CN216996057U - An omnidirectional mobile lift-type handling robot - Google Patents

Abstract

The utility model is suitable for the technical field of transfer robots, and provides an omnidirectional moving lifting type transfer robot, which comprises: the robot comprises a robot main body, a driving device and a control device, wherein the robot main body comprises a mounting seat, and the lower end of the mounting seat is provided with the driving device; the article loading component comprises a rotating mechanism and an article placing disc; the carrying mechanism comprises a guide rail assembly, a lifting rack and a driving part in sliding connection with the guide rail assembly; and an information recognition module including an information receiving device and a first image recognition device. The carrying robot is provided with an information identification module and is used for scanning goods information such as two-dimensional codes and bar codes applied to the Internet of things and identifying the classified storage of colors and sizes of the goods. The carrying mechanism is provided with the lifting clamping device, so that goods with different heights can be carried, and the carrying mechanism is suitable for most warehouse environments or large-scale market logistics environments. Improve logistics chain efficiency, reduce the manpower consumption, under many scenes, especially small-size spare part operation scene, guarantee the accurate warehouse entry of goods when improving handling efficiency.

Description

An omnidirectional mobile lift-type handling robot

technical field

The utility model belongs to the technical field of handling robots, in particular to an omnidirectional mobile lifting type handling robot.

Background technique

In the process of logistics handling and warehousing, it is often necessary to identify various types of QR codes, barcodes and other cargo information for IoT applications, and it is also necessary to classify and store goods according to their characteristics such as color. At present, these jobs are all operated manually, which consumes a lot of labor. Especially in the scenario of small parts operation, the efficiency of manual operation is relatively low and the cost is relatively high.

Utility model content

The utility model provides an omnidirectional mobile lifting type handling robot, which can effectively solve the above problems.

The utility model is realized in this way:

An omnidirectional mobile lift-type handling robot, comprising:

a robot main body, the main body includes a mounting seat, the lower end of the mounting seat is provided with a driving device;

an article loading part, the article loading part comprises a rotating mechanism fixedly mounted on the mounting seat and a storage tray arranged on the rotating mechanism;

A transport mechanism arranged at the front end of the robot body, the transport mechanism includes a guide rail assembly fixed on the front end of the mounting seat, a lifting rack fixed on the mounting seat and located on one side of the guide rail assembly, and the a drive part slidably connected to the guide rail assembly, the drive part is provided with a lift gear engaged with the lift rack and a gripping device for carrying goods, the gripping device is connected with the drive part through a transmission arm; and

An information identification module, the identification module includes an information receiving device disposed on the mounting base for receiving handling information and a first image identification device disposed at the front end of the gripping device for identifying cargo information.

As a further improvement, it also includes an automatic path-finding device, the automatic path-finding device includes a grayscale identification module disposed on both sides of the mounting seat and at the lower end of the mounting seat, a plurality of lasers disposed on the mounting seat an identification module and a second image identification module arranged at the rear end of the robot body.

As a further improvement, the driving device includes a driving motor and a moving wheel, and the moving wheel is a Mecanum wheel, which is used to realize the omnidirectional movement of the robot.

As a further improvement, the omnidirectional mobile lift-type handling robot further includes a pan-tilt stabilization structure disposed at the lower end of the second image recognition module, and the pan-tilt stabilization structure includes a fixed seat fixedly connected to the mounting seat, The fixed base is provided with a plurality of rotatable balance arms, the movable end of the balance arm is provided with a mounting table, and the mounting table is provided with a balance table for mounting the second image recognition module.

As a further improvement, the clamping device is installed in a detachable manner.

As a further improvement, the automatic path finding device also includes a positioning module.

As a further improvement, the omnidirectional mobile lift-type handling robot further includes a remote control device.

As a further improvement, the clamping device adopts a detachable connection.

As a further improvement, the storage tray is provided with a plurality of storage slots, and the storage slots are annularly divided along the rotation axis of the storage tray.

The beneficial effects of the present invention are as follows: the technology of the present invention provides a handling robot, and the handling robot is provided with an information identification module, which is used to scan the two-dimensional codes, barcodes and other cargo information applied in the Internet of Things, and identify the color, size, and classification of the cargo. store. At the same time, the handling mechanism is equipped with a lifting and clamping device, which can handle goods of different heights, adapt to most warehouse environments or large market logistics environments, improve the efficiency of the logistics chain, and reduce labor consumption. , while improving the handling efficiency and ensuring the accurate storage of goods.

Description of drawings

In order to illustrate the technical solutions of the embodiments of the present invention more clearly, the accompanying drawings required in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention. Therefore, it should not be regarded as a limitation of the scope. For those of ordinary skill in the art, other related drawings can also be obtained from these drawings without any creative effort.

1 is a perspective view of an omnidirectional mobile lifting type handling robot provided by an embodiment of the present invention;

Fig. 2 is the left side view of the omnidirectional mobile lifting type handling robot provided by the embodiment of the present invention;

FIG. 3 is a top view of an omnidirectional mobile lift-type handling robot provided by an embodiment of the present invention.

Reference number:

11-installation seat; 12-drive motor; 13-moving wheel; 2-item loading part; 21-rotation mechanism; 22- storage tray; 23- storage slot; 31-rail assembly; 34-lifting gear; 35-clamping device; 36-transmission arm; 41-information receiving device; 42-first image recognition device; 51-gray recognition module; 52-laser recognition module; 53-second image Identification module; 54-positioning module; 61-fixed seat; 62-balance arm; 63-installation table; 64-balance table.

Detailed ways

In order to make the purposes, technical solutions and advantages of the embodiments of the present invention more clear, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described The embodiments of the present invention are a part of the embodiments of the present invention, but not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the protection scope of the present invention. Accordingly, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the invention as claimed, but is merely representative of selected embodiments of the invention.

In the description of the present invention, the terms "first" and "second" are only used for the purpose of description, and cannot be understood as indicating or implying relative importance or implying the number of indicated technical features. Thus, a feature defined as "first" or "second" may expressly or implicitly include one or more of that feature. In the description of the present invention, "plurality" means two or more, unless otherwise expressly and specifically defined.

Referring to Figure 1, an omnidirectional mobile lift-type handling robot includes:

The main body of the robot, the main body includes a mounting seat 11, and the lower end of the mounting seat 11 is provided with a driving device;

an article loading part 2, the article loading part 2 includes a rotating mechanism 21 fixedly mounted on the mounting base 11 and a storage tray 22 arranged on the rotating mechanism 21;

A transport mechanism disposed at the front end of the robot body, the transport mechanism includes a guide rail assembly 31 fixed on the front end of the mounting base 11 , a lifting rack fixed on the mounting base 11 and located on one side of the guide rail assembly 31 32. A drive part 33 slidably connected to the guide rail assembly 31, the drive part 33 is provided with a lift gear 34 meshing with the lift rack 32 and a gripping device 35 for carrying goods, the gripping device 35 is connected to the drive member 33 through a transmission arm 36; and

Information identification module, the identification module includes an information receiving device 41 disposed on the mounting base 11 for receiving handling information and a first image identification device disposed at the front end of the gripping device 35 for identifying cargo information.

When the goods are taken out of the warehouse, the handling robot receives the information characteristics of the goods to be handled through the handling information receiving device 41 of the information identification module, such as the production batch number of the goods, the barcode for the warehouse, the two-dimensional code of the goods, and the volume or color of the goods. The information receiving device 41 confirms the storage position of the goods to be transported according to the inventory records, plans a route, and arrives at the storage position of the goods through the driving device at the lower end of the base.

When reaching the position, the first image recognition device at the front end of the gripping device 35 starts to identify the stored goods and compares it with the received cargo information. If the comparison is successful, the cargo to be transported can be determined, and the cargo to be transported can be grasped by the transport mechanism. The device 35 grips the load and then rotates the transmission arm 36 to place the load on the tray 22 of the loading unit. The gripping device 35 is connected with the driving member 33, and the driving member 33 can drive the lifting gear 34 to rotate, driving the gripping device 35 to lift up and down, and is used for gripping goods stored at different heights. The case of multi-layer storage.

When carrying out the warehousing and handling work, the information identifies the information of the goods and determines the storage point of the goods, and then picks up the goods and places them on the storage tray 22 . After arriving at the storage point, the first image recognition device identifies the vacant position of the shelf at that point and stores the goods, thereby completing the storage work. At the same time, the storage tray 22 can be rotated, and multiple pieces of goods can be transported at one time, thereby improving work efficiency.

Further, the omnidirectional mobile lift-type handling robot further includes an automatic path-finding device, and the automatic path-finding device includes a grayscale identification module 51 , a Several laser recognition modules 52 are arranged on the mounting base 11 and a second image recognition module 53 is arranged at the rear end of the robot body. During the handling process, the robot automatically plans the route and avoids obstacles according to the working environment. The grayscale recognition module 51 detects the grayscale of the ground image, judges the current ground condition, and automatically avoids the occurrence of deep depressions or steps, and drops it when placed. The laser recognition modules 52 are respectively arranged on both sides and the front end of the mounting seat 11, and are respectively used to detect the distance between the obstacles on both sides and the distance between the obstacles at the front end. When the passage is too narrow to pass through or there is an obstacle at the front end, the robot can adjust in time. . At the same time, a back-end laser recognition module 52 and a laser recognition module 52 for detecting height can be added according to requirements, so as to fully sense the surrounding environment, plan routes and avoid obstacles in time.

Preferably, the driving device includes a driving motor 12 and a moving wheel 13, and the moving wheel 13 is a Mecanum wheel, which is used to realize the omnidirectional movement of the robot. Mecanum wheels can adapt to most narrow environments and are more flexible in steering. The built-in Mecanum wheel solver program of the robot can greatly reduce the invalid paths when the robot is carrying and find its way, and improve the carrying efficiency.

Preferably, the omnidirectional mobile lift-type handling robot further includes a pan-tilt stabilization structure disposed at the lower end of the second image recognition module 53 , and the pan-tilt stabilization structure includes a fixed seat 61 fixedly connected to the mounting seat 11 . , the fixed seat 61 is provided with a number of rotatable balance arms 62, the movable end of the balance arm 62 is provided with a mounting table 63, and the mounting table 63 is provided with a balance table for installing the second image recognition module 53 64.

The second image recognition module 53 is used for recognizing and recording the real-time environmental state during the robot's transportation, and the second image recognition module 53 is integrally installed on the upper end of the stable structure of the gimbal. The balance table 64 can be rotated 360°, which is convenient for identifying the current situation and cargo status information, and the operator manages the robot in real time according to the imaging; at the same time, the visual recognition pan-tilt has a self-stabilizing function, and the pan-tilt controls the balance arm through a motor 62. The balance table 64 can be automatically controlled to maintain the set threshold height according to the ground undulation, thereby ensuring the stability of the recognition screen; the balance arm 62 can also control the balance table 64 to lift or lower according to the requirements under non-adaptive conditions. Get a better field of view for the operator to supervise the safety of the robot's working environment and the status of the robot.

Preferably, the clamping device 35 is installed in a detachable manner. Different types and sizes of gripping devices 35 are replaced according to the size and shape of the cargo to be handled.

Further, the automatic path-finding device also includes a positioning module 54, and when working in a larger handling site, the positioning module 54 is used to display the coordinate position of the current robot in the specified coordinate system in real time, and can be based on the current coordinate position. Automatically calibrate position and transport route

Further, the omnidirectional mobile lift-type handling robot further includes a remote control device. In the remote control device, the operator can remotely send work commands from the background to control the work of the handling robot, and the image uploaded in combination with the second image recognition module 53 can manually and remotely control the working state of the handling robot.

As a further improvement, the storage tray 22 is provided with a plurality of storage slots 23, and the storage slots 23 are annular subsections along the rotation axis of the storage tray 22. The storage slot 23 is used to place special-shaped transported items to drop, and by rotating the storage tray 22 to transport multiple items at a time, at the same time, the clamped goods are put into the material slot in sequence, and the storage tray 22 can also be rotated when preparing to store. The gripping device 35 is enabled to sequentially grip the goods into the warehouse.

The above descriptions are only preferred embodiments of the present invention, and are not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims (8)

1. an omnidirectional mobile lifting type handling robot is characterized in that, comprising: a robot main body, the main body includes a mounting seat (11), and a driving device is provided at the lower end of the mounting seat; an article loading member (2), the article loading member comprises a rotating mechanism (21) fixedly mounted on the mounting seat and a storage tray (22) arranged on the rotating mechanism (21); A transport mechanism arranged at the front end of the mounting seat (11), the transport mechanism comprising a guide rail assembly (31) fixedly mounted on the front end of the mounting seat (11), fixed on the mounting seat (11) and located in the A lifting rack (32) on one side of the guide rail assembly (31), a driving part (33) slidably connected with the guide rail assembly (31), the driving part (33) is provided with the lifting rack (32) an engaged lifting gear (34) and a gripping device (35) for handling goods, the gripping device being connected to the drive member (33) via a transmission arm (36); and An information identification module, the identification module comprises an information receiving device (41) arranged on the mounting base (11) for receiving handling information and an information receiving device (41) arranged at the front end of the gripping device (35) for identifying cargo information A first image recognition device (42). 2 . The omnidirectional mobile lift-type handling robot according to claim 1 , further comprising an automatic path-finding device, wherein the automatic path-finding device comprises two sides of the mounting seat ( 11 ) and located in the A grayscale identification module (51) at the lower end of the mounting seat (11), a plurality of laser identification modules (52) disposed on the mounting base (11), and a second image identification module (53) disposed at the rear end of the robot body . 3. The omnidirectional mobile lifting type handling robot according to claim 1, wherein the driving device comprises a driving motor (12) and a moving wheel (13), and the moving wheel is a Mecanum wheel, used for Realize the omnidirectional movement of the robot. 4. The omnidirectional mobile lift-type handling robot according to claim 2, characterized in that it further comprises a pan-tilt stabilization structure arranged at the lower end of the second image recognition module (53), the pan-tilt stabilization structure comprising: A fixing base (61) to which the mounting base (11) is fixedly connected, the fixing base (61) is provided with a plurality of rotatable balance arms (62), and the movable end of the balance arm (62) is provided with a mounting table (63) ), a balance table (64) for installing the second image recognition module (53) is arranged on the installation table. 5 . The omnidirectional mobile lift-type handling robot according to claim 1 , wherein the gripping device is installed in a detachable manner. 6 . 6 . The omnidirectional mobile lift-type handling robot according to claim 2 , wherein the automatic path finding device further includes a positioning module ( 54 ). 7 . 7 . The omnidirectional mobile lift-type handling robot according to claim 1 , further comprising a remote control device. 8 . 8. The omnidirectional mobile lift-type handling robot according to claim 1, wherein the storage tray (22) is provided with a plurality of storage slots (23), and the storage slots (23) are arranged along the storage tray (23). 22) Rotating shaft annular subsection.

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