CN212638695U - Intelligent warehousing cargo allocation robot and system - Google Patents
Intelligent warehousing cargo allocation robot and system Download PDFInfo
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- CN212638695U CN212638695U CN202020326928.XU CN202020326928U CN212638695U CN 212638695 U CN212638695 U CN 212638695U CN 202020326928 U CN202020326928 U CN 202020326928U CN 212638695 U CN212638695 U CN 212638695U
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- 230000001174 ascending effect Effects 0.000 description 6
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Abstract
The utility model provides an intelligent storage cargo handling robot and system, the robot includes: the lifting mechanism is arranged on the supporting plate, the supporting frame is arranged on the supporting plate, and the control device is arranged on the supporting frame; the control device includes: the device comprises a controller, a touch screen, a wireless module, a sensor module, a camera module and a positioning module, wherein the touch screen and the wireless module are electrically connected with the controller, the sensor module, the camera module and the positioning module are electrically connected with the input end of the controller, and the output end of the controller is electrically connected with the input end of the driving mechanism and the input end of the lifting mechanism. Based on the utility model discloses, realize automatic delivery goods to different positions and height through the robot, facilitate for the warehouse delivery field.
Description
Technical Field
The utility model relates to a storage cargo handling robot field, in particular to intelligent storage cargo handling robot and system.
Background
The intelligent warehousing and distribution takes a large warehouse as a platform, integrates facilities related to warehousing by utilizing an indoor positioning technology, a network communication technology, a safety obstacle avoidance technology and an automatic control technology, constructs an efficient warehousing and distribution management system, improves the safety and convenience of distribution, and realizes an environment-friendly and energy-saving distribution environment.
One important link in intelligent storage and distribution is the distribution link. However, in the distribution link and the delivery link in the prior art, the worker pushes the distribution vehicle, and the problem of inconvenience in taking high-place goods may be encountered in the distribution process, so that the requirements of the worker on convenience and rapidity in the distribution process are difficult to meet. In view of this, the present application provides an intelligent warehousing and distribution robot and system.
SUMMERY OF THE UTILITY MODEL
The utility model discloses an intelligent storage cargo handling robot and system aims at realizing automatic delivery goods to different positions and height through the robot.
The utility model discloses a realize like this:
the utility model discloses a first embodiment provides an intelligent storage cargo handling robot, include: the lifting mechanism is arranged on the supporting plate, the supporting frame is arranged on the supporting plate, and the control device is arranged on the supporting frame;
the control device includes: the device comprises a controller, a touch screen, a wireless module, a sensor module, a camera module and a positioning module, wherein the touch screen and the wireless module are electrically connected with the controller, the sensor module, the camera module and the positioning module are electrically connected with the input end of the controller, and the output end of the controller is electrically connected with the input end of the driving mechanism and the input end of the lifting mechanism.
Preferably, the lifting mechanism includes: the device comprises a first steering engine, a first transmission gear, a first transmission rack, a first steering engine, a first transmission rod, a second steering engine, a second transmission gear, a second transmission rack, a second transmission rod and a bearing platform;
the first steering gear is arranged on the supporting plate, the output teeth of the first steering gear are meshed with the first transmission teeth, the first transmission teeth are meshed with the first transmission rack, the first end of the first transmission rod is fixed to the first transmission rack, the second steering gear is arranged on the supporting plate, the output teeth of the second steering gear are meshed with the second transmission teeth, the second transmission teeth are meshed with the second transmission rack, the first end of the second transmission rod is fixed to the second transmission rack, and the second end of the first transmission rod and the second end of the second transmission rod are fixed to the bearing table.
Preferably, the first transmission rod and the second transmission rod are arranged below the bearing platform in a crossed mode and hinged at the crossed position.
Preferably, the storage cabinet is arranged on the support plate, and the support frame is arranged above the storage cabinet.
Preferably, the sensor module includes: the ultrasonic sensor comprises a gray sensor, a first ultrasonic sensor and a second ultrasonic sensor;
the first ultrasonic sensor, the second ultrasonic sensor and the grayscale sensor are electrically connected to an input terminal of the controller, the grayscale sensor is disposed at a front end of the support plate, the first ultrasonic sensor is disposed at a left end of the support plate, and the second ultrasonic sensor is disposed at a right end of the support plate.
Preferably, the lifting device further comprises a button module, wherein the button module is arranged on the side part of the lifting mechanism, and the button module is electrically connected with the input end of the controller;
wherein the button module includes: an up button, a down button, a shipment button.
Preferably, the camera module includes: the camera, the fixed frame, the first movable piece and the second movable piece;
the camera is fixed on the fixed frame, the bottom of the fixed frame is hinged to the upper portion of the first moving part, the side portion of the first moving part is hinged to the side portion of the second moving part, and the second moving part is fixed on the supporting frame.
Preferably, the driving module includes: the first motor, the second motor, the third motor, the fourth motor, the first microphone mother wheel, the second microphone mother wheel, the third microphone mother wheel and the fourth microphone mother wheel are arranged on the supporting plate;
the input ends of the first motor, the second motor, the third motor and the fourth motor are electrically connected with the output end of the controller, the output shaft of the first motor is connected with the first Mikana female wheel, the output shaft of the second motor is connected with the second Mikana female wheel, the output shaft of the third motor is connected with the third Mikana female wheel, and the output shaft of the fourth motor is connected with the fourth Mikana female wheel.
The utility model discloses the second embodiment provides a smart storage cargo handling robot system, reach as above arbitrary one including the terminal a smart storage cargo handling robot, wherein, the terminal pass through wireless network with wireless module carries out communication access the controller parameter.
Based on the intelligent warehousing and distribution robot and system provided by the utility model, the camera module is used for acquiring the label information on the body of a worker, the label information is transmitted to the controller and matched with the label information stored in advance to follow the worker, or the goods are distributed to the appointed position, the touch screen is used for displaying the information of the goods and the like, the grayscale sensor, the first ultrasonic sensor and the second ultrasonic sensor are used for detecting the surrounding environment, the collision of the robot in the walking process is avoided, the goods are placed on the bearing platform, when the goods need to be transported, the bearing platform is descended to avoid the instability of the goods, when the goods need to be transported to a high point, the ascending button is pressed, the controller outputs a pulse to the steering engine, the transmission rod is pushed to enable the bearing platform to ascend, the goods move to the appointed position, the terminal can access the wireless network to communicate with the wireless module, and then the parameter of model essay controller to judge the robot and locate the position in the warehouse, realize the automatic delivery of large-scale warehouse goods, facilitate for warehouse staff.
Drawings
Fig. 1 is a schematic diagram of an electrical component of an intelligent warehousing and distribution robot provided by an embodiment of the present invention;
fig. 2 is a schematic side structure diagram of a robot provided by an embodiment of the present invention;
fig. 3 is a schematic view of the overall structure of the robot provided by the embodiment of the present invention;
fig. 4 is a schematic structural diagram of a camera module according to an embodiment of the present invention;
fig. 5 is a back view of the robot provided by the embodiment of the present invention.
Detailed Description
To make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the drawings of the embodiments of the present invention are combined to clearly and completely describe the technical solutions of the embodiments of the present invention, and obviously, the described embodiments are some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention. Thus, the following detailed description of the embodiments of the present invention, presented 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. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
The following detailed description of the embodiments of the present invention will be made with reference to the accompanying drawings.
The utility model discloses an intelligent storage cargo handling robot and system aims at realizing automatic delivery goods to different positions and height through the robot.
Referring to fig. 1 to 3, a first embodiment of the present invention provides an intelligent warehousing cargo allocation robot, including: a support plate 92, a drive mechanism 5, a lifting mechanism 6, a support frame 91 disposed on the support plate 92, and a control device disposed on the support frame 91;
the control device includes: the device comprises a controller 1, a touch screen 2 and a wireless module 7 which are electrically connected with the controller 1, a sensor module 3, a camera 43 module 4 and a positioning module 10 which are electrically connected with the input end of the controller 1, wherein the output end of the controller 1 is electrically connected with the input end of a driving mechanism 5 and the input end of a lifting mechanism 6.
It should be noted that, the camera 43 and the camera 43 module 4 of the camera 43 can acquire tag information on the body or on a station of a worker, and can realize self-following or moving to a preset position, the sensor module 3 is used for acquiring surrounding environment information to avoid touching surrounding objects in a robot moving project, the touch screen 2 can be used for displaying moving paths and goods information of the robot, and can also be used as an input signal of the controller 1, the lifting mechanism 6 is controlled to ascend and descend by arranging a virtual button on the touch screen 2, or the driving mechanism 5 is controlled by the virtual button on the touch screen to enable the robot to move towards a corresponding position, the positioning module 10 is used for acquiring position information of the current robot, and the terminal can access information of the controller 1 by accessing a wireless network to communicate with the wireless module 7, the information such as the current position of the robot can be inquired, the automatic distribution of large warehouse goods is realized, and convenience is provided for warehouse workers.
Referring to fig. 2, in the present embodiment, the lifting mechanism 6 includes: a first steering gear 62, a first transmission gear 63, a first transmission rack 64, a first steering gear 62, a first transmission rod 67, a second steering gear 69, a second transmission gear 65, a second transmission rack 66, a second transmission rod 68 and a bearing platform 61;
the first steering gear 62 is arranged on the supporting plate 92, output teeth of the first steering gear 62 are meshed with the first transmission teeth 63, the first transmission teeth 63 are meshed with the first transmission rack 64, the first end of the first transmission rod 67 is fixed to the first transmission rack 64, the second steering gear 69 is arranged on the supporting plate 92, output teeth of the second steering gear 69 are meshed with the second transmission teeth 65, the second transmission teeth 65 are meshed with the second transmission rack 66, the first end of the second transmission rod 68 is fixed to the second transmission rack 66, and the second end of the first transmission rod 67 and the second end of the second transmission rod 68 are fixed to the bearing table 61.
It should be noted that, when the controller 1 receives a signal of ascending or descending of the lifting mechanism 6, the controller 1 outputs a pulse to the first steering gear 62 and the second steering gear 69, so that the controller drives the first transmission gear and the second transmission gear to further drive the first transmission gear and the second transmission gear 66 to move horizontally, and push the first transmission gear and the second transmission gear 68 to jack up the bearing platform 61, so as to realize the ascending and descending of the goods.
In the present embodiment, the first driving rod 67 and the second driving rod 68 are arranged under the loading platform 61 in a crossed manner, and are hinged at the crossed position.
It should be noted that, the first and second transmission rods are arranged in a crossed manner, so that the overall structure is more stable, in other embodiments, the first and second transmission rods may also be arranged vertically, and the first and second transmission racks are arranged and pushed correspondingly in an inclined manner, which is not specifically limited herein, but these schemes are all within the scope of the present invention.
In this embodiment, a storage cabinet 9 is further included, the storage cabinet 9 is disposed on the support plate 92, and the support frame 91 is disposed above the storage cabinet 9.
The storage cabinet 9 is used for storing sundries and transporting goods, and is disposed at the front end of the support plate 92, but not limited thereto.
In the present embodiment, the sensor module 3 includes: a grayscale sensor 32, a first ultrasonic sensor 31, and a second ultrasonic sensor;
the first ultrasonic sensor 31, the second ultrasonic sensor, and the grayscale sensor 32 are electrically connected to an input terminal of the controller 1, the grayscale sensor 32 is disposed at a front end of the support plate 92, the first ultrasonic sensor 31 is disposed at a left end of the support plate 92, and the second ultrasonic sensor is disposed at a right end of the support plate 92.
It should be noted that the grayscale sensor 32 is used to detect white lines or other lines with different colors laid on the ground, in the robot motion engineering, when detecting that the reflection degree of the ground light changes, the grayscale sensor sends a signal to the controller 1, the controller 1 changes the output pulse to the driving mechanism 5 to realize the robot steering, the first and second ultrasonic sensors are used to detect the distance between the side of the robot and the obstacle, when approaching the obstacle, the grayscale sensor sends a signal to the controller 1, and the controller 1 adjusts the pulse output to the driving mechanism 5 to avoid the obstacle, of course, in other embodiments, other sensors may be provided to realize the environment detection, such as an infrared sensor, which is not specifically limited herein, but these schemes are within the protection scope of the present invention.
In the present example, the lifting device further comprises a button module 8, wherein the button module 8 is arranged at the side part of the lifting mechanism 6, and the input end of the button module 8 is electrically connected with the controller 1;
wherein the button module 8 includes: an up button 81, a down button 82, and a shipment button 83.
It should be noted that the ascending and descending button 82 is configured to send an input IO signal to the controller 1, when the touch screen 2 cannot be used, the button may be used to control the movement of the lifting mechanism 6 to achieve ascending and descending of the lifting mechanism, and when the shipment button 83 is pressed, the robot may move to a shipment point according to a preset track.
Referring to fig. 4, in the present embodiment, the camera 43 and the camera 43 module 4 include: a camera 43, a fixed frame 44, a first movable member 41 and a second movable member 42;
the camera 43 is fixed on the fixed frame 44, the bottom of the fixed frame 44 is hinged to the upper portion of the first movable member 41, the side portion of the first movable member 41 is hinged to the side portion of the second movable member 42, and the second movable member 42 is fixed on the supporting frame 91.
It should be noted that the fixed frame 44 is hinged to the first movable member 41 and is used for driving the camera 43 to move left and right, a side portion of the first movable member 41 is hinged to a side portion of the second movable member 42 and is used for driving the camera 43 to move up and down, in other embodiments, the rotation of the camera 43 may be implemented in other manners, which is not specifically limited herein, and the camera 43 adopts an openmove module, but is not limited thereto.
In this embodiment, the driving module includes: a first motor, a second motor, a third motor, a fourth motor, a first microphone female wheel 51, a second microphone female wheel 52, a third microphone female wheel 53 and a fourth microphone female wheel 54 which are arranged on the supporting plate 92;
in other embodiments, other wheels may be used to drive the robot to move, and no specific limitation is made herein, where the input ends of the first motor, the second motor, the third motor, and the fourth motor are electrically connected to the output end of the controller 1, the output shaft of the first motor is connected to the first macner mother wheel 51, the output shaft of the second motor is connected to the second macner mother wheel 52, the output shaft of the third motor is connected to the third macner mother wheel 53, and the output shaft of the fourth motor is connected to the fourth macner mother wheel 54.
It should be noted that the first motor, the second motor, the third motor, and the fourth motor are configured to receive an output pulse of the controller 1, and drive the corresponding mikania mother wheel to rotate, so as to implement movement of the robot, and a chip model of the controller 1 may be an STM32F407, but is not limited thereto.
Referring to fig. 5, in the present embodiment, the support plate 92 is provided with a power source 94 for driving the robot, and a charging port 94 for charging is provided.
The utility model discloses the second embodiment provides a smart storage cargo handling robot system, reach as above arbitrary one including the terminal a smart storage cargo handling robot, wherein, the terminal pass through wireless network with wireless module 7 carries out communication access 1 parameter of controller.
It should be noted that the terminal may connect to the same WiFi as the robot wireless module 7, so as to access information in the controller 1, for example, the current position of the robot may be queried. The wireless module 7 may be a 2G/3G/4G module, a WiFi module, or an NB-IOT module, and is not particularly limited herein.
Based on the intelligent warehousing and distribution robot and system provided by the utility model, the camera module is used for acquiring the label information on the body of a worker, the label information is transmitted to the controller and matched with the label information stored in advance to follow the worker, or the goods are distributed to the appointed position, the touch screen is used for displaying the information of the goods and the like, the grayscale sensor, the first ultrasonic sensor and the second ultrasonic sensor are used for detecting the surrounding environment, the collision of the robot in the walking process is avoided, the goods are placed on the bearing platform, when the goods need to be transported, the bearing platform is descended to avoid the instability of the goods, when the goods need to be transported to a high point, the ascending button is pressed, the controller outputs a pulse to the steering engine, the transmission rod is pushed to enable the bearing platform to ascend, the goods move to the appointed position, the terminal can access the wireless network to communicate with the wireless module, and then the parameter of model essay controller to judge the robot and locate the position in the warehouse, realize the automatic delivery of large-scale warehouse goods, facilitate for warehouse staff.
Above only the utility model discloses an it is preferred embodiment, the utility model discloses a scope of protection not only limits in above-mentioned embodiment, and the all belongs to the utility model discloses a technical scheme under the thinking all belongs to the utility model discloses a scope of protection.
Claims (9)
1. An intelligent warehousing cargo allocation robot, comprising: the lifting mechanism is arranged on the supporting plate, the supporting frame is arranged on the supporting plate, and the control device is arranged on the supporting frame;
the control device includes: the device comprises a controller, a touch screen, a wireless module, a sensor module, a camera module and a positioning module, wherein the touch screen and the wireless module are electrically connected with the controller, the sensor module, the camera module and the positioning module are electrically connected with the input end of the controller, and the output end of the controller is electrically connected with the input end of the driving mechanism and the input end of the lifting mechanism.
2. The smart warehouse cargo handling robot as recited in claim 1, wherein the lift mechanism comprises: the device comprises a first steering engine, a first transmission gear, a first transmission rack, a first steering engine, a first transmission rod, a second steering engine, a second transmission gear, a second transmission rack, a second transmission rod and a bearing platform;
the first steering gear is arranged on the supporting plate, the output teeth of the first steering gear are meshed with the first transmission teeth, the first transmission teeth are meshed with the first transmission rack, the first end of the first transmission rod is fixed to the first transmission rack, the second steering gear is arranged on the supporting plate, the output teeth of the second steering gear are meshed with the second transmission teeth, the second transmission teeth are meshed with the second transmission rack, the first end of the second transmission rod is fixed to the second transmission rack, and the second end of the first transmission rod and the second end of the second transmission rod are fixed to the bearing table.
3. The intelligent warehousing cargo handling robot of claim 2, wherein the first transmission rod and the second transmission rod are arranged below the loading platform in a crossed manner and are hinged at the crossed position.
4. The smart warehousing cargo allocation robot of claim 1, further comprising a locker disposed on the support plate, the support frame disposed above the locker.
5. The smart warehouse cargo handling robot as recited in claim 1, wherein the sensor module comprises: the ultrasonic sensor comprises a gray sensor, a first ultrasonic sensor and a second ultrasonic sensor;
the first ultrasonic sensor, the second ultrasonic sensor and the grayscale sensor are electrically connected to an input terminal of the controller, the grayscale sensor is disposed at a front end of the support plate, the first ultrasonic sensor is disposed at a left end of the support plate, and the second ultrasonic sensor is disposed at a right end of the support plate.
6. The intelligent warehousing cargo handling robot of claim 1, further comprising a button module disposed on a side of the elevator mechanism, the button module being electrically connected to an input of the controller;
wherein the button module includes: an up button, a down button, a shipment button.
7. The smart warehouse distribution robot as claimed in claim 1, wherein the camera module comprises: the camera, the fixed frame, the first movable piece and the second movable piece;
the camera is fixed on the fixed frame, the bottom of the fixed frame is hinged to the upper portion of the first moving part, the side portion of the first moving part is hinged to the side portion of the second moving part, and the second moving part is fixed on the supporting frame.
8. The smart warehouse cargo handling robot as recited in claim 1, wherein the drive mechanism comprises: the first motor, the second motor, the third motor, the fourth motor, the first microphone mother wheel, the second microphone mother wheel, the third microphone mother wheel and the fourth microphone mother wheel are arranged on the supporting plate;
the input ends of the first motor, the second motor, the third motor and the fourth motor are electrically connected with the output end of the controller, the output shaft of the first motor is connected with the first Mikana female wheel, the output shaft of the second motor is connected with the second Mikana female wheel, the output shaft of the third motor is connected with the third Mikana female wheel, and the output shaft of the fourth motor is connected with the fourth Mikana female wheel.
9. An intelligent warehousing cargo allocation robot system comprising a terminal and an intelligent warehousing cargo allocation robot as claimed in any one of claims 1 to 8, wherein the terminal communicates with the wireless module through a wireless network to access the controller parameters.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020326928.XU CN212638695U (en) | 2020-03-16 | 2020-03-16 | Intelligent warehousing cargo allocation robot and system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020326928.XU CN212638695U (en) | 2020-03-16 | 2020-03-16 | Intelligent warehousing cargo allocation robot and system |
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| Publication Number | Publication Date |
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| CN212638695U true CN212638695U (en) | 2021-03-02 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202020326928.XU Expired - Fee Related CN212638695U (en) | 2020-03-16 | 2020-03-16 | Intelligent warehousing cargo allocation robot and system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116986195A (en) * | 2023-09-27 | 2023-11-03 | 南通卓然电子科技服务有限公司 | Automatic warehouse control method and system based on Internet of things technology |
-
2020
- 2020-03-16 CN CN202020326928.XU patent/CN212638695U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116986195A (en) * | 2023-09-27 | 2023-11-03 | 南通卓然电子科技服务有限公司 | Automatic warehouse control method and system based on Internet of things technology |
| CN116986195B (en) * | 2023-09-27 | 2023-12-15 | 南通卓然电子科技服务有限公司 | Automatic warehouse control method and system based on Internet of things technology |
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Granted publication date: 20210302 |