CN109775270A - Item picking system - Google Patents
Item picking system Download PDFInfo
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- CN109775270A CN109775270A CN201711103612.3A CN201711103612A CN109775270A CN 109775270 A CN109775270 A CN 109775270A CN 201711103612 A CN201711103612 A CN 201711103612A CN 109775270 A CN109775270 A CN 109775270A
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- 230000009184 walking Effects 0.000 claims description 46
- 230000007246 mechanism Effects 0.000 claims description 40
- 238000012856 packing Methods 0.000 abstract description 4
- 239000011159 matrix material Substances 0.000 description 7
- 239000000725 suspension Substances 0.000 description 6
- 238000000034 method Methods 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 4
- 238000010276 construction Methods 0.000 description 3
- 238000009434 installation Methods 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G35/00—Mechanical conveyors not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
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Abstract
The present invention relates to logistic storage technical field, in particular to a kind of item picking system.Item picking system provided by the present invention, including Prospect of Robot Sorting System and track structure, in which: track structure is arranged aerially and which is provided with the first track and the second track that intersect with each other；Prospect of Robot Sorting System is suspended to below track structure, and Prospect of Robot Sorting System switchably walks along the first track and the second track and treats sorting article and sorted.The present invention can increase ground areal packing density with effectively save ground space, furthermore, it is possible to improve sorting efficiency, accelerate to sort beat.
Description
Technical field
The present invention relates to logistic storage technical field, in particular to a kind of item picking system.
Background technique
Cargo sorting is an important link of logistic storage, after cargo is chosen out, is transported by sorting system
Required position, so as to the transport of subsequent logistic car.In order to accelerate article rate flow, usually using Prospect of Robot Sorting System to cargo
Automatically it is sorted.
In the prior art, Prospect of Robot Sorting System is usually all walked on the ground, must correspondingly, on ground be reserved very much
It walks for Prospect of Robot Sorting System in channel.Due to being unable to store shelf and cargo at these channels, it will cause warehouse storage and utilize
Rate is lower, and storage density is smaller, and warehouse cost is higher.
And in order to save ground space, make that channel can not be stayed on ground, cargo can be stored more densely packed, occur at present
The suspension type item picking system that a kind of Prospect of Robot Sorting System is walked above shelf.This suspension type item picking system is led to
Chain is often set above shelf, and Prospect of Robot Sorting System is suspended to below chain, is walked by chain-driving.Due to no longer needing on ground
It is upper that the channel walked for Prospect of Robot Sorting System is set, therefore, storage density can be effectively promoted, increase the utilization of warehouse memory space
Rate.
However, this existing suspension type item picking system, Prospect of Robot Sorting System can only keep opposing stationary with chain,
Unidirectional walking driven by the chain, walking manner is more single, and Prospect of Robot Sorting System is more difficult quickly to reach any sorting position, picks
It selects efficiency lower, and is mutually restricted between each Prospect of Robot Sorting System, the latter Prospect of Robot Sorting System can only be followed in previous picker
It walks and sorts after device people, cause whole system operation beat slower.
Summary of the invention
A technical problem to be solved by this invention is: increasing ground areal packing density, and improves and sort efficiency.
In order to solve the above-mentioned technical problems, the present invention provides a kind of item picking systems comprising Prospect of Robot Sorting System and
Track structure, in which: track structure is arranged aerially and which is provided with the first track and the second track that intersect with each other；Picker
Device people is suspended to below track structure, and Prospect of Robot Sorting System switchably walks along the first track and the second track and treats sorting
Article is sorted.
Optionally, Prospect of Robot Sorting System includes robot body and traveling wheel, and robot body passes through traveling wheel and track knot
Structure connection, traveling wheel can be along the first tracks and the second track travel, also, in the intersection of the first track and the second track
Place, traveling wheel can be turned to the second state by first state, and in first state, traveling wheel is along the first track and the second rail
A walking in road, in the second state, traveling wheel is along another walking in the first track and the second track.
Optionally, traveling wheel includes two sub walking shafts taken turns and be connected between two son wheels, and two sons are taken turns can
It is rotated synchronously around walking shaft, to realize the walking of Prospect of Robot Sorting System.
Optionally, Prospect of Robot Sorting System includes at least two traveling wheels, in the intersection of the first track and the second track, at least
Two traveling wheels synchronously can turn to the second state by first state.
Optionally, Prospect of Robot Sorting System further includes steering driving mechanism, and steering driving mechanism is for driving traveling wheel first
The intersection of track and the second track turns to the second state by first state.
Optionally, Prospect of Robot Sorting System includes at least two traveling wheels, in which:
Steering driving mechanism is drivingly connected at least two traveling wheels and can be in the phase of the first track and the second track
At least two traveling wheels are driven synchronously to turn to the second state by first state at friendship；Alternatively,
Prospect of Robot Sorting System includes at least two steering driving mechanisms, at least two steering driving mechanisms and at least two walkings
Wheel is drivingly connected correspondingly, and in the intersection of the first track and the second track, each steering driving mechanism can be synchronized
Ground drives corresponding traveling wheel to turn to the second state by first state.
Optionally, track structure is set to the roof in the warehouse for accommodating article to be sorted.
Optionally, track structure includes two transverse parts and the vertical part that is connected between two transverse parts, the first track and second
Track is set on transverse part, and track structure is connect by one in two transverse parts with the roof in warehouse, and Prospect of Robot Sorting System branch
It holds on another in two transverse parts.
Optionally, track structure is equipped at least two first tracks, and the second track intersects with each first track；
And/or track structure is equipped at least two second tracks, the first track intersects with each second track.
Optionally, the first track and the second track intersect perpendicular to each other.
Item picking system provided by the present invention is suspension type item picking system, without being arranged on the ground for sorting
Therefore the channel of robot ambulation can increase ground areal packing density with effectively save ground space；Moreover, because object of the present invention
The Prospect of Robot Sorting System of product radio frequency is switchably along the first track and the second track travel to intersect with each other, therefore, walking side
Formula is more flexible, can more efficiently implement item picking operation, is conducive to accelerate to sort beat.
By the way that exemplary embodiment of the present invention is described in detail referring to the drawings, other feature of the invention and
Its advantage will become apparent.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention without any creative labor, may be used also for those of ordinary skill in the art
To obtain other drawings based on these drawings.
Fig. 1 shows the working state figure of the item picking system of one embodiment of the invention.
Fig. 2 shows the scheme of installation of item picking system shown in Fig. 1.
Fig. 3 shows the schematic perspective view of the track structure in Fig. 1 and Fig. 2.
Fig. 4 shows the main view of Fig. 3.
Fig. 5 shows the top view of Fig. 3.
Fig. 6 shows the schematic perspective view of the Prospect of Robot Sorting System in Fig. 2.
Fig. 7 shows the simplified schematic diagram of the steering driving mechanism of item picking system shown in Fig. 1.
In figure:
1, Prospect of Robot Sorting System；
11, robot body；111, matrix；112, pars contractilis；113, clamping part；
12, traveling wheel；121, sub- wheel；122, walking shaft；
13, movable motor；14, shaft is turned to；15, steering motor；16, first bevel gear；17, second bevel gear；18, axis
It holds；
2, track structure；
21, transverse part；22, vertical part；2a, the first track；2b, the second track；
3, ground；
4, roof；
5, article to be sorted.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.Below
Description only actually at least one exemplary embodiment be it is illustrative, never as to the present invention and its application or make
Any restrictions.Based on the embodiments of the present invention, those of ordinary skill in the art are in no development creative work premise
Under every other embodiment obtained, shall fall within the protection scope of the present invention.
Technology, method and apparatus known to person of ordinary skill in the relevant may be not discussed in detail, but suitable
In the case of, the technology, method and apparatus should be considered as authorizing part of specification.
In the description of the present invention, it is to be understood that, the noun of locality such as " front, rear, top, and bottom, left and right ", " it is laterally, vertical,
Vertically, orientation or positional relationship indicated by level " and " top, bottom " etc. is normally based on orientation or position shown in the drawings and closes
System, is merely for convenience of description of the present invention and simplification of the description, in the absence of explanation to the contrary, these nouns of locality do not indicate that
It must have a particular orientation or be constructed and operated in a specific orientation with the device or element for implying signified, therefore cannot manage
Solution is limiting the scope of the invention；The noun of locality " inside and outside " refers to inside and outside the profile relative to each component itself.
In the description of the present invention, it is to be understood that, components are limited using the words such as " first ", " second ", only
It is merely for convenience of distinguishing corresponding components, there is no Stated otherwise such as, there is no particular meanings for above-mentioned word, therefore not
It can be interpreted as limiting the scope of the invention.
Fig. 1-7 shows one embodiment of item picking system of the present invention.Referring to Fig.1-7, object provided by the present invention
Product radio frequency, including Prospect of Robot Sorting System 1 and track structure 2, in which: track structure 2 is arranged aerially and which is provided with each other
The the first track 2a and the second track 2b of intersection；Prospect of Robot Sorting System 1 is suspended to the lower section of track structure 2, and Prospect of Robot Sorting System 1 is along the
One track 2a and the second track 2b switchably walks and treats sorting article 5 and sorted.
Item picking system of the invention, Prospect of Robot Sorting System 1 are suspended to 2 lower section of track structure of aerial setting and can
Switchably the first track 2a to intersect with each other on track structure 2 and the second track 2b walking, this aspect make this hair
Bright item picking system becomes suspension type item picking system, and Prospect of Robot Sorting System 2 can walk above shelf, without occupying
Ground space promotes the utilization rate of ground memory space so as to effectively increase ground areal packing density；On the other hand, it sorts
The walking manner of robot 1 is more flexible, and middle suspension type Prospect of Robot Sorting System can only be driven by the chain compared with the existing technology
The case where unidirectional walking, can effectively improve sorting efficiency, accelerate to sort beat.
In the present invention, in order to realize the aerial setting of track structure 2, it can be arranged in warehouse floor and be higher than shelf top
The support construction in face, and track structure 2 is set in support construction；Alternatively, track structure 2 can also be set to warehouse
On roof 4.Wherein, track structure 2 is set on the roof 4 in warehouse, due to can further save support construction to ground
Therefore the occupancy in space is advantageously implemented cargo and more densely stores.
In addition, in the present invention, between the first track 2a and the second track 2b, can intersect perpendicular to each other, Huo Zhecheng
Intersect to other angles.Wherein, when the first track 2a and the second track 2b intersect perpendicular to each other, the structure of track structure 2
It is more simple, it processes more convenient.Also, in this case, Prospect of Robot Sorting System 1 can be walked along horizontal and vertical lines, a side
Face, the movement routine of Prospect of Robot Sorting System 1 more meet the disposing way of article 5 to be sorted on the ground, thus Prospect of Robot Sorting System 1
Shift position can correspond between the sub- memory space of article 5 to be sorted, and be easy to implement more efficient sorting process；
On the other hand, it is also beneficial to more easily and efficiently realize Prospect of Robot Sorting System 1 along the switching of the first track 2a and the second track 2b
Walking.
The present invention is described further below with reference to embodiment shown in Fig. 1-7.
As shown in figs. 1-7, in this embodiment, item picking system includes the picker for sorting article 5 to be sorted
Device people 1 and track structure 2 for walking for Prospect of Robot Sorting System 1, track structure 2 is set on the roof 4 in warehouse, and picker
Device people 1 is suspended to the lower section of track structure 2.
Wherein, as in Figure 3-5, in this embodiment, track structure 2 includes vertical part 22 and two transverse parts 21, vertical part 22
It being connected between two transverse parts 21, this makes track structure 2 in I-shaped, convenient for installation of the track structure 2 on roof 4,
It is easy to implement suspention of the Prospect of Robot Sorting System 1 on track structure 2.Specifically, as shown in Figure 2, the track structure 2 of the embodiment,
One in two transverse part 21 is embedded in roof 4, and another in two transverse parts 21 extend out to 4 lower section of roof, sorts
Robot 1 is then supported on the transverse part 21 for extending out to 4 lower section of roof.Based on this, track structure 2 passes through one in two transverse parts 21
It is a to be connect with roof 4, and connect by another in two transverse parts 21 with Prospect of Robot Sorting System 1, structure is simple, and may be implemented
The more stable and firm suspention setting of Prospect of Robot Sorting System 1, while being also convenient for Prospect of Robot Sorting System 1 and neatly walking.The embodiment
Track structure 2 can be obtained by being transformed design to H profile steel.
By Fig. 3 and Fig. 5 it is found that in this embodiment, track structure 2 be equipped with the first track 2a intersected vertically and
Second track 2b.Specifically, as shown in Figure 3 and Figure 5, the first track 2a and the second track 2b are all set on two transverse parts 21,
That is, being both equipped with the first track 2a on two transverse parts 21, it also is provided with the second track 2b；Also, the first track 2a and the second track
2b intersects with each other and angle in 90 ° between the two.More specifically, by Fig. 3 and Fig. 5 it is found that the first track 2a of the embodiment and
The quantity of second track 2b is multiple, that is, track structure 2 is equipped with multiple first track 2a, while also being provided with multiple second
Track 2b, wherein each first track 2a intersects vertically with each second track 2b, and each second track 2b is also with each
One track 2a intersects vertically.Based on this, each first track 2a and each second track 2b are divided by other side with more
A subsegment, multiple first track 2a and multiple second track 2b are crossed to form multiple grids, so that the track structure 2 of the embodiment
With rail network in length and breadth, walks convenient for Prospect of Robot Sorting System 1, more efficiently sorts more flexiblely.Wherein, the first track 2a can
With referred to as cross track, the second track 2b is properly termed as long rails.
It should be noted that the quantity of the first track 2a and the second track 2b be not limited to it is multiple, for example, can be with the first rail
The quantity of road 2a is one, and the quantity of the second track 2b is at least two；For another example can also be with the quantity of the second track 2b
One, and the quantity of the first track 2a is at least two；Even, can be with the quantity of the first track 2a and the second track 2b
One.In addition, alternatively, the first track 2a and the second track 2b can also only be set to one in two transverse parts 21
On a, without being all set on two transverse parts 21, for example, the first track 2a and the second track 2b can only be set to the cross of lower section
In portion 21, and it is not provided on the transverse part 21 of top.
As shown in Fig. 1-2 and Fig. 6-7, in this embodiment, the Prospect of Robot Sorting System 1 for being suspended to 2 lower section of track structure is wrapped
Robot body 11, traveling wheel 12, hoofing part mechanism and steering driving mechanism are included, and the Prospect of Robot Sorting System 1 can be switched
It walks along the first track 2a and the second track 2b and treats sorting article 5 and sorted in ground.
Wherein, as shown in Figure 1, in this embodiment, robot body 11 includes matrix 111, pars contractilis 112 and clamping part
113.The other structures component of the Prospect of Robot Sorting System 1 such as matrix 111 is traveling wheel 12, pars contractilis 112 and clamping part 113 provides installation
Matrix, and it is connect by traveling wheel 12 with the underlying transverse part 21 of track structure 2, realizes Prospect of Robot Sorting System 1 in track
The suspention setting of 2 lower section of structure.The upper end of pars contractilis 112 is connect with matrix 111, and the lower end of pars contractilis 112 and clamping part 113 connect
It connects, can stretch relative to matrix 111 and control clamping part 113 moves up and down, and is in different height so as to meet
The sorting demand of article 5 to be sorted.Clamping part 113 is connected to the lower end of pars contractilis 112, can treat and sort the progress of article 5
Clamping, to realize the crawl treated and sort article 5.
Referring to Fig.1, when sorting, article 5 to be sorted stacks on ground 3, forms the stack with certain altitude, and sorts
Robot 1 is walked above stack by traveling wheel 12 along track structure 2, is reached after sorting 5 place horizontal position of article, is picked
It selects robot 1 to control clamping part 113 using pars contractilis 112 to move up and down to the height where article 5 to be sorted, and by clamping part
113, which treat sorting article 5, is clamped, and realizes the sorting treated and sort article 5.
Since Prospect of Robot Sorting System 1 is suspended to the lower section for the track structure 2 being set on warehouse roof 4, the embodiment
Prospect of Robot Sorting System 1 can walk above stack, no longer need to be arranged on the ground the channel walked for Prospect of Robot Sorting System 1, over the ground
The occupancy of space of planes is less, so that cargo can be stored more densely, as shown in Figure 1, the spacing between different stacks
Very little can be set to obtain, and then can effectively increase storage density, improve the utilization rate of the ground memory space in warehouse.
Traveling wheel 12 is used to connect robot body 11 and track structure 2, and for realizing Prospect of Robot Sorting System 1 in track knot
Walking on structure 2.The quantity of traveling wheel 12 can for one, it is two or more.In this embodiment, the quantity of traveling wheel 12 is
Four.As shown in fig. 6, four traveling wheels 12 are separately positioned on four corners of matrix 111, the knot of such Prospect of Robot Sorting System 1
Structure is more stable, is also convenient for Prospect of Robot Sorting System 1 and more smoothly walks.And in order to simplify structure, which walks four
Wheel 12 is set as identical structure.
Traveling wheel 12 is set on robot body 11, and is connect with the underlying transverse part 21 of track structure 2, so that
Robot body 11 can be connect by the traveling wheel 12 with track structure 2, realize Prospect of Robot Sorting System 1 below track structure 2
Suspention setting.Also, as shown in fig. 6, in this embodiment, traveling wheel 12 includes two son wheels 121 and is connected to two sons
Walking shaft 122 between wheel 121.Two son wheels 121 are oppositely arranged, and walking shaft 122 is horizontally arranged.Two son wheels 121
By rotating synchronously around walking shaft 122, the walking of Prospect of Robot Sorting System 1 may be implemented.Wherein, as shown in Fig. 2, traveling wheel 12
Two son wheels 121 are supported on the underlying transverse part 21 of track structure 2 and are located at track (the first track 2a or the
Two track 2b) two sides, that is, two of traveling wheel 12 son wheels 121 are across track (the first track 2a or the second track 2b) twelve Earthly Branches
It holds on the underlying transverse part 21 of track structure 2.As it can be seen that setting traveling wheel 12 to include two son wheels 121, Ke Yigeng
The design feature of track structure 2 is adapted to well, realizes traveling wheel 12 on the first track 2a and the second track 2b more smoothly
Walking.
Moreover, the traveling wheel 12 of the embodiment can be in the intersection of the first track 2a and the second track 2b, by along
A walking in one rail 2a and the second track 2b, switches to along another row in the first track 2a and the second track 2b
It walks, Prospect of Robot Sorting System 1 is switchably walked along the first track 2a and the second track 2b, walking manner is more flexible,
So that Prospect of Robot Sorting System 1 reaches 5 position of article arbitrarily to be sorted and sorted in which can be convenient, sort more efficient.And
And, it is possible to reduce the autonomous of each Prospect of Robot Sorting System 1 and multiple is realized in the mutual restriction between each Prospect of Robot Sorting System 1
The concurrent job of Prospect of Robot Sorting System 1, convenient for neatly distributing the sorting machine that investment sorts work according to the task amount of order
The quantity of people 1 realizes optimizing scheduling, accelerates to sort beat.
Wherein, in order to enable traveling wheel 12 switchably to walk along the first track 2a and the second track 2b, in the implementation
In example, traveling wheel 12 is configured to turn to second by first state in the intersection of the first track 2a and the second track 2b
State, when being in first state, traveling wheel 12 is in the second shape along a walking in the first track 2a and the second track 2b
When state, traveling wheel 12 is along another walking in the first track 2a and the second track 2b.That is, the embodiment is by by traveling wheel
12 are configured to turn in the intersection of the first track 2a and the second track 2b, and Lai Shixian Prospect of Robot Sorting System 1 is in the first track
Switching walking between 2a and the second track 2b.
Specifically, as shown in Fig. 2, Fig. 6 and Fig. 7, the traveling wheel 12 of the embodiment is by turning to shaft 14 and robot sheet
Body 11 is rotatably coupled.More specifically, turning to, shaft 14 is vertically arranged, and passes through the walking shaft of bearing 18 and traveling wheel 12
122 connections.The outer ring of bearing 18 can be rigidly connected with shaft 14 is turned to.In this way, can be driven when turning to the rotation of shaft 14
Traveling wheel 12 rotates, and traveling wheel 12 is enabled to turn to the second state by first state, realizes Prospect of Robot Sorting System 1 in the first rail
Switching walking between road 2a and the second track 2b.Due to as previously mentioned, the embodiment the first track 2a and the second track 2b
Intersect perpendicular to each other, therefore, in this embodiment, traveling wheel 12 turns to the second state by first state and needs to rotate 90 °.
Based on this, 90 ° of the rotation of shaft 14 is turned to by making, traveling wheel 12 can be made to rotate 90 ° by a horizontal position and reach another
The switching of traveling wheel 12 between the first state and a second state is realized, so that Prospect of Robot Sorting System 1 allows hand over ground in horizontal position
It walks along the first track 2a intersected vertically and the second track 2b.
In this embodiment, in order to further increase sorting efficiency, Prospect of Robot Sorting System 1 further includes hoofing part mechanism and turns
To driving mechanism.
Wherein, hoofing part mechanism and traveling wheel 12 are drivingly connected, for driving sub- wheel 121 to rotate around walking shaft 122,
So that Prospect of Robot Sorting System 1 can on track structure 2 automatically walk.In this embodiment, hoofing part mechanism is using walking electricity
Machine 13.Specifically, as shown in Fig. 2, in this embodiment, four movable motors 13 respectively with four traveling wheels 12 correspondingly
It is drivingly connected, it is real for synchronously driving two son wheels 121 of corresponding traveling wheel 12 to rotate around walking shaft 122
The automatically walk of existing Prospect of Robot Sorting System 1.Wherein, as shown in Figure 2, the movable motor 13 of the embodiment is set to walking shaft 122
On, space can be more fully utilized in this way, realize that hoofing part mechanism is more reasonably arranged.
Certainly, hoofing part mechanism can also use other structures.For example, hoofing part mechanism can be using except motor
Other power-equipments；Alternatively, hoofing part structure can not also be drivingly connected correspondingly with each traveling wheel 12, but
One hoofing part mechanism is only set, and is drivingly connected the hoofing part mechanism with each traveling wheel 12 simultaneously, by the walking
Driving mechanism drives each traveling wheel 12 synchronously to walk.
And steering driving mechanism is then used to drive traveling wheel 12 in the intersection of the first track 2a and the second track 2b by
One state turns to the second state, realizes automatic switchover walking of the Prospect of Robot Sorting System 1 on the first track 2a and the second track 2b.
Since the Prospect of Robot Sorting System 1 of the embodiment includes four traveling wheels 12, in order to enable Prospect of Robot Sorting System 1 more efficiently
Switch walking between transverse and longitudinal track, each traveling wheel 12 of the embodiment is configured to synchronously in the first track 2a and the
The intersection of two track 2b turns to the second state by first state.
Specifically, in this embodiment, four steering driving mechanisms are drivingly connected correspondingly with four traveling wheels 12,
For synchronously driving corresponding traveling wheel 12 to be turned by first state in the intersection of the first track 2a and the second track 2b
It moves to the second state.More specifically, four steerings of the embodiment drive in order to keep the structure of Prospect of Robot Sorting System 1 simpler
Mechanism uses identical structure, includes steering power mechanism and steering gear, steering power mechanism is by turning to transmission
Mechanism and traveling wheel 12 are drivingly connected, for driving corresponding traveling wheel 12 to automatically rotate to the second shape by first state
State.
Wherein, as shown in Figure 7, in this embodiment, steering power mechanism includes steering motor 15, is moved for providing to turn to
Power；Steering gear includes the first bevel gear 16 and second bevel gear 17 being engaged with each other, for turning steering motor 15
Turn turns to the rotation of traveling wheel 12 between the first state and a second state.Specifically, steering motor 15 and first bevel gear
16 connections.Second bevel gear 17 is engaged with first bevel gear 16 and is connect with shaft 14 is turned to.Based on this, when Prospect of Robot Sorting System 1
When running to the intersection of the first track 2a and the second track 2b, steering motor 15 can star, drive 16 He of first bevel gear
Second bevel gear 17 rotates, and makes to turn to 90 ° of the rotation of shaft 14, drives traveling wheel 12 to rotate 90 °, switch to second by first state
State realizes automatic reverse.For example, when the needs of Prospect of Robot Sorting System 1 are transformed to longitudinal driving by cross running, in the first track
The intersection of 2a and the second track 2b can drive first bevel gear 16 and second bevel gear 17 to rotate, make by steering motor 15
It turns to shaft and rotates 90 °, traveling wheel 12 is driven extremely to be walked by walking shaft 122 and second track 2b (long rails) parallel rotation
Shaft 122 is parallel with first track 2a (cross track), then enables Prospect of Robot Sorting System 1 by walking along the first track 2a
It switches to and walks along the second track 2b.
It should be appreciated that the implementation of steering driving mechanism is not limited to foregoing manner.For example, steering driving mechanism can be with
Using the power-equipment except motor as steering power mechanism, it can also be used as and be turned using other mechanisms except gear mechanism
To transmission mechanism；For another example turning to driving structure can not also be drivingly connected correspondingly with each traveling wheel 12, but only
One steering driving mechanism is set, and is drivingly connected the steering driving mechanism with each traveling wheel 12, and the steering is driven
Motivation structure is configured to drive each traveling wheel 12 synchronously by first in the intersection of the first track 2a and the second track 2b
State turns to the second state.
In addition, to enable Prospect of Robot Sorting System 1 switchably along the first track 2a and the second track 2b row to intersect with each other
It walks, is also not limited to and traveling wheel 12 is configured to the mode turned in the intersection of the first track 2a and the second track 2b.
For example, alternatively, traveling wheel 12 can also be set to include two son wheel units, and two sons are taken turns unit
It is set as switchably contacting with the first track 2a and the second track 2b, that is, being respectively set to two son wheel units being capable of edge
The first track 2a and the second track 2b walking, and by two son wheel units be disposed as it is liftable, in this way can be first
The intersection of track 2a and the second track 2b are detached from itself corresponding track and will be another by the way that a son wheel unit to be raised up to
Height wheel unit is transferred to rail contact corresponding with itself, and Lai Shixian Prospect of Robot Sorting System 1 is in the first track 2a and the second track
Switching walking between 2b.Compared to this alternative, traveling wheel 12 is configured to used by illustrated embodiment
The mode that the intersection of first track 2a and the second track 2b turn to, structure is simpler, and control is more convenient, and commutation is more increased
Effect.
The foregoing is merely exemplary embodiment of the present invention, are not intended to limit the invention, all in spirit of the invention
Within principle, any modification, equivalent replacement, improvement and so on be should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of item picking system, which is characterized in that including Prospect of Robot Sorting System (1) and track structure (2), in which: the rail
Road structure (2) is arranged aerially and which is provided with the first track (2a) and the second track (2b) that intersect with each other；The picker
Device people (1) is suspended to below the track structure (2), and the Prospect of Robot Sorting System (1) is along first track (2a) and described
Second track (2b) switchably walks and treats sorting article (5) and sorted.
2. item picking system according to claim 1, which is characterized in that the Prospect of Robot Sorting System (1) includes robot
Ontology (11) and traveling wheel (12), the robot body (11) are connected by the traveling wheel (12) and the track structure (2)
It connects, the traveling wheel (12) can be walked along first track (2a) and second track (2b), also, described the
The intersection of one track (2a) and second track (2b), the traveling wheel (12) can be turned to the second shape by first state
State, in the first state, the traveling wheel (12) is along in first track (2a) and second track (2b)
One walking, in second state, the traveling wheel (12) is along first track (2a) and second track
Another walking in (2b).
3. item picking system according to claim 2, which is characterized in that the traveling wheel (12) includes two son wheels
(121) and the walking shaft (122) that is connected between two sub- wheels (121), described two sub- wheels (121) can be around described
Walking shaft (122) rotates synchronously, to realize the walking of the Prospect of Robot Sorting System (1).
4. item picking system according to claim 2, which is characterized in that the Prospect of Robot Sorting System (1) includes at least two
A traveling wheel (12), in the intersection of first track (2a) and second track (2b), at least two row
Walking wheel (12) synchronously can turn to second state by the first state.
5. according to any item picking system of claim 2-4, which is characterized in that the Prospect of Robot Sorting System (1) is also wrapped
Include steering driving mechanism, the steering driving mechanism is for driving the traveling wheel (12) in first track (2a) and described
The intersection of second track (2b) turns to second state by the first state.
6. item picking system according to claim 5, which is characterized in that the Prospect of Robot Sorting System (1) includes at least two
A traveling wheel (12), in which:
The steering driving mechanism and at least two traveling wheel (12) are drivingly connected and can be in first tracks
The intersection of (2a) and second track (2b) drives at least two traveling wheel (12) synchronously by the first state
Turn to second state；Alternatively,
The Prospect of Robot Sorting System (1) include at least two steering driving mechanisms, at least two steering driving mechanism with
At least two traveling wheel (12) is drivingly connected correspondingly, and in first track (2a) and second track
The intersection of (2b), each steering driving mechanism can synchronously drive corresponding traveling wheel (12) by described
First state turns to second state.
7. item picking system according to claim 1, which is characterized in that the track structure (2) is set to for holding
On the roof (4) for setting the warehouse of the article (5) to be sorted.
8. item picking system according to claim 7, which is characterized in that the track structure (2) includes two transverse parts
(21) and the vertical part (22) that is connected between described two transverse parts (21), first track (2a) and second track (2b)
It is set on the transverse part (21), the track structure (2) passes through one in described two transverse parts (21) and the warehouse
Roof (4) connection, and the Prospect of Robot Sorting System (1) is supported on another in described two transverse parts (21).
9. item picking system according to claim 1, which is characterized in that the track structure (2) is equipped at least two
A first track (2a), second track (2b) are intersected with each first track (2a)；And/or the rail
Road structure (2) is equipped at least two second tracks (2b), first track (2a) and each second track
(2b) intersects.
10. item picking system according to claim 1, which is characterized in that first track (2a) and described second
Track (2b) intersects perpendicular to each other.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711103612.3A CN109775270A (en) | 2017-11-10 | 2017-11-10 | Item picking system |
| PCT/CN2018/106362 WO2019091223A1 (en) | 2017-11-10 | 2018-09-19 | Article sorting system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711103612.3A CN109775270A (en) | 2017-11-10 | 2017-11-10 | Item picking system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109775270A true CN109775270A (en) | 2019-05-21 |
Family
ID=66438184
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711103612.3A Pending CN109775270A (en) | 2017-11-10 | 2017-11-10 | Item picking system |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN109775270A (en) |
| WO (1) | WO2019091223A1 (en) |
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Also Published As
| Publication number | Publication date |
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| WO2019091223A1 (en) | 2019-05-16 |
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