CN-122010011-A - Cargo handling method and handling robot

CN122010011ACN 122010011 ACN122010011 ACN 122010011ACN-122010011-A

Abstract

The invention belongs to the technical field of robot transportation, and particularly relates to a cargo carrying method and a carrying robot. The method comprises the steps of setting a carrying destination position and carrying goods types, determining a walking path of a carrying robot and goods scanning information according to the carrying destination position and the carrying goods types, and determining a carrying path corresponding to the carrying goods types based on matching of the carrying goods types and preset moving paths.

Inventors

YUAN CHUNXIAO
LIU TAO

Assignees

深圳市固泰科自动化装备有限公司

Dates

Publication Date: 20260512
Application Date: 20260330

Claims (10)

1. A method of handling cargo, comprising: Setting a carrying destination position and a carrying cargo type; Determining a traveling path of the transfer robot and cargo scanning information according to the transfer destination position and the transfer cargo type; Matching is carried out on the basis of the type of the carried goods and a preset moving path so as to determine a carrying path corresponding to the type of the carried goods; correcting the posture of the walking path of the carrying robot based on the carrying path and the two-dimensional code arranged on the carrying path; When the carrying robot moves to the position of the goods to be carried according to the walking path, the goods information of the goods to be carried is scanned, and whether the goods to be carried are determined; Based on the matching of the cargo information of the transported cargo and the preset cargo information, the transport robot autonomously selects the motion state of the transport robot and completes the cargo transport.
2. The cargo handling method according to claim 1, wherein the motion state of the handling robot is divided into two operation states, and is selectively executed according to the handling cargo information.
3. The cargo handling method according to claim 2, wherein the motion state of the handling robot is specifically operated as follows: When the carrying robot scans the cargo information of the carried cargoes and determines that the first motion state of the carrying robot is adopted, after the carrying robot moves to the front of the carried cargoes, the carrying assembly is started, and the fork arm main body horizontally extends out of the body of the carrying robot and is inserted into a pallet at the bottom of the carried cargoes; Then the lifting driving structure works to support and support the pallet filled with the carried goods; Then the travelling mechanism works to drive the machine body to move to the pallet until the carrying assembly is restored to the original position, the lifting driving structure is again enabled to work, the pallet is completely placed on the machine body, and finally, the carrying robot carrying the pallet and cargoes moves to carry cargoes; when the carrying robot scans the cargo information of the carried cargoes and determines the second motion state of the carrying robot, after the carrying robot moves to the front of the carried cargoes, the carrying assembly is started, and the fork arm main body horizontally extends out of the body of the carrying robot and is inserted into a pallet at the bottom of the carried cargoes; Then the fork arm main body works upwards, the pallet with the carried goods is supported and reversely moved to the upper part of the machine body, the pallet is completely placed on the machine body, and finally, the carrying robot with the pallet and the goods moves to carry the goods.
4. The method of claim 3, further comprising obtaining two-dimensional code information, scanning the ground-attached two-dimensional code with a downlooking camera, and correcting the vehicle body position and orientation.
5. The method of claim 4, wherein determining the type of the cargo further comprises scanning the stacking information on the cargo pallet using two industrial cameras, retrieving pallet information and cargo information on the pallet, and performing verification of the type of the cargo.
6. The method of claim 5, further comprising accurately detecting the elevation of the fork arm body during operation of the fork arm body, wherein the first lead screw nut slide plate is moved horizontally to drive the sensor plate fixedly connected with the first lead screw nut slide plate to move synchronously, and the sensor fixedly connected with the fork arm body is used for detecting the real-time position of the sensor plate to obtain displacement data of the first lead screw nut slide plate, so that the elevation of the fork arm body is accurately controlled.
7. The method according to claim 6, wherein the fork arm main body further comprises a laser ranging probe when horizontally extending from the body of the transfer robot, the moving distance of the fork arm support of the fork arm travelling mechanism is measured by the laser ranging probe, the actual moving distance is compared with a preset distance set by the system, and the moving distance of the fork arm support is regulated and controlled according to the comparison result, so that the accurate control of the horizontal movement of the fork arm support is realized.
8. The method according to claim 7, wherein the predetermined moving path is path information which is pre-planned according to storage locations, carrying conditions and site layouts of different kinds of cargoes and stored in the robot control system, and a path with the shortest distance and the least obstacle is preferentially selected as the carrying path when the paths are matched.
9. The method of claim 8, wherein completing the cargo handling comprises the robot moving to the destination along the corrected travel path according to the set destination location, placing the pallet and the cargo at the specified location, and feeding back a handling completion signal to the control system to complete a complete cargo handling process.
10. A transfer robot for use in a method of transferring goods according to any one of claims 1 to 9, comprising a walking assembly and a transfer assembly, wherein the walking assembly comprises a machine body and a walking mechanism, the walking mechanism is arranged on the machine body and is used for driving the machine body to move, the transfer assembly comprises a fork arm walking mechanism and a fork arm lifting mechanism, the fork arm walking mechanism is arranged on the machine body and moves horizontally relative to the machine body, and the fork arm lifting mechanism is arranged on the fork arm walking mechanism and moves vertically relative to the fork arm walking mechanism and is used for carrying a pallet.

Description

Cargo handling method and handling robot Technical Field The invention belongs to the technical field of robot transportation, and particularly relates to a cargo carrying method and a carrying robot thereof. Background Along with the rapid development of intelligent manufacturing, intelligent storage and automatic logistics, the mobile transfer robot becomes core equipment for industrial material transfer, storage and sorting and production line butt joint, and is widely applied to scenes such as automobile manufacturing, electronic processing and electronic commerce logistics. However, in the prior art, the handling or transferring is often required to be manually performed, and the handling efficiency is not good. Therefore, it is necessary to design a cargo handling method and a handling robot to solve the above problems. Disclosure of Invention In view of the above, the present invention provides a cargo handling method and a handling robot, so as to solve the problems set forth in the background art. In order to achieve the above purpose, the invention provides a cargo handling method, comprising the following steps: Setting a carrying destination position and a carrying cargo type; Determining a traveling path of the transfer robot and cargo scanning information according to the transfer destination position and the transfer cargo type; Matching is carried out on the basis of the type of the carried goods and a preset moving path so as to determine a carrying path corresponding to the type of the carried goods; correcting the posture of the walking path of the carrying robot based on the carrying path and the two-dimensional code arranged on the carrying path; When the carrying robot moves to the position of the goods to be carried according to the walking path, the information of the goods to be carried is scanned, and whether the goods to be carried are determined; Based on the matching of the cargo information of the transported cargo and the preset cargo information, the transport robot autonomously selects the motion state of the transport robot and completes the cargo transport. Further, the motion state of the carrying robot is divided into two operation states, and the carrying robot is selectively executed according to the information of the carried goods. Further, the motion state of the transfer robot specifically operates as follows: When the carrying robot scans the cargo information of the carried cargoes and determines that the first motion state of the carrying robot is adopted, after the carrying robot moves to the front of the carried cargoes, the carrying assembly is started, and the fork arm main body horizontally extends out of the body of the carrying robot and is inserted into a pallet at the bottom of the carried cargoes; Then the lifting driving structure works to support and support the pallet filled with the carried goods; Then the travelling mechanism works to drive the machine body to move to the pallet until the carrying assembly is restored to the original position, the lifting driving structure is again enabled to work, the pallet is completely placed on the machine body, and finally, the carrying robot carrying the pallet and cargoes moves to carry cargoes; when the carrying robot scans the cargo information of the carried cargoes and determines the second motion state of the carrying robot, after the carrying robot moves to the front of the carried cargoes, the carrying assembly is started, and the fork arm main body horizontally extends out of the body of the carrying robot and is inserted into a pallet at the bottom of the carried cargoes; Then the fork arm main body works upwards, the pallet with the carried goods is supported and reversely moved to the upper part of the machine body, the pallet is completely placed on the machine body, and finally, the carrying robot with the pallet and the goods moves to carry the goods. Further, the method further comprises the steps of obtaining two-dimension code information and utilizing a downward-looking camera to scan the two-dimension codes stuck on the ground to correct the position and the posture of the vehicle body when correcting the walking path of the carrying robot. Further, the method further comprises the step of scanning the code pasting information on the goods pallet by using two industrial cameras, and taking the pallet self information and goods information such as the goods type, specification and the like on the pallet to finish verification of the goods type. Further, in the working process of the fork arm main body, the fork arm main body lifting height accurate detection device further comprises a sensor which drives the sensing piece fixedly connected with the first screw nut sliding plate to synchronously move when the first screw nut sliding plate moves horizontally, and the sensor fixedly connected with the fork arm main body detects the real-time position of the sensing piece to obtain the displa