CN218494599U

CN218494599U - Article transportation system

Info

Publication number: CN218494599U
Application number: CN202222665015.2U
Authority: CN
Inventors: 周泳闯; 金儒彬; 李国辉; 孙荣孟
Original assignee: Zhuhai 1 Micro Robot Technology Co ltd
Current assignee: Zhuhai 1 Micro Robot Technology Co ltd
Priority date: 2022-10-11
Filing date: 2022-10-11
Publication date: 2023-02-17
Anticipated expiration: 2032-10-11

Abstract

The application discloses article transportation system, the transport robot passes through the two-dimensional code that camera scanning preset, does not need the position information and the height information that manual intervention can automatic identification article, then automatic navigation arrives corresponding place and realizes taking or removing of article through the mode of gear drive rack, and wherein, article are placed in the tray that has the rack. This application adopts the mode of getting of gear drive rack, simple structure, and the cost is lower, gets the process of putting moreover and stabilizes safety.

Description

Article transportation system

Technical Field

The application relates to the field of intelligent robots, in particular to an article transportation system.

Background

Many robots with carrying functions appear in the market at present, the robots are mainly applied to occasions where goods need to be carried frequently, such as large-scale factories and logistics, and the use of the large-scale carrying robots is limited in some daily life scenes, such as environments of restaurants, hospitals, supermarkets and the like. Although in the above environment, some functions of transportation can be completed by using a cart, a mobile robot, or other vehicles, when taking and placing articles, a service person is still required to place the articles on the cart or the robot, and the function of autonomous taking articles by the robot cannot be achieved.

SUMMERY OF THE UTILITY MODEL

In order to solve the problems, the application provides an article transportation system, so that a transportation robot can independently take and place articles, the transportation robot is simple in structure, and the taking and placing processes are stable and safe. The specific technical scheme of the application is as follows:

an article transportation system comprises a transportation robot and a tray, wherein the tray comprises a rack, and the transportation robot comprises a movable base, a camera, a lifting device, an article placing table and an article taking and placing device; the camera is arranged at the front end of the transport robot and used for identifying the position of the tray; the lifting device is arranged on the movable base and used for driving the object placing table to ascend or descend so that the object placing table or the object taking and placing device can be positioned at different horizontal heights; the object placing table is arranged on the lifting device and used for placing the tray; article are got and are put device sets up on putting the thing platform, including adjustable shelf, tray gear and gear motor for take or remove the tray, when tray gear and rack meshing, gear motor drives tray gear revolve, thereby realizes taking or removing of tray.

Further, the lifting device is a scissor lift.

Furthermore, the object placing table comprises an upper object placing table, a lower object placing table and a side panel; wherein, the lower layer object placing table is connected with the scissor-fork type lifting device and is also connected with the upper layer object placing table through the side panel; the upper layer object placing platform comprises a movable rack, and the upper layer object placing platform is connected with the object taking and placing device through the movable rack.

Furthermore, the movable frame comprises a first movable arm, a second movable arm, a limiting part, a movable frame motor and a movable frame driving wheel; the first movable arm and the second movable arm are symmetrically arranged on a movable rack of the upper-layer object placing table, and one end of the first movable arm is connected with one end of the second movable arm through a limiting piece; the adjustable shelf motor is connected with the adjustable shelf rack of the upper-layer object placing table through the adjustable shelf driving wheel, and the adjustable shelf motor drives the adjustable shelf driving wheel to rotate, so that the adjustable shelf can horizontally move on the upper-layer object placing table.

Further, the tray gear comprises a first tray gear, a second tray gear, a first gear transmission wheel and a second gear transmission wheel; the first tray gear is connected with the first gear transmission wheel, and the first tray gear and the first gear transmission wheel are arranged at one end of the first movable arm, which is opposite to the limiting piece; the second tray gear is connected with a second gear transmission wheel, and the second tray gear and the second gear transmission wheel are arranged at one end of the second movable arm, which is opposite to the limiting piece; wherein, the first tray gear and the second tray gear can be meshed with the rack on the tray.

Further, the gear motor comprises a first gear motor, a second gear motor, a first motor transmission wheel and a second motor transmission wheel; the first gear motor is connected with the first gear transmission wheel through the first motor transmission wheel and drives the first motor transmission wheel to rotate, so that the first gear transmission wheel drives the first tray gear to rotate; the second gear motor is connected with the second gear transmission wheel through the second motor transmission wheel, and the second gear motor drives the second motor transmission wheel to rotate, so that the second gear transmission wheel drives the second tray to rotate.

Further, the transport robot further comprises an instruction receiving device for receiving an instruction for taking or removing the tray, wherein the instruction receiving device comprises any one of a voice recognition device or a control panel.

An article transportation method is realized based on the article transportation system, and specifically comprises the following steps: s1, a transport robot acquires position information and height information of a platform needing to take or remove a tray through a camera and then moves to a corresponding position; and S2, controlling the article taking and placing device to be aligned with the platform by the transport robot based on the height information of the platform and the horizontal height of the current article taking and placing device, and then controlling a gear motor to drive a tray gear to rotate when the tray gear is meshed with the rack of the tray, so that the tray is taken or removed.

Further, in the step S1, the transportation robot scans the two-dimensional code through the camera to obtain the position information and the height information of the platform on which the tray needs to be taken or removed; wherein, the two-dimensional code sets up in transportation robot's operational environment in advance.

Further, in step S2, the method for controlling the article taking and placing device to align with the platform by the transport robot specifically includes: s21, calculating the sum of the lifting height of the scissor-type lifting device and a fixed value by the transport robot to obtain the horizontal height of the current article taking and placing device; step S22, the transportation robot compares the height information of the platform with the horizontal height of the current article taking and placing device, if the former is larger than the latter, the scissor-type lifting device is controlled to ascend until the heights of the two are equal, and if the former is smaller than the latter, the scissor-type lifting device is controlled to descend until the heights of the two are equal; when the height information of the platform is equal to the horizontal height of the current article taking and placing device, the article taking and placing device is aligned with the platform; wherein, the transport robot includes a scissor lift.

Further, in the step S2, after the transport robot controls the article taking and placing device to align with the platform, the method for taking the tray specifically includes: step S23, the transport robot controls the movable frame to move forwards, meanwhile, whether the tray gear is meshed with the rack of the tray or not is judged according to the image shot by the camera, when the tray gear is meshed with the rack of the tray, the transport robot controls the movable frame to stop moving, and then the step S24 is carried out; s24, controlling a gear motor to drive a tray gear to rotate backwards for a preset number of turns by a transport robot, so that the tray moves onto a movable frame, and then controlling the movable frame to move backwards to realize taking of the tray; wherein, the article taking and placing device comprises a movable frame.

Further, in the step S2, after the transport robot controls the article taking and placing device to align with the platform, the method for removing the tray specifically includes: s25, the transport robot controls the movable frame to move forward, judges whether the edge of the tray is positioned above the platform or not according to the image shot by the camera, controls the movable frame to stop moving when the edge of the tray is positioned above the platform, and then enters S26; and S26, controlling a gear motor to drive a tray gear to rotate forwards for a preset number of turns by the transport robot, so that the tray moves onto the platform, and then controlling the movable frame to move backwards to remove the tray.

The beneficial effect of this application lies in: compared with the prior art, this application transportation robot pass through the two-dimensional code that camera scanning preset, need not manual intervention can automatic identification article's positional information and height information, then automatic navigation arrives corresponding place and realizes taking or removing of article through the mode of gear drive rack, wherein, article are placed in the tray that has the rack. This application adopts the mode of getting of gear drive rack, simple structure, and the cost is lower, gets the process of putting moreover and stabilizes safety.

Drawings

FIG. 1 is a schematic view of an article transport system according to an embodiment of the present application;

fig. 2 is a schematic structural view of an article picking and placing device according to an embodiment of the present application;

FIG. 3 is a schematic flow chart of a method of transporting an item according to an embodiment of the present application;

wherein 100 denotes a tray, 110 denotes a rack, 200 denotes a moving base, 300 denotes a scissor lift device, 310 denotes a scissor arm, 320 denotes a slide rail, 330 denotes a telescopic rod, 340 denotes a coupling beam, 400 denotes a rack stand, 410 denotes an upper rack stand, 411 denotes a movable rack, 420 denotes a lower rack stand, 430 denotes a side panel, 500 denotes a camera, 600 denotes an article pick-and-place device, 610 denotes a movable rack, 611 denotes a first movable arm, 612 a second movable arm, 613 denotes a stopper, 614 a movable rack motor, 615 denotes a movable rack transmission wheel, 620 denotes a tray gear, 621 denotes a first tray gear, 622 denotes a second tray gear, 623 denotes a first gear transmission wheel, 624 denotes a second gear transmission wheel, 630 denotes a gear motor, 631 denotes a first gear motor, and 632 denotes a second motor transmission wheel.

Detailed Description

The technical solutions in the embodiments of the present application will be described in detail below with reference to the drawings in the embodiments of the present application. It should be understood that the following description of specific embodiments is intended to be illustrative only and is not intended to be in any way limiting.

In the following description, specific details are given to provide a thorough understanding of the embodiments. However, it will be understood by those of ordinary skill in the art that the embodiments may be practiced without these specific details. For example, circuits may be shown in block diagrams in order not to obscure the embodiments in unnecessary detail. In other instances, well-known circuits, structures and techniques may not be shown in detail in order not to obscure the embodiments.

In the description of the present specification, reference to the description of "one embodiment," "some embodiments," "an example," "a specific example," or "some examples" or the like means 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 present application. 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.

Many robots with carrying functions appear in the market at present, the robots are mainly applied to occasions where goods need to be carried frequently, such as large-scale factories and logistics, and the use of the large-scale carrying robots is limited in some daily life scenes, such as environments of restaurants, hospitals, supermarkets and the like. Although in the above environment, some transportation functions can be completed by using a cart, a mobile robot, or other vehicles, when taking and placing an article, a service person still needs to place the article on the cart or the robot, the autonomous article taking function of the robot cannot be realized, and when the position where the article needs to be placed is reached, the article needs to be taken out by a user or the service person, so that in the using process, the working intensity and the workload of the service person cannot be reduced by some existing robot devices.

In order to solve the technical problem, an embodiment of the application provides an article transportation system, so that a transportation robot can independently take and place articles, the transportation robot is simple in structure, and the taking and placing processes are stable and safe. As shown in fig. 1, the article transportation system includes a transportation robot and a tray, the tray includes a rack, and the transportation robot includes a mobile base, a camera, a lifting device, a placing table and an article taking and placing device; the camera is arranged at the front end of the transport robot and used for identifying the position of the tray; the lifting device is arranged on the movable base and used for driving the object placing table to ascend or descend so that the object placing table or the object taking and placing device can be positioned at different horizontal heights; the object placing table is arranged on the lifting device and used for placing the tray; article are got and are put device sets up on putting the thing platform, including adjustable shelf, tray gear and gear motor for take or remove the tray, when tray gear and rack meshing, gear motor drives tray gear revolve, thereby realizes taking or removing of tray.

As one of the embodiments, the lifting device is a scissor-type lifting device including a scissor arm, a sliding guide, a telescopic rod, and a connection beam. Wherein, it is total two sets of to cut the fork arm, links together through the tie-beam, and every group cuts the fork arm and all includes four and connects the foot, and wherein two are connected with removing the base, and two are connected with putting the thing platform in addition. Specifically, in two feet connected with the movable base, one foot is connected with the movable base through a rotating shaft, and the other foot is connected with the movable base through a sliding guide rail. Similarly, with in putting two feet that thing platform is connected, one is connected with putting the thing platform through the pivot, and another is connected with putting the thing platform through sliding guide. One end of the telescopic rod is connected with the movable base through the rotating shaft, the other end of the telescopic rod is sleeved on the connecting beam, when the telescopic rod extends, the scissor type lifting device rises, and when the telescopic rod shortens, the scissor type lifting device falls. The telescopic rod is any one of a hydraulic telescopic rod or an electronic telescopic rod. It should be noted that the scissor lift device is a common lift device, and the working principle thereof is not described herein.

Referring to fig. 1 and 2, the shelf comprises an upper shelf, a lower shelf and a side panel; wherein, the lower layer object placing table is connected with the scissor-fork type lifting device and is also connected with the upper layer object placing table through the side panel; the upper layer object placing platform comprises a movable rack, and the upper layer object placing platform is connected with the object taking and placing device through the movable rack. Wherein, the thing platform is put to the lower floor for the space of article is deposited in the extension, and the side board plays the effect that supports the thing platform is put to the upper strata, sets up the rear end at transport robot. Preferably, the camera setting is put the edge of thing platform at the upper strata in transfer robot's front end, can be along with elevating gear's rising and decline change position to the required information of accurate acquisition. It should be noted that the transportation robot is divided into front, back, left and right, and the forward direction of the transportation robot is taken as the front end of the robot, and the rest is analogized.

As one of the implementation modes, the movable frame comprises a first movable arm, a second movable arm, a limiting part, a movable frame motor and a movable frame driving wheel; the first movable arm and the second movable arm are symmetrically arranged on the movable rack of the upper-layer object placing table, and one end of the first movable arm is connected with one end of the second movable arm through a limiting piece; the adjustable shelf motor is connected with the adjustable shelf rack of the upper-layer object placing table through the adjustable shelf driving wheel, and the adjustable shelf motor drives the adjustable shelf driving wheel to rotate, so that the adjustable shelf can horizontally move on the upper-layer object placing table.

Specifically, the tray gear comprises a first tray gear, a second tray gear, a first gear transmission wheel and a second gear transmission wheel; the first tray gear is connected with the first gear transmission wheel, and the first tray gear and the first gear transmission wheel are arranged at one end of the first movable arm, which is opposite to the limiting piece; the second tray gear is connected with a second gear transmission wheel, and the second tray gear and the second gear transmission wheel are arranged at one end of the second movable arm, which is opposite to the limiting piece; wherein, first tray gear and second tray gear can mesh with the rack on the tray mutually.

Specifically, the gear motor comprises a first gear motor, a second gear motor, a first motor transmission wheel and a second motor transmission wheel; the first gear motor is connected with the first gear transmission wheel through the first motor transmission wheel, and the first gear motor drives the first motor transmission wheel to rotate, so that the first gear transmission wheel drives the first tray gear to rotate; the second gear motor is connected with the second gear transmission wheel through a second motor transmission wheel, and the second gear motor drives the second motor transmission wheel to rotate, so that the second gear transmission wheel drives the second tray gear to rotate; when the first tray gear and the second tray gear rotate, the tray can be taken or removed.

As one embodiment, the transportation robot further comprises an instruction receiving device for receiving an instruction to take or remove the tray, wherein the instruction receiving device comprises any one of a voice recognition device or a control panel. In another embodiment, a command may be sent to the transport robot through a remote controller or a smart terminal so that the robot moves to a corresponding place to take or remove the tray.

As shown in fig. 3, an embodiment of the present application provides an article transportation method, which specifically includes the following steps: s1, a transport robot acquires position information and height information of a platform needing to take or remove a tray through a camera and then moves to a corresponding position; and S2, controlling the article taking and placing device to be aligned with the platform by the transport robot based on the height information of the platform and the horizontal height of the current article taking and placing device, and controlling a gear motor to drive a tray gear to rotate when the tray gear is meshed with a rack of a tray, so that the tray is taken or removed.

In the process of executing the step S1, the transport robot scans the two-dimensional code through the camera to obtain the position information and the height information of the platform needing to take or remove the tray; wherein, the two-dimensional code sets up in advance in the operational environment of transportation robot. As shown in fig. 1, the two-dimensional code is preset on a shelf (not shown) on which the tray is placed, and each layer of platform has a corresponding two-dimensional code, and the two-dimensional code stores position information and height information of each layer of platform.

In the step S2, the method for controlling the article taking and placing device to align with the platform by the transport robot specifically includes: s21, calculating the sum of the lifting height of the scissor-type lifting device and a fixed value by the transport robot to obtain the horizontal height of the current article taking and placing device; step S22, the transportation robot compares the height information of the platform with the horizontal height of the current article taking and placing device, if the former is larger than the latter, the scissor type lifting device is controlled to ascend until the heights of the two are equal, and if the former is smaller than the latter, the scissor type lifting device is controlled to descend until the heights of the two are equal; when the height information of the platform is equal to the horizontal height of the current article taking and placing device, the article taking and placing device is aligned with the platform; wherein, the transport robot includes a scissor lift. It should be noted that the fixed value refers to the height of the entire transfer robot when the scissor lift device is lowered to the minimum.

In the step S2, after the transport robot controls the article taking and placing device to align with the platform, the method for taking the tray specifically includes: step S23, the transport robot controls the movable frame to move forwards, meanwhile, whether the tray gear is meshed with the rack of the tray or not is judged according to the image shot by the camera, when the tray gear is meshed with the rack of the tray, the transport robot controls the movable frame to stop moving, and then the step S24 is carried out; step S24, controlling a gear motor to drive a tray gear to rotate backwards for a preset number of turns by the transport robot, moving the tray to a movable frame, and controlling the movable frame to move backwards to realize taking of the tray; wherein, the article taking and placing device comprises a movable frame. When the transport robot detects that a plurality of contact points exist between the tray gear and the rack of the tray according to the image, it is determined that the tray gear is engaged with the rack of the tray. The preset number of turns is the number of turns obtained by testing in advance, so that the whole tray is positioned on the movable frame, and under an ideal condition, the tray just abuts against the limiting part of the movable frame.

In the step S2, after the transport robot controls the article taking and placing device to align with the platform, the method for removing the tray specifically includes: step S25, the transport robot controls the movable frame to move forwards, meanwhile, whether the edge of the tray is located above the platform or not is judged according to the image shot by the camera, when the edge of the tray is located above the platform, the transport robot controls the movable frame to stop moving, and then the step S26 is carried out; and S26, controlling a gear motor to drive a tray gear to rotate forwards for a preset number of turns by the transport robot, so that the tray moves onto the platform, and then controlling the movable frame to move backwards to remove the tray. It should be noted that the camera is a depth camera, and the transportation robot determines the distance of the edge of the platform through the depth image, and then determines whether the edge of the tray is located above the platform.

Compared with the prior art, this application transportation robot pass through the two-dimensional code that camera scanning preset, need not manual intervention can automatic identification article's positional information and height information, then automatic navigation arrives corresponding place and realizes taking or removing of article through the mode of gear drive rack, wherein, article are placed in the tray that has the rack. This application adopts the mode of getting of gear drive rack, simple structure, and the cost is lower, gets the process of putting moreover and stabilizes safety.

Obviously, the embodiments described above are only a part of the embodiments of the present application, and not all of the embodiments, and the technical solutions of the embodiments may be combined with each other. Furthermore, if terms such as "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., appear in the embodiments, their indicated orientations or positional relationships are based on those shown in the drawings, and are only for convenience of describing the present application and simplifying the description, but do not indicate or imply that the referred devices or elements must have a specific orientation or be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present application. If the terms "first", "second", "third", etc. appear in the embodiments, they are for convenience of distinguishing between related features, and they are not to be construed as indicating or implying any relative importance, order or number of features.

In addition, in the description of the present application, unless otherwise explicitly stated or limited, the terms "mounted," "connected," and "connected" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in this application will be understood to be a specific case for those of ordinary skill in the art.

Although embodiments of the present application have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the application, the scope of which is defined in the appended claims and their equivalents, which are to be considered as merely preferred embodiments of the application and not intended to be limiting of the application, and that various changes and modifications may be made in this application by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. An article transportation system comprises a transportation robot and a tray, and is characterized in that the tray comprises a rack, and the transportation robot comprises a mobile base, a camera, a lifting device, an article placing table and an article taking and placing device; wherein the content of the first and second substances,

the camera is arranged at the front end of the transport robot and used for identifying the position of the tray;

the lifting device is arranged on the movable base and used for driving the object placing table to ascend or descend so that the object placing table or the object taking and placing device can be positioned at different horizontal heights;

the object placing table is arranged on the lifting device and used for placing the tray;

the article are got and are put the device, set up on putting the thing platform, including adjustable shelf, tray gear and gear motor for take or remove the tray, when tray gear and rack meshing, gear motor drives tray gear revolve, thereby realizes taking or removing of tray.

2. An article transport system as claimed in claim 1, wherein the lifting means is a scissor lift.

3. The article transport system of claim 2, wherein the shelving comprises an upper shelving, a lower shelving, and side panels; wherein the content of the first and second substances,

the lower layer object placing table is connected with the scissor-fork type lifting device and is also connected with the upper layer object placing table through the side panel;

the upper layer object placing platform comprises a movable rack, and the upper layer object placing platform is connected with the object taking and placing device through the movable rack.

4. The article transport system of claim 3, wherein the movable frame comprises a first movable arm, a second movable arm, a stop, a movable frame motor, and a movable frame drive wheel; wherein the content of the first and second substances,

the first movable arm and the second movable arm are symmetrically arranged on a movable rack of the upper-layer object placing table, and one end of the first movable arm is connected with one end of the second movable arm through a limiting piece;

the adjustable shelf motor passes through the adjustable shelf drive wheel and follows the adjustable shelf rack connection of thing platform is put to the upper strata, and the adjustable shelf motor drives the adjustable shelf drive wheel and rotates to make the adjustable shelf put the thing bench at the upper strata and carry out horizontal migration.

5. An article transport system as in claim 4 wherein said tray gear comprises a first tray gear, a second tray gear, a first gear drive and a second gear drive; wherein the content of the first and second substances,

the first tray gear is connected with the first gear transmission wheel, and the first tray gear and the first gear transmission wheel are arranged at one end of the first movable arm, which is opposite to the limiting piece;

the second tray gear is connected with a second gear transmission wheel, and the second tray gear and the second gear transmission wheel are arranged at one end of the second movable arm, which is opposite to the limiting piece;

wherein, the first tray gear and the second tray gear can be meshed with the rack on the tray.

6. An article transport system as in claim 5 wherein the gear motor comprises a first gear motor, a second gear motor, a first motor drive and a second motor drive; wherein the content of the first and second substances,

the first gear motor is connected with the first gear transmission wheel through the first motor transmission wheel and drives the first motor transmission wheel to rotate, so that the first gear transmission wheel drives the first tray gear to rotate;

the second gear motor is connected with the second gear transmission wheel through the second motor transmission wheel, and the second gear motor drives the second motor transmission wheel to rotate, so that the second gear transmission wheel drives the second tray to rotate.

7. The article transport system according to claim 1, wherein the transport robot further comprises an instruction receiving device for receiving an instruction to take or remove a tray, the instruction receiving device comprising any one of a voice recognition device or a control panel.