CN213651204U - Loading and unloading robot - Google Patents
Loading and unloading robot Download PDFInfo
- Publication number
- CN213651204U CN213651204U CN202021942083.3U CN202021942083U CN213651204U CN 213651204 U CN213651204 U CN 213651204U CN 202021942083 U CN202021942083 U CN 202021942083U CN 213651204 U CN213651204 U CN 213651204U
- Authority
- CN
- China
- Prior art keywords
- loading
- camera
- base
- unloading
- tray
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Landscapes
- Manipulator (AREA)
- Warehouses Or Storage Devices (AREA)
Abstract
本实用新型公开了一种装卸机器人，属于物流技术领域。该装卸机器人包括基座，基座的底部设有移动机构，基座的一侧设有托盘，基座上设有装卸机构，装卸机构包括固定于基座上的机械臂，机械臂的末端设有末端执行器，末端执行器用于获取货物。该装卸机器人结构紧凑、体积小、移动灵活，能够自由出入货车的车厢，当不需要进行装卸货物时，该装卸机器人可以进入仓库内，对待处理的托盘进行处理，将待处理的托盘移动至目的地，此外，该装卸机器人还可以处理仓库里面的很多其他各种流程，例如卸车、码垛、拆垛、搬运、分拣等等，提高装卸机器人的利用率。
The utility model discloses a loading and unloading robot, which belongs to the technical field of logistics. The loading and unloading robot includes a base, the bottom of the base is provided with a moving mechanism, one side of the base is provided with a tray, the base is provided with a loading and unloading mechanism, the loading and unloading mechanism includes a mechanical arm fixed on the base, and the end of the mechanical arm is provided with There are end effectors, and end effectors are used to get the goods. The loading and unloading robot has compact structure, small size and flexible movement, and can freely enter and exit the carriage of the truck. When loading and unloading of goods is not required, the loading and unloading robot can enter the warehouse, process the pallets to be processed, and move the pallets to be processed to the destination. In addition, the loading and unloading robot can also handle many other processes in the warehouse, such as unloading, palletizing, depalletizing, handling, sorting, etc., to improve the utilization rate of the loading and unloading robot.
Description
Technical Field
The utility model relates to a logistics technology field, more specifically say, it relates to a loading and unloading robot.
Background
In the present logistics sorting field, the flow of loading cargos generally includes: a device with a transport mechanism is fixed at the loading and unloading position, the end of the transport mechanism is provided with a manipulator, when the truck reaches the loading and unloading position, the transport mechanism extends into the compartment of the truck, then the goods move from the warehouse to the end of the transport mechanism through the front end of the transport mechanism, and then the manipulator at the end grabs the goods from the end of the transport mechanism and places the goods in the compartment of the truck. The loading and unloading device with the manipulator and the transmission mechanism is relatively fixed on a platform, after loading is completed, the loading and unloading device can be idle on the platform, certain waste is caused, in addition, the loading and unloading device must be provided with a parking indicating device, after a carriage of a van vehicle can be accurately stopped at an indicating position, the transmission mechanism of the loading and unloading device can move forwards to enter the carriage, and the whole requirement is high and troublesome.
SUMMERY OF THE UTILITY MODEL
The utility model aims at providing a loading and unloading robot solves the idle waste of current loading and unloading device, and the whole requires higher and comparatively troublesome technical problem.
The above technical purpose of the present invention can be achieved by the following technical solutions: the loading and unloading robot comprises a base, wherein a moving mechanism is arranged at the bottom of the base, a tray is arranged on one side of the base, an loading and unloading mechanism is arranged on the base and comprises a mechanical arm fixed on the base, and an end effector is arranged at the tail end of the mechanical arm and used for acquiring cargoes.
As a further optimization, the end effector is a suction cup assembly, and the suction cup assembly can be telescopic.
As a further optimization, the sucker assembly comprises a support frame and a plurality of suckers, the suckers are mounted on the support frame, and the suckers can extend and retract on the support frame.
Preferably, the front and the rear of the base are respectively provided with a jacking mechanism.
As a further optimization, the jacking mechanism is a hydraulic jacking mechanism or a pneumatic jacking mechanism.
As a further optimization, a first camera is installed on the base, the first camera is located above the tray, and the first camera is used for shooting images of goods on the tray.
As a further optimization, a camera support is arranged on the base, a fixing frame is arranged on the camera support, the fixing frame is located above the tray, and the first camera is installed on the fixing frame.
As a further optimization, a second camera is further installed on the base, the second camera is located on one side where the tray is located, and the second camera is used for conducting obstacle recognition on the front to avoid obstacles.
As a further optimization, a third camera is further installed on the base, the third camera is located on the other side opposite to the tray, and the third camera is used for carrying out obstacle identification on the rear side to avoid obstacles.
Preferably, the moving mechanism comprises a driving wheel and a universal driven wheel.
To sum up, the utility model discloses following beneficial effect has: the loading and unloading robot is compact in structure, small in size and flexible in movement, a carriage of a truck can freely enter and exit, when goods do not need to be loaded and unloaded, the loading and unloading robot can enter a warehouse, a tray to be processed is processed, the tray to be processed is moved to a destination, in addition, the loading and unloading robot can also process various other processes in the warehouse, such as unloading, stacking, unstacking, carrying, sorting and the like, so that 24-hour work can be realized by fully utilizing the loading and unloading robot, the loading and unloading robot can work in a gapless mode for 24 hours, and the work efficiency in the logistics field is improved.
Drawings
Fig. 1 is a schematic configuration diagram of a loading/unloading robot in the embodiment.
In the figure: 1. a base; 2. a moving mechanism; 21. a driving wheel; 22. a driven wheel; 3. a tray; 41. a mechanical arm; 42. an end effector; 421. a support frame; 422. a suction cup; 43. a control cabinet; 5. a jacking mechanism; 6. a camera support; 61. a fixed mount; 7. a first camera; 8. a second camera; 9. a third camera; 100. an electric control cabinet.
Detailed Description
In order to make the technical problem, technical solution and advantageous effects to be solved by the present invention clearer and more obvious, the following description of the present invention with reference to the accompanying drawings and embodiments is provided for further details. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
As shown in fig. 1, the present embodiment provides a loading and unloading robot, which includes a base 1, and a moving mechanism 2 is provided at the bottom of the base 1, and the moving mechanism 2 enables the loading and unloading robot to move into a bed of a truck for loading and unloading. One side of the base 1 is provided with a pair of pallets 3, the pallets 3 are used for bearing goods to realize the autonomous transportation of the goods, in one embodiment, a forklift moves the goods from a warehouse to the pallets 3 of the loading and unloading robot, and then the pallets 3 of the loading and unloading robot move into a carriage of the truck with the goods. The base 1 is provided with a loading and unloading mechanism, the loading and unloading mechanism comprises a mechanical arm 41, the mechanical arm 41 is fixed on the base 1, the tail end of the mechanical arm 41 is provided with an end effector 42, and the end effector 42 is used for acquiring goods. When the loading and unloading robot is used for loading, a forklift moves goods from a warehouse to a tray 3 of the loading and unloading robot, the moving mechanism 2 drives the loading and unloading robot to move into a carriage of a truck, and then the goods on the tray 3 are stacked in the carriage of the truck through an end effector 42; when the loading and unloading robot is used for unloading, the loading and unloading robot enters the carriage of the truck with the empty pallet 3, the end effector 42 stacks the goods in the carriage of the truck on the pallet 3, and then the moving mechanism 2 drives the loading and unloading robot to move into the warehouse. The loading and unloading robot is compact in structure, small in size and flexible in movement, a carriage of a truck can freely enter and exit, when goods are not required to be loaded and unloaded, the loading and unloading robot can enter a warehouse, a tray to be processed is processed, the tray to be processed is moved to a destination, in addition, the loading and unloading robot can also process various other flows in the warehouse, such as unloading, stacking, unstacking, carrying, sorting and the like, so that 24-hour work can be realized by fully utilizing the loading and unloading robot, the loading and unloading robot can work in a gapless mode within 24 hours, and the utilization rate of the loading and unloading robot and the work efficiency in the logistics field are improved.
In this embodiment, as shown in fig. 1, the end effector 42 is a suction cup assembly, which can be extended and retracted, and the suction cup assembly is used for acquiring the goods on the pallet to realize the transfer of the goods. The sucking disc subassembly includes support frame 421 and a plurality of sucking disc 422, and a plurality of sucking disc 422 are installed on support frame 421, and a plurality of sucking disc 422 can stretch out and draw back on support frame 421. In this embodiment, the front and the back of the base 1 are respectively provided with the jacking mechanisms 5, when the loading and unloading robot loads the pallet and loads the pallet into the carriage of the truck for loading and unloading goods, the jacking mechanisms 5 can abut against the carriage for fixing the loading and unloading robot, and when the loading and unloading robot needs to adjust the height, the jacking mechanisms 5 can be lifted to adjust the ground clearance of the base 1. The jacking mechanism 5 may be a hydraulic jacking mechanism or a pneumatic jacking mechanism. In this embodiment, the base 1 is provided with a camera support 6, the camera support 6 is provided with a fixing frame 61, and the fixing frame 61 is located above the tray 3. The fixed frame 61 is provided with two first cameras 7, the first cameras 7 are used for shooting images of the goods on the tray 3, and then the shot image information is sent to a control part of the loading and unloading mechanism, so that the goods are identified from the tray, obtained, counted and the like according to the image information, and in one embodiment, the first cameras 7 are used for shooting the goods on the tray 3. In this embodiment, the control part of the loading and unloading mechanism recognizes the image of the goods on the pallet, and the obtaining of the classification information of the image object of the goods on the pallet includes, but is not limited to, the following modes:
1) acquiring a point cloud of an object in the image of the goods on the tray according to the image of the goods on the tray; and obtaining the classification information of the objects in the image of the goods on the tray through a preset object recognition model according to the point cloud of the objects in the image of the goods on the tray.
As an example, assuming that the preset object recognition model is a box with a conventional size, after the image of the goods on the pallet is acquired, according to the point cloud of the object in the image of the goods on the pallet, the top plane is recognized by the object recognition model, and then whether the vertical height exists around the left and right is judged, if so, the recognition is successful, and the end effector 42 is controlled to grab the box.
2) And inputting the images of the goods on the tray into a pre-trained neural network for calculation to obtain the classification information of the objects in the images of the goods on the tray.
Illustratively, the pre-trained neural network includes an object pose database, and information of the goods can be obtained after the images of the goods on the pallet are input into the pre-trained neural network. The advantage of a pre-trained neural network is that each cargo can be segmented when the cargo overlaps.
In this embodiment, the camera support 6 is further provided with a second camera 8, the second camera 8 is located on the side where the tray 3 is located, and the second camera 8 is used for performing obstacle recognition on the front side of the tray 3 in the moving (forward moving) process to avoid obstacles. In this embodiment, a third camera 9 is further mounted on the camera support 6, the third camera 9 is located on the other side opposite to the tray 3, and the third camera 9 is used for performing obstacle recognition on the rear side during movement (forward movement and backward movement) to avoid an obstacle. The first camera 7, the second camera 8 and the third camera 9 are preferably depth cameras. It is needless to say that the loading and unloading mechanism further includes other related control parts such as a control cabinet 43 containing various control components, and the loading and unloading mechanism also includes an electric control cabinet 100 for controlling the moving mechanism 2, the control tray 3, and the control jack 5.
In one application scenario, the work flow of the loading and unloading robot is as follows:
when an empty truck reaches a logistics sorting center, the truck needs to be loaded, a control system sends an instruction to the loading and unloading robot, after the loading and unloading robot receives the instruction, a visual mechanism on the loading and unloading robot is started, and then the loading and unloading robot autonomously moves to the position of the goods to be carried according to images acquired by all cameras on the camera support 6;
after the target goods position is reached, a forklift loads the goods on the loading and unloading robot to load the tray 3, and after the loading and unloading robot lifts the tray 3, the loading and unloading robot autonomously moves to the position of the truck according to the image acquired by the camera and then enters the carriage of the truck;
the end effector of the loading and unloading robot is used for capturing the goods on the tray 3 according to the images of the goods on the tray 3 shot by the first camera 7, and then the goods are sequentially placed in the carriage of the truck one by one.
When the goods in the truck reach the logistics sorting center in a full-load manner, the truck needs to be unloaded, the control system sends an instruction to the loading and unloading robot, the loading and unloading robot enters the carriage of the truck according to the instruction, then the end effector acquires images of the goods in the carriage according to the second camera 8 on the camera support 6, the goods in the carriage are placed on the tray 3 after being grabbed one by one, and when the tray 3 is waiting to be filled with the goods, the loading and unloading robot takes the tray 3 in which the goods are in full load out of the carriage and then places the tray 3 in a specified position until the target goods in the tray 3 are completely unloaded.
The above embodiments are merely illustrative of the present invention, and are not intended to limit the present invention, and those skilled in the art can make modifications to the above embodiments without inventive contribution as required after reading the present specification, but all the embodiments are protected by patent laws within the scope of the present invention.
Claims (10)
1. A loading and unloading robot, characterized in that: the loading and unloading device comprises a base, wherein a moving mechanism is arranged at the bottom of the base, a tray is arranged on one side of the base, an unloading mechanism is arranged on the base and comprises a mechanical arm fixed on the base, and an end effector is arranged at the tail end of the mechanical arm and used for acquiring cargoes.
2. The loading and unloading robot according to claim 1, wherein: the end effector is a sucker component which can stretch out and draw back.
3. The handling robot of claim 2, wherein: the sucking disc subassembly includes support frame and a plurality of sucking disc, and is a plurality of the sucking disc is installed on the support frame, and is a plurality of the sucking disc can stretch out and draw back on the support frame.
4. The loading and unloading robot according to claim 1, wherein: and jacking mechanisms are respectively arranged at the front and the rear of the base.
5. The handling robot of claim 4, wherein: the jacking mechanism is a hydraulic jacking mechanism or an air pressure jacking mechanism.
6. The loading and unloading robot according to claim 1, wherein: install first camera on the base, first camera is located the top of tray, first camera is used for shooing the image of the goods on the tray.
7. The handling robot of claim 6, wherein: the base is provided with a camera support, the camera support is provided with a fixing frame, the fixing frame is located above the tray, and the first camera is installed on the fixing frame.
8. The loading and unloading robot according to claim 1, wherein: the base is further provided with a second camera, the second camera is located on one side where the tray is located, and the second camera is used for conducting obstacle identification on the front to avoid obstacles.
9. The loading and unloading robot according to claim 8, wherein: the base is further provided with a third camera, the third camera is located on the other side opposite to the tray, and the third camera is used for recognizing obstacles behind so as to avoid the obstacles.
10. The loading and unloading robot according to claim 1, wherein: the moving mechanism comprises a driving wheel and a universal driven wheel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021942083.3U CN213651204U (en) | 2020-09-08 | 2020-09-08 | Loading and unloading robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021942083.3U CN213651204U (en) | 2020-09-08 | 2020-09-08 | Loading and unloading robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN213651204U true CN213651204U (en) | 2021-07-09 |
Family
ID=76695369
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202021942083.3U Active CN213651204U (en) | 2020-09-08 | 2020-09-08 | Loading and unloading robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN213651204U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114212566A (en) * | 2021-12-30 | 2022-03-22 | 大连海事大学 | A New Pneumatic Suction Cup Crawler Robot Used in Ship Cargo Transfer |
| CN117509220A (en) * | 2023-11-20 | 2024-02-06 | 合肥井松智能科技股份有限公司 | A container loading and unloading robot and its loading and unloading method |
-
2020
- 2020-09-08 CN CN202021942083.3U patent/CN213651204U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114212566A (en) * | 2021-12-30 | 2022-03-22 | 大连海事大学 | A New Pneumatic Suction Cup Crawler Robot Used in Ship Cargo Transfer |
| CN114212566B (en) * | 2021-12-30 | 2024-04-26 | 大连海事大学 | Pneumatic sucker type crawler robot applied to cabin cargo transportation |
| CN117509220A (en) * | 2023-11-20 | 2024-02-06 | 合肥井松智能科技股份有限公司 | A container loading and unloading robot and its loading and unloading method |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US11124401B1 (en) | Automated loading of delivery vehicles | |
| CN114572719B (en) | Flexible automatic loading and unloading vehicle robot system and method | |
| CN113859831A (en) | Material box carrying logistics robot | |
| CN109789906B (en) | Cargo handling vehicle, cargo transfer system and method for unloading the same | |
| CN109789904B (en) | Cargo handling truck, cargo transfer system and method for automatically adjusting cargo layout | |
| US12325460B2 (en) | Laterally operating payload handling device | |
| CN213651204U (en) | Loading and unloading robot | |
| CN113200270B (en) | Automatic loading and unloading robot, transfer system and control method thereof | |
| CN114229505B (en) | Container cargo handling device and handling method | |
| CN110023214B (en) | A cargo handling vehicle and cargo transfer system | |
| CN114538018A (en) | Automatic loading and unloading integrated machine and automatic loading and unloading vehicle system | |
| CN115367019A (en) | An AGV intelligent guided vehicle with active obstacle avoidance | |
| WO2024244356A1 (en) | Integrated double-arm mobile robot and loading/unloading vehicle system | |
| WO2024244355A1 (en) | Method and system for controlling loading and unloading operations, and robot | |
| CN215045861U (en) | Packing box transfer robot | |
| CN213264755U (en) | A loading and unloading robot | |
| CN214326156U (en) | a mobile robot | |
| WO2025232144A1 (en) | Transfer robot, goods picking and placing method, electronic device, medium and warehousing system | |
| WO2025140419A1 (en) | Picking system | |
| CN217966996U (en) | Robot capable of automatically carrying goods | |
| JP7527888B2 (en) | Control device and cargo handling system | |
| CN219174048U (en) | Unmanned commodity circulation car | |
| CN117658018A (en) | Liftable mobile robots and systems | |
| JPS61106321A (en) | Cargo transfer device | |
| CN219689253U (en) | Fork truck |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP02 | Change in the address of a patent holder | ||
| CP02 | Change in the address of a patent holder |
Address after: 518000 h6-1, H6 reservoir, Chiwan oil base, H6 reservoir, Chiwan left battery Road, Chiwan community, zhaoshang street, Nanshan District, Shenzhen City, Guangdong Province Patentee after: Shenzhen Lan pangzi machine intelligence Co.,Ltd. Address before: B701-702, industrialization building, Shenzhen Virtual University Park, No.2, Yuexing Third Road, Nanshan District, Shenzhen, Guangdong Province Patentee before: Shenzhen Lan pangzi machine intelligence Co.,Ltd. |
|
| PP01 | Preservation of patent right | ||
| PP01 | Preservation of patent right |
Effective date of registration: 20251117 Granted publication date: 20210709 |