WO2020133642A1

WO2020133642A1 - Warehouse logistics robot and operating method therefor, and method for automatically replacing battery

Info

Publication number: WO2020133642A1
Application number: PCT/CN2019/075405
Authority: WO
Inventors: 喻详详; 黄金刚
Original assignee: 杭州慧盈智能科技有限公司
Priority date: 2018-12-29
Filing date: 2019-02-18
Publication date: 2020-07-02
Also published as: CN110270973A; CN110270973B

Abstract

A warehouse logistics robot and operating method therefor, and a method for automatically replacing a battery. The robot comprises a movement base (1) and a mechanical arm (2); a first camera (3) is provided at the bottom of the movement base (1); a goods storage device is provided at the front end of the movement base (1), and a lifting mechanism (4) driving the mechanical arm (2) to move in the vertical direction is provided at the rear end; the goods storage device comprises a plurality of support plates (5) arranged side by side from top to bottom; a plurality of first movement mechanisms (6) which can move forward and backward along the movement base (1) is provided on the movement base (1), and the first movement mechanisms (6) are in one-to-one correspondence to the support plates (5); connecting columns (7) are provided on two sides of the support plates (5), and the support plates (5) are connected to the corresponding first movement mechanisms (6) by means of the connecting columns (7); the mechanical arm (2) comprises a mechanical hand (8) and a second movement mechanism (9) driving the mechanical hand (8) to move left and right; a controller (10) and a wireless communication module (11) are further provide on the movement base (1).

Description

Storage logistics robot and its working method, automatic battery replacement method

Technical field

The invention relates to the technical field of intelligent warehousing, in particular to a warehousing logistics robot, a working method thereof, and an automatic battery replacement method.

Background technique

Intelligent warehousing is a link in the logistics process. The application of intelligent warehousing ensures the speed and accuracy of data input in all links of the goods warehouse management, ensures that the enterprise can grasp the real data of the inventory in a timely and accurate manner, and reasonably maintains and controls the enterprise inventory. Through scientific coding, it is also easy to manage the batch and shelf life of stocked goods.

At present, intelligent storage is to set up multiple shelves for placing goods in the warehouse. The intelligent storage robot moves the shelves where the goods are located from the warehouse to the employee processing area according to the order of wireless instructions, and the staff picks and scans the goods in the employee processing area. However, this kind of intelligent warehousing robot can only handle the entire shelf, which has higher requirements on its own load-bearing performance and higher cost. The weight and height of the shelf are also limited. The staff looks for the order on the shelf and the efficiency is low.

technical problem

Type the technical problem description paragraph here.

Technical solution

In order to solve the above technical problems, the present invention provides a warehousing logistics robot and its working method, automatic battery replacement method, which does not need to carry the entire shelf, the cost is low, the shelf size is not limited, and the efficiency of the staff to select goods is improved, and The small space occupied by its work can greatly increase the shelf density in the warehouse.

In order to solve the above problems, the present invention is implemented using the following technical solutions:

A warehouse logistics robot of the present invention includes a mobile chassis and a mechanical arm, a first camera is provided at the bottom of the mobile chassis, a storage device is provided at the front of the mobile chassis, and a mechanical arm is provided at the rear of the mobile chassis A vertical moving mechanism, the storage device includes a number of pallets arranged side by side from top to bottom, the moving chassis is provided with a number of first moving mechanisms that can move back and forth along the moving chassis, the first movement The mechanism corresponds to the pallet in one-to-one relationship, and the two sides of the pallet are provided with connecting columns. The pallet is connected to the corresponding first moving mechanism through the connecting column. The robot arm includes a manipulator for grasping items and a movable A second moving mechanism for the manipulator to move left and right. The mobile chassis is also provided with a controller and a wireless communication module. The controller is respectively connected to the mobile chassis, the first camera, the lifting mechanism, the first moving mechanism, the manipulator, and the second mobile The mechanism and the wireless communication module are electrically connected.

In this solution, the mobile chassis includes a chassis, and two walking modules are provided at the bottom of the chassis. The walking module includes a driving wheel and a driving module that drives the driving wheel to rotate, and the driving module is electrically connected to the controller. The four corners of the bottom of the chassis are also equipped with universal wheels. The controller drives the drive wheels to move through the drive module, thereby controlling the mobile chassis to move freely on the ground.

The first camera is used to identify the guide line or navigation QR code on the ground of the storage area, help the storage logistics robot to locate, and cooperate with the mobile chassis to achieve free movement in the storage area. The warehouse logistics robot receives the wireless command sent by the management center through the wireless communication module.

The warehouse logistics robot drives the mechanical arm to move up and down through the lifting mechanism. The mechanical arm is used to remove the goods on the pallet and put it on the shelf in the storage area, or take the goods on the shelf in the storage area and put it on the pallet.

Pallets are used to store goods. When the pallet is in the initial position, the pallet is located directly under the robot arm, and the pallet does not extend beyond the moving chassis. Each pallet has a corresponding first moving mechanism to drive its independent movement, and the first moving mechanism can drive the pallet to move to the outside of the mobile chassis.

When the robotic arm needs to remove the goods on a pallet, the pallets above the pallet move forward so that the pallet is unobstructed, and the robotic arm removes the goods from the pallet and then moves forward The pallets are back in place. In the same way, when the robotic arm needs to place the goods on a pallet, the pallets above the pallet are moved forward, so that there is no shield above the pallet, and the pallet moved forward after the robot arm has placed the goods All returned to their original positions.

When the robotic arm needs to pick up goods from a lower position on the shelf in the storage area or to put the goods into a lower position on the shelf in the storage area, move the corresponding pallet forward so that the robotic arm will not be picked or placed Obstruction of the pallet, then move the pallet back to its original position.

The lifting mechanism, the mechanical arm and all the pallets are located in the space above the mobile chassis. The lifting mechanism is located opposite the pallet. The pallet is located directly below the mechanical arm, which greatly reduces the space occupied by the warehouse logistics robot during the movement process, making the storage The area can store more shelves more densely, which greatly improves the space utilization of the storage area. The warehouse logistics robot controls the movement of each pallet independently, so that when the robot arm is working, it can control the movement of the corresponding pallet without hindering the work of the robot arm. The warehouse logistics robot can complete the pick-up/delivery operation in the warehouse while reducing the occupied space, without the need to move the entire shelf, the cost is low, the shelf size is not limited, the efficiency of the staff to select the goods is improved, and the warehouse The inner shelf density is greatly increased.

Preferably, the second moving mechanism includes a base, a top plate, a middle plate, and a bottom plate arranged in order from top to bottom. The top plate is fixedly connected to the base. A guide rail, two sides of the middle plate are respectively inserted into corresponding first guide rails, the middle plate can slide along the first guide rails, and a second guide rail matching the bottom plate is provided on both sides of the bottom surface of the middle plate; Insert the corresponding second guide rail, the bottom plate can slide along the second guide rail, the top surface of the intermediate plate is provided with a first synchronous belt running left and right, the top plate is provided with a strip-shaped through hole, the strip-shaped through hole There are a first synchronous belt pulley, a second synchronous belt pulley, a double-sided synchronous belt, and a first drive motor. The first synchronous belt pulley and the second synchronous belt pulley are located on the left and right sides of the strip-shaped through hole, respectively. A synchronous pulley and a second synchronous pulley are connected by a double-sided synchronous belt. The first drive motor is used to drive the second synchronous pulley to rotate. The first synchronous belt and the double-sided synchronous belt are engaged with each other. The second moving mechanism further includes a first steel belt and a second steel belt. The left and right ends of the intermediate plate are respectively provided with a first guide wheel and a second guide wheel. One end of the first steel belt is fixedly connected to the right end of the top plate. The first steel belt bypasses the first guide wheel, the other end of the first steel belt is fixedly connected to the right end of the bottom plate, one end of the second steel belt is fixedly connected to the left end of the top plate, and the second steel belt bypasses the second guide wheel The other end of the second steel belt is fixedly connected to the left end of the bottom plate, the left and right ends of the top plate are provided with second cameras, and the controller is electrically connected to the first drive motor and the second camera, respectively.

The first driving motor drives the double-sided synchronous belt to rotate, and the double-sided synchronous belt rotates to drive the first synchronous belt to move horizontally. Since the first synchronous belt is horizontally fixed on the middle plate, the first synchronous belt moves horizontally to drive the middle plate to move horizontally. The first steel belt passes around the first guide wheel of the middle plate, and both ends are respectively fixed at the right end of the top plate and the right end of the bottom plate. The second steel belt passes around the second guide wheel of the middle plate, and both ends are respectively fixed to the left end of the top plate and the left end of the bottom plate. The middle plate moves to the left, the bottom plate moves left by the first steel belt, the middle plate moves to the right, and the bottom plate moves right by the second steel belt, thereby realizing two-stage linkage between the middle plate and the bottom plate. The second camera is used to determine the relative position between the robot arm and the goods on the shelf, which is convenient for fine-tuning the position of the robot arm, so that the goods can be grasped more accurately, and whether the goods need to be grasped can also be confirmed.

Preferably, the manipulator includes a support plate disposed along the front-rear direction, two claws disposed symmetrically in the front-rear direction, and two third guide rails disposed in the front-rear direction. The support plate and the two third rails are both disposed at the bottom of the bottom plate. The two ends of the support plate extend out from both sides of the bottom plate, the two ends of the third guide rail extend out from both sides of the bottom plate, the two ends of the third guide rail are provided with a first slider that can slide along the third guide rail, and a card on the front side The claws are fixedly connected to the first sliders on the front side of the two third guide rails, the claws on the rear side are fixedly connected to the first sliders on the rear side of the two third guide rails, and two ends of the support plate are respectively provided with second drives A motor, the second drive motor is used to drive the jaws on the corresponding side to move left and right, and the second drive motor is electrically connected to the controller. The controller controls the relative movement of the two jaws to realize the gripping action of the robot on the goods.

Preferably, the claw includes a mounting plate and a plurality of convex strips arranged inside the mounting plate, and the convex strips are arranged in a straight line along the front-rear direction.

Preferably, the first moving mechanism includes two moving structures and a first driving mechanism that drives the moving structure to move. The two moving structures are respectively located directly under the two connecting columns of the pallet. The moving structure includes A guide groove on the moving chassis and a moving bar slidable along the guide groove. The guide grooves are arranged along the front and back of the moving chassis. The moving bar is fixedly connected to the corresponding connecting column above it. The first driving mechanism includes a screw, A screw nut sleeved on the screw rod and a third drive motor that drives the screw screw to rotate, the moving bar is connected to the screw nut via a first connector, and the third drive motor is electrically connected to the controller.

The third driving motor drives the screw rod to rotate so that the silk mother moves forward and backward. The silk mother drives the moving bar to move forward and backward along the guide groove, and the moving bar drives the corresponding pallet to move back and forth. Each pallet has a corresponding screw to drive it back and forth.

Preferably, the connecting posts on both sides of each pallet are located inside the connecting posts on both sides of the pallet above it. When all the pallets are in the initial position, all the connecting posts are in the same plane.

Preferably, the mobile chassis is provided with two battery placement devices side by side. The battery placement device includes a battery box with an open top, a plug on the rear side of the battery box, and an electromagnet on the front side of the battery box. The rear side is provided with a socket matching the plug. The battery box is provided with a battery. The battery box is made of ferromagnetic material. The electromagnet is connected to any connection column of the pallet through the second connector. The electromagnet is electrically connected to the controller, and each plug is electrically connected to the power supply terminal of the controller through a corresponding switch module, and the control end of the switch module is electrically connected to the controller.

In the normal state, the sockets on the two battery boxes are plugged into the corresponding plugs. The controller controls one switch module to be turned on and the other switch module to be disconnected. Only one battery in the battery box supplies power to the warehouse logistics robot.

When the battery power supply to the warehousing logistics robot is insufficient, the controller controls the switch module corresponding to the battery from on to off, controls another switch module from off to on, and is supplied by another fully charged battery The warehousing logistics robot supplies power to complete the battery switch. Then, the warehousing logistics robot moves to the charging rack, and the connecting post connected to the electromagnet moves backward so that the electromagnet contacts the battery box. The electromagnetic of the front of the battery box corresponding to the battery with insufficient power When the iron is energized, the electromagnet will attract the corresponding battery box, and the connecting post connected to the electromagnet moves forward a distance so that the battery box where the battery with insufficient power is located is separated from the corresponding plug. Control all the pallets to move forward so that the battery with insufficient power is located above the battery box without obstruction. The robotic arm takes out the battery with insufficient power and puts it on the charging rack for charging. It takes the fully charged battery from the charging rack and puts it in the battery box of the removed battery. Inside, the connecting post connected with the electromagnet moves backward so that the battery box into which the new battery is placed is inserted into the corresponding plug. Finally, all the pallets are returned to their original positions, and the battery replacement is completed.

Preferably, when the pallet is in the initial position, the pallet is located directly below the robot arm and directly above the moving chassis.

Preferably, the lifting mechanism includes a vertical column, and the vertical column is provided with a vertical column that can move up and down along the vertical column and a second driving mechanism that drives the vertical column to move up and down, and a third synchronous pulley is provided at the bottom of the vertical column. A fourth synchronous belt pulley is provided on the top of the lifting column, the third synchronous belt pulley and the fourth synchronous belt pulley are connected by a second synchronous belt, and a fourth guide rail and a fourth guide rail are provided on the lifting column in the longitudinal direction A second slider that slides up, the mechanical arm is disposed on the second slider, the second slider is fixedly connected to the second timing belt, and a gear is also provided at the bottom of the lifting column, the gear and the third The synchronous belt wheels are coaxially connected, a rack is longitudinally provided on the upright, the gear meshes with the rack, and the controller is electrically connected to the second drive mechanism.

The second driving mechanism can drive the lifting column to move up and down along the vertical column. When the lifting column moves up and down, the gear at the bottom of the lifting column is rotated by the rack, and the gear drives the third synchronous belt wheel to rotate, and the third synchronous belt wheel drives the second synchronous belt upward Rotating or rotating downward, the second synchronous belt drives the second slider to move up or down, and the second slider drives the mechanical arm to move up or down, so as to realize the two-level linkage of the mechanical arm lifting.

The working method of a warehouse logistics robot of the present invention, used in the above warehouse logistics robot, includes the following steps:

When the warehousing logistics robot receives the pick-up instruction, the warehousing logistics robot moves to the rack position where the tote is to be picked, and selects the idle pallet at the highest position. If the tote to be picked is placed, the height is low At the height of the idle pallet, move all the pallets forward, the robotic arm moves to the height of the tote where the goods to be picked are placed, remove the tote, and then the robotic arm rises to the height of the idle pallet Above, the idle pallet and the lower pallet return to the original position, the robotic arm puts the tote that needs to be picked up on the idle pallet, then the other pallets also return to the original position, and finally the warehouse logistics robot moves Go to the corresponding workbench to complete the pickup operation; if the height of the tote where the goods to be picked up is located is not lower than the height of the idle pallet, move the pallet above the idle pallet forward so that the idle pallet is above Unobstructed, the robotic arm moves to the height of the tote where the goods to be picked are placed, removes the tote and puts it on the idle pallet, then the pallet above the idle pallet returns to its original position, and finally the warehouse logistics robot moves Go to the corresponding workbench to complete the pickup operation;

When the warehousing logistics robot receives the loading instruction, the warehousing logistics robot moves to the rack position where the totes with the goods to be loaded are placed, removes the totes with the goods to be loaded on the free pallet, and then moves to Corresponding to the workbench, the staff of the workbench puts the goods to be loaded into the corresponding tote box on the warehouse logistics robot, and then, the warehouse logistics robot moves to the shelf corresponding to the tote box where the goods to be loaded are placed. The pallets above the tote of the goods to be loaded are moved forward so that there is no obstruction above the tote with the goods to be loaded. The robotic arm moves to the position of the pallet where the tote with the goods to be loaded is located. The tote with the goods to be loaded is removed from the pallet. If the height of the storage space for storing the tote on the shelf is lower than the height of the pallet where the tote is located, there will be no moving forward The pallets also move forward, and the robotic arm moves to the height of the storage position for storing the tote, put the tote in the corresponding storage position, and complete the loading operation; if the shelf is used to store the tote The height of the storage position is not lower than the height of the pallet where the tote box is located, the robot arm moves to the height of the storage position for storing the tote box, puts the tote box into the corresponding storage position, and completes the loading operation.

The automatic battery replacement method of a warehouse logistics robot of the present invention, used in the above warehouse logistics robot, includes the following steps:

In the normal state, the sockets on both battery boxes are plugged into the corresponding plugs. The controller controls one switch module to be turned on, and the other switch module is disconnected. Only one battery in the battery box supplies power to the warehouse logistics robot;

Beneficial effect

The beneficial effects of the present invention are: there is no need to move the entire shelf, the cost is low, the shelf size is not limited, the efficiency of the staff to pick the goods is improved, and the work takes up little space, which can greatly increase the shelf density in the warehouse.

BRIEF DESCRIPTION

1 is a schematic diagram of a result of an embodiment;

Figure 2 is a right side view of Figure 1;

3 is a block diagram of a circuit principle connection of an embodiment;

4 is a schematic diagram of the bottom surface of the mobile chassis;

Figure 5 is a front view of the storage device;

6 is a cross-sectional view taken along line A-A of FIG. 5;

7 is a schematic structural view of a battery placement device;

Figure 8 is a schematic structural view of a mechanical arm;

9 is a right side view of FIG. 8;

10 is a schematic structural view of the lifting mechanism;

Figure 11 is a side view of the lifting mechanism;

12 is a schematic diagram of the uppermost pallet after moving forward;

Figure 13 is a schematic diagram of all pallets after moving forward;

14 is a schematic diagram of a warehouse logistics robot working in a warehouse area.

In the picture: 1. Moving chassis, 2. Robot arm, 3. First camera, 4. Lifting mechanism, 5, Pallet, 6, First moving mechanism, 7, Connecting column, 8, Manipulator, 9, Second movement Mechanism, 10, controller, 11, wireless communication module, 12, base, 13, top plate, 14, middle plate, 15, bottom plate, 16, first timing belt, 17, strip through hole, 18, first synchronization Pulley, 19, second synchronous pulley, 20, double-sided synchronous belt, 21, first drive motor, 22, first steel belt, 23, second steel belt, 24, first guide pulley, 25, second Guide wheel, 26, second camera, 27, support plate, 28, jaw, 29, third rail, 30, first slider, 31, second drive motor, 32, mounting plate, 33, convex strip, 34 , Guide groove, 35, moving bar, 36, screw, 37, silk mother, 38, third drive motor, 39, battery box, 40, plug, 41, electromagnet, 42, socket, 43, second connector , 44, switch module, 45, upright column, 46, lifting column, 47, third synchronous belt pulley, 48, fourth synchronous belt pulley, 49, second synchronous belt, 50, fourth guide rail, 51, second slider , 52, gear, 53, rack, 54, chassis, 55, drive wheel, 56, universal wheel, 57, turnover box, 58, battery, 59, shelf.

Best Mode of the Invention

Type the description paragraph of the best mode of the present invention here.

Embodiments of the invention

The technical solutions of the present invention will be further specifically described below through the embodiments and the accompanying drawings.

A warehouse logistics robot of this embodiment, as shown in FIGS. 1, 2, 3, and 4, includes a mobile chassis 1 and a mechanical arm 2, a first camera 3 is provided at the bottom of the mobile chassis 1, and a front end of the mobile chassis 1 is provided There is a storage device. The rear end of the mobile chassis is provided with a lifting mechanism 4 that drives the mechanical arm 2 to move in the vertical direction. The storage device includes four pallets 5 arranged side by side from top to bottom. The mobile chassis 1 is provided with four A first moving mechanism 6 that can move back and forth along the moving chassis 1, the first moving mechanism 6 corresponds one-to-one with the pallet 5, the pallet 5 is provided with connecting posts 7 on both sides, and the pallet 5 passes through the connecting column 7 and the corresponding first The moving mechanism 6 is connected, and the robot arm 2 includes a manipulator 8 for grabbing objects and a second moving mechanism 9 that can move the manipulator 8 to move left and right. The mobile chassis 1 is also provided with a controller 10 and a wireless communication module 11. The controller 10 They are electrically connected to the mobile chassis 1, the first camera 3, the lifting mechanism 4, the first moving mechanism 6, the manipulator 8, the second moving mechanism 9 and the wireless communication module 11, respectively.

The connecting posts 7 on both sides of each pallet 5 are located inside the connecting posts 7 on both sides of the upper pallet 5. When all the pallets 5 are in the initial position, all the connecting posts 7 are in the same plane. When the pallet 5 is in the initial position, the pallet 5 is located directly below the robot arm 2 and directly above the mobile chassis 1.

The mobile chassis 1 includes a chassis 54. Two chassis modules are provided at the bottom of the chassis 54. The chassis module includes a driving wheel 55 and a driving module that drives the driving wheel 55 to rotate. The driving module is electrically connected to the controller 10. The four corners of the bottom surface of the chassis 54 are also provided with universal wheels 56. The controller drives the drive wheels to move through the drive module, thereby controlling the mobile chassis to move freely on the ground.

As shown in FIG. 14, a revolving box 57 of a uniform specification is placed on the shelf 59 in the storage area, and the same kind of goods are placed in the revolving box 57. The turnover box is easy for the robot to grab.

The first camera is used to identify the guide line or navigation QR code on the ground of the storage area, help the storage logistics robot to locate, and cooperate with the mobile chassis to achieve free movement in the storage area. The warehouse logistics robot receives the wireless command sent by the management center through the wireless communication module and works under the control of the management center.

The warehousing logistics robot drives the mechanical arm to move up and down through the lifting mechanism. The mechanical arm is used to remove the turnover box on the pallet and put it on the shelf in the storage area, or remove the turnover box on the shelf in the storage area and put it on the pallet.

Pallet is used to store tote. When the pallet is in the initial position, the pallet is located directly under the robot arm, and the pallet does not extend beyond the moving chassis. Each pallet has a corresponding first moving mechanism to drive its independent movement, and the first moving mechanism can drive the pallet to move to the outside of the mobile chassis. As shown in Figure 12, the uppermost pallet moves forward to the outside of the mobile chassis. As shown in Figure 13, all pallets move forward to the outside of the mobile chassis.

When the robotic arm needs to remove the turnover box on a pallet, the pallets above the pallet move forward so that there is no obstruction above the pallet, the robotic arm removes the turnover box on the pallet, and then The pallets that were moved back to their original positions. Similarly, when the robotic arm needs to place the tote on a pallet, the pallets above the pallet move forward so that there is no shield above the pallet. After the robotic arm has placed the tote, the forward The pallets are back in place.

When the robotic arm needs to pick up totes from a lower position on the shelf in the storage area or to put the totes at a lower position on the shelf in the storage area, move the corresponding pallet forward so that the robotic arm does not pick or place the goods Will be hindered by the pallet, then move the pallet back to its original position.

When picking up the goods, the warehousing logistics robot will remove the tote box with the required goods from the corresponding shelf and transport it to the employee processing area. The staff will take out the specified amount of goods from the tote box. When loading the goods, the warehousing logistics robot will place the tote with the goods to be loaded on the free pallet on it, move to the corresponding shelf, and place the tote with the goods to be loaded to the corresponding storage position on the shelf . The management center receives orders sent by external equipment, and allocates warehouse logistics robots to pick up and load goods according to the orders.

As shown in FIGS. 8 and 9, the second moving mechanism 9 includes a base 12, a top plate 13, an intermediate plate 14, and a bottom plate 15 that are provided in this order from top to bottom. The top plate 13 is fixedly connected to the base 12, and both sides of the bottom surface of the top plate 13 There is a first guide rail matched with the middle plate 14, two sides of the middle plate are respectively inserted into the corresponding first guide rail, the middle plate 14 can slide along the first guide rail, and a second guide rail matched with the bottom plate 15 is provided on both sides of the bottom surface of the middle plate 14 Two sides of the bottom plate 15 are respectively inserted into corresponding second guide rails, the bottom plate 15 can slide along the second guide rail, the top surface of the middle plate 14 is provided with first synchronous belts 16 running along the left and right sides, and the top plate 13 is provided with strip-shaped through holes 17, strip-shaped The through hole 17 is provided with a first synchronous pulley 18, a second synchronous pulley 19, a double-sided synchronous belt 20, and a first drive motor 21. The first synchronous pulley 18 and the second synchronous pulley 19 are located in the strip On the left and right sides of the hole 17, the first timing belt pulley 18 and the second timing belt pulley 19 are connected by a double-sided timing belt 20, and the first drive motor 21 is used to drive the second timing belt pulley 19 to rotate. The double-sided timing belts 20 are located on the same plane and mesh with each other. The second moving mechanism 9 also includes a first steel belt 22 and a second steel belt 23, and a left and right ends of the middle plate 14 are provided with a first guide wheel 24 and a second guide wheel, respectively 25. One end of the first steel belt 22 is fixedly connected to the right end of the top plate 13, the first steel belt 22 bypasses the first guide wheel 24, the other end of the first steel belt 22 is fixedly connected to the right end of the bottom plate 15, and one end of the second steel belt 23 is connected to the top plate 15 is fixedly connected at the left end, and the second steel belt 23 bypasses the second guide wheel 25, and the other end of the second steel belt 23 is fixedly connected to the left end of the bottom plate 15, the left and right ends of the top plate 13 are provided with second cameras 26, and the controller 10 is The first drive motor 21 and the second camera 26 are electrically connected.

The first driving motor drives the double-sided synchronous belt to rotate, and the double-sided synchronous belt rotates to drive the first synchronous belt to move horizontally. Since the first synchronous belt is horizontally fixed on the middle plate, the first synchronous belt moves horizontally to drive the middle plate to move horizontally. The first steel belt passes around the first guide wheel of the middle plate, and both ends are respectively fixed at the right end of the top plate and the right end of the bottom plate. The second steel belt passes around the second guide wheel of the middle plate, and both ends are respectively fixed to the left end of the top plate and the left end of the bottom plate. The middle plate moves to the left, the bottom plate moves left by the first steel belt, the middle plate moves to the right, and the bottom plate moves right by the second steel belt, thereby realizing two-stage linkage between the middle plate and the bottom plate. The second camera is used to determine the relative position between the mechanical arm and the crate on the shelf, which is convenient for fine-tuning the position of the robotic arm, so as to grasp the crate more accurately, and confirm whether it is a crate that needs to be grasped.

The manipulator 8 includes a support plate 27 disposed along the front-rear direction, two claws 28 disposed symmetrically front-to-back, and two third guide rails 29 disposed along the front-rear direction. The support plate 27 and the two third guide rails 29 are both disposed on the bottom plate 15 At the bottom, both ends of the support plate 27 extend beyond the bottom plate 15 at both ends, and the third guide rail 29 extends at both ends of the bottom plate 15 at both ends. A first slider 30 slidable along the third guide rail 29 is provided at both ends of the third guide rail 29. The claw 28 on the side is fixedly connected to the first slider 30 on the front side of the two third guide rails 29, the claw 28 on the rear side is fixedly connected to the first slider 30 on the rear side of the two third guide rails 29, and the support plate 27 Second drive motors 31 are respectively provided at both ends. The second drive motors 31 are used to drive the jaws 28 on the corresponding side to move left and right. The second drive motors 31 are electrically connected to the controller 10. The controller controls the relative movement of the two jaws to realize the gripping action of the manipulator to the turnover box.

The claw 28 includes a mounting plate 32 and a plurality of convex strips 33 disposed inside the mounting plate 32, the convex strips 33 are arranged in a straight line along the front-rear direction.

As shown in FIGS. 5 and 6, the first moving mechanism 6 includes two moving structures and a first driving mechanism that drives the moving structure to move. The two moving structures are located directly under the two connecting columns 7 of the pallet 5. The moving structure It includes a guide groove 34 provided on the mobile chassis 1 and a movable bar 35 slidable along the guide groove 34. The guide groove 34 is arranged along the front and back of the mobile chassis 1, the mobile bar 35 is fixedly connected to the corresponding connecting column 7 above it, and the first drive The mechanism includes a screw 36, a screw nut 37 sleeved on the screw 36, and a third drive motor 38 that drives the screw 36 to rotate. The moving bar 35 is connected to the screw nut 37 through a first connector, and the third drive motor 38 is connected to The controller 10 is electrically connected.

As shown in FIGS. 6 and 7, the mobile chassis 1 is provided with two battery placement devices side by side. The battery placement device includes a battery box 39 with an open top, a plug 40 on the rear side of the battery box 39, and a battery box 39 on the front side of the battery box 39. The electromagnet 41 is provided with a socket 42 matching the plug 40 on the rear side of the battery box 39. The battery box 39 is provided with a battery 58. The battery box 39 is made of ferromagnetic material. The electromagnet 41 is connected to any one through the second connecting member 43 The connecting post 7 of the pallet 5 is connected, the electromagnet 41 is electrically connected to the controller 10, each plug 40 is electrically connected to the power supply terminal of the controller 10 through a corresponding switch module 44, and the control end of the switch module 44 is electrically connected to the controller 10 connection.

As shown in FIGS. 10 and 11, the lifting mechanism 4 includes a vertical column 45. The vertical column 45 is provided with a vertical column 46 that can move up and down along the vertical column 45 and a second driving mechanism that drives the vertical column 46 to move up and down. The third synchronous pulley 47 is provided with a fourth synchronous pulley 48 at the top of the lifting column 46. The third synchronous pulley 47 and the fourth synchronous pulley 48 are connected by a second synchronous belt 49. The four guide rails 50 and the second slider 51 that can slide on the fourth guide rail 50, the robot arm 2 is provided on the second slider 51, the second slider 51 is fixedly connected to the second timing belt 49, and the bottom of the lifting column 46 is also A gear 52 is provided. The gear 52 is coaxially connected to the third synchronous pulley 47. A rack 53 is longitudinally provided on the column 45. The gear 52 meshes with the rack 53. The controller 10 is electrically connected to the second driving mechanism.

The working method of a warehouse logistics robot of this embodiment, used for the above warehouse logistics robot, includes the following steps:

The automatic battery replacement method of a warehouse logistics robot of this embodiment, used for the above warehouse logistics robot, includes the following steps:

When the battery power supply to the warehousing logistics robot is insufficient, the controller controls the switch module corresponding to the battery from on to off, controls another switch module from off to on, and is supplied by another fully charged battery The warehousing logistics robot supplies power to complete the battery switch. Then, the warehousing logistics robot moves to the charging rack, and the connecting post connected to the electromagnet moves backward so that the electromagnet contacts the battery box. The electromagnetic of the front of the battery box corresponding to the battery with insufficient power When the iron is energized, the electromagnet will attract the corresponding battery box, and the connecting post connected to the electromagnet moves forward a distance so that the battery box where the battery with insufficient power is located is separated from the corresponding plug. Control all the pallets to move forward so that the battery with insufficient power is located above the battery box without obstruction. The robotic arm takes out the battery with insufficient power and puts it on the charging rack for charging. It takes the fully charged battery from the charging rack and puts it in the battery box of the removed battery. Inside, the connecting post connected with the electromagnet moves backward so that the battery box into which the new battery is placed is inserted into the corresponding plug. Finally, all the pallets are returned to their original positions, and the battery replacement is completed. Industrial applicability

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Sequence listing free content

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Claims

A warehouse logistics robot is characterized by comprising a mobile chassis (1) and a mechanical arm (2), a first camera (3) is provided at the bottom of the mobile chassis (1), and a front end of the mobile chassis (1) is provided A storage device, the rear end of the mobile chassis (1) is provided with a lifting mechanism (4) that drives the mechanical arm (2) to move in a vertical direction, and the storage device includes a plurality of pallets arranged side by side from top to bottom (5), the mobile chassis (1) is provided with a plurality of first moving mechanisms (6) that can move back and forth along the mobile chassis (1), and the first moving mechanism (6) corresponds to the pallet (5) one to one , The supporting plate (5) is provided with connecting posts (7) on both sides, the supporting plate (5) is connected with the corresponding first moving mechanism (6) through the connecting post (7), and the mechanical arm (2) It includes a manipulator (8) for grabbing items and a second moving mechanism (9) that can drive the manipulator (8) to move left and right. The mobile chassis (1) is also provided with a controller (10) and a wireless communication module ( 11) The controller (10) is connected to the mobile chassis (1), the first camera (3), the lifting mechanism (4), the first moving mechanism (6), the manipulator, the second moving mechanism (9) and the wireless The communication module (11) is electrically connected.
The warehouse logistics robot according to claim 1, characterized in that the second moving mechanism (9) includes a base (12), a top plate (13), and an intermediate plate (14) arranged in order from top to bottom And the bottom plate (15), the top plate (13) is fixedly connected with the base (12), and both sides of the bottom surface of the top plate (13) are provided with first guide rails matching the intermediate plate (14), and the intermediate plate (14) ) Both sides are respectively inserted into corresponding first guide rails, and the middle plate (14) can slide along the first guide rails, and a second guide rail matching the bottom plate (15) is provided on both sides of the bottom surface of the middle plate (14). (15) Insert corresponding second guide rails on both sides, the bottom plate (15) can slide along the second guide rails, and the top surface of the intermediate plate (14) is provided with first synchronous belts (16) running left and right. A strip-shaped through hole (17) is provided on the top plate (13), and the strip-shaped through hole (17) is provided with a first timing pulley (18), a second timing pulley (19), and a double-sided timing belt ( 20). The first driving motor (21), the first synchronous belt pulley (18) and the second synchronous belt pulley (19) are located on the left and right sides of the strip-shaped through hole (17) respectively. 18) The second timing belt pulley (19) is connected by a double-sided timing belt (20), the first drive motor (21) is used to drive the second timing belt pulley (19) to rotate, and the first timing belt (19) 16) Intermeshing with the double-sided timing belt (20), the second moving mechanism (9) further includes a first steel belt (22) and a second steel belt (23), the left and right ends of the intermediate plate (14) A first guide wheel (24) and a second guide wheel (25) are provided respectively. One end of the first steel belt (22) is fixedly connected to the right end of the top plate (13), and the first steel belt (22) bypasses the first A guide wheel (24), the other end of the first steel belt (22) is fixedly connected to the right end of the bottom plate (15), one end of the second steel belt (23) is fixedly connected to the left end of the top plate (15), the second The steel ribbon (23) bypasses the second guide wheel (25), the other end of the second steel belt (23) is fixedly connected to the left end of the bottom plate (15), and the second camera is provided on the left and right ends of the top plate (13) (26) The controller (10) is electrically connected to the first driving motor (21) and the second camera (26), respectively.
A warehouse logistics robot according to claim 2, characterized in that the manipulator (8) includes a support plate (27) disposed along the front-rear direction, two claws (28) disposed symmetrically in the front-rear direction, and two A third guide rail (29) provided along the front and rear direction, a support plate (27) and two third guide rails (29) are both provided at the bottom of the bottom plate (15), and both ends of the support plate (27) extend out of the bottom plate (15) On both sides, both ends of the third guide rail (29) protrude from both sides of the bottom plate (15), and both ends of the third guide rail (29) are provided with a first slider (30) that can slide along the third guide rail (29) ), the front claw (28) is fixedly connected to the first slider (30) on the front side of the two third guide rails (29), and the rear claw (28) is behind the two third guide rails (29) The first slider (30) on the side is fixedly connected, and two ends of the support plate (27) are respectively provided with second drive motors (31), and the second drive motors (31) are used to drive the jaws on the corresponding side (28) Moving left and right, the second driving motor (31) is electrically connected to the controller (10).
A warehouse logistics robot according to claim 3, characterized in that the claw (28) includes a mounting plate (32) and a plurality of convex strips (33) disposed inside the mounting plate (32), the The convex strips (33) are arranged in a straight line along the front and back direction.
A warehouse logistics robot according to claim 1, characterized in that the first moving mechanism (6) includes two moving structures and a first driving mechanism that drives the moving structure, the two moving structures are located at Directly below the two connecting columns (7) of the pallet (5), the moving structure includes a guide groove (34) provided on the moving chassis (1) and a moving bar (35) slidable along the guide groove (34) , The guide groove (34) is arranged along the front and back of the moving chassis, the moving bar is fixedly connected to the corresponding connecting column above it, and the first driving mechanism includes a screw rod (36), which is sleeved on the screw rod (36) (37) and a third driving motor (38) that drives the screw (36) to rotate, the moving bar (35) is connected to the thread mother (37) through a first connecting member, and the third driving motor (37) 38) Electrical connection with the controller (10).
A warehousing logistics robot according to claim 1, characterized in that the connecting columns (7) on both sides of each pallet (5) are located inside the connecting columns (7) on both sides of the upper pallet (5).
A warehouse logistics robot according to claim 1, characterized in that two battery placement devices are arranged side by side on the mobile chassis (1), the battery placement device includes a battery box (39) with an open top, A plug (40) on the rear side of the battery box (39) and an electromagnet (41) on the front side of the battery box (39), and a socket (42) matching the plug (40) is provided on the rear side of the battery box (39) , The battery box (39) is provided with a battery, the battery box (39) is made of ferromagnetic material, and the electromagnet (41) is connected to any one of the pallets (5) through the second connector (43) Is connected to the connecting post (7), the electromagnet (41) is electrically connected to the controller (10), and each plug (40) is electrically connected to the power supply end of the controller (10) through a corresponding switch module (44), The control end of the switch module (44) is electrically connected to the controller (10).
The warehouse logistics robot according to claim 1, characterized in that the lifting mechanism (4) includes a vertical column (45), and the vertical column (45) is provided with a vertical column that can move up and down along the vertical column (45) (46) and a second driving mechanism that drives the lifting column (46) to move up and down, a third synchronous pulley (47) is provided at the bottom of the lifting column (46), and a fourth synchronization is provided at the top of the lifting column (46) A pulley (48), the third synchronous pulley (47) and the fourth synchronous pulley (48) are connected by a second synchronous belt (49), and a fourth guide rail is longitudinally provided on the lifting column (46) (50) and a second slider (51) slidable on the fourth guide rail (50), the mechanical arm (2) is provided on the second slider (51), and the second slider (51) Fixedly connected with the second timing belt (49), a gear (52) is also provided at the bottom of the lifting column (46), the gear (52) is coaxially connected with the third timing belt pulley (47), and the upright ( 45) A rack (53) is provided along the longitudinal direction, the gear (52) meshes with the rack (53), and the controller (10) is electrically connected to the second driving mechanism.
A working method of a warehouse logistics robot for a warehouse logistics robot according to claim 1, characterized in that it includes the following steps:

When the warehousing logistics robot receives the pick-up instruction, the warehousing logistics robot moves to the rack position where the tote is to be picked, and selects the idle pallet at the highest position. If the tote to be picked is placed, the height is low At the height of the idle pallet, move all the pallets forward, the robotic arm moves to the height of the tote where the goods to be picked are placed, remove the tote, and then the robotic arm rises to the height of the idle pallet Above, the idle pallet and the lower pallet return to the original position, the robotic arm puts the tote that needs to be picked up on the idle pallet, then the other pallets also return to the original position, and finally the warehouse logistics robot moves Go to the corresponding workbench to complete the pickup operation; if the height of the tote where the goods to be picked up is located is not lower than the height of the idle pallet, move the pallet above the idle pallet forward so that the idle pallet is above Unobstructed, the robotic arm moves to the height of the tote where the goods to be picked are placed, removes the tote and puts it on the idle pallet, then the pallet above the idle pallet returns to its original position, and finally the warehouse logistics robot moves Go to the corresponding workbench to complete the pickup operation;

When the warehousing logistics robot receives the loading instruction, the warehousing logistics robot moves to the rack position where the totes with the goods to be loaded are placed, removes the totes with the goods to be loaded on the free pallet, and then moves to Corresponding to the workbench, the staff of the workbench puts the goods to be loaded into the corresponding tote box on the warehouse logistics robot, and then, the warehouse logistics robot moves to the shelf corresponding to the tote box where the goods to be loaded are placed. The pallets above the tote of the goods to be loaded are moved forward so that there is no obstruction above the tote with the goods to be loaded. The robotic arm moves to the position of the pallet where the tote with the goods to be loaded is located. The tote with the goods to be loaded is removed from the pallet. If the height of the storage space for storing the tote on the shelf is lower than the height of the pallet where the tote is located, there will be no moving forward The pallets also move forward, and the robotic arm moves to the height of the storage position for storing the tote, put the tote in the corresponding storage position, and complete the loading operation; if the shelf is used to store the tote The height of the storage position is not lower than the height of the pallet where the tote box is located, the robot arm moves to the height of the storage position for storing the tote box, puts the tote box into the corresponding storage position, and completes the loading operation.
An automatic battery replacement method for a warehousing logistics robot for a warehousing logistics robot according to claim 7, characterized in that it includes the following steps:

In the normal state, the sockets on both battery boxes are plugged into the corresponding plugs. The controller controls one switch module to be turned on, and the other switch module is disconnected. Only one battery in the battery box supplies power to the warehouse logistics robot;

When the battery power supply to the warehousing logistics robot is insufficient, the controller controls the switch module corresponding to the battery from on to off, controls another switch module from off to on, and is supplied by another fully charged battery The warehousing logistics robot supplies power to complete the battery switch. Then, the warehousing logistics robot moves to the charging rack, and the connecting post connected to the electromagnet moves backward so that the electromagnet contacts the battery box. The electromagnetic of the front of the battery box corresponding to the battery with insufficient power When the iron is energized, the electromagnet will attract the corresponding battery box, and the connecting post connected to the electromagnet moves forward a distance so that the battery box where the battery with insufficient power is located is separated from the corresponding plug. Control all the pallets to move forward so that the battery with insufficient power is located above the battery box without obstruction. The robotic arm takes out the battery with insufficient power and puts it on the charging rack for charging. It takes the fully charged battery from the charging rack and puts it in the battery box of the removed battery. Inside, the connecting post connected with the electromagnet moves backward so that the battery box into which the new battery is placed is inserted into the corresponding plug. Finally, all the pallets are returned to their original positions, and the battery replacement is completed.