CN217256302U - Cargo detection and handling system of transfer robot - Google Patents

Cargo detection and handling system of transfer robot Download PDF

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Publication number
CN217256302U
CN217256302U CN202122930558.8U CN202122930558U CN217256302U CN 217256302 U CN217256302 U CN 217256302U CN 202122930558 U CN202122930558 U CN 202122930558U CN 217256302 U CN217256302 U CN 217256302U
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detection
lifting assembly
handling system
cargo
detection module
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CN202122930558.8U
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不公告发明人
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Guangdong Tusk Robot Co ltd
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Guangdong Tusk Robot Co ltd
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Abstract

The utility model discloses a transfer robot's goods detects and handling system, include the body, lift subassembly, detection module and control module. The body is used for carrying articles to a designated position; the lifting assembly is used for lifting the article; the detection module is an ultrasonic sensor, is arranged on the upper surface of the body and is used for detecting the carrying condition right above the body; the control module is used for receiving feedback of the detection module to drive subsequent actions of the body and/or the lifting assembly. The utility model adopts the ultrasonic sensor as a detection device for detecting whether to carry objects or not, can detect transparent or colored objects, metal or non-metal objects, solid, liquid and powdery substances, and has detection performance not influenced by environmental conditions; the detection range is large, and the detection distance is long; the goods detection results of different shapes are accurate, the subsequent control operation on the transfer robot can be ensured to be safe and correct, and the operations of goods collapse, continuous stacking of goods and wrong unloading are effectively prevented.

Description

Cargo detection and handling system of transfer robot
Technical Field
The utility model relates to a transfer robot, concretely relates to transfer robot's goods detects and handling system.
Background
An unmanned guided vehicle (AGV) is already applied to various industries, and a conveying robot on the market detects whether a detection device bears a load or not by adopting a non-contact photoelectric sensor or a contact mechanical detection; for the photoelectric sensor, the environmental adaptability is poor, the photoelectric sensor is easily influenced by dust and water, and the photoelectric sensor is easily polluted and loses efficacy when not in a sealed environment. In reality, the shape of the goods is various, and the photoelectric sensor is easy to pass through the gap of the goods when the transmitter transmits light due to a small detection range (the detection range of the photoelectric sensor is shown in fig. 1), so that the receiver cannot receive the reflected light, and an error detection result is obtained.
And the mechanical detection device is in direct contact with the goods. When carrying heavy goods, because with mechanical mechanism direct contact, produce great effort, after long-time work, mechanical structure's part is easy to be invalid, causes detection device's damage or the inaccuracy of testing result. And mechanical structure detects the goods and compares and use the sensor to detect, and the installation and dismantle complicacy, simultaneously in the use, because the gap that exists between each machine part can lead to entering mechanical type detection device such as particulate matter and cause the influence to its normal work.
SUMMERY OF THE UTILITY MODEL
The utility model aims at providing a transfer robot's goods detects and handling system can solve one or more among the above-mentioned technical problem.
In order to achieve the above purpose, the utility model provides a technical scheme as follows:
a cargo detecting and handling system of a handling robot includes
The body is used for carrying an article to a specified position;
a lifting assembly for lifting the article;
the device also comprises a detection module and a control module;
the detection module is an ultrasonic sensor, is arranged on the upper surface of the body and is used for detecting the carrying condition right above the body;
the control module is used for receiving feedback of the detection module to drive subsequent actions of the body and/or the lifting assembly.
Preferably: the body is square, and the detection module is installed in the geometric center position of body upper surface.
Preferably: the detection module is embedded in the upper surface of the body, and the upper surface of the detection module is not higher than the upper surface of the body (flush with or lower than the upper surface of the body).
Preferably: a first roller and a first motor are arranged on the body, and the first motor drives the first roller to enable the body to move;
the body is provided with at least one accommodating groove, and each accommodating groove is internally provided with one lifting assembly; the lifting assembly moves away from the body in a direction of advancing the body or moves back to the body in a direction of retreating the body.
Preferably: the holding tank is two, ultrasonic sensor installs two the intermediate position of holding tank.
Preferably: the lifting assembly is provided with a second roller and a second motor, and the second motor drives the second roller to enable the lifting assembly to leave the accommodating groove or return to the accommodating groove actively.
Preferably: the lifting assembly comprises a bottom plate, a scissor fork and a top plate; the scissors are mounted between the bottom plate and the top plate.
Preferably: a sliding rail assembly is arranged between the lifting assembly and the body and comprises a limiting block and at least one sliding rail; the sliding rails are arranged on two sides of the lifting assembly; the rear end of the slide rail is provided with a roller which rolls on the bottom wall of the accommodating groove, and a limiting block is arranged in front of the accommodating groove; the front end of the slide rail is also provided with a limiting block; and pulleys are arranged on the lifting assembly and roll in the sliding rails.
Preferably: the holding tank is two, corresponds with "mountain" font tray bottom point recess respectively.
Preferably, the following components: the first idler wheel is a differential wheel or a Mecanum wheel.
The technical effects of the utility model are that:
the utility model discloses in use ultrasonic sensor to carry the detection module of thing as the body, can detect the goods that various shapes are complicated, whether ultrasonic sensor goods detection device's effect is the goods that exist on detecting transfer robot, through the subsequent operation of the information control transfer robot of feedback.
The ultrasonic sensor cargo detection device adopts an ultrasonic sensor as a detection means. The direct reflection type detection mode is mainly adopted, and a transmitter and a receiver are positioned on the same side, so that a detection object is used as a reflecting surface. The object to be detected, which is located in front of the sensor, is caused to detect the object to be detected by transmitting the transmitted sound waves partially back to the receiver of the sensor.
The ultrasonic sensor can detect transparent or colored objects, metal or nonmetal objects, solid, liquid and powdery substances. The detection performance is hardly affected by any environmental conditions, including a smoke environment and rainy days.
The ultrasonic sensor has the advantages of large detection range and long detection distance, has accurate detection results on different shapes of goods, can ensure safe and correct follow-up control operation on the transfer robot, and effectively prevents the goods from collapsing, and the goods are continuously stacked and wrongly unloaded.
Drawings
The accompanying drawings, which form a part of the specification, are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate exemplary embodiments of the invention and together with the description serve to explain the invention and do not constitute a limitation on the scope of the invention.
In the drawings:
FIG. 1 is a schematic diagram of prior art detection using a laser sensor;
fig. 2 is a schematic diagram of the overall structure of the present invention;
fig. 3 is a control diagram of the cargo handling process involving the ultrasonic sensor according to the present invention;
FIG. 4 is a first schematic view of the carrying tray of the present invention;
FIG. 5 is a second schematic view of the carrying tray of the present invention (the direction indicated by the arrow in the figure is the working direction of carrying, loading and unloading);
FIG. 6 is a third schematic view of the carrying tray of the present invention (the direction indicated by the arrow in the figure is the working direction of the lifting assembly); wherein the figures include the following reference numerals:
1-body, 101-accommodating groove, 102-lifting component, 2-detection module, 201-laser detection direction, and 3 trays.
Detailed Description
The invention will be described in detail with reference to the drawings and specific embodiments, wherein the exemplary embodiments and the description are only intended to explain the invention, but not to limit the invention in a proper manner.
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present invention will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the accompanying drawings are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the application described herein are, for example, capable of operation in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Spatially relative terms, such as "above … …", "above … …", "above … …, on a surface", "above", and the like, may be used herein for ease of description to describe one device or feature's spatial relationship to another device or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if a device in the figures is turned over, devices described as "above" or "on" other devices or configurations would then be oriented "below" or "under" the other devices or configurations. Thus, the exemplary term "above … …" can include both an orientation of "above … …" and "below … …". The device may be otherwise variously oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.
As shown in fig. 1, the body 1 and the detection module 2, which is a laser sensor, detect a line angle direction 201, and have a single detection direction and angle.
As shown in fig. 2 and 3, a cargo detecting and handling system of a handling robot includes
A body 1 for carrying an article to a specified position.
A lifting assembly 101 for lifting the article.
The device also comprises a detection module 2 and a control module; the detection module 2 is an ultrasonic sensor.
The detection module 2 is installed on the upper surface of the body, the detection module is embedded in the upper surface of the body, and the upper surface of the detection module is not higher than the upper surface of the body, and is preferably flush with or lower than the surface of the body. Thus, the placing condition of the object on the body can not be influenced.
The specific position of the ultrasonic sensor on the upper surface of the body is not limited, and the ultrasonic sensor is reasonably selected according to the actual required carrying condition. Preferably, when the body is square, the detection module is mounted at the geometric center of the upper surface of the body. Because article in the handling, need coincide with the center of body, just can guarantee the steady of transport, consequently detection module can guarantee like this to carry the thing handling, can detect article all the time, guarantees the accuracy that detects.
The detection module (ultrasonic sensor) 2 is used for detecting the loading condition right above the body 1; as shown in fig. 2, during the detection, the ultrasonic sensor detects the angle and direction of the hemispherical surface right above the body, and the detection range is wide.
The control module is used for receiving feedback of the detection module to drive subsequent actions of the body and/or the lifting assembly. The control module may be a PLC, which is called a programmable controller or other modules with the same function, and is not limited herein.
In certain embodiments, specific configurations of a body and lift assembly are provided; the body is provided with a first roller and a first motor, and the first motor drives the first roller to enable the body to move.
The body is provided with at least one accommodating groove, and each accommodating groove is internally provided with one lifting assembly; the lifting assembly moves away from the body in a direction of advancing the body or moves back to the body in a direction of retracting the body.
Here it does not do the restriction to lift the subassembly structure, the utility model discloses in because the subassembly that lifts can accomodate completely and get into this internally, by the weight that the body bore the tray, guarantee the transportation safety and stability of tray, when needs turn to, the body can the pivot rotatory, and turning radius is little, reduces the transportation space, can save more trays, effectual reduction manual operation in limited space.
During the transportation process, the body and the lifting assembly are matched to work. The first motor receives the command of the control module from the place A to the place B, and conveys the article, as shown in the conveying process of fig. 3, 4 and 5.
The body enters the lower part of the tray in the following mode: the lifting assembly enters the position below an article to be conveyed, the conveyed article is lifted, then the body enters the position below the lifting assembly, and in the entering process, the ultrasonic sensor works and continuously detects the relation between the article and the body until the article is placed on the body; the body moves to carry goods to a designated place; the unloading is also carried out.
The ultrasonic sensor needs to take part in the detection of the goods at least twice in the loading or unloading process of the transfer robot each time. First, when the transfer robot receives a loading or unloading command, it is necessary to detect whether or not a load is loaded on the transfer robot body, and continue the next operation according to the feedback of the signal.
After the transfer robot actually carries out the operation of transferring or unloading the goods, the ultrasonic sensor goods detection device detects whether the goods are loaded or unloaded again to verify whether the operation of loading or unloading the goods is correctly executed or not, and if the operation is correctly executed, the rest operation is carried out.
In fig. 2, 4, and 5, the number of the accommodating grooves is two, and the ultrasonic sensor is installed at a middle position of the two accommodating grooves. Like this can carry out the symmetry to holding tank both sides and detect, whether place the accuracy to article and have accurate judgement.
In some embodiments, a second roller and a second motor are disposed on the lifting assembly, and the second motor drives the second roller so that the lifting assembly can actively leave the receiving tank or return to the receiving tank.
In some embodiments, the lifting assembly is provided with the second roller and the second motor which can run independently, so that the lifting assembly and the body can move independently, when the lifting assembly bears heavy objects, the body can move towards the lifting assembly, the lifting assembly is prevented from moving under the bearing condition to cause the bearing objects (trays) to fall, and the use safety in the transportation process is effectively ensured.
In certain embodiments: the lifting assembly comprises a bottom plate, a scissor fork and a top plate; the scissor fork is installed between the bottom plate and the top plate.
In some embodiments, the scissor assembly is adopted, so that higher load can be borne, and the structure is simpler, and the maintenance and the overhaul are convenient.
In certain embodiments: a sliding rail assembly is arranged between the lifting assembly and the body and comprises a limiting block and at least one sliding rail; the sliding rails are arranged on two sides of the lifting assembly; the rear end of the slide rail is provided with a roller which rolls on the bottom wall of the accommodating groove, and a limiting block is arranged in front of the accommodating groove; the front end of the slide rail is also provided with a limiting block; and pulleys are arranged on the lifting assembly and roll in the sliding rails.
The setting of slide rail set spare can effectual assurance, and the subassembly that lifts can independently adjust when the business turn over body, meets ground unevenness etc. and has a spacingly to stretching out of the subassembly that lifts moreover, guarantees the accuracy security of using. Furthermore, in the system, the sliding rail can enable the lifting assembly to integrally and completely extend out of the body for a certain distance, so that the carrying distance is increased.
In certain embodiments: the holding tank is two, corresponds with "mountain" font tray bottom point recess respectively. Is more suitable for carrying the trays with international standard sizes.
In certain embodiments: the first roller is a differential wheel or a Mecanum wheel. The lifting assembly which can be retracted into the body is matched, so that the body can rotate in situ, and the rotation radius is effectively reduced.
The utility model discloses be different from common transfer robot on the market at present, use ultrasonic detection device to be used for detecting the goods and keeping away the barrier, install the suitable position of transfer robot body upper surface with ultrasonic sensor, whether can real-time detection goods place transfer robot on, give it have goods and no goods two kinds of states to subsequent control.
The utility model discloses be different from photoelectric sensor formula goods detection device and traditional mechanical type goods detection device, adopt the detection device that ultrasonic sensor constitutes, whether have the basic function that detects the goods and place on transfer robot outside, it is big still to have a detection range, detects the precision height, and response speed is fast, is difficult for receiving environmental impact's advantage, solves the problem that current goods detection device exists.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (10)

1. A cargo detecting and handling system of a handling robot includes
The body is used for carrying an article to a specified position;
a lifting assembly for lifting the article;
the method is characterized in that: the device also comprises a detection module and a control module;
the detection module is an ultrasonic sensor, is arranged on the upper surface of the body and is used for detecting the carrying condition right above the body;
the control module is used for receiving feedback of the detection module to drive subsequent actions of the body and/or the lifting assembly.
2. The cargo detecting and handling system of a handling robot according to claim 1, characterized in that: the body is square, and the detection module is installed in the geometric center position of body upper surface.
3. The cargo detection and handling system of a handling robot according to claim 1 or 2, characterized in that: the detection module is embedded into the upper surface of the body, and the upper surface of the detection module is not higher than the upper surface of the body.
4. The cargo detection and handling system of a handling robot according to claim 3, characterized in that: a first roller and a first motor are arranged on the body, and the first motor drives the first roller to move the body;
the body is provided with at least one accommodating groove, and each accommodating groove is internally provided with one lifting assembly; the lifting assembly moves away from the body in a direction of advancing the body or moves back to the body in a direction of retreating the body.
5. The cargo detection and handling system of a handling robot according to claim 4, characterized in that: the holding tank is two, ultrasonic sensor installs two the intermediate position of holding tank.
6. The cargo detecting and handling system of a handling robot of claim 5, wherein: the lifting assembly is provided with a second roller and a second motor, and the second motor drives the second roller to enable the lifting assembly to leave the accommodating groove or return to the accommodating groove actively.
7. The cargo detecting and handling system of a handling robot of claim 6, wherein: the lifting assembly comprises a bottom plate, a scissor fork and a top plate; the scissors are mounted between the bottom plate and the top plate.
8. The cargo detection and handling system of a handling robot according to claim 7, characterized in that: a sliding rail assembly is arranged between the lifting assembly and the body and comprises a limiting block and at least one sliding rail; the sliding rails are arranged on two sides of the lifting assembly; the rear end of the slide rail is provided with a roller which rolls on the bottom wall of the accommodating groove, and a limiting block is arranged in front of the accommodating groove; the front end of the slide rail is also provided with a limiting block; and pulleys are arranged on the lifting assembly and roll in the sliding rails.
9. The cargo detection and handling system of a handling robot according to claim 8, characterized in that: the holding tank is two, corresponds with "mountain" font tray bottom point recess respectively.
10. The cargo detection and handling system of a handling robot according to claim 9, characterized in that: the first roller is a differential wheel or a Mecanum wheel.
CN202122930558.8U 2021-11-26 2021-11-26 Cargo detection and handling system of transfer robot Active CN217256302U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202122930558.8U CN217256302U (en) 2021-11-26 2021-11-26 Cargo detection and handling system of transfer robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202122930558.8U CN217256302U (en) 2021-11-26 2021-11-26 Cargo detection and handling system of transfer robot

Publications (1)

Publication Number Publication Date
CN217256302U true CN217256302U (en) 2022-08-23

Family

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Family Applications (1)

Application Number Title Priority Date Filing Date
CN202122930558.8U Active CN217256302U (en) 2021-11-26 2021-11-26 Cargo detection and handling system of transfer robot

Country Status (1)

Country Link
CN (1) CN217256302U (en)

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