CN113305854A - Freight transport robot - Google Patents
Freight transport robot Download PDFInfo
- Publication number
- CN113305854A CN113305854A CN202110460087.0A CN202110460087A CN113305854A CN 113305854 A CN113305854 A CN 113305854A CN 202110460087 A CN202110460087 A CN 202110460087A CN 113305854 A CN113305854 A CN 113305854A
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- robot
- controller
- robot body
- mounting plates
- freight
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- 210000000078 claw Anatomy 0.000 claims abstract description 17
- 230000005540 biological transmission Effects 0.000 claims abstract description 4
- 230000000694 effects Effects 0.000 abstract description 7
- 238000000034 method Methods 0.000 abstract description 6
- 230000032258 transport Effects 0.000 description 21
- 230000033001 locomotion Effects 0.000 description 11
- 230000035939 shock Effects 0.000 description 7
- 210000000245 forearm Anatomy 0.000 description 4
- 239000000725 suspension Substances 0.000 description 3
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 238000010521 absorption reaction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0091—Shock absorbers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a freight robot, which comprises a robot body, a controller, mechanical arms, a claw assembly and a pulley assembly, wherein the controller is arranged on the robot body; the radar is arranged at the bottom of the hook component and is wirelessly connected with the controller for data transmission, and the controller respectively controls and connects the hook component and the hub motor; a rechargeable battery arranged on the robot body is arranged on the upper side of the pulley component; the robot body is provided with a suspended hook component and a movable mechanical arm, so that the technical effect of no need of manual participation in the loading and unloading processes of cargos is realized; the freight transport robot is structurally designed into a cross-country type frame, and the chassis of the robot body is designed to be placed on a cargo bin, so that the freight transport robot can not only operate indoors, but also carry out freight transport outdoors and in cross-country zones.
Description
Technical Field
The invention relates to the field of robots, in particular to a freight robot.
Background
The existing freight robots mostly adopt a separated AGV robot, a common integrated freight robot and an unmanned freight vehicle, when the common integrated freight robot is used, a machine body is internally arranged and a goods bin can not be replaced, the separated AGV robot needs to be fixed on a platform at present, although goods can be replaced, the loading and unloading of the goods need to be manually carried out, but the separated AGV robot is only suitable for an indoor warehouse environment; meanwhile, the unmanned freight vehicle is suitable for being outdoors, is large in size and high in price, and therefore a freight robot suitable for various use scenes is needed.
Disclosure of Invention
The technical problem to be solved by the invention is that a common integrated freight robot is internally provided with a machine body and can not replace a freight warehouse, the prior separated AGV robot needs to be fixed on a platform, although goods can be replaced, the loading and unloading of the goods need to be carried out manually, but the separated AGV robot is only suitable for the indoor warehouse environment; meanwhile, the unmanned freight vehicle is suitable for being outdoors, and has large volume and high price, and the invention provides the freight robot which adopts the technical effect that the suspension type claw component and the movable mechanical arm are arranged on the robot body to realize the loading and unloading process of goods without manual participation; the structure of the freight transport robot is designed into a cross-country type frame, and the chassis of the robot body is designed on the cargo compartment, so that the freight transport robot can not only operate indoors, but also transport freight outdoors and in cross-country zones, greatly enhances the movement trafficability of the freight transport robot, and overcomes the defects caused by the prior art.
In order to solve the technical problems, the invention provides the following technical scheme:
a freight transport robot comprises a robot body, a controller, mechanical arms, a claw assembly and a pulley assembly, wherein the controller is installed on the robot body, the mechanical arms are axially installed on two sides of the robot body, the claw assembly is installed on one side of the bottom of the robot body, the pulley assembly is installed on the other side of the bottom of the robot body, and hub motors are installed at the other ends of the two mechanical arms;
the bottom of the hook component is provided with a radar which is wirelessly connected with the controller for data transmission, and the controller is respectively connected with the hook component and the hub motor in a control way;
a rechargeable battery mounted on the robot body is arranged on the upper side of the pulley assembly, and the rechargeable battery is electrically connected to the controller and the hub motor;
the radar is used for detecting goods around the freight robot in real time, when the radar detects the goods, the radar feeds back the goods to the controller, and the controller controls the hub motor to move to drive the freight robot to move above the goods to prepare for grabbing the goods; the controller controls the hook claw assembly to grab goods for freight transportation, then controls the hub motor to move the freight robot to a designated place, then controls the hook claw assembly to put down the goods to finish the freight transportation, and then controls the hub motor to leave (leave in a reverse mode) to carry out the freight transportation of the next goods, so that the function of automatically loading the goods is realized, and the automatic closed loop is realized.
The freight transport robot is characterized in that mounting plates are arranged on two sides of the robot body, the mechanical arm is mounted on the mounting plates, the pulley assembly is arranged between the two mounting plates and connected to the inner walls of the two mounting plates, and the rechargeable battery is arranged on the upper side of the pulley assembly and connected to the inner walls of the two mounting plates;
the hook component is arranged between the two mounting plates and connected to the two inner walls of the mounting plates, and the controller is arranged on the upper side of the hook component and connected to the two inner walls of the mounting plates.
The freight robot comprises a hanger and hooks, wherein two sides of the hanger are connected to the inner wall of the mounting plate through electric push rods, the hooks are connected to the bottom of the hanger through servo motors, a controller is respectively in control connection with the electric push rods and the servo motors, the number of the electric push rods is four, the number of the hooks is four, the controller controls the servo motors to control the hooks to grab goods (the hanger is generally manufactured to be the same as the size of the goods to be clamped, the goods are generally a box body, concave holes matched with the hooks are reserved in the top of the box body, and the hooks are in an open and flicked state in a power-on state, namely are separated from the concave holes in the box body and are meshed with the concave holes in the box body in a power-off state; the hanging frame is designed to be hung below the robot body in a front-back two-group mode, the hanging frame is pushed by the electric push rods to move up and down, namely, the hook claw electrically picks up or puts down the box body when the robot body moves and the electric push rods push the hanging frame to move up and down.
Foretell cargo transport robot, wherein, the arm contains forearm, postbrachium, shock attenuation pole, the apron is installed at the top of forearm, the both ends of shock attenuation pole respectively the hub dynamo connect in the apron the postbrachium is connected, in-wheel motor connect in the other end of postbrachium, the cover is equipped with the spring on the shock attenuation pole.
The above freight robot comprises a pulley assembly, a pulley support and a universal wheel, wherein the pulley assembly comprises the pulley support and the universal wheel, the pulley support is arranged between the two mounting plates and is axially and movably connected to the inner walls of the two mounting plates, and the universal wheel is connected to the bottom of the pulley support.
The above freight robot comprises a pulley support, a connecting rod and a connecting plate, wherein the connecting rod is connected to two sides of the connecting plate in an axial motion manner and is in axial motion connection with the connecting plate, and the hub motor is connected to the bottom of the connecting plate.
The above freight robot, wherein the radar is a SLAM radar.
According to the existing freight robot, a cargo bin is arranged above the robot, the cargo is placed in the cargo bin and needs human participation, an unmanned solution is not really realized, people need to be informed to take the cargo after the cargo is delivered to a destination, if the cargo is not taken manually, the robot cannot continue to take and transport the next cargo, the technical scheme provides the freight robot which adopts a claw type claw component grabbing design, automatically grabs target cargo and transports the target cargo to a specified place for releasing, the cargo is not needed to be loaded and unloaded continuously in the whole process, and the freight efficiency is greatly improved.
The existing robot adopts a low chassis design, has limited obstacle capacity and is only suitable for being carried out indoors or on a flat road surface.
According to the technical scheme provided by the freight robot, the invention has the following technical effects:
according to the freight robot provided by the technical scheme, the technical effect that no manual participation is needed in the loading and unloading processes of cargos is achieved by mounting the suspended hook component and the movable mechanical arm on the robot body;
the freight robot structure of this technical scheme designs into the frame of cross-country formula, puts the chassis design of robot body on the goods storehouse, not only can be in indoor operation, can both carry out the freight transportation in outdoor and cross-country area moreover, has strengthened his motion trafficability characteristic greatly.
Drawings
Fig. 1 is a schematic structural diagram of a freight robot according to the present invention.
Wherein the reference numbers are as follows:
the robot comprises a robot body 101, a mechanical arm 102, a claw assembly 103, a pulley assembly 104, a hub motor 105, a radar 106, a rechargeable battery 107, a mounting plate 108, a hanger 109, a hook 110, a front arm 111, a rear arm 112, a shock absorption rod 113, a cover plate 114, a spring 115, a universal wheel 116, a connecting rod 117, a connecting plate 118 and goods 119.
Detailed Description
In order to make the technical means, the inventive features, the objectives and the effects of the invention easily understood and appreciated, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the specific drawings, and it is obvious that the described embodiments are a part of the embodiments of the present invention, but not all of the embodiments.
All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.
It should be understood that the structures, ratios, sizes, and the like shown in the drawings and described in the specification are only used for matching with the disclosure of the specification, so as to be understood and read by those skilled in the art, and are not used to limit the conditions under which the present invention can be implemented, so that the present invention has no technical significance, and any structural modification, ratio relationship change, or size adjustment should still fall within the scope of the present invention without affecting the efficacy and the achievable purpose of the present invention.
In addition, the terms "upper", "lower", "left", "right", "middle" and "one" used in the present specification are for clarity of description, and are not intended to limit the scope of the present invention, and the relative relationship between the terms and the terms is not to be construed as a scope of the present invention.
The invention provides a freight robot, aiming at realizing the technical effect of no need of manual participation in the loading and unloading processes of cargos by adopting a suspension type claw component and a movable mechanical arm which are arranged on a robot body; the freight transport robot is structurally designed into a cross-country type frame, and the chassis of the robot body is designed to be placed on a cargo bin, so that the freight transport robot can operate indoors and can carry out freight transport outdoors and in cross-country zones, and the movement trafficability of the freight transport robot is greatly enhanced.
As shown in fig. 1, a cargo robot includes a robot body 101, a controller mounted on the robot body 101, two mechanical arms 102 axially mounted on two sides of the robot body 101, a hook assembly 103 mounted on one side of the bottom of the robot body 101, and a pulley assembly 104 mounted on the other side of the bottom of the robot body 101, wherein the other ends of the two mechanical arms 102 are respectively provided with a hub motor 105;
the bottom of the hook component 103 is provided with a radar 106, the radar 106 is wirelessly connected with a controller for data transmission, and the controller respectively controls the connection of the hook component 103 and the hub motor 105;
a rechargeable battery 107 mounted on the robot body 101 is arranged on the upper side of the pulley assembly 104, and the rechargeable battery 107 is electrically connected with the controller and the hub motor 105;
the radar 106 is used for detecting goods 119 around the freight robot in real time, when the radar 106 detects the goods 119, the radar feeds back the goods 119 to the controller, and the controller controls the hub motor 105 to move to drive the freight robot to move above the goods 119 to prepare for grabbing the goods 119; then the controller controls the hook component 103 to grab the goods 119 for freight transportation, then the controller controls the hub motor 105 to move the freight robot to a specified place, then the controller controls the hook component 103 to put down the goods 119 to complete the freight transportation, then the controller controls the hub motor 105 to leave (leave in a reverse mode) to carry out the freight transportation of the next goods 119, the function of automatically loading the goods 119 is realized, and an automatic closed loop is realized.
Wherein, the robot body 101 is provided with mounting plates 108 on both sides, the robot arm 102 is mounted on the mounting plates 108, the pulley assembly 104 is arranged between the two mounting plates 108 and connected to the inner walls of the two mounting plates 108, and the rechargeable battery 107 is arranged on the upper side of the pulley assembly 104 and connected to the inner walls of the two mounting plates 108;
the finger assembly 103 is disposed between the two mounting plates 108 and connected to the inner walls of the two mounting plates 108, and the controller is disposed on the upper side of the finger assembly 103 and connected to the inner walls of the two mounting plates 108.
The hook component 103 comprises a hanger 109 and hooks 110, two sides of the hanger 109 are connected to the inner wall of the mounting plate 108 through electric push rods, the hooks 110 are connected to the bottom of the hanger 109 through servo motors, a controller is respectively connected with the electric push rods and the servo motors in a control mode, the electric push rods are provided with four hooks 110, the controller controls the servo motors to control the hooks 110 to grab goods 119 (the hanger 109 is generally manufactured to be the same as the goods 119 to be clamped, the goods 119 are generally a box body, concave holes matched with the hooks are reserved in the top of the box body, and the hooks are in an open and flick state in a power-on state, namely are separated from the concave holes in the box body and are meshed with the concave holes in the box body in a power-off state; the hanger 109 adopts a hanging design, is hung below the robot body 101 in a front and back two groups of electric push rods, and is pushed to move up and down by the electric push rods, namely, the operation of picking up or putting down the box body is realized by the self movement of the robot body 101, the up and down movement of the hanger 109 by the electric push rods, and the up and down movement of the hook claw.
Wherein, arm 102 contains forearm 111, postbrachium 112, shock attenuation pole 113, and apron 114 is installed at the top of forearm 111, and the both ends of shock attenuation pole 113 are the hub movement respectively and are connected in apron 114, postbrachium 112, and in-wheel motor 105 is connected in the other end of postbrachium 112, the cover is equipped with spring 115 on the shock attenuation pole 113.
The pulley assembly 104 includes a pulley bracket and a universal wheel 116, the pulley bracket is disposed between the two mounting plates 108 and is axially connected to the inner walls of the two mounting plates 108, and the universal wheel 116 is connected to the bottom of the pulley bracket.
Wherein, the pulley support contains connecting rod 117, connecting plate 118, and the both sides of connecting plate 118 are all connected with the connecting rod 117 with connecting plate 118 axle swing joint, and in-wheel motor 105 is connected in the bottom of connecting plate 118.
The radar 106 is a SLAM radar.
The existing freight robot is characterized in that a cargo bin is arranged above the robot, the goods 119 are placed in the cargo bin and need to be participated by people when being taken, actually, no unmanned solution is really realized, people need to be informed to take after the goods are delivered to a destination, if the goods 119 are not taken by people, the robot cannot continue to take and transport the next batch of goods, the technical scheme provides the freight robot which adopts the claw component 103 in the claw type to grab a design, the target goods 119 are automatically grabbed and transported to a designated place to be released, the whole process does not need the participation of people, the goods 119 are continuously loaded and unloaded, and the freight efficiency is greatly improved.
The existing robot adopts a low chassis design, has limited obstacle capacity and is only suitable for being carried out indoors or on flat pavements, the freight transport robot structure of the technical scheme is designed into a cross-country type frame, the chassis of the robot body 101 is designed to be placed on a cargo 119 bin, so that the robot can be operated indoors and can carry out freight transport outdoors and in cross-country zones, and the movement trafficability of the robot is greatly enhanced.
In conclusion, the freight robot provided by the invention has the technical effects that the suspension type claw component and the movable mechanical arm are arranged on the robot body, so that the goods are loaded and unloaded without manual participation; the freight transport robot is structurally designed into a cross-country type frame, and the chassis of the robot body is designed to be placed on a cargo bin, so that the freight transport robot can operate indoors and can carry out freight transport outdoors and in cross-country zones, and the movement trafficability of the freight transport robot is greatly enhanced.
Specific embodiments of the invention have been described above. It is to be understood that the invention is not limited to the particular embodiments described above, in that devices and structures not described in detail are understood to be implemented in a manner common in the art; various changes or modifications may be made by one skilled in the art within the scope of the claims without departing from the spirit of the invention, and without affecting the spirit of the invention.
Claims (8)
1. A freight transport robot is characterized by comprising a robot body, a controller, mechanical arms, a claw assembly and a pulley assembly, wherein the controller is installed on the robot body, the mechanical arms are axially installed on two sides of the robot body, the claw assembly is installed on one side of the bottom of the robot body, the pulley assembly is installed on the other side of the bottom of the robot body, and wheel hub motors are installed at the other ends of the two mechanical arms;
the bottom of the hook component is provided with a radar which is wirelessly connected with the controller for data transmission, and the controller is respectively connected with the hook component and the hub motor in a control way;
the upper side of the pulley assembly is provided with a rechargeable battery which is arranged on the robot body, and the rechargeable battery is electrically connected with the controller and the hub motor.
2. The cargo transport robot according to claim 1, wherein mounting plates are provided on both sides of the robot body, the robot arm is mounted on the mounting plates, the pulley assembly is disposed between and connected to inner walls of the two mounting plates, and the rechargeable battery is disposed on an upper side of the pulley assembly and connected to inner walls of the two mounting plates;
the hook component is arranged between the two mounting plates and connected to the two inner walls of the mounting plates, and the controller is arranged on the upper side of the hook component and connected to the two inner walls of the mounting plates.
3. The cargo transport robot according to claim 2, wherein the hook assembly comprises a hanger and a hook, both sides of the hanger are connected to the inner wall of the mounting plate through electric push rods, the hook is connected to the bottom of the hanger through a servo motor, and the controller is respectively connected with the electric push rods and the servo motor in a control mode.
4. The cargo transport robot according to claim 3, wherein the number of the electric push rods is four, and the number of the hooks is four.
5. The cargo transport robot according to any one of claims 2-4, wherein the mechanical arm comprises a front arm, a rear arm and a shock-absorbing rod, a cover plate is mounted on the top of the front arm, two ends of the shock-absorbing rod are respectively and axially connected to the cover plate and the rear arm, the hub motor is connected to the other end of the rear arm, and a spring is sleeved on the shock-absorbing rod.
6. The cargo transport robot according to claim 5, wherein the pulley assembly comprises a pulley bracket disposed between and pivotally connected to inner walls of the two mounting plates, and a universal wheel connected to a bottom of the pulley bracket.
7. The cargo transport robot according to claim 6, wherein the pulley bracket comprises a connecting rod and a connecting plate, the connecting rod is pivotally connected to both sides of the connecting plate, the connecting rod is pivotally connected to the connecting plate, and the hub motor is connected to the bottom of the connecting plate.
8. A cargo robot as claimed in claim 1, wherein the radar is a SLAM radar.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310749009.1A CN116749210A (en) | 2021-04-27 | 2021-04-27 | Freight robot |
| CN202110460087.0A CN113305854A (en) | 2021-04-27 | 2021-04-27 | Freight transport robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110460087.0A CN113305854A (en) | 2021-04-27 | 2021-04-27 | Freight transport robot |
Related Child Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310749009.1A Division CN116749210A (en) | 2021-04-27 | 2021-04-27 | Freight robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113305854A true CN113305854A (en) | 2021-08-27 |
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Family Applications (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110460087.0A Pending CN113305854A (en) | 2021-04-27 | 2021-04-27 | Freight transport robot |
| CN202310749009.1A Pending CN116749210A (en) | 2021-04-27 | 2021-04-27 | Freight robot |
Family Applications After (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310749009.1A Pending CN116749210A (en) | 2021-04-27 | 2021-04-27 | Freight robot |
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| CN (2) | CN113305854A (en) |
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| Publication number | Publication date |
|---|---|
| CN116749210A (en) | 2023-09-15 |
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Application publication date: 20210827 |