CN209739917U - Cargo carrying system - Google Patents

Abstract

The application relates to a cargo carrying system, which is suitable for containers of different sizes. The cargo carrying system comprises: a carriage; the container is arranged in the carriage and comprises a plurality of bins; transfer robot, set up the operating space in the carriage, transfer robot is including transporting actuating mechanism, it includes base member and transportation arm to transport actuating mechanism, the base member is the horizontal migration in operating space and moves the setting, the relative base member of transportation arm has lift stroke and rotation stroke, the action of transporting the interior goods of storehouse check is carried out to transfer robot, the transportation arm includes a plurality of sub-arms that rotate the connection in proper order, a plurality of rotate the sub-arm of connection in proper order, one sub-arm in two sub-arms of head and tail end sets up in the base member, have rotation stroke and lift stroke for the base member, it has the playback mode under the non-transport state to transport actuating mechanism.

Description

cargo carrying system

Technical Field

The application relates to the technical field of cargo transfer, in particular to a cargo carrying system.

Background

At present, in the technical field of cargo transportation, usually adopt packing cupboard and transport mechanism complex mode, set up hold-in range, lead screw isotructure in the storehouse check department of packing cupboard to with transport mechanism design into the orthogonal linear motion mechanism that has two to four degrees of freedom. However, such techniques have the following limitations: firstly, when the size of the container is changed, the whole transmission chain needs to be adjusted, and an electric control system needs to be rearranged; when the device is applied to the vehicle-mounted transfer container, the transmission chain is large in size, the rigidity and the stability are difficult to control effectively, the problems of vibration, loosening of sensing devices and the like exist, and the failure rate is high; and thirdly, the development of the transmission chain and the control system needs special customization and is difficult to standardize.

SUMMERY OF THE UTILITY MODEL

It is an object of the present application to provide a cargo carrying system that overcomes the above-mentioned drawbacks.

the present application provides a cargo carrying system. The cargo carrying system comprises: a carriage; the container is arranged in the carriage and comprises a plurality of bins, and the bins are used for containing goods; the transfer robot is arranged in an operation space in the carriage and comprises a transfer executing mechanism, the transfer executing mechanism comprises a base body and a transfer arm movably arranged relative to the base body, the base body is horizontally movably arranged in the operation space, the transfer arm has a lifting stroke and a rotating stroke relative to the base body, and the transfer robot performs the action of transferring the goods in the bin in the carriage; the transfer arm comprises a plurality of sub-arms which are sequentially and rotatably connected, rotating shafts at the joints of the sub-arms are parallel to each other and are spaced by a preset distance, and one of the two sub-arms at the head end and the tail end of the plurality of sub-arms which are sequentially and rotatably connected is arranged on the base and has a rotating stroke and a lifting stroke relative to the base; the transfer executing mechanism has a homing mode in a non-transfer state, and when the transfer executing mechanism is in the homing mode, each sub-arm and the base body are sequentially overlapped together.

Optionally, among the plurality of sub-arms which are sequentially connected in a rotating manner, the sub-arm at the later stage is connected to the tail part of the sub-arm at the previous stage.

Optionally, the transfer arm still includes motor and reduction gear, motor and reduction gear all set up in the former in two sections adjacent sub-arms, motor and reduction gear transmission are connected, and wherein, the output shaft of reduction gear is connected with the latter in two sections adjacent sub-arms.

Optionally, the transfer executing mechanism further includes a carrying portion for carrying goods, the carrying portion is disposed on the transfer arm, and the carrying portion includes at least one of a clamping structure, an adsorption structure, and a hook structure.

optionally, a container is arranged in the carriage, and the operating space is arranged between the goods taking side of the container and the corresponding inner wall of the carriage; or, two containers are arranged in the carriage, the goods taking sides of the two containers are arranged oppositely, and the operation space is arranged between the goods taking sides of the two containers.

Optionally, the size of the operation space matches the range of motion of the transfer arm.

optionally, the carriage includes a cargo outlet, and the cargo in the compartment is transferred to the cargo outlet through the transfer robot.

optionally, the transfer robot further includes a control unit and a transfer trajectory calculation unit electrically connected to the control unit, and the control unit controls the transfer execution mechanism to execute the cargo transfer according to the transfer trajectory calculated by the transfer trajectory calculation unit.

Optionally, the transfer robot further includes a sensor disposed at each joint of the transfer executing mechanism, the sensor is configured to acquire a motion parameter at each joint, the sensor is electrically connected to the transfer trajectory calculating unit, and the transfer trajectory calculating unit calculates coordinates of the starting bin and the ending bin in the cargo transfer path according to the motion parameter.

Optionally, the transfer trajectory calculation unit includes a coordinate conversion subunit and a trajectory calculation subunit, the coordinate conversion subunit is electrically connected to the trajectory calculation subunit, the coordinate conversion subunit is configured to convert a first coordinate of a location where the goods are to be taken away into a second coordinate of a goods placement location, and the trajectory calculation subunit calculates the transfer trajectory of the goods according to the first coordinate and the second coordinate.

in the application, the cargo carrying system adopts the transfer robot to realize cargo transfer, and controls the transfer executing mechanism to execute cargo transfer work through the control unit in the transfer robot. Therefore, under this embodiment, even if the size of packing cupboard has been changed, also need not to change the structure of transporting the robot for transport the robot and can be suitable for the packing cupboard of multiple different sizes, realized the standardization, modularization and the flexibility of cargo carrying system design, improved the reliability of cargo carrying system design simultaneously.

Drawings

FIG. 1 is a schematic view of a cargo conveyance system shown in an exemplary embodiment of the present application;

FIG. 2 is a schematic illustration of a cargo carrying system shown in an exemplary embodiment of the present application with a partial shell structure removed from a compartment;

FIG. 3 is a schematic view of a transfer robot shown in an exemplary embodiment of the present application;

FIG. 4 is a schematic diagram illustrating a substrate with freedom to move in a horizontal plane in a transfer robot according to an exemplary embodiment of the present application;

FIGS. 5 to 7 are schematic views of a container and a transfer robot in different states in a workflow according to an exemplary embodiment of the present application;

FIG. 8 is a schematic illustration of a transfer robot shown in a homing mode in accordance with an exemplary embodiment of the present application;

fig. 9 is a flowchart illustrating the operation of the cargo carrying system in transferring cargo according to an exemplary embodiment of the present application.

Detailed Description

Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present application, as detailed in the appended claims.

The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used in this application and the appended claims, the singular forms "a", "an", and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and/or" as used herein refers to and encompasses any and all possible combinations of one or more of the associated listed items.

It is to be understood that although the terms first, second, third, etc. may be used herein to describe various information, such information should not be limited to these terms. These terms are only used to distinguish one type of information from another. For example, first information may also be referred to as second information, and similarly, second information may also be referred to as first information, without departing from the scope of the present application. The word "if" as used herein may be interpreted as "at … …" or "when … …" or "in response to a determination", depending on the context.

Referring to fig. 1 and 2, the present application provides a cargo conveyance system 10, and the cargo conveyance system 10 may be, but is not limited to, an unmanned cargo conveyance vehicle.

The cargo carrying system 10 comprises a carriage 11, a container 120 and a transfer robot 122, wherein the container 120 is arranged in the carriage 11, the container 120 comprises a plurality of vertically and horizontally arranged bins 1200, and the bins 1200 are used for containing the cargo 20. The bin lattices 1200 are arranged in a static structure, and a dividing mechanism is not required to be arranged in each bin lattice 1200, so that the design of the bin lattices 1200 is simplified.

the transfer robot 122 is disposed in an operation space in the car 11. The car 11 includes a cargo outlet 110, and the cargo in the compartment 1200 is transferred to the cargo outlet 110 by the transfer robot 122.

the transfer robot 122 is used to transfer the cargo 20 placed in the compartments 1200, for example, to transfer the cargo 20 from the compartments 1200 to the outlet 110, or to transfer the cargo 20 from one of the compartments 1200 to another of the compartments 1200.

The specific structure of the transfer robot 122 is not limited in this application, and in one embodiment, a robot arm for performing a task may be used.

referring to fig. 3, the transfer robot 122 includes a transfer actuator 1220, the transfer actuator 1220 includes a base 12200 and a transfer arm 12202 movably disposed relative to the base 12200, the base 12200 is horizontally movably disposed in the operating space, the transfer arm 12202 has a lifting stroke and a rotating stroke relative to the base 12200, and the transfer robot 122 performs an operation of transferring the cargo in the compartment 1200 in the car 11.

The number of the containers 120 is not limited, and may be one or more. In one embodiment, a container 120 is disposed in the compartment 11, and the operation space is disposed between the goods-taking side of the container 120 and the corresponding inner wall of the compartment 11. The delivery side of the container 120 is the open side of each bay 1200, and the transfer robot 122 can deliver/take the cargo in the bay 1200 from the delivery side of the container 120. In another embodiment, two containers 120 are disposed in the carriage 11, the two containers 120 are disposed opposite to each other on the goods-taking sides, and the operation space is disposed between the goods-taking sides of the two containers 120. The size of the operation space matches the movable range of the transfer arm 12202. The size of the operating space matches the size (length and height) of the access side of the container 120, so that the transfer arm 12202 can transfer the cargo in all bins 1200 on the container 120.

The specific manner for realizing the lifting and rotating of the transfer arm 12202 is various, and the description of the present application is omitted.

The arm 12202 transports includes a plurality of sub-arms 12202a that rotate the connection in proper order, and the pivot of each sub-arm 12202a junction is parallel to each other and the interval preset distance, sets up the flexibility that the sub-arm 12202a of multistage can increase the arm 12202 and transport the action.

Specifically, of the plurality of sub-arms 12202a connected to each other in a sequentially rotatable manner, one sub-arm 12202a of the two sub-arms 12202a at the leading and trailing ends is provided to the base 12200, and has a rotational stroke and a lifting stroke with respect to the base 12200.

Further, in the plurality of sub-arms 12202a which are sequentially rotatably connected, the sub-arm 12202a of the subsequent stage may be connected to the tail portion of the sub-arm 12202a of the previous stage. Thus, the size of the transmission chain can be increased, so that the transfer arm 12202 can be transferred in a wider space range.

On the other hand, at least two sub-arms 12202a can be set to rotate relative to each other by 360 degrees, and the scheme can also expand the moving dimension of the transfer arm 12202 and can realize cargo transfer in more directions.

In an alternative embodiment, the connecting position of two adjacent sub-arms 12202a can be regarded as a joint, and at each joint, the transfer actuator 1220 can include a motor and a speed reducer which are in transmission connection, the motor and the speed reducer are respectively arranged in the former of the two adjacent sub-arms 12202a, and the output shaft of the speed reducer is connected with the latter of the two adjacent sub-arms 12202a, so that each section of the sub-arms 12202a has a rotational degree of freedom. For example: if the transfer arm 12202 includes 3 segments of sub-arms 12202a, both segments of the sub-arms 12202a adjacent to the base 12200 are provided with motors and reducers.

the transfer arm 12202 includes a transfer portion (not shown), for example, provided at the transfer arm 12202, or more specifically, at the end of the transfer arm 12202, through which the transfer actuator 1220 can transfer goods. In an embodiment, the carrying portion may include a clamping structure, an absorbing structure, a hook structure, and the like, and one or more of the carrying portions may be adopted, which is not limited in this application.

Further, the base 12200 may be provided to be movable in a horizontal plane, so as to increase the degree of freedom in movement of the base 12200 in the horizontal plane. In an alternative embodiment, referring to fig. 4, the base 12200 may include a sliding slot, which may cooperate with the sliding rail 30, such that the base 12200 may move in a horizontal plane, which may increase the movement area of the transfer robot 122 and improve the ability to transfer goods.

In particular, the transfer robot 122 further includes a control unit and a transfer trajectory calculation unit (not shown), wherein the transfer trajectory calculation unit and the transfer actuator 1220 are electrically connected to the control unit respectively. Specifically, the transfer actuator 1220 may be electrically connected to the control unit via a motor.

The transfer track calculation unit is used for calculating a transfer track, the transfer actuator 1220 is used for executing the transfer of the goods, and the control unit controls the transfer actuator 1220 to execute the transfer action of the goods 20 according to the transfer track calculated by the transfer track calculation unit, so that the transfer of the goods 20 is finally realized. The cargo transfer positioning can be realized by controlling the transfer actuator 1220 through the control unit without arranging a sensor in the compartment 1200.

in addition, the cargo carrying system 10 does not use a transmission mechanism such as a synchronous belt, a lead screw, etc. as in the prior art, but uses the transfer robot 122 to separate from the container 120, and controls the transfer executing mechanism 1220 to execute the cargo transfer operation through the control unit in the transfer robot 122. Therefore, under this embodiment, even if the size of the container 120 is changed, the structure of the transfer robot 122 does not need to be changed, and the limitation existing in the prior art is overcome, so that the transfer robot 122 can be applied to containers of various sizes, thereby realizing standardization, modularization and flexibility of the design of the cargo carrying system 10, and improving the reliability of the design of the cargo carrying system 10.

In one embodiment, the transfer trajectory calculation unit may include a coordinate conversion subunit and a trajectory calculation subunit, the coordinate conversion subunit being electrically connected to the trajectory calculation subunit. When the transfer robot 122 receives the transfer task operation, the coordinate conversion subunit is configured to convert a first coordinate of a position (bin) where the goods 20 are to be taken away into a second coordinate of a placement position (bin or a delivery port) of the goods 20, and the transfer trajectory calculation subunit calculates the transfer trajectory of the goods 20 according to the first coordinate and the second coordinate. The method for calculating the transfer trajectory may be implemented by inverse kinematics, trajectory planning, and decomposition motion control of each joint driver, which is not limited in the present application.

in general, the transfer robot 122 may be controlled by a programming technique, and in this embodiment, in order to simplify the programming during the transfer of the cargo 20, the transfer robot 122 may further include a sensor disposed at each joint of the transfer actuator 1220, the sensor is configured to acquire a motion parameter of the transfer actuator 1220, that is, a motion parameter at each joint, and the sensor is electrically connected to the transfer trajectory calculation unit. And the transfer track calculation unit calculates the coordinates of the bin grids at the starting point and the coordinates of the bin grids at the end point in the cargo transfer path according to the motion parameters.

Specifically, the transfer robot 122 can be a teaching/playback robot by manually dragging the transfer unit so that the transfer unit is dragged from the start point to the end point of the cargo transfer, and at this time, the joints move, and the sensor acquires the motion parameters of the joints and transmits the data to the transfer trajectory calculation unit, so that the position coordinates of the start point and the end point can be converted in the reverse direction, thereby simplifying the programming work of the cargo transfer operation sequence.

On the other hand, the sensor may also implement closed-loop servo control on the driving system of the transfer robot 122, and in one embodiment, the sensor may be configured as an encoder, and the encoder is electrically connected to the control unit, and the encoder acquires the motion parameters of each joint and feeds the motion parameters back to the control unit to implement closed-loop servo control.

Referring to fig. 5 to 7, fig. 5 to 7 are schematic diagrams of a container and a transfer robot in different states in a workflow according to an exemplary embodiment of the present application. When the upper control issues an instruction to perform a cargo transfer operation, for example, the transfer arm 12202 transfers the cargo 20 from the bay 1200-a to the bay 1200-B, at this time, the coordinate converter unit converts the coordinate a (Xa, Ya, Za) of the bay 1200-a into the coordinate B (Xb, Yb, Zb) of the bay 1200-B, and the trajectory calculation subunit calculates the transfer trajectory L based on the coordinate a (Xa, Ya, Za) and the coordinate B (Xb, Yb, Zb). At the same time the control unit controls the handling part to be connected with the goods 20, i.e. the handling part remains relatively fixed with the goods 20. After the transfer track L is obtained, the control unit controls the transfer actuator 1220 to move along the transfer track L to complete the transfer of the goods 20, and meanwhile, the control unit controls the carrying part to release the goods 20. The solution of the decoupling module can be realized by utilizing the robot technology, so that the containers with different specifications are less prone to software electromechanical customization work, and the control methods and cloud end adjustment of containers with different models can be unified.

Referring to fig. 8, after the cargo 20 is completely transferred, the transfer actuator 1220 has a homing mode in a non-transfer state. It is also understood that transfer arm 12202 is in a homing mode when in a non-transfer mode of operation. When the transfer actuator is in the homing mode, each sub-arm and the base are stacked in sequence. On the one hand, in the homing mode, the overall size of the transfer arm 12202 is reduced, whereby the amount of vibration due to the large size of the drive chain can be reduced, thereby reducing the probability of occurrence of a failure of the transfer actuator 1220; on the other hand, the space occupied by the transfer arm 12202 is reduced, which may be more suitable for vehicle-mounted applications.

Referring to fig. 9, fig. 9 is a flowchart illustrating the operation of the cargo carrying system in transferring cargo according to an exemplary embodiment of the present application.

Firstly, the upper layer control sends out an instruction to transfer the goods 20 from the compartment 1200-a to the compartment 1200-b;

The coordinate conversion operator unit converts the coordinates A (Xa, Ya, Za) of the bin 1200-a into the coordinates B (Xb, Yb, Zb) of the bin 1200-B;

The trajectory calculation subunit calculates the transfer trajectory L based on the coordinates a (Xa, Ya, Za) and the coordinates B (Xb, Yb, Zb), and at the same time, the control unit controls the transfer unit to connect to the cargo 20;

The control unit controls the transfer executing mechanism 1220 to move along the transfer track L according to the transfer track L;

The transfer of the goods 20 is completed, and simultaneously, the control unit controls the carrying part to release the goods 20;

Transfer arm 12202 is home.

the above description is only exemplary of the present application and should not be taken as limiting the present application, as any modification, equivalent replacement, or improvement made within the spirit and principle of the present application should be included in the scope of protection of the present application.

Claims (10)

1. A cargo conveyance system, comprising:

A carriage;

The container is arranged in the carriage and comprises a plurality of bins, and the bins are used for containing goods;

The transfer robot is arranged in an operation space in the carriage and comprises a transfer executing mechanism, the transfer executing mechanism comprises a base body and a transfer arm movably arranged relative to the base body, the base body is horizontally movably arranged in the operation space, the transfer arm has a lifting stroke and a rotating stroke relative to the base body, and the transfer robot performs the action of transferring the goods in the bin in the carriage;

the transfer arm comprises a plurality of sub-arms which are sequentially and rotatably connected, rotating shafts at the joints of the sub-arms are parallel to each other and are spaced by a preset distance, and one of the two sub-arms at the head end and the tail end of the plurality of sub-arms which are sequentially and rotatably connected is arranged on the base and has a rotating stroke and a lifting stroke relative to the base;

The transfer executing mechanism has a homing mode in a non-transfer state, and when the transfer executing mechanism is in the homing mode, each sub-arm and the base body are sequentially overlapped together.

2. the cargo conveyance system of claim 1, wherein the plurality of sequentially pivotally connected sub-arms, a subsequent sub-arm being connected to a trailing portion of a previous sub-arm.

3. The cargo carrying system of claim 1, wherein the transfer arm further comprises a motor and a reducer, both disposed within the former of the adjacent two sections of sub-arms, the motor and reducer being in driving connection, wherein an output shaft of the reducer is connected to the latter of the adjacent two sections of sub-arms.

4. The cargo carrying system of claim 1, wherein the transfer actuator further comprises a handling portion for handling cargo, the handling portion being provided to the transfer arm, the handling portion comprising at least one of a clamping structure, an adsorption structure, a hook structure.

5. The cargo carrying system of claim 1, wherein a container is disposed in the car, and the operation space is disposed between a delivery side of the container and a corresponding inner wall of the car; alternatively, the first and second electrodes may be,

The compartment is internally provided with two containers, the goods taking sides of the two containers are oppositely arranged, and the operation space is arranged between the goods taking sides of the two containers.

6. The cargo conveyance system of claim 1, wherein the operating space is sized to match a range of motion of the transfer arm.

7. the cargo conveyance system of any one of claims 1 to 6, wherein the car includes a shipment port to which the cargo within the bay is transferred by the transfer robot.

8. The cargo carrying system according to claim 1, wherein the transfer robot further comprises a control unit and a transfer trajectory calculation unit electrically connected to the control unit, respectively, and the control unit controls the transfer actuator to perform the cargo transfer operation according to the transfer trajectory calculated by the transfer trajectory calculation unit.

9. The cargo carrying system according to claim 8, wherein the transfer robot further comprises a sensor disposed at each joint of the transfer actuator, the sensor being configured to acquire a motion parameter at each joint, the sensor being electrically connected to the transfer trajectory calculation unit,

And the transfer track calculation unit calculates the coordinates of the bin grids at the starting point and the coordinates of the bin grids at the end point in the cargo transfer path according to the motion parameters.

10. The cargo conveyance system of claim 8, wherein the transfer trajectory calculation unit comprises a coordinate transformation subunit and a trajectory calculation subunit, the coordinate transformation subunit being electrically connected to the trajectory calculation subunit,

The coordinate conversion subunit is used for converting a first coordinate of the position where the goods to be taken away are located into a second coordinate of the goods placement position, and the trajectory calculation subunit calculates the transfer trajectory of the goods according to the first coordinate and the second coordinate.