CN220334030U - Article sorting transport vehicle - Google Patents

Abstract

The utility model discloses an article picking transport vehicle which comprises an L-shaped framework formed by fixedly connecting a transverse support and a longitudinal support, wherein a lifting mechanism is fixedly connected to the longitudinal support, the lifting mechanism is connected with a lifting platform, a mechanical arm is fixedly arranged on the lifting platform, a 3D vision camera is arranged on the end section of the mechanical arm, and a clamping jaw is arranged at the end part of the end section of the mechanical arm; the front end of the cross support is provided with a laser radar for avoiding the obstacle, and a reading camera for reading the ground two-dimensional code information is arranged below the cross support. According to the utility model, by adopting automatic program control, the automatic picking of goods reduces the personnel cost, improves the working efficiency, and avoids the phenomenon of goods picking errors caused by carelessness of personnel.

Description

Article sorting transport vehicle

Technical Field

The utility model relates to a warehouse goods shelf object picking device, in particular to an object picking transport vehicle.

Background

The picking operation, also called picking operation or distributing operation, generally refers to the process of taking out the articles from the stack or shelf according to the names, numbers and storage locations of the articles specified by the customer order, and distributing them to the designated goods location to fulfill the distribution requirements of the customer. In the existing warehousing system, a great deal of manpower is required to be consumed when the articles on the goods shelves are selected, the personnel cost is increased, the efficiency is low, and the accuracy rate cannot be guaranteed.

Disclosure of Invention

The utility model aims to provide an article picking transport vehicle, which solves the problems of low efficiency, high error rate and high labor cost when the existing manual picking of goods is adopted.

The utility model is realized in the following way: the article picking transport vehicle comprises a transverse support, a longitudinal support, a lifting mechanism, a mechanical arm, a 3D vision camera, a clamping jaw and a clamping jaw, wherein the transverse support and the longitudinal support are fixedly connected to form an L-shaped framework of the transport vehicle; the front end of the cross support is provided with a laser radar for avoiding the obstacle, and a reading camera for reading the ground two-dimensional code information is arranged below the cross support.

Further, the lifting mechanism comprises a guide rail fixedly connected to the longitudinal support, a speed reducing motor arranged at the upper end of the guide rail, a screw rod driven by the speed reducing motor to rotate, a nut in threaded connection with the screw rod, a bearing piece connected to two sides of the nut and a sliding rail fixed on the bearing piece; the sliding rail is connected with the guide rail rabbet through a ox head bulge on the guide rail, and the bearing piece is fixedly connected with the lifting platform.

Further, two front wheels and two rear wheels can be arranged on the cross bracket, the front wheels are omni-directional wheels, and the rear wheels are hub motors; the front wheels, the two rear wheels and the two middle wheels can be arranged, the middle wheels are hub motors, the front wheels and the rear wheels are all omni-wheels, and when the two front wheels, the two rear wheels and the two middle wheels are arranged on the cross frame, the load of the transport vehicle can be increased, the transport vehicle can be rotated in situ, and the mobility of the transport vehicle is improved.

Further, a rib plate is fixedly connected below the lifting platform. The rib plates are added below the lifting platform, so that the load of the lifting platform can be improved, and the stability of the mechanical arm is enhanced.

Further, an article placing box is further arranged on the cross frame. And identifying and grabbing articles on the goods shelf by utilizing clamping jaws on the mechanical arm and a 3D vision camera, and accommodating the grabbed articles in the article accommodating box.

According to the utility model, information such as goods shelf numbers and goods layer numbers on a warehouse picking operation list is read, path planning is carried out according to the operation list by combining the goods position and the self position information, an optimal path is calculated, a laser Lei Dafu is used for avoiding barriers by multi-path ultrasonic waves, a camera is read at the bottom of a cross frame to read the ground two-dimensional code information before the goods shelf for rechecking and positioning, the goods to be grabbed are identified through a lifting mechanism, a mechanical arm and a 3D vision camera, the three-dimensional coordinates of the goods are obtained by combining the distance between the 3D camera and the goods through coordinate conversion, and the clamping jaw is guided to grab the goods. According to the utility model, by adopting automatic program control, the labor cost is reduced, the operation efficiency is improved, and the phenomenon of goods sorting errors caused by carelessness of personnel is avoided.

The utility model also has the following characteristics:

1. the front end of the cross bracket is also provided with the obstacle avoidance laser radar and the ground two-dimensional code reading camera, so that road obstacles or marks can be effectively identified, braking or driving direction adjustment can be timely carried out, and the safety in the travelling process is ensured.

2. According to the utility model, the lifting mechanism is arranged on the longitudinal support, so that the transport vehicle can realize the vertical transport function of cargoes. The lifting platform is driven by the gear motor to stably operate, so that the cargo transportation efficiency is improved, and the safety of cargoes is ensured. Meanwhile, the mechanical arm can finish the picking and placing work of the goods without manual intervention, and the automation degree and the efficiency of the transport vehicle are further improved.

3. The 3D vision camera and the clamping jaw are arranged at the tail end of the mechanical arm, and the functions of accurately metering, positioning and grabbing goods are provided for the transport vehicle. The clamping jaw can be adjusted according to the shape of the object identified by the 3D vision camera, and automatic picking and releasing are realized through the controller, so that the accuracy and the speed of picking cargoes are greatly improved. In addition, the reinforcing plate is further beneficial to improving the load capacity and stability of the lifting platform, so that the operation of the mechanical arm is safer and more reliable.

In conclusion, the transport vehicle has the advantages of picking function, stable structure, high safety, high automation degree, accurate metering and convenient use, solves the problems of low efficiency, high error rate, high labor cost and the like in the traditional manual picking process, and has wide application prospect.

Drawings

Fig. 1 is a schematic structural view of the present utility model.

Fig. 2 is a front view of the present utility model.

Fig. 3 is a sectional view taken along the direction A-A of fig. 2.

Fig. 4 is an enlarged view at B of fig. 3.

In the figure: 1. a cross support; 2. a longitudinal support; 3. a lifting mechanism; 4. a lifting platform; 5. a mechanical arm; 6. a 3D vision camera; 7. a clamping jaw; 8. a laser radar; 9. an article holding box; 10. reading a camera; 11. a controller; 12. a mobile power supply; 13. a motor hub; 14. an omni-wheel; 15. rib plates; 31. a speed reducing motor; 32. a guide rail; 33. a screw rod; 34. a nut; 35. a receiving member; 36. a slide rail; 38. the ox head is convex.

Detailed Description

The utility model is described in further detail below with reference to the accompanying drawings.

As shown in fig. 1 and 2, the frame of the article picking and transporting vehicle of the present utility model is L-shaped and is formed by fixedly connecting a transverse frame 1 and a longitudinal frame 2, wherein the transverse frame 1 and the longitudinal frame 2 are grid-shaped rectangular frame bodies formed by crisscross section steel, and the section steel is preferably a four-groove square column section steel. The vertical support 2 is fixedly connected with a lifting mechanism 3, the lifting mechanism 3 is connected with a lifting platform 4, the lifting platform 4 is fixedly connected with a mechanical arm 5, a 3D vision camera 6 for displaying objects in a three-dimensional space in a digital mode is arranged at the tail section of the mechanical arm 5, and a clamping jaw 7 for clamping objects is further arranged at the end part of the tail section of the mechanical arm 5. A laser radar 8 for obstacle avoidance is arranged at the front end of the cross frame 1, and a reading camera 10 for reading ground two-dimensional code information is arranged below the cross frame 1.

As shown in fig. 2 and 4, the lifting mechanism 3 is used for controlling the heights of the lifting platform 4 and the mechanical arm 5, and comprises a gear motor 31, a guide rail 32, a lead screw 33, a nut 34, a bearing member 35 and a sliding rail 36; the guide rail 32 is fixedly connected to the longitudinal support 2, the gear motor 31 is fixedly connected to the upper end of the guide rail 32 and drives the screw 33 to rotate, the nut 34 is in threaded connection with the screw 33, the supporting piece 35 is fixedly connected to two sides of the nut 34 and is in grooved connection with the guide rail 32 through the sliding rail 36, the lifting platform 4 is fixedly connected with the supporting piece 35, and when the screw 33 is driven to rotate by the gear motor 31, the nut 34 moves up and down along the screw, and then the lifting platform 4 is driven to move up and down through the supporting piece 35. Preferably, a ox head protrusion 37 is provided on the guide rail 32, and the guide rail 32 is in tongue-and-groove connection with the slide rail 36 by using the ox head protrusion 37. A rib plate 15 is also arranged below the lifting platform 4 to enhance the bearing capacity of the lifting platform 4.

Wheels are also arranged on the cross frame 1, and the wheels of the transport vehicle can be two front wheels and two rear wheels, or two front wheels, two rear wheels and two middle wheels; when the wheels are provided with two front wheels and two rear wheels, the front wheels are omni wheels 14, and the rear wheels are motor hubs 13; when the wheels are two front wheels, two rear wheels and two middle wheels, the middle wheels are motor hubs 13, and the front wheels and the rear wheels are all omni wheels 14. When the wheels adopt the two front wheels, the two rear wheels and the two middle wheels, the load of the transport vehicle can be increased, and the transport vehicle can be rotated in situ.

A controller 11 and a mobile power source 12 for supplying power to each electric component are also provided on the body frame of the transport vehicle. The controller 11 has a computer storage medium stored with a computer program which, when executed by a processor, implements a work flow for gripping items from the shelves.

The operation flow of clamping articles from the goods shelf by adopting the utility model is as follows:

a. the warehouse server downloads information on the picking order, including information such as the shelf number on which the item is located, the layer number of the shelf where it is located, etc., into a computer program on the controller 11.

b. The controller 11 performs path planning based on information on the job ticket in combination with the position information of the article and the present utility model, and calculates an optimal path.

c. The in-wheel motor 13 is started, and walks according to the path planned in the step b, and the obstacle can be detected and avoided by the laser radar 8 at the front end of the cross frame 1 during the traveling process.

d. When the user walks to the vicinity of the goods shelf where the goods are located, the two-dimensional code information on the ground in front of the goods shelf is read by the reading camera 10 below the cross frame 1, so that the goods information of the goods shelf is rechecked and the position of the transport vehicle is positioned.

e. The lifting mechanism 3 and the mechanical arm 5 are started, the lifting platform is moved to the corresponding goods shelf layer according to the layer height of the goods shelf where the goods are located, three-dimensional position information of the goods is identified and acquired through the 3D vision camera 6, clamping jaws at the tail end of the mechanical arm 5 are guided to clamp the goods, and the clamped goods are contained in the goods placing box 9 on the transverse support 1.

f. And e, repeating the step until all the objects on the picking job ticket are clamped into the object placing box 9.

g. The picked item is delivered to the next flow by traveling to the order processing location in accordance with a computer program within the controller.

The foregoing has shown and described the basic principles, principal features and advantages of the utility model. It will be understood by those skilled in the art that the present utility model is not limited to the embodiments described above, and that the above embodiments and descriptions are merely illustrative of the principles of the present utility model, and various changes and modifications may be made therein without departing from the spirit and scope of the utility model, which is defined by the appended claims.

Claims (5)

1. The article picking transport vehicle is characterized in that a transverse support and a longitudinal support are fixedly connected to form an L-shaped framework of the transport vehicle, a lifting mechanism is fixedly connected to the longitudinal support, the lifting mechanism is connected with a lifting platform, a mechanical arm is fixedly arranged on the lifting platform, a 3D vision camera is arranged on the tail section of the mechanical arm, and clamping jaws are arranged at the end parts of the tail section of the mechanical arm; the front end of the cross support is provided with a laser radar for avoiding the obstacle, and a reading camera for reading the ground two-dimensional code information is arranged below the cross support.

2. The article picking transport vehicle according to claim 1, wherein the lifting mechanism comprises a guide rail fixedly connected to the longitudinal support, a gear motor arranged at the upper end of the guide rail, a screw rod driven to rotate by the gear motor, a nut in threaded connection with the screw rod, a bearing piece connected to two sides of the nut, and a sliding rail fixed on the bearing piece; the sliding rail is connected with the guide rail rabbet through a ox head bulge on the guide rail, and the bearing piece is fixedly connected with the lifting platform.

3. The item picking transporter of claim 1 wherein two front wheels and two rear wheels are provided on the cross frame, the front wheels being omni-wheels and the rear wheels being in-wheel motors.

4. The item picking transporter of claim 1 wherein a gusset is fixedly connected below the lift platform.

5. The item picking transporter of claim 1 wherein an item placement bin is also provided on said cross frame.