阅读说明：本技术 一种搬运机器人及其搬运方法 (Transfer robot and transfer method thereof ) 是由 冯威潮 熊伟 于 2021-09-30 设计创作，主要内容包括：本发明公开一种搬运机器人及其搬运方法,包括：移动底盘、设置在移动底盘上的升降机构、垂直基板、设置在垂直基板上的货物取放机构；所述升降机构包括举升架、设置在举升架上的两滑动机构、设置在举升架上与两滑动机构适配的升降驱动模组；所述举升架上还设有若干间隔分部的暂存货架；所述垂直基板安装在两滑动机构上。本发明能适配各种大小和包装形式多样的待搬运物件,提高存放物件的货架的空间利用率,且无需改造货架及仓储环境；由于货物取放机构采用了真空吸盘搭配承重托盘,且真空吸盘的朝向可以在水平和竖直之间切换,因此待取放物件的包装形式不用局限于货箱,相邻物件之间摆放更紧凑,提高了物件取放装置的适配性和货架的空间利用率。(The invention discloses a transfer robot and a transfer method thereof, comprising the following steps: the device comprises a movable chassis, a lifting mechanism arranged on the movable chassis, a vertical substrate and a cargo taking and placing mechanism arranged on the vertical substrate; the lifting mechanism comprises a lifting frame, two sliding mechanisms arranged on the lifting frame and a lifting driving module arranged on the lifting frame and matched with the two sliding mechanisms; the lifting frame is also provided with a plurality of temporary storage racks distributed at intervals; the vertical base plate is arranged on the two sliding mechanisms. The invention can be adapted to articles to be carried with various sizes and packaging forms, improves the space utilization rate of the goods shelf for storing the articles, and does not need to transform the goods shelf and the storage environment; because the goods taking and placing mechanism adopts the vacuum chuck matched with the bearing tray, and the orientation of the vacuum chuck can be switched between horizontal and vertical, the packaging form of the articles to be taken and placed is not limited to a container, the placing between adjacent articles is more compact, and the adaptability of the article taking and placing device and the space utilization rate of a goods shelf are improved.)

1. A transfer robot, characterized by comprising: the device comprises a movable chassis, a lifting mechanism arranged on the movable chassis, and a cargo taking and placing mechanism arranged on the lifting mechanism;

the lifting mechanism comprises a lifting frame, two sliding mechanisms arranged on the lifting frame, a vertical substrate and a lifting driving module arranged on the lifting frame and matched with the two sliding mechanisms; the lifting frame is also provided with a plurality of temporary storage racks distributed at intervals;

the vertical base plate is arranged on the two sliding mechanisms;

the output end of the lifting driving module is provided with a vertical substrate, and the vertical substrate is lifted along the vertical direction of the lifting frame on the two sliding mechanisms;

the goods pick and place mechanism comprises: the robot comprises a first mechanical arm, a second mechanical arm and a third mechanical arm; the first mechanical arm is arranged on the lifting mechanism; the second mechanical arm is arranged on the first mechanical arm, and the first mechanical arm is used for driving the second mechanical arm to rotate and reciprocate; the third mechanical arm is arranged on the second mechanical arm, and the second mechanical arm is used for driving the third mechanical arm to do linear reciprocating motion.

2. The transfer robot of claim 1, wherein the lift drive module comprises a drive shaft, a drive sprocket assembly, a first drive mechanism; the vertical base plate is connected with the transmission chain wheel assembly; the transmission shaft is also provided with the main gear; the output end of the first driving mechanism is connected with the main gear, and can drive the main gear to rotate so as to drive the transmission shaft to rotate, thereby driving the transmission chain wheel to lift and further driving the vertical substrate to lift.

3. The transfer robot of claim 1, wherein the first robot arm comprises a base, a first base plate disposed on the base, two first slide rails and a first driving module mounted on the base plate, a support base plate slidably connected to the two first slide rails, and a pivot bearing disposed on the support base plate; the output end of the first driving module is connected with the supporting substrate and used for driving the supporting substrate to move back and forth on the first sliding rail.

4. The transfer robot of claim 3, wherein the second robot arm comprises a second base plate, a load-bearing tray, two second guide rails and two slide blocks respectively arranged on the second base plate, a second driving module, two slide rails, a third driving module, a driving mechanism and a laser displacement sensor; the second bottom plate is arranged on the slewing bearing; the bearing tray is connected with the two sliding rails in a sliding manner; the output end of the third driving module is connected with the bearing tray and can drive the bearing tray to do linear reciprocating motion on the two slide rails; the output end of the driving mechanism penetrates through the second bottom plate, and is also provided with a gear which is also meshed with the slewing bearing; the tail end of the second bottom plate is also provided with the laser displacement sensor which is arranged below the bearing tray and used for measuring the article taking and placing positions.

5. The transfer robot of claim 4, wherein the third mechanical arm comprises a third base plate, a screw rod, a guide rod connecting plate arranged on the screw rod, guide rods arranged on two sides of the guide rod connecting plate, a sucker mounting seat rotatably connected with the guide rod mounting seat, a vacuum sucker arranged on the sucker mounting seat, a fourth driving module and a vertical mounting plate which are respectively arranged on the third base plate, wherein one end of the screw rod is connected with the output end of the fourth driving module, and the other end of the screw rod is arranged on the vertical mounting plate; the third bottom plate is arranged above the bearing tray and connected with the sliding block on the second sliding rail, and the second driving module drives the sliding block to slide on the second guide rail so as to drive the third bottom plate to do linear reciprocating motion along the second guide rail; still be equipped with the rotating electrical machines in the sucking disc mount pad, this rotating electrical machines can drive the sucking disc mount pad and rotate, and then change vacuum chuck's absorption direction.

6. The transfer robot as claimed in claim 1, wherein the mobile chassis is further provided with a vacuum pump body, and a plurality of storage batteries are arranged around the vacuum pump body.

7. The transfer robot of claim 1, further comprising two shock absorbing members mounted on the moving chassis, a drive wheel assembly provided on the shock absorbing members; the driving wheel assembly comprises a driving mechanism and a driving wheel arranged at the output end of the driving mechanism.

8. The transfer robot as recited in claim 7, wherein the mobile chassis is further provided with a plurality of driven wheels adapted to the driving wheel assembly, the driven wheels being disposed at corners of the bottom of the mobile chassis.

9. A carrying method is characterized by comprising the following goods taking steps:

firstly, recording and storing the three-dimensional sizes of the appearances of all articles in a warehouse according to the quantity and the arrangement storage mode, so that each article corresponds to one warehouse location, and each article corresponds to the space relative position (x, y, z) of the storage warehouse location;

secondly, the robot receives the goods taking instruction, and moves to one side of the storage position corresponding to the goods according to the information of the storage position; measuring the accurate position of the target goods on the target warehouse position through laser displacement sensors on the lifting mechanism, the first mechanical arm and the third mechanical arm; the robot calculates a target pick-and-place position through the first step, and the robot moves a third mechanical arm to a vacant position on one side of the target pick-and-place position through a lifting mechanism and a first mechanical arm; then the lifting mechanism drives the goods taking and placing mechanism to move downwards until the laser displacement sensor detects the goods or the upper edge of the goods shelf, the first mechanical arm drives the third mechanical arm to move outwards until the laser displacement sensor detects the side edge of the goods, and the accurate outline of the target goods or the target storage position is measured;

step three, the robot has two goods absorbing modes according to the goods condition:

the first goods taking mode is as follows: for smaller goods, a rotary motor drives a vacuum sucker to face downwards, a third mechanical arm of the robot and a guide rod of the third mechanical arm extend out of a calculated extension amount L and extend to the upper surface of the goods, a lifting driving module descends by a height, so that the vacuum sucker is tightly pressed on the upper surface of the goods, a vacuum pump body is opened, the goods are sucked by the vacuum sucker, the lifting driving module is lifted, a third mechanical arm returns, the second mechanical arm rotates 90 degrees towards the temporary storage rack of the robot, the lifting driving module is lifted to a specified temporary storage rack, the third mechanical arm extends out, the vacuum sucker is separated from the goods, and the goods are placed on the temporary storage rack of the robot;

and (2) a second goods taking mode: for stacked larger cargos, the rotary motor drives the vacuum suction disc opening to face the horizontal direction, and the second mechanical arm firstly extends out of the bearing tray and slightly supports against the lower-layer cargos taken out of the bearing tray; the third mechanical arm of the robot and a guide rod of the third mechanical arm extend out of the calculated extension amount L, extend to the side face of the goods and are tightly attached to the side face of the goods, the electromagnetic valve is opened, the vacuum chuck absorbs the goods, meanwhile, the guide rod of the third mechanical arm returns to drag the absorbed goods onto the bearing tray, and the third mechanical arm and the bearing tray continue to retreat back and forth, so that the absorbed goods do not interfere with the lifting driving module when the second mechanical arm rotates for 90 degrees; and finally, the lifting driving module is lifted to the designated temporary storage shelf, the third mechanical arm stretches out, the vacuum chuck is separated from the goods, and the goods are placed on the robot shelf.

Technical Field

The invention relates to the technical field of robots, in particular to a carrying robot and a carrying method thereof.

Background

The existing transfer robot which adopts a clamping and holding mode to grab articles can only pick and place articles packaged in a container type generally, and in an actual scene, the articles to be transferred are usually large or small, heavy or light, soft or hard, and the existing transfer robot cannot be adapted one by one. In addition, when the existing carrying robot is used, containers on each layer of goods shelf cannot be stacked to prevent the containers from moving or even falling when the containers on the lower layer touch the containers on the upper layer when being carried, and gaps need to be reserved between every two adjacent containers to serve as operation spaces of the clamping type carrying device, so that the space utilization rate of the goods shelf is low. In addition, the existing robot generally uses a depth camera to obtain three-dimensional information around a target position and then performs object picking and placing (for example, chinese patent CN 109927012); due to the fact that the depth camera is low in measurement accuracy, the success rate of picking and placing in practical application of the method is low, and therefore industrial application cannot be achieved.

Disclosure of Invention

Aiming at the problems in the prior art, the invention provides a carrying robot and a carrying method thereof, which can be adapted to various objects to be carried, such as large, small, heavy, soft and hard objects and various packaging forms, and simultaneously improve the space utilization rate of a goods shelf for storing the objects without modifying the goods shelf and the storage environment.

In order to achieve the purpose, the technical scheme of the invention is as follows:

a transfer robot comprising: the method comprises the following steps: the device comprises a movable chassis, a lifting mechanism arranged on the movable chassis, a vertical substrate and a cargo taking and placing mechanism arranged on the vertical substrate;

the lifting mechanism comprises a lifting frame, two sliding mechanisms arranged on the lifting frame, a vertical substrate and a lifting driving module which is arranged on the lifting frame and is matched with the two sliding mechanisms; the lifting frame is also provided with a plurality of temporary storage racks distributed at intervals;

the vertical base plate is arranged on the two sliding mechanisms;

the output end of the lifting driving module is connected with the vertical substrate and is used for driving the vertical substrate to lift on the two sliding mechanisms along the vertical direction of the lifting frame;

the goods pick and place mechanism comprises: the robot comprises a first mechanical arm, a second mechanical arm and a third mechanical arm; the first mechanical arm is arranged on the vertical substrate; the second mechanical arm is arranged on the first mechanical arm, and the first mechanical arm is used for driving the second mechanical arm to rotate and reciprocate; the third mechanical arm is arranged on the second mechanical arm, and the second mechanical arm is used for driving the third mechanical arm to do linear reciprocating motion.

Preferably, the lifting driving module comprises a transmission shaft, a transmission chain wheel assembly and a first driving mechanism; the vertical base plate is connected with the transmission chain wheel assembly; the transmission shaft is also provided with the main gear; the output end of the first driving mechanism is connected with the main gear, and can drive the main gear to rotate so as to drive the transmission shaft to rotate, thereby driving the transmission chain wheel to lift and further driving the vertical substrate to lift.

Preferably, the first mechanical arm comprises a base, a first bottom plate arranged on the base, two first slide rails and a first driving module which are arranged on the bottom plate, a supporting substrate which is connected with the two first slide rails in a sliding manner, and a slewing bearing arranged on the supporting substrate; the output end of the first driving module is connected with the supporting substrate and used for driving the supporting substrate to move back and forth on the first sliding rail.

Preferably, the second mechanical arm comprises a second bottom plate, a bearing tray, two second guide rails and a sliding block, a second driving module, two sliding rails, a third driving module, a driving mechanism and a laser displacement sensor, wherein the two second guide rails and the sliding block are respectively arranged on the second bottom plate; the second bottom plate is arranged on the slewing bearing; the bearing tray is connected with the two sliding rails in a sliding manner; the output end of the third driving module is connected with the bearing tray and can drive the bearing tray to do linear reciprocating motion on the two slide rails; the output end of the driving mechanism penetrates through the second bottom plate, and is also provided with a gear which is also meshed with the slewing bearing; the tail end of the second bottom plate is also provided with the laser displacement sensor which is arranged below the bearing tray and used for measuring the article taking and placing positions.

Preferably, the third mechanical arm comprises a third bottom plate, a screw rod, a guide rod connecting plate arranged on the screw rod, guide rods arranged on two sides of the guide rod connecting plate, a guide rod mounting seat, a sucker mounting seat rotatably connected with the guide rod mounting seat, a plurality of vacuum suckers arranged on the sucker mounting seat, a fourth driving module and a vertical mounting plate which are respectively arranged on the third bottom plate, wherein one end of the screw rod is connected with the output end of the fourth driving module, and the other end of the screw rod is arranged on the vertical mounting plate; the other end of the guide rod penetrates through the vertical mounting plate to be connected with the guide rod mounting seat; the third bottom plate is arranged above the bearing tray and connected with the sliding block, and the second driving module drives the sliding block to slide on the second guide rail so as to drive the third bottom plate to do linear reciprocating motion along the second guide rail; still be equipped with the rotating electrical machines in the sucking disc mount pad, this rotating electrical machines can drive the sucking disc mount pad and rotate, and then change vacuum chuck's absorption direction.

Preferably, the lifting frame is also provided with a plurality of temporary storage racks distributed at intervals.

Preferably, a vacuum pump body is further arranged on the movable chassis, the vacuum pump body is communicated with the vacuum chuck through a pipeline, and a plurality of storage battery packs are further arranged on the periphery of the vacuum pump body.

Preferably, the transfer robot further comprises two damping components arranged on the moving chassis and a driving wheel component arranged on the damping components, each damping component comprises an upper supporting plate, a lower supporting plate, a connecting rod arranged between the upper supporting plate and the lower supporting plate and an elastic component sleeved on the connecting rod; the driving wheel assembly is arranged on the lower supporting plate.

Preferably, the driving wheel assembly comprises a driving mechanism and a driving wheel arranged at the output end of the driving mechanism, and the driving mechanism can drive the driving wheel to rotate so as to drive the moving chassis to move; and the driven wheels are arranged at the corners of the bottom of the movable chassis.

Preferably, a plurality of driven wheels matched with the driving wheel assemblies are further arranged on the movable chassis, and the driven wheels are arranged at corners of the bottom of the movable chassis.

The invention also provides a carrying method, which comprises the following goods taking steps:

firstly, recording and storing the three-dimensional sizes of the appearances of all articles in a warehouse according to the quantity and the arrangement storage mode, so that each article corresponds to one warehouse location, and each article corresponds to the space relative position (x, y, z) of the storage warehouse location;

secondly, the robot receives the goods taking instruction, and moves to one side of the storage position corresponding to the goods according to the information of the storage position; measuring the accurate position of the target goods on the target warehouse position through laser displacement sensors on the lifting mechanism, the first mechanical arm and the third mechanical arm; the robot calculates a target pick-and-place position through the first step, and the robot moves a third mechanical arm to a vacant position on one side of the target pick-and-place position through a lifting mechanism and a first mechanical arm; then the lifting mechanism drives the goods taking and placing mechanism to move downwards until the laser displacement sensor detects the goods or the upper edge of the goods shelf, the first mechanical arm drives the third mechanical arm to move outwards until the laser displacement sensor detects the side edge of the goods, and the accurate outline of the target goods or the target storage position is measured;

step three, the robot has two goods absorbing modes according to the goods condition:

the first goods taking mode is as follows: for smaller goods, a rotary motor drives a vacuum sucker to face downwards, a third mechanical arm of the robot and a guide rod of the third mechanical arm extend out of a calculated extension amount L and extend to the upper surface of the goods, a lifting driving module descends by a height, so that the vacuum sucker is tightly pressed on the upper surface of the goods, a vacuum pump body is opened, the goods are sucked by the vacuum sucker, the lifting driving module is lifted, a third mechanical arm returns, the second mechanical arm rotates 90 degrees towards the temporary storage rack of the robot, the lifting driving module is lifted to a specified temporary storage rack, the third mechanical arm extends out, the vacuum sucker is separated from the goods, and the goods are placed on the temporary storage rack of the robot;

and (2) a second goods taking mode: for stacked larger cargos, the rotary motor drives the vacuum suction disc opening to face the horizontal direction, and the second mechanical arm firstly extends out of the bearing tray and slightly supports against the lower-layer cargos taken out of the bearing tray; the third mechanical arm of the robot and a guide rod of the third mechanical arm extend out of the calculated extension amount L, extend to the side face of the goods and are tightly attached to the side face of the goods, the electromagnetic valve is opened, the vacuum chuck absorbs the goods, meanwhile, the guide rod of the third mechanical arm returns to drag the absorbed goods onto the bearing tray, and the third mechanical arm and the bearing tray continue to retreat back and forth, so that the absorbed goods do not interfere with the lifting driving module when the second mechanical arm rotates for 90 degrees; and finally, the lifting driving module is lifted to the designated temporary storage shelf, the third mechanical arm stretches out, the vacuum chuck is separated from the goods, and the goods are placed on the robot shelf.

By adopting the technical scheme of the invention, the invention has the following beneficial effects: the invention can be adapted to articles to be carried with various sizes and packaging forms, improves the space utilization rate of the goods shelf for storing the articles, and does not need to transform the goods shelf and the storage environment; because the goods taking and placing mechanism adopts the vacuum chuck matched with the bearing tray, and the orientation of the vacuum chuck can be switched between horizontal and vertical, the packaging form of the articles to be taken and placed is not limited to a container, the placing between adjacent articles is more compact, and the adaptability of the article taking and placing device and the space utilization rate of a goods shelf are improved; the position of goods to be put is detected by the laser displacement sensor, and the cost is lower than the cost of more accurate three-dimensional object position of the goods to be put by the depth camera.

Drawings

FIG. 1 is a schematic structural view of the present invention;

FIG. 2 is a first schematic view of a cargo pick-and-place mechanism according to the present invention;

FIG. 3 is a second schematic view of the cargo pick-and-place mechanism according to the present invention;

fig. 4 is a third schematic structural diagram of the cargo pick-and-place mechanism of the present invention;

FIG. 5 is a schematic diagram of a laser displacement sensor according to the present invention;

FIG. 6 is a first schematic view of a first robot structure according to the present invention;

FIG. 7 is a second schematic view of a second robot arm of the present invention;

FIG. 8 is a third schematic view of a third robot arm of the present invention;

FIG. 9 is a schematic view of the mobile chassis mounting of the present invention;

fig. 10 is a schematic view of cargo storage according to the present invention.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.

In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", and the like, indicate orientations and positional relationships based on those shown in the drawings, and are used only for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be considered as limiting the present invention.

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

In the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

In the present invention, a first feature "on" or "an over" a second feature unless expressly stated or limited otherwise

"under" may include the first and second features being in direct contact, and may also include the first and second features not being in direct contact, but being in contact with each other through additional features between them. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.

Referring to fig. 1 to 10, the present invention provides a transfer robot including: the method comprises the following steps: the device comprises a mobile chassis 10, a lifting mechanism arranged on the mobile chassis 10, a vertical base plate 50 and a goods taking and placing mechanism arranged on the vertical base plate 50;

the lifting mechanism comprises a lifting frame 4 arranged on the moving chassis 10, two sliding mechanisms 41 arranged on the lifting frame 4, a vertical substrate 50 and a lifting driving module arranged on the lifting frame 4 and matched with the two sliding mechanisms 41; a plurality of temporary storage racks 70 distributed at intervals are further arranged on the lifting frame 4;

the vertical substrate 50 is mounted on the two sliding mechanisms 41 and can slide along the directions of the two sliding mechanisms 41;

the output end of the lifting driving module is connected with the vertical substrate 50 and is used for driving the vertical substrate 50 to lift on the two sliding mechanisms 41 along the vertical direction of the lifting frame 4;

the goods pick and place mechanism comprises: a first arm 61, a second arm 62, and a third arm 63; the first robot arm 61 is disposed on the vertical substrate 50; the second mechanical arm 62 is arranged on the first mechanical arm 61, and the first mechanical arm 61 is used for driving the second mechanical arm 62 to rotate and reciprocate; the third mechanical arm 63 is disposed on the second mechanical arm 62, and the second mechanical arm 62 is configured to drive the third mechanical arm 63 to perform a linear reciprocating motion.

In this embodiment, the lifting frame 4 is in a door shape, the sliding guide rails are installed at two vertical ends of the lifting frame 4, the vertical substrate 50 is installed on the sliding guide rails and can slide along the sliding guide rails, wherein the vertical substrate 50 is connected with the guide rails through sliding small blocks so as to facilitate the vertical substrate 5 to slide on the sliding guide rails, and the sliding mechanism 41 is set as the sliding guide rails.

In this embodiment, the lifting driving module is used for lifting the goods picking and placing mechanism, so that the goods picking and placing mechanism is lifted and lowered on the lifting frame 4, and then moves to the temporary storage shelf 70, so that the goods picking and placing mechanism picks and places the goods, and the goods picking and placing mechanism can pick and place the goods automatically, compared with manual operation, the working efficiency is high, time and labor are saved, the first driving mechanism 40 is provided with a rotating gear meshed with the main gear, so as to drive the main gear to rotate, the vertical substrate 50 is connected with the transmission chain 43 through the fixing plate, so as to drive the vertical substrate 50 to slide on the two sliding mechanisms 41, and the lifting driving module comprises a transmission shaft, a transmission chain wheel assembly and the first driving mechanism 40; the vertical base plate 50 is connected with a transmission chain wheel assembly; the transmission shaft is also provided with the main gear; the output end of the first driving mechanism 40 is connected with the main gear, and can drive the main gear to rotate, so as to drive the transmission shaft to rotate, so as to drive the transmission chain wheel assembly to lift, and further drive the vertical substrate to lift along the direction of the two sliding mechanisms 41; the transmission chain wheel assembly comprises a transmission chain wheel 42 and a transmission chain 43 matched with the transmission chain wheel 42; the vertical base plate 50 is connected to the drive sprocket 42. The first driving mechanism 40 is a lifting motor; the transmission shaft comprises an upper shaft lever and a lower shaft lever, and the two ends of the upper shaft lever and the two ends of the lower shaft lever are both provided with the transmission chain wheels 42; the lower shaft lever is provided with the main gear.

In this embodiment, the base 611 is used to support the first bottom plate 610, the first bottom plate 610 is installed at the bottom of the base 611, the first driving module 620 is installed between two first sliding rails 615, the supporting substrate 614 is slidably connected to the first sliding rails 615 through sliding blocks, the first driving module 620 is used to control the second mechanical arm 62 to move forward and backward, the first driving module 620 includes a first motor, a first lead screw connected to the first motor, the other end of the first lead screw is installed on the fixing base 612, the fixing base 612 is installed on the first bottom plate 610, the first lead screw is connected to the supporting substrate 614 to provide power for the supporting substrate 614, so that the supporting substrate 614 moves back and forth on the first sliding rails 615, the bottom of the first sliding rails 615 is further installed with a sliding rail fixing base 613, and the sliding rail fixing base 613 is installed on the first bottom plate 610; the first robot 61 includes a base 611, a first bottom plate 610 disposed on the base 611, two first slide rails 615 and a first driving module 620 mounted on the bottom plate 610, a supporting substrate 614 slidably connected to the two first slide rails 615, and a pivot bearing 616 disposed on the supporting substrate 614; the output end of the first driving module 620 is connected to the supporting substrate 614 for driving the supporting substrate 614 to reciprocate on the first sliding rail 620.

In this embodiment, two second guide rails 628 are installed on two sides of the second base plate, a second driving module 623 is installed beside one second guide rail 628, a third driving module 623 is installed between the two guide rails, and a driving mechanism 629 is disposed between the two guide rails 624 and below the load-bearing tray 625, wherein the second driving module 623 is used for driving the third mechanical arm 63 to slide on the two second guide rails 628, a third lead screw on the third driving module 623 is connected with the load-bearing tray 625 to drive the load-bearing tray 625 to slide on the guide rails 624, the load-bearing tray 625 is used for bearing goods taken by the third mechanical arm 63, the second mechanical arm 62 includes a second base plate 621, a load-bearing tray 625, and a slider 627, and the two second guide rails 628, the second driving module 623, the two guide rails 624, the third driving module 622, and the driving mechanism 628 which are respectively disposed on the second base plate 621; the second base plate 621 is disposed on the slewing bearing 616; the sliding blocks 627 are arranged on the two second guide rails 628 and are connected with the output end of the second driving module 623; the two slide rails 624 are disposed between the two second guide rails 628; the bearing tray 625 is connected with the two sliding rails 624 in a sliding manner; the output end of the third driving module 622 is connected with the bearing tray 625, and can drive the bearing tray 625 to make linear reciprocating motion on the two sliding rails 624; the output end of the driving mechanism 629 penetrates through the second bottom plate 621, the output end of the driving mechanism 629 is further provided with a gear 626, the gear 626 is further engaged with the slewing bearing 616, and when the driving mechanism 629 drives the gear 626 to rotate, so as to drive the slewing bearing 625 to rotate, thereby driving the whole second mechanical arm 62 to rotate relative to the first mechanical arm 61; the second driving module 623 comprises a second motor and a second lead screw connected with the second motor, and is used for controlling the third mechanical arm 63 to move forward and backward; the third driving module 623 comprises a third motor and a third screw rod connected with the third motor and is used for controlling the forward and backward movement of the bearing tray 625; the driving mechanism 629 is provided as a fourth motor; the tail end of the second bottom plate 621 is further provided with a laser displacement sensor 999, and the laser displacement sensor 999 is arranged below the bearing tray 625 and used for measuring the article taking and placing positions.

In this embodiment, the vacuum chuck 636 is used for sucking an object to be picked and placed, the fourth driving module 632 is used for controlling the vacuum chuck 636 to move forward and backward, and the rotary motor is used for switching the sucking direction of the vacuum chuck 636 between the horizontal direction and the vertical direction; the third mechanical arm 63 comprises a third base plate 631, a lead screw, a guide rod connecting plate 635 arranged on the lead screw, guide rods 634 arranged on two sides of the guide rod connecting plate 635, a guide rod mounting seat 638, a sucker mounting seat 637 rotatably connected with the guide rod mounting seat 638, a plurality of vacuum suckers 636 arranged on the sucker mounting seat 637, a fourth driving module 632 and a vertical mounting plate 633 which are respectively arranged on the third base plate 631, wherein one end of the lead screw is connected with the output end of the fourth driving module 632, and the other end of the lead screw is arranged on the vertical mounting plate 633; the other end of the guide rod 634 penetrates through a vertical mounting plate 633 and is connected with the guide rod mounting seat 638; the third bottom plate 631 is disposed above the load-bearing tray 625 and connected to the slider 624, and the second driving module 623 drives the slider 627 to slide on the second guide track 628, so as to drive the third bottom plate 631 to reciprocate linearly along the second guide track 628; still be equipped with the rotating electrical machines in sucking disc mount pad 637, this rotating electrical machines can drive sucking disc mount pad 637 and rotate, and then change vacuum chuck 636's absorption direction.

In this embodiment, the temporary storage shelf 70 is used for storing goods, the vacuum pump body 80 is used in cooperation with the vacuum chuck 636 to control the vacuum chuck 80 to absorb the goods, the storage battery pack 90 is used for supplying power, and a plurality of temporary storage shelves 70 which are distributed at intervals are further arranged on the lifting frame 4; the movable chassis 10 is further provided with a vacuum pump body 80, the vacuum pump body 80 is communicated with a vacuum sucker 636 through a pipeline, and a plurality of storage battery packs 90 are further arranged on the periphery of the vacuum pump body 80.

In this embodiment, the damping assembly 200 is used for damping vibration when the driving wheel assembly 20 is driven, so as to prevent excessive vibration from affecting balance of the machine body and causing loud noise; the transfer robot further comprises two shock absorption assemblies 200 arranged on the moving chassis 10 and a driving wheel assembly 20 arranged on the shock absorption assemblies 200, wherein each shock absorption assembly 200 comprises an upper supporting plate, a lower supporting plate, a connecting rod arranged between the upper supporting plate and the lower supporting plate and an elastic assembly 201 sleeved on the connecting rod; the driving wheel assembly 20 is arranged on the lower supporting plate; the elastic member 201 is provided as a spring.

The second driving mechanism 21 in this embodiment is used for driving the driving wheel 22 to rotate, and the driving wheel assembly 20 is installed between the lifting frame 4 and the storage battery 90 and is used for driving the moving chassis 10 to move, so as to drive the whole structure to move, and the movement is convenient; the driving wheel assembly 20 comprises a second driving mechanism 21 and a driving wheel 22 arranged at the output end of the second driving mechanism 21, and the second driving mechanism 21 can drive the driving wheel 22 to rotate so as to drive the moving chassis 10 to move; a plurality of driven wheels 30 are arranged at the corners of the bottom of the movable chassis 10; the movable chassis 10 is also provided with a plurality of driven wheels 30 matched with the driving wheel assemblies 20, and the driven wheels 30 are arranged at the corners of the bottom of the movable chassis 10; the second drive mechanism 21 is a fifth motor.

Referring to fig. 10, it can be seen that F represents the upper edge of the cargo; g represents a target storage location; h denotes the cargo edge.

The invention also provides a carrying method, which comprises the following steps:

firstly, recording and storing the three-dimensional sizes of the appearances of all articles in a warehouse according to the quantity and the arrangement storage mode, so that each article corresponds to one warehouse location, and each article corresponds to the space relative position (x, y, z) of the storage warehouse location;

secondly, the robot receives the goods taking instruction, and moves to one side of the storage position corresponding to the goods according to the information of the storage position; the accurate position of the target goods on the target storehouse position is measured through laser displacement sensors on the lifting mechanism, the first mechanical arm 61 and the third mechanical arm 63; the robot calculates a target pick-and-place position through the first step, and the robot moves the third mechanical arm 63 to a vacant position on one side of the target pick-and-place position through the lifting mechanism and the first mechanical arm 61; then the lifting mechanism drives the goods taking and placing mechanism to move downwards until the laser displacement sensor detects the goods or the upper edge of the goods shelf, the first mechanical arm 61 drives the third mechanical arm 63 to move outwards until the laser displacement sensor detects the side edge of the goods, and the accurate outline of the target goods or the target storage position is measured;

the first goods taking mode is as follows: for smaller goods, the rotary motor drives the vacuum chuck 636 to have a downward opening, the third mechanical arm 63 of the robot and the guide rod 634 of the third mechanical arm 63 extend out of the calculated extension amount L and extend to the upper surface of the goods, the lifting driving module descends by a height, so that the vacuum chuck 636 is tightly pressed on the upper surface of the goods, the vacuum pump body 80 is opened, the vacuum chuck 636 sucks the goods, the lifting driving module is lifted, the third mechanical arm 63 returns, the second mechanical arm 62 rotates 90 degrees towards the temporary storage shelf 70 of the robot, the lifting driving module is lifted to the designated temporary storage shelf 70, the third mechanical arm 63 extends out, the vacuum chuck 636 is separated from the goods, and the goods are placed on the temporary storage shelf of the robot;

and (2) a second goods taking mode: for the stacked larger cargos, the rotary motor drives the vacuum chuck 636 to face the horizontal direction, the second mechanical arm 62 firstly extends out of the bearing tray 625 and lightly supports the lower-layer cargos taken out of the cargos, so that the lower-layer cargos are prevented from being simultaneously taken out when the cargos are dragged by the upper layer; the third mechanical arm 63 of the robot and the guide rod 634 of the third mechanical arm 63 extend out of the calculated extension amount L, extend to the side surface of the goods and are tightly attached, the electromagnetic valve is opened, the vacuum chuck 636 sucks the goods, and simultaneously the guide rod 63 of the third mechanical arm 63 retracts to drag the sucked goods onto the bearing tray 625; the third mechanical arm 63 and the pallet 625 continue to move back, so that the sucked goods do not interfere with the lifting mechanism when the second mechanical arm 62 rotates by 90 degrees; and finally, the lifting driving module is lifted to a designated temporary storage rack, the third mechanical arm 63 extends out, the vacuum chuck 636 is separated from the goods, and the goods are placed on the robot storage rack.

The working principle of the invention is as follows:

when the robot needs to pick up goods in the warehouse, the tail ends of the second mechanical arm 62 and the third mechanical arm 63 of the article picking and placing mechanism face to be perpendicular to the driving direction of the robot; when the robot receives an instruction of extracting a specific object, the robot runs to the position of the object to be grabbed according to a preset route under the driving of the movable chassis 10, and then the rotary bearing 616 positioned on the first mechanical arm 61 rotates to drive the second mechanical arm 62 and the third mechanical arm to rotate 90 degrees towards the direction of the storage position where the object to be grabbed and placed is positioned; then the second driving module 623 drives the third mechanical arm 63 to advance until the vacuum chuck 636 advances to the surface of the target object;

when the target object is placed at a far position and the third mechanical arm 63 still cannot push the vacuum chuck 636 to the surface of the target object when the third mechanical arm 63 advances to the extreme position, the fourth driving module 632 on the third mechanical arm 63 will continue to push the vacuum chuck 636 to the surface of the target object; after the vacuum chuck 636 is pushed to the surface of the target object to adsorb the object, after the object is adsorbed, if the object is light and the weight is within the adsorption force range of the vacuum chuck 636, the bearing tray 625 on the second mechanical arm 62 does not extend, the vacuum chuck 636 horizontally adsorbs the object, then retreats, and directly transports the adsorbed object to the bearing tray 625 which does not extend;

if the object is heavy and the weight exceeds the suction force of the vacuum chuck 636, and the vacuum chuck 636 cannot provide sufficient suction support, the third driving module 622 can extend the load-bearing tray 625 by a corresponding stroke according to the size of the object to be sucked. In addition, if the target object is stacked on another object, when the target object is directly sucked and may touch the lower object to cause the lower object to move or even fall, the bearing tray 625 also extends out, and the tail end of the bearing tray 625 abuts against the object below the target object to fix the object, so as to avoid moving and falling, after the bearing tray 625 extends out, the fourth driving module 632 drives the vacuum chuck 636 to retreat, so that the sucked object is firstly pulled onto the bearing tray 625, and then the second driving module 623 drives the third mechanical arm 63 to retreat to the initial position;

when the size of the picked goods is larger than the diameter of the vacuum chuck 636 in the thickness direction, the adsorption direction of the vacuum chuck 636 keeps the same horizontal direction with that of the third mechanical arm 63 to horizontally adsorb the objects, when the picked objects are thinner, such as books and letters, and the thickness of the picked objects is smaller than the diameter of the vacuum chuck 636, the rotary motor can change the adsorption direction of the vacuum chuck 636, and the adsorption direction is changed from horizontal to vertical downward to vertically adsorb the objects; the slewing bearing 616 of the first mechanical arm 61 rotates to drive the second mechanical arm 62 and the third mechanical arm 63 to rotate 90 degrees towards the direction of the lifting mechanism, the lifting driving module adjusts the height of the object taking and placing device, so that the height of the object is matched with the height of the temporary storage shelf 70 on the lifting mechanism, then the vacuum suction disc 636 pushes the object to the temporary storage shelf 70, the electromagnetic valve of the vacuum pump body 80 cuts off a vacuum air path, the object is separated from the vacuum suction disc 636, and the taking and placing of the object are completed.

In some embodiments, the first robot arm 61 is provided with a first driving module 620 and a first guide rail 615, so that the second robot arm 62 can reciprocate linearly relative to the first robot arm 61. Thus, when the target object is a box-type package with a larger size, the distance between the target object and the lifting mechanism is increased by the forward movement of the second mechanical arm 62, and the target object is prevented from interfering when rotating towards the lifting mechanism along with the object taking and placing device.

Through the analysis, the object taking and placing mechanism of the embodiment realizes the purpose of increasing one degree of freedom through the rotary motor so as to switch the directions of the suckers and realize the grabbing of the light and thin object; meanwhile, for the heavy and bulky objects, the object pick-and-place mechanism of the present embodiment drags the objects into the load-bearing tray 625 by pulling, and the suction force of the suction cup only needs to overcome the friction force between the objects and the contact surface, not the gravity of the objects, so that the overall size and the weight range of the objects that can be picked and placed by the object pick-and-place mechanism of the present embodiment are much larger than those of other suction cup manipulators.

The above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention, and all modifications and equivalents of the present invention, which are made by the contents of the present specification and the accompanying drawings, or directly/indirectly applied to other related technical fields, are included in the scope of the present invention.