CN217971033U

CN217971033U - There is rail express delivery to put goods robot

Info

Publication number: CN217971033U
Application number: CN202222047332.8U
Authority: CN
Inventors: 付相为; 单慧琳; 吕宗奎; 葛彩成; 朱希; 孙佳琪
Original assignee: Nanjing University of Information Science and Technology
Current assignee: Nanjing University of Information Science and Technology
Priority date: 2022-08-03
Filing date: 2022-08-03
Publication date: 2022-12-06
Anticipated expiration: 2032-08-03

Abstract

The invention discloses a rail-guided express cargo-handling robot in the technical field of automatic equipment, which comprises a body bracket, wherein a PLC (programmable logic controller) is arranged on the side surface of the body bracket, a fixedly connected bottom plate is arranged at the lower end of the body bracket, and a movable bracket is arranged below the bottom plate; the body support side still is equipped with the module of snatching of going up and down, snatchs the module and includes the crane, and the crane side is equipped with the carriage, is equipped with gliding first crossbar, second crossbar between crane and the carriage, and first crossbar rotates with second crossbar center department to be connected, and the carriage internal symmetry is equipped with sliding fit's clamping jaw. The whole robot realizes automatic express delivery picking operation, can realize placement of goods without manual interference, and is suitable for an unmanned express delivery picking environment; the clamping jaw can realize the function of stretching out and drawing back through the mechanism design of X shape, compares in other telescopic machanisms and saves space cost to a certain extent, and the electronic control cost is lower.

Description

There is rail express delivery to put goods robot

Technical Field

The invention belongs to the technical field of automation equipment, and particularly relates to a rail-bound express delivery cargo handling robot.

Background

With the deepening of the understanding of the intelligent essence of the robot technology, the robot technology continuously permeates into various fields of human activities, and by combining the application characteristics of the fields, people develop various special robots and various intelligent robots with sensing, decision-making, action and interaction capabilities, and at present, although there is no strict and accurate robot definition, people hope to make some grasp on the essence of the robot: a robot is a machine device that automatically performs work. It can accept human command, run the program programmed in advance, and also can operate according to the principle outline action made by artificial intelligence technology. Its task is to assist or replace human work. It is a product of advanced integrated control theory, mechano-electronics, computer, material and bionics, and has important application in the fields of industry, medicine, agriculture, service industry and building industry.

Chinese patent CN207726103U proposes a goods picking and transporting robot, which needs to manually transport goods to a robot goods placing rack, then the robot completes the transportation work, but still needs to manually transport the goods to the goods placing rack, and can not realize full automation, chinese patent CN208117852U proposes an automatic goods picking robot, which realizes the lifting of a mechanical claw through an articulated mechanism, but due to the defects of poor positioning performance of the articulated mechanism, more mechanical problems and the like, the service life of the robot can not be ensured, chinese patent CN214490611U proposes an unmanned warehouse goods picking robot, which also needs to manually place goods on a mechanism to finish the goods sorting and sorting, and belongs to semi-automatic equipment.

Disclosure of Invention

Aiming at the defects in the prior art, the invention aims to provide a rail-bound express delivery cargo handling robot to solve the problems in the background technology.

The purpose of the invention can be realized by the following technical scheme:

a rail-bound express goods placing robot comprises a body support, wherein a PLC (programmable logic controller) is arranged on the side face of the body support, a fixedly connected bottom plate is arranged at the lower end of the body support, a movable support is arranged below the bottom plate, a front auxiliary wheel and a rear auxiliary wheel which rotate are arranged at two ends of the movable support, middle auxiliary wheels which rotate are arranged at two sides of the movable support, a fixedly connected double-shaft motor is arranged in the movable support, second rotating shafts which are fixedly connected are arranged on rotating shafts at two sides of the double-shaft motor, and motor wheels which are fixedly connected are arranged on the second rotating shafts;

the body support side still is equipped with the module of snatching of going up and down, snatchs the module and includes the crane, and the crane side is equipped with the carriage, is equipped with gliding first crossbar, second crossbar between crane and the carriage, and first crossbar rotates with second crossbar center department to be connected, and the carriage internal symmetry is equipped with sliding fit's clamping jaw.

Preferably, the lower part of the body bracket moves on the ground, and a guide rail and a goods shelf which are fixedly connected are arranged on the ground.

Preferably, the bottom plate is provided with first motors distributed in a fixed array, first motor rotating shafts are respectively provided with first lead screws fixedly connected, the upper ends of the first lead screws are rotatably connected with the body support, and the body support is internally provided with a guide shaft fixedly connected.

Preferably, both ends of the movable support are provided with first rotating shafts, the first rotating shafts are provided with front and rear auxiliary wheels which are symmetrically distributed, both sides of the movable support are provided with second shaft frames which are distributed in an array manner, and the second shaft frames are internally provided with middle auxiliary wheels which are rotatably connected.

Preferably, the upper end of the movable support is provided with a fixed shaft which is fixedly connected, the upper end of the fixed shaft is provided with a rotating shaft which is rotatably connected, two groups of synchronous belt wheels which are fixedly connected are arranged outside the rotating shaft, the rotating shaft is fixedly connected with the bottom plate, the upper end of the movable support is also provided with a second motor and a third motor which are fixedly connected, a first synchronous belt wheel which is fixedly connected is arranged on a rotating shaft of the second motor, the first synchronous belt wheel is rotatably connected with the first group of synchronous belt wheels outside the rotating shaft through a first synchronous belt, a second synchronous belt wheel which is fixedly connected is arranged on a rotating shaft of the third motor, and the second synchronous belt wheel is rotatably connected with the second group of synchronous belt wheels outside the rotating shaft.

Preferably, a welded lifting plate is arranged on one side of the lifting frame, first lead screw sliding blocks distributed in an array mode are fixedly arranged on the lifting plate, a guide groove penetrating through the lifting plate is formed between the first lead screw sliding blocks, the first lead screw sliding blocks are in threaded fit with the first lead screws, and the guide groove is in sliding fit with the guide shaft.

Preferably, a first bidirectional screw rod is arranged in the lifting frame in a rotating connection mode, a fourth motor is fixedly connected to one end of the lifting frame, the fourth motor drives the first bidirectional screw rod to rotate, two groups of second screw rod sliding blocks are symmetrically distributed on the first bidirectional screw rod in a threaded mode, the second screw rod sliding blocks move along a sliding groove in the lifting frame, one group of second screw rod sliding blocks are connected with one end of the first cross rod in a rotating mode, and the other group of second screw rod sliding blocks are connected with one end of the second cross rod in a rotating mode.

Preferably, the first cross rod and the other end of the second cross rod are respectively provided with a guide block which is connected in a rotating mode, a guide post which is fixedly connected and a second bidirectional screw rod which is connected in a rotating mode are arranged in the moving frame, the guide block is in sliding fit with the guide post, the guide block moves along a sliding groove in the moving frame, two groups of third screw rod sliding blocks which are symmetrically distributed are arranged on the second bidirectional screw rod in a threaded mode, one end of the moving frame is provided with a fifth motor which is fixedly connected, the fifth motor drives the second bidirectional screw rod to rotate, the third screw rod sliding blocks move along the sliding groove in the moving frame, clamping jaws which are fixedly connected are arranged on the third screw rod sliding blocks, and a camera controller and a camera which are fixedly connected are arranged above the moving frame.

The invention has the beneficial effects that:

1. the whole robot realizes automatic express delivery picking operation, can realize placement of goods without manual interference, and is suitable for unmanned express delivery picking environments;

2. according to the robot, the clamping jaw can realize a telescopic function through an X-shaped mechanism design, and compared with other telescopic mechanisms, the robot saves space cost to a certain extent;

3. the balance structure of the invention adopts the front and rear auxiliary wheels and the middle auxiliary wheel to ensure that the robot can run vertically, the track can realize accurate positioning, compared with the AGV robot which automatically walks on the road surface, the AGV robot needs a better control circuit to solve the problems of path planning and dynamic environment of barriers, and needs a good network environment to deal with time delay in the aspect of positioning, while the invention only needs to obtain the position information of the robot in real time through the coding feedback of the motor 2.3, and the electronic control cost is lower;

4. compared with the grabbing mode of a common six-axis mechanical arm, the mechanical grabbing mode of the lifting telescopic structure has the advantages of wider grabbing range and more stable goods placement.

Drawings

In order to more clearly illustrate the embodiments or technical solutions in the prior art of the present invention, the drawings used in the description of the embodiments or prior art will be briefly described below, and it is obvious for those skilled in the art that other drawings can be obtained based on these drawings without creative efforts.

FIG. 1 is an overall schematic view of the operation of an express delivery cargo robot of the present invention;

FIG. 2 is a schematic view of the structure of the body support of the present invention;

FIG. 3 is a schematic structural diagram of a part of an express delivery and cargo placement robot of the invention;

fig. 4 is a schematic structural diagram of a grasping module in the invention.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Referring to fig. 1 to 4, the rail-guided express delivery robot includes a body support 2, the lower portion of the body support 2 moves on the ground 1, and the ground 1 is provided with a guide rail 11 and a shelf 12 which are fixedly connected.

Further, 2 sides of the body support are provided with the PLC 21, the lower end of the body support 2 is provided with a fixedly connected bottom plate 22, a first motor 23 distributed in a fixed array is arranged on the bottom plate 22, a first lead screw 24 fixedly connected is arranged on a rotating shaft of the first motor 23, the upper end of the first lead screw 24 is rotatably connected with the body support 2, and a guide shaft 25 fixedly connected is further arranged in the body support 2.

Further, a movable support 3 is arranged below the bottom plate 22, first rotating shafts 31 are arranged at two ends of the movable support 3, front and rear auxiliary wheels 311 which are symmetrically distributed are arranged on the first rotating shafts 31, first shaft brackets 312 which are rotatably connected are arranged on the first rotating shafts 31, the first shaft brackets 312 are fixedly connected with the movable support 3, double-shaft motors 32 which are fixedly connected are arranged in the movable support 3, second rotating shafts 321 which are fixedly connected are arranged on two sides of each double-shaft motor 32, motor wheels 33 which are fixedly connected are arranged on the second rotating shafts 321, second shaft brackets 34 which are distributed in an array are arranged on two sides of the movable support 3, auxiliary wheels 341 which are rotatably connected are arranged in each second shaft bracket 34, the front and rear auxiliary wheels 311 and the middle auxiliary wheels 341 move in the guide rail 11, the front and rear auxiliary wheels 311 and the middle auxiliary wheels 341 prevent the movable support 3 from inclining, the motor wheels 33 are in contact with the ground 1, and the double-shaft motors 32 start to drive the motor wheels 33 to move, so that the movable support 3 moves along the guide rail 11;

the upper end of the movable support 3 is provided with a fixed shaft 35 of fixed connection, the upper end of the fixed shaft 35 is provided with a rotating shaft 351 of rotary connection, the outer side of the rotating shaft 351 is provided with two sets of synchronous belt wheels of fixed connection, the rotating shaft 351 is fixedly connected with the bottom plate 22, the upper end of the movable support 3 is also provided with a second motor 36 of fixed connection, a third motor 37, the rotating shaft of the second motor 36 is provided with a first synchronous belt wheel 361 of fixed connection, the first synchronous belt wheel 361 is rotatably connected with the first set of synchronous belt wheel on the outer side of the rotating shaft 351 through a first synchronous belt 362, the rotating shaft of the third motor 37 is provided with a second synchronous belt wheel 371 of fixed connection, the second synchronous belt wheel 371 is rotatably connected with the second set of synchronous belt wheel on the outer side of the rotating shaft 351, the second motor 36 and the third motor 37 drive the rotating shaft 351 to rotate reversely, thereby driving the body support 2 to rotate synchronously.

Furthermore, the side surface of the body support 2 is also provided with a lifting grabbing module 4, the grabbing module 4 comprises a lifting frame 41, one side of the lifting frame 41 is provided with a welded lifting plate 411, first lead screw sliders 412 distributed in an array manner are fixedly arranged on the lifting plate 411, a guide groove 413 penetrating through the lifting plate 411 is arranged between the first lead screw sliders 412, the first lead screw sliders 412 are in threaded fit with the first lead screw 24, the guide groove 413 is in sliding fit with the guide shaft 25, the lifting frame 41 is lifted along the guide shaft 25, a first bidirectional lead screw 42 connected in a rotating manner is arranged in the lifting frame 41, one end of the lifting frame 41 is provided with a fourth motor 421 connected in a fixed manner, the fourth motor 421 drives the first bidirectional lead screw 42 to rotate, two groups of second lead screw sliders 422 distributed symmetrically are arranged on the first bidirectional lead screw 42 in a threaded manner, the second lead screw sliders 422 move along the inner sliding groove of the lifting frame 41, one group of second lead screw sliders 422 is connected with one end of the first cross rod 47 in a rotating manner, the other group of second lead screw sliders 422 is connected with one end of the second cross rod 48 in a rotating manner, and the first cross rod 47 is connected with the center of the second cross rod 48 in a rotating manner;

the other ends of the first cross rod 47 and the second cross rod 48 are respectively provided with a guide block 43 which is connected in a rotating manner, the other side of the lifting frame 41 is provided with a moving frame 44, a guide post 45 which is fixedly connected and a second bidirectional screw rod 46 which is connected in a rotating manner are arranged in the moving frame 44, the guide block 43 is in sliding fit with the guide post 45, the guide block 43 moves along a sliding groove in the moving frame 44, two groups of third screw rod sliders 462 which are symmetrically distributed are arranged on the second bidirectional screw rod 46 in a threaded manner, one end of the moving frame 44 is provided with a fifth motor 461 which is fixedly connected, the fifth motor 461 drives the second bidirectional screw rod 46 to rotate, the third screw rod sliders 462 move along the sliding groove in the moving frame 44, clamping jaws which are fixedly connected are arranged on the third screw rod sliders 462, and a camera controller 49 and a camera 410 which are fixedly connected are arranged above the moving frame 44.

The working principle is as follows:

during the use, biax motor 32 drives motor wheel 33 and rotates, thereby make the express delivery put goods robot remove along guide rail 11, put auxiliary wheel 341 in, front and back auxiliary wheel 311 leads and supplementary removal, thereby first motor 23 drives first lead screw 24 synchronous rotation and drives and snatch module 4 and go up and down, second motor 36, third motor 37 drives body support 2 and rotates angle regulation, camera 410 shoots the location to the goods that need carry, fourth motor 421 drives first bidirectional screw 42 and rotates, thereby drive first crossbar 47, second crossbar 48 rotates, drive and move frame 44 forward or retreat, fifth motor 461 drives second bidirectional screw 46 and rotates, adjust the interval of clamping jaw, clamping jaw 463 shoots the goods and snatchs, then place and fix a position once more after on goods shelves 12.

In the description of the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood according to specific situations by those of ordinary skill in the art.

In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "above," and "over" a second feature may mean that the first feature is directly above or obliquely above the second feature, or that only the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.

In the description herein, references to the description of "one embodiment," "an example," "a specific example" or the like are intended to mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

The foregoing shows and describes the general principles, principal features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed.

Claims

1. A rail-mounted express goods-placing robot comprises a body support (2) and is characterized in that a PLC (programmable logic controller) is arranged on the side face of the body support (2), a fixedly connected bottom plate (22) is arranged at the lower end of the body support (2), a movable support (3) is arranged below the bottom plate (22), front and rear rotating auxiliary wheels (311) are arranged at two ends of the movable support (3), rotating middle auxiliary wheels (341) are arranged at two sides of the movable support (3), a fixedly connected double-shaft motor (32) is arranged in the movable support (3), fixedly connected second rotating shafts (321) are arranged on rotating shafts at two sides of the double-shaft motor (32), and fixedly connected motor wheels (33) are arranged on the second rotating shafts (321);

the body support (2) side still is equipped with the module (4) of snatching of going up and down, snatchs module (4) and includes crane (41), and crane (41) side is equipped with removes frame (44), is equipped with gliding first crossbar (47), second crossbar (48) between crane (41) and the removal frame (44), and first crossbar (47) are connected with second crossbar (48) center department rotation, and the symmetry is equipped with sliding fit's clamping jaw (463) in the removal frame (44).

2. A rail-bound express cargo handling robot according to claim 1, characterized in that the lower part of the body bracket (2) moves on the ground (1), and the ground (1) is provided with a guide rail (11) and a shelf (12) which are fixedly connected.

3. The rail-bound express cargo handling robot as claimed in claim 1, wherein the bottom plate (22) is provided with first motors (23) distributed in a fixed array, the rotating shafts of the first motors (23) are respectively provided with a first lead screw (24) fixedly connected, the upper ends of the first lead screws (24) are rotatably connected with the body bracket (2), and the body bracket (2) is further internally provided with a guide shaft (25) fixedly connected.

4. The rail-bound express cargo-handling robot as claimed in claim 1, wherein first rotating shafts (31) are arranged at both ends of the movable support (3), front and rear auxiliary wheels (311) are symmetrically arranged on the first rotating shafts (31), second racks (34) are arranged on both sides of the movable support (3) in an array manner, and middle auxiliary wheels (341) are rotatably connected in the second racks (34).

5. The rail-bound express cargo handling robot as claimed in claim 1, wherein a fixed shaft (35) is fixedly connected to the upper end of the movable support (3), a rotating shaft (351) is rotatably connected to the upper end of the fixed shaft (35), two sets of synchronous pulleys are fixedly connected to the outer side of the rotating shaft (351), the rotating shaft (351) is fixedly connected to the base plate (22), a second motor (36) and a third motor (37) are fixedly connected to the upper end of the movable support (3), a first synchronous pulley (361) is fixedly connected to the rotating shaft of the second motor (36), the first synchronous pulley (361) is rotatably connected to the first set of synchronous pulleys on the outer side of the rotating shaft (351) through a first synchronous belt (362), a second synchronous pulley (371) is fixedly connected to the rotating shaft of the third motor (37), and the second synchronous pulley (371) is rotatably connected to the second set of synchronous pulleys on the outer side of the rotating shaft (351).

6. The rail-bound express cargo handling robot as claimed in claim 1, wherein a welded lifting plate (411) is arranged on one side of the lifting frame (41), first lead screw sliders (412) distributed in an array are fixedly arranged on the lifting plate (411), a guide groove (413) penetrating through the lifting plate (411) is formed between the first lead screw sliders (412), the first lead screw sliders (412) are in threaded fit with the first lead screw (24), and the guide groove (413) is in sliding fit with the guide shaft (25).

7. The rail-bound express cargo handling robot as claimed in claim 1, wherein a first bidirectional screw rod (42) is rotatably connected in the lifting frame (41), a fourth motor (421) is fixedly connected at one end of the lifting frame (41), the fourth motor (421) drives the first bidirectional screw rod (42) to rotate, two groups of symmetrically distributed second screw rod sliding blocks (422) are arranged on the first bidirectional screw rod (42) in a threaded manner, the second screw rod sliding blocks (422) move along a sliding groove in the lifting frame (41), one group of second screw rod sliding blocks (422) is rotatably connected with one end of the first cross rod (47), and the other group of second screw rod sliding blocks (422) is rotatably connected with one end of the second cross rod (48).

8. The rail-bound express cargo handling robot as claimed in claim 1, wherein a guide block (43) is rotatably connected to each of the other ends of the first cross bar (47) and the second cross bar (48), a guide post (45) fixedly connected to each other and a second bidirectional lead screw (46) rotatably connected to each other are arranged in the moving frame (44), the guide block (43) is slidably matched with the guide post (45), the guide block (43) moves along a sliding slot in the moving frame (44), two sets of third lead screw sliders (462) symmetrically distributed are arranged on each of the second bidirectional lead screws (46) in a threaded manner, a fifth motor (461) is fixedly connected to one end of the moving frame (44), the fifth motor (461) drives the second bidirectional lead screw (46) to rotate, the third lead screw sliders (462) move along the sliding slot in the moving frame (44), clamping jaws (463) are arranged on each of the third lead screw sliders (462), and a camera controller (49) and a camera (410) are fixedly connected to each of the moving frame (44).