pedestal 1 can be used as sweeping robot and/or floor-mopping robot carries out
It uses.
As shown in Fig. 1-Fig. 7, the utility model embodiment also proposed a kind of 16 transfer system of cargo, including above-mentioned goods
Object transfer robot 100,16 transfer system of cargo further include for pedestal for placed 1 working face 8, be set to working face 8 and
Glove unit for arrangement of goods 16, the vertical plate 9 set on working face 8 and it is set to vertical plate 9 and for above and below for unmanned plane
It unloads goods on goods platform 10.Specifically, in the embodiments of the present invention, glove unit is preferably carrying pad 11, and work is flat
Face 8 can be the arbitrary plane in use environment, may be, for example, indoor floor, balcony floors, outdoor level land and freight house floor etc..
Further, carrying pad 11 determines the specified model of the cargo placement on working face 8 for complementary goods transfer robot 100
It encloses；Carrying pad 11 can also be used in arrangement of goods 16 simultaneously, is particularly used in and receives cargo transfer robot 100 and unload goods from above platform
The cargo 16 of 10 transfers, it can also be used to provide cargo 16 for cargo transfer robot 100 to be transferred to platform 10 of unloading goods from above.It is vertical
Plate 9 is set on working face 8, and vertical plate 9 is arranged in platform 10 of above unloading goods and opposite working face 8 has certain vertical height,
On unload goods platform 10 for receiving the cargo 16 that unmanned plane unloads, it can also be used to receive cargo transfer robot 100 from carrying pad
The cargo 16 is supplied to unmanned plane again and transported by the cargo 16 of 11 transfers.Above-mentioned vertical plate 9 can also in use environment metope or
Person's terrace fence.
Further, Fig. 1-Fig. 2 and Fig. 6-Fig. 7 is please referred to, as 16 transfer system of cargo provided by the utility model
A kind of specific embodiment, vertical plate 9 are equipped with clamping protrusion 12, and supportive body 2 is equipped with the clamping groove matched with clamping protrusion 12
13.Certainly, the position between clamping groove 13 and clamping protrusion 12 can be interchangeable, and not limited uniquely herein.Specifically, work as goods
When object transfer robot 100 does not work, 100 autonomous of cargo transfer robot simultaneously finally makes clamping protrusion 12 on vertical plate 9
It is with the cooperation of clamping groove 13 on supportive body 2 that supportive body 2 is fixed, prevent cargo transfer robot 100 by external collision
And topple over.In the embodiments of the present invention, the fixed form of the external environments such as cargo transfer robot and vertical plate 9 can also be
The modes such as electromagnetic adsorption, vacuum chuck absorption.
Further, Fig. 1-Fig. 2 and Fig. 6-Fig. 7 is please referred to, as 16 transfer system of cargo provided by the utility model
A kind of specific embodiment, supportive body 2 are equipped with charge port 14, and vertical plate 9 is equipped with the power supply port 15 matched with charge port 14.Tool
Body, the power supply port 15 on vertical plate 9 charges to cargo transfer robot 100 by the charge port 14 on supportive body 2；When
Other power supply modes, such as wireless charging can also be used in right cargo transfer robot 100, does not limit uniquely herein.When vertical plate 9
On power supply port 15 when being charged by the charge port 14 on supportive body 2 to cargo transfer robot 100, on vertical plate 9
Clamping protrusion 12 and the cooperation of clamping groove 13 on supportive body 2 are fixed by supportive body 2, and cargo transfer robot 100 is avoided to fill
It is loosened between power supply port 15 and charge port 14 when electric.It, can also be by above-mentioned charge port 14 in the embodiments of the present invention
It is set on pedestal 1；Meanwhile on vertical plate 9 clamping protrusion 12 and power supply port 15 can be split-type design.
When cargo transfer robot 100, which does not undertake cargo 16, shifts work, 100 autonomous of cargo transfer robot is simultaneously
It combines the clamping groove 13 on supportive body 2 with the clamping protrusion 12 on vertical plate 9, then controls pedestal 1 and supportive body 2 certainly
Dynamic separation, pedestal 1 can carry out cleaning separately as sweeping robot and/or floor-mopping robot.When pedestal 1 completes cleaner
Make or its internal battery electricity be when reaching preset value or less, pedestal 1 returns simultaneously to be combined with supportive body 2 automatically, with etc. entertain
It carries on a shoulder pole the work of cargo transfer or realizes the charging to 1 internal battery of pedestal.
Further, a kind of specific embodiment as 16 transfer system of cargo provided by the utility model, sensor
Unit 4 is visual sensor mould group；When glove unit is carrying pad 11, edge when carrying pad 11 is equipped with and visual sensor
The identification figure code or carrying pad that mould group matches are arranged special color-coded.Specifically, glove unit is excellent in this present embodiment
Be selected as carrying pad 11, the edge of carrying pad 11 be equipped with the identification figure code that is matched with visual sensor mould group or carrying pad 11 with
Make significant differentiation, the visual sensor mould group in cargo transfer robot 100 in neighboring area in special color and working face 8
The positioning to carrying pad 11 is realized and then detecting the identification figure code or the special color, places goods on working face 8 to determine
The specified region of object.Carrying pad 11 can freely be arranged with respect to working face 8, to facilitate user flexibility to divide cargo placement region.
In the other embodiments of the utility model, glove unit may be the form of glove fence or basket, glove fence top
Face or basket inner bottom surface setting identification figure code or special color；Cargo transfer robot 100 can also be allowed to identify in this way
And determine the range of arrangement of goods.Glove unit also can be replaced the adhesive tape for being printed on identification figure code or special color, Yong Huke
Specified arrangement of goods region is crossed on working face 8 to be sticked to.
Obviously, the above embodiments of the present invention is used for the purpose of clearly illustrating examples for clearly illustrating the present invention, and
It is not limitations of the embodiments of the present invention.For those of ordinary skill in the art, in above description
On the basis of can also make other variations or changes in different ways.There is no need and unable to give all embodiments
Exhaustion.Any modifications, equivalent replacements, and improvements made within the spirit and principle of the present invention etc., should be included in
Within the protection scope of the utility model claims.
Claims (10)
1. cargo transfer robot, which is characterized in that including pedestal, control system, set on the pedestal supportive body, be set to
The supportive body and the mechanical arm being connect with the control system signal, be set to the supportive body and with the control system
The sensor unit that signal connects and the clamp device set on the mechanical arm.
2. cargo transfer robot according to claim 1, which is characterized in that the sensor unit is visual sensor
Mould group.
3. cargo transfer robot according to claim 1 or 2, which is characterized in that the supportive body is additionally provided with illumination
System.
4. cargo transfer robot according to claim 1 or 2, which is characterized in that the pedestal is equipped with driving wheel and ten thousand
To wheel；
And/or clump weight is equipped in the pedestal.
5. cargo transfer robot according to claim 1 or 2, which is characterized in that the pedestal and the supportive body
It is detachably connected, sweeping robot ontology and/or floor-mopping robot ontology is equipped in the pedestal.
6. cargo transfer system, which is characterized in that including cargo transfer robot as described in any one in claim 1-5, institute
Stating cargo transfer system further includes the glove unit matched with the sensor unit.
7. cargo transfer system according to claim 6, which is characterized in that the cargo transfer system further includes for putting
Set the pedestal and the glove unit working face, set on the working face vertical plate and be set to the vertical plate and
For for platform of unloading goods on unloading goods on unmanned plane.
8. cargo transfer system according to claim 7, which is characterized in that the vertical plate is equipped with clamping protrusion, the branch
Support main body is equipped with the clamping groove matched with the clamping protrusion.
9. cargo transfer system according to claim 7 or 8, which is characterized in that the supportive body is equipped with charge port, institute
It states vertical plate and is equipped with the power supply port matched with the charge port.
10. according to the described in any item cargo transfer systems of claim 6-7, which is characterized in that the glove unit is glove
Pad, the sensor unit are visual sensor mould group, and the edge of the carrying pad is equipped with and the visual sensor mould group phase
The identification figure code or specific identification color of cooperation；
Alternatively, the glove unit be adhesive tape, the sensor unit be visual sensor mould group, the tape surface be printed on
The identification figure code or specific identification color that the visual sensor mould group matches.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820548966.2U CN208199726U (en) | 2018-04-17 | 2018-04-17 | cargo transfer robot and system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820548966.2U CN208199726U (en) | 2018-04-17 | 2018-04-17 | cargo transfer robot and system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208199726U true CN208199726U (en) | 2018-12-07 |
Family
ID=64523512
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820548966.2U Expired - Fee Related CN208199726U (en) | 2018-04-17 | 2018-04-17 | cargo transfer robot and system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208199726U (en) |
-
2018
- 2018-04-17 CN CN201820548966.2U patent/CN208199726U/en not_active Expired - Fee Related
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20181207 |