CN107758567A - A kind of intelligent mounting-dismounting device for warehouse freezer - Google Patents

Abstract

The invention discloses an intelligent loading and unloading device for warehouse cold storage, which includes an omnidirectional mobile platform, a lifting platform and a mechanical arm; wherein, the omnidirectional mobile platform includes a frame, a driving motor, a mecanum wheel and a shock absorber; The platform includes an upper fixed plate, a middle support plate, a lower fixed plate, a screw nut pair and a stepping motor. The middle support plate is connected with a pick-up and delivery mechanism. The pick-up and delivery mechanism is composed of a load-bearing plate and two electric telescopic rods. One end is fixed on the nut, and the other end is fixed on the lower end of the bearing plate; the mechanical arm is a six-degree-of-freedom mechanical arm. The invention is suitable for warehouses and cold storages with limited operating space and narrow passages. It can change the moving track without rotation, avoiding the transformation of multiple starts and emergency stops, and the transition is smoother and the movement is more stable. The lifting platform can be used for small Batch goods can be picked and delivered on shelves of different heights, which provides convenience and possibility for placing items of different sizes.

Description

An intelligent loading and unloading device for warehouse cold storage

technical field

The invention relates to a storage robot, in particular to an intelligent loading and unloading device for warehouse cold storage.

Background technique

With the emergence of e-commerce platforms, warehousing and logistics are developing more and more rapidly. E-commerce companies such as Alibaba and JD.com have established nationwide intelligent warehousing and logistics centers. The intelligent warehousing system is mainly composed of three-dimensional shelves, tracked roadway stackers, inbound and outbound transportation systems, information identification systems, automatic control systems, computer monitoring systems, computer management systems and other auxiliary equipment. The system adopts first-class integrated logistics Conceptual design, through the application of advanced control, bus, communication and information technology, coordinate the actions of various equipment to realize automatic warehouse entry and exit operations.

One of the most important links in the intelligent storage system is the palletizing and handling of goods. The most widely used in the existing storage system is the Kiva storage robot. When changing the direction of movement, it needs to rotate around its own axis. When moving into a narrow space or corner, this kind of robot is prone to jamming.

Contents of the invention

In order to solve the above problems, the present invention provides an intelligent loading and unloading device for warehouse cold storage, which is suitable for warehouses and cold storage with limited operating space and narrow passages, without the cooperation of other systems, and can independently and accurately realize the access and handling of goods .

The invention is an intelligent loading and unloading device for warehouse cold storage, including an omnidirectional mobile platform, a lifting platform and a mechanical arm; wherein, the omnidirectional mobile platform includes a frame, a drive motor, a mecanum wheel and a shock absorber, and the frame consists of The upper plate, the lower plate and the supporting beams connected between the upper and lower plates and located at the four corners of the upper and lower plates are composed of shock absorber mounting brackets at both ends of the frame, and the mecanum wheel and driving motor are installed on the U-shaped beam. One end of the shock absorber is fixed on the shock absorber mounting bracket, and the other end is fixed on the U-shaped beam;

The lifting platform includes an upper fixed plate, a middle support plate, a lower fixed plate, a screw nut pair and a stepping motor, the lower fixed plate is fixed on the upper plate, the screw passes through the lower fixed plate, and the stepping motor is arranged at the lower end of the upper plate. The stepper motor is connected to the bottom of the lead screw through a coupling, the upper end of the lead screw is set on the upper fixed plate, the middle support plate is connected to the nut, and the middle support plate is connected with a pick-up mechanism, which consists of a load-bearing plate and two One end of the electric telescopic rod is fixed on the nut, and the other end is fixed on the lower end of the bearing plate;

The mechanical arm includes a fixed bracket, a rotating base, a large arm, a small arm, an elbow rotation mechanism, a wrist, and a grabber. The fixed bracket is connected to the upper plate, and the fixed bracket fixes the mechanical arm on the upper plate. The rotating base The bottom is connected to the fixed bracket, the boom is hinged with the rotating base, the boom includes a four-bar linkage mechanism and a first drive mechanism, the first drive mechanism drives the four-bar linkage mechanism to swing up and down and stretch or bend, and the connection of the elbow rotation mechanism The seat is connected to the upper part of the four-bar linkage mechanism of the big arm. The output end of the elbow rotation mechanism is connected with the forearm, and the end of the forearm is connected with the wrist. connected to the device.

The driving wheels of the omni-directional mobile platform are all mecanum wheels, and there are many small rollers distributed obliquely on the rim of the mecanum wheels. These angled peripheral axles convert part of the wheel steering force into a wheel normal phase. force, and rely on the direction and speed of the respective wheels to synthesize the resultant force vector in any required direction, so the mecanum wheel can ensure that the robot moves to any position without changing the direction of the wheel from the top. Because there is no need to change the direction through rotation, it can move freely in warehouses and cold storages with limited space and narrow roads. Even at right-angle turns, with its own movement characteristics, it can also achieve right-angle corners without rotation; the shock absorber can Prevent the shaking of the goods being carried due to vibration during the moving process of the mobile platform, and improve the stability of the device during the handling process; the stepping motor on the lifting platform drives the screw to rotate to realize the nut lifting, and the nut drives the take-out on the middle support plate. The delivery mechanism lifts to different heights, and the delivery mechanism drives the load-bearing plate through the electric telescopic rod to take out the goods from the shelf or place the goods on the shelf, so as to realize more accurate handling or loading and unloading of different categories of goods; using six degrees of freedom The robotic arm can realize precise operations in the space of the robotic arm. For picking up goods of different sizes, the robotic arm can adjust its posture to ensure the self-balance of the device during the full-load walking process of the device. In order to ensure the stability of the cargo during the upgrading process of the lifting platform, the robotic arm Hold the shelf firmly with the clamps to secure the unit.

Further, a bearing seat 1 is fixed at the middle position of the lower end of the lower plate, and a bearing seat 2 is fixed at the middle position of the lower end of the U-shaped beam, and the two bearing seats are connected through a main shaft.

The U-shaped beam at the front end and the U-shaped beam at the rear end are connected to the frame through the main shaft. During the movement of the platform, the U-shaped beam at the front end and the U-shaped beam at the rear end will swing around the main shaft to compensate for the microphone on both sides during the installation and manufacturing process. The deviation of the Mecanum wheel keeps the Mecanum wheel in contact with the ground all the time, and also acts as a buffer against uneven roads or bumps.

Further, the shock absorber includes a gas pressure shock absorber and a spring shock absorber. The shock absorber installation bracket includes a bracket one and a bracket two. The bracket one is supported on the lower plate. A hinged support is fixed, and the gas pressure shock absorber is hinged between the connecting lug plate and the hinged support; one end of the support two is fixed on the upper end of the support one, and the other end extends to the top of the U-shaped beam, and the support two and the U The spring shock absorber is connected between the beams. The spring shock absorber is composed of a spring, a stud and a nut. The bottom of the stud is fixed on the U-shaped beam, and the upper end passes through the through hole on the second bracket and is fixed by the nut. On the studs between the second bracket and the U-shaped beam.

The spring shock absorber can filter the vibration of the road surface, but due to the reciprocating motion of the spring itself, the body will jump up and down, so setting the air shock absorber can suppress this spring jump, and the air shock absorber and the spring shock absorber interact with each other The combined use can eliminate the vibration of the device during the process of carrying goods, so that it can be more stable during the process of carrying and moving.

In order to guide the actuators during the lifting process of the lifting platform, the lifting platform also includes guide posts and guide sleeves on both sides of the screw. The guide sleeves are fixed in the guide holes of the middle support plate, and the bottom of the guide posts is fixed on the bottom on the plate, the upper end of which passes through the middle supporting plate and the upper fixing plate successively.

Further, a camera installation frame is fixed on one of the U-shaped beams, and the camera is installed on the camera installation frame. Through the camera, you can intuitively understand the cargo handling situation, and send the video signal to the main control system.

Further, a battery and a main control board are arranged in the middle of the rack. The battery can be a rechargeable battery, and the battery provides electric energy for the motor in the device and the main control board.

There is a tracking module on the U-shaped beam under the camera. The omnidirectional mobile platform can be moved to the desired position according to the set trajectory by pre-programming the input movement trajectory.

The invention is suitable for warehouses and cold storages with limited operating space and narrow passages. It can change the moving track without rotation, avoiding the transformation of multiple starts and emergency stops, and the transition is smoother and the movement is more stable. The lifting platform can be used for small Batch goods can be picked up and delivered on shelves of different heights, which provides convenience and possibility for placing items of different sizes; the use of a six-degree-of-freedom robotic arm can realize precise operations in the manipulator space, and at the same time, it can be adjusted by adjusting the posture during the full-load walking process. Ensure the self-balance of the device.

Description of drawings

Fig. 1 is a front view of the present invention;

Fig. 2 is the left view of Fig. 1;

Fig. 3 is the top view of Fig. 1;

Fig. 4 is the front view of mechanical arm among Fig. 1;

Fig. 5 is the left view of Fig. 4; Structural schematic diagram;

In the figure: 1, frame; 1.1, upper plate; 1.2, lower plate; 1.3 support beam; 2, drive motor; 3, mecanum wheel; 4, shock absorber; 4.1, air pressure shock absorber; 4.2, spring Shock absorber; 5. Shock absorber installation bracket; 5.1. Bracket one; 5.2. Bracket two; 5.3. Connecting ear plate; 5.4. Hinged support; 6. U-shaped beam; 7. Upper fixing plate; 8. Middle support Plate; 9. Lower fixed plate; 10. Lead screw and nut pair; 10.1. Lead screw; 10.2. Nut; 11. Stepper motor; 12. Coupling; Telescopic rod; 14, fixed bracket; 15, rotating base; 16, big arm; 17, forearm; 18, elbow rotation mechanism; 19, wrist; 20, grasping device; 21, bearing seat one; 22, Bearing seat two; 23, main shaft; 24, guide post; 25, guide sleeve; 26, camera mounting frame; 27, camera; 28, battery; 29, main control board; 30, tracking module.

Detailed ways

The present invention will be further described below in conjunction with accompanying drawing.

As shown in Figures 1 to 5, an intelligent loading and unloading device for warehouse cold storage includes an omnidirectional mobile platform, a lifting platform and a mechanical arm; wherein, the omnidirectional mobile platform includes a frame 1, a drive motor 2, a mecanum wheel 3 and a shock absorber 4, the frame 1 is composed of an upper plate 1.1, a lower plate 1.2 and a support beam 1.3 connected between the upper and lower plates and located at the four corners of the upper and lower plates, and the two ends of the frame 1 are provided with shock absorbers The mounting bracket 5, the mecanum wheel 3 and the driving motor 2 are installed on the U-shaped beam 6, one end of the shock absorber 4 is fixed on the shock absorber mounting bracket 5, and the other end is fixed on the U-shaped beam 6;

The lifting platform includes an upper fixed plate 7, a middle support plate 8, a lower fixed plate 9, a screw nut pair 10 and a stepping motor 11, the lower fixed plate 9 is fixed on the upper plate 1.1, and the lead screw 10.1 passes through the lower fixed plate 9, The stepping motor 11 is arranged on the lower end of the upper plate 1.1, the stepping motor 11 is connected with the bottom of the lead screw 10.1 through the coupling 12, the upper end of the lead screw 10.1 is set on the upper fixing plate 7, and the middle support plate 8 is connected on the nut 10.2, The middle support plate 8 is connected with a pick-up mechanism 13, the pick-up mechanism is composed of a load-bearing plate 13.1 and two electric telescopic rods 13.2, one end of the electric telescopic rod 13.2 is fixed on the nut 10.2, and the other end is fixed on the lower end of the load-bearing plate 13.1;

Mechanical arm comprises fixed support 14, rotating base 15, big arm 16, forearm 17, elbow rotation mechanism 18, wrist 19 and grasper 20, and fixed support 14 is connected on the upper plate 1.1, and fixed support will mechanical arm Fixed on the upper plate, the bottom of the rotating base 15 is connected to the fixed bracket 14, the boom 16 is hinged with the rotating base 15, the boom 16 includes a four-bar linkage mechanism and a first driving mechanism, and the first driving mechanism drives the four-bar linkage The mechanism swings up and down and stretches or bends. The connection seat of the elbow rotation mechanism 14 is connected to the upper section of the four-bar linkage mechanism of the boom. , the wrist is a freestyle steering wheel, and the output end of the wrist is connected to the grabber 20.

The driving wheels of the omni-directional mobile platform all use mecanum wheels 3, and many small rollers are distributed obliquely on the rim of the mecanum wheels. These angled peripheral axles convert part of the wheel steering force to a wheel The normal phase force above, and relying on the direction and speed of the respective wheels, synthesizes the resultant force vector in any required direction, so the Mecanum wheel can ensure that the robot moves to any position without changing the direction of the wheel from above. It is precisely because there is no need to change the direction through rotation, so it can move freely in warehouses and cold storages with limited space and narrow roads. Even at right-angle turns, with its own movement characteristics, it can also achieve right-angle corners without rotation; shock absorbers 4. It can prevent the shaking of the goods being carried due to vibration during the movement of the mobile platform, and improve the stability of the device during the transportation process; the stepping motor 11 on the lifting platform drives the screw 10.1 to rotate to realize the lifting of the nut 10.2, and the nut 10.2 drives The pick-up mechanism 13 on the middle support plate 8 lifts to different heights, and the pick-up mechanism drives the load-bearing plate 13.1 through the electric telescopic rod 13.2 to realize taking out the goods from the shelf or placing the goods on the shelf, thereby realizing the replacement of goods in different categories. Accurate handling or loading and unloading; the six-degree-of-freedom robotic arm can realize precise operations in the manipulator space. For picking up goods of different sizes, the robotic arm can adjust its posture to ensure the self-balance of the device during the full-load walking process of the device. During the upgrading process of the lifting platform In order to ensure the stability of the goods, the robotic arm can also hold the shelf through the gripper to firmly fix the device.

As shown in Figures 1 and 2, a bearing seat 1 21 is fixed at the middle position of the lower end of the lower plate 1.2, and a bearing seat 2 22 is fixed at the middle position of the lower end of the U-shaped beam 6, and the two bearing seats are connected by a main shaft 23.

The U-shaped beam at the front end and the U-shaped beam at the rear end are connected to the frame 1 through the main shaft 23. During the movement of the platform, the U-shaped beam at the front end and the U-shaped beam at the rear end will swing around the main shaft to compensate for the two forces in the installation and manufacturing process. The deviation of the side mecanum wheels keeps the mecanum wheels in contact with the ground all the time, and also acts as a buffer against uneven roads or bumps.

As shown in Figures 1 to 3, the shock absorber 4 includes a gas pressure shock absorber 4.1 and a spring shock absorber 4.2, and the shock absorber mounting bracket 5 includes a bracket one 5.1 and a bracket two 5.2, and the bracket one 5.1 is supported on the lower plate 1.2, and the bracket The two ends of one 5.1 have connecting lugs 5.3, and the U-shaped beam 6 is fixed with a hinged support 5.4, and the gas pressure shock absorber 4.1 is hinged between the connecting lug 5.3 and the hinged support 5.4; one end of the bracket two 5.2 is fixed on The upper end of support one 5.1, the other end extends to directly above the U-shaped beam 6, the spring shock absorber 4.2 is connected between the support two 5.2 and the U-shaped beam 6, and the spring shock absorber 4.2 is made up of a spring, a stud and a nut. The column bottom is fixed on the U-shaped beam 6, and the upper end passes through the through hole on the support two 5.2 and is fixed by a nut, and the spring is sleeved on the stud between the support two 5.2 and the U-shaped beam 6.

The spring shock absorber can filter the vibration of the road surface, but due to the reciprocating motion of the spring itself, the body will jump up and down, so setting the air shock absorber can suppress this spring jump, and the air shock absorber and the spring shock absorber interact with each other The combined use can eliminate the vibration of the device during the process of carrying goods, so that it can be more stable during the process of carrying and moving.

In order to play a guiding role for the actuators in the lifting process of the lifting platform, the lifting platform also includes guide posts 24 and guide sleeves 25 arranged on both sides of the lead screw 10.1, and the guide sleeves 25 are fixed in the guide holes of the middle support plate 8. The bottom of the column 24 is fixed on the lower fixing plate 9, and its upper end passes through the middle supporting plate 8 and the upper fixing plate 7 in turn.

As shown in FIG. 1 , a camera installation frame 26 is fixed on one of the U-shaped beams 6 , and a camera 27 is installed on the camera installation frame 26 . Through the camera, you can intuitively understand the cargo handling situation, and send the video signal to the main control system.

Further, a battery 28 and a main control board 29 are arranged in the middle of the rack 1 . The battery can be a rechargeable battery, and the battery provides electric energy for the motor in the device and the main control board.

A tracking module 30 is provided on the U-shaped beam 6 below the camera 27 . The omnidirectional mobile platform can be moved to the desired position according to the set trajectory by pre-programming the input movement trajectory.

Claims (7)

1. An intelligent loading and unloading device for a warehouse cold storage is characterized by comprising an all-directional moving platform, a lifting platform and a mechanical arm; wherein,

the omnibearing moving platform comprises a rack (1), a driving motor (2), Mecanum wheels (3) and shock absorbers (4), wherein the rack (1) consists of an upper plate (1.1), a lower plate (1.2) and supporting beams (1.3) which are connected between the upper plate and the lower plate and positioned at four corners of the upper plate and the lower plate, shock absorber mounting brackets (5) are arranged at two ends of the rack (1), the Mecanum wheels (3) and the driving motor (2) are mounted on a U-shaped beam (6), one end of each shock absorber (4) is fixed on each shock absorber mounting bracket (5), and the other end of each shock absorber (4) is fixed on the U-shaped beam (6);

the lifting platform comprises an upper fixing plate (7), a middle supporting plate (8), a lower fixing plate (9), a screw-nut pair (10) and a stepping motor (11), wherein the lower fixing plate (9) is fixed on the upper plate (1.1), the screw (10.1) penetrates through the lower fixing plate (9), the stepping motor (11) is arranged at the lower end of the upper plate (1.1), the stepping motor (11) is connected with the bottom of the screw (10.1) through a coupler (12), the upper end of the screw (10.1) is sleeved on the upper fixing plate (7), the middle supporting plate (8) is connected onto the nut (10.2), the middle supporting plate (8) is connected with a taking and feeding mechanism (13) which consists of a bearing plate (13.1) and two electric telescopic rods (13.2), one end of each electric telescopic rod (13.2) is fixed on the nut (10.2), and the other end of each electric telescopic rod (13.2) is fixed at;

the mechanical arm comprises a fixed support (14), a rotary base (15), a large arm (16), a small arm (17), an elbow rotating mechanism (18), a wrist part (19) and a grab device (20), wherein the fixed support (14) is connected to an upper plate (1.1), the mechanical arm is fixed on the upper plate by the fixed support, the bottom of the rotary base (15) is connected to the fixed support (14), the large arm (16) is hinged to the rotary base (15), the large arm (16) comprises a four-bar linkage mechanism and a first driving mechanism, the first driving mechanism drives the four-bar linkage mechanism to swing up and down and extend or bend, a connecting seat of the elbow rotating mechanism (14) is connected to the upper section of the four-bar linkage mechanism of the large arm, the output end of the elbow rotating mechanism (18) is connected with the small arm (17), and the tail end of the small arm (17) is connected with the, the wrist is a free rudder disc, and the output end of the wrist is connected with the grab gripper (20).

2. The intelligent handling device for the warehouse freezer according to claim 1, characterized in that a first bearing seat (21) is fixed at the middle position of the lower end of the lower plate (1.2), a second bearing seat (22) is fixed at the middle position of the lower end of the U-shaped beam (6), and the two bearing seats are connected through a main shaft (23).

3. The intelligent handling device for the warehouse freezer according to claim 2, characterized in that the shock absorber (4) comprises a pneumatic shock absorber (4.1) and a spring shock absorber (4.2), the shock absorber mounting bracket (5) comprises a first bracket (5.1) and a second bracket (5.2), the first bracket (5.1) is supported on the lower plate (1.2), the connecting lug plates (5.3) are arranged at two ends of the first bracket (5.1), the U-shaped beam (6) is fixed with the hinge supports (5.4), and the pneumatic shock absorber (4.1) is hinged between the connecting lug plates (5.3) and the hinge supports (5.4); one end of a second support (5.2) is fixed at the upper end of the first support (5.1), the other end of the second support extends to the position right above the U-shaped beam (6), a spring shock absorber (4.2) is connected between the second support (5.2) and the U-shaped beam (6), the spring shock absorber (4.2) is composed of a spring, a stud and a nut, the bottom of the stud is fixed on the U-shaped beam (6), the upper end of the stud penetrates through a through hole in the second support (5.2) and is fixed by the nut, and the spring is sleeved on the stud between the second support (5.2) and the U-shaped beam (6).

4. The intelligent handling device for the warehouse freezer according to claim 3, characterized in that the elevating platform further comprises guide posts (24) and guide sleeves (25) arranged at both sides of the screw rod (10.1), the guide sleeves (25) are fixed in the guide holes of the middle support plate (8), the bottoms of the guide posts (24) are fixed on the lower fixing plate (9), and the upper ends thereof sequentially penetrate through the middle support plate (8) and the upper fixing plate (7).

5. The intelligent handling device for the warehouse freezer according to claim 4, characterized in that a camera mounting bracket (26) is fixed to one of the U-shaped beams (6), and the camera (27) is mounted on the camera mounting bracket (26).

6. The intelligent handling device for the warehouse freezer according to claim 5, characterized in that a battery (28) and a main control board (29) are provided in the middle of the rack (1).

7. The intelligent handling device for a warehouse freezer according to any one of claims 1 to 6, characterized in that a tracking module (30) is provided on the U-beam (6) below the camera (27).