CN110482105B

CN110482105B - Logistics goods shelf carrying robot and logistics goods shelf carrying method

Info

Publication number: CN110482105B
Application number: CN201910789214.4A
Authority: CN
Inventors: 李朝阳
Original assignee: Shenzhen Nanfang Zhongyue Technology Co Ltd
Current assignee: Shenzhen Nanfang Zhongyue Technology Co., Ltd
Priority date: 2019-08-26
Filing date: 2019-08-26
Publication date: 2020-12-15
Anticipated expiration: 2039-08-26
Also published as: CN111924411B; CN111924411A; CN110482105A

Abstract

The invention discloses a logistics goods shelf carrying robot which comprises a robot chassis, a tray, a jacking rotating assembly and a bracket, wherein the tray is arranged on the robot chassis; the robot chassis comprises a chassis base body; the jacking rotating assembly is used for driving the tray to do lifting motion and rotating motion relative to the robot chassis; the bracket comprises four support bodies, and rollers are arranged below each support body; the bracket can be switched between a storage state and an expansion state; in the unfolding state, the four support bodies can respectively support the four legs of the goods shelf, and the whole bracket can rotate relative to the tray along with the tray. According to the logistics goods shelf transporting robot and the logistics goods shelf transporting method, the bracket is arranged, and the bracket is unfolded when the transporting robot transports goods shelves, so that the four supporting bodies support the four legs of the goods shelves, and the four legs and the bottom of the goods shelves are supported when the goods shelves are transported, so that the goods shelves cannot shake or topple over when the transporting robot accelerates or decelerates suddenly.

Description

Logistics goods shelf carrying robot and logistics goods shelf carrying method

Technical Field

The invention relates to the technical field of warehouse logistics, in particular to a logistics goods shelf carrying robot and a logistics goods shelf carrying method.

Background

At present in the storage logistics field, the transfer robot of application transport goods shelves uses extensively, and it can carry goods shelves to the regional merit of letter sorting and supply the sorting personnel to pick up goods, waits to sort personnel to pick up goods and removes the normal position back with goods shelves after accomplishing again. The existing transfer robot has a tray for supporting a goods shelf, the tray only depends on the tray to jack up the goods shelf, the area of the tray is small, the tray only can jack the central position of the bottom of the goods shelf, and the goods shelf is unstable and easy to shake in the process of transfer and even topples over dangers when the transfer robot is suddenly stopped.

Disclosure of Invention

The purpose of the invention is as follows: in order to overcome the defects in the prior art, the invention provides the logistics goods shelf conveying robot and the logistics goods shelf conveying method, wherein the logistics goods shelf conveying robot can stably support the goods shelf in the conveying process so that the goods shelf cannot shake or topple.

The technical scheme is as follows: to achieve the above object, a logistics rack transfer robot according to the present invention includes:

the robot chassis comprises a chassis base body, wherein two driving wheels are symmetrically arranged on the left side and the right side of the middle part of the chassis base body, and a plurality of driven wheels are respectively arranged on the front side and the rear side of the chassis base body;

a tray for holding a shelf;

the jacking rotating assembly is used for driving the tray to do lifting motion and rotating motion relative to the robot chassis; and

the bracket comprises four support bodies, and rollers are arranged below each support body; the bracket can be switched between a storage state and an expansion state; in the unfolding state, the four support bodies can respectively support the four legs of the goods shelf, and the whole bracket can rotate relative to the tray along with the tray.

Further, the bracket further comprises:

a tray seat circumferentially fixed in a top view direction relative to the tray and translatable in a vertical direction relative to the tray seat;

the connecting assembly is used for connecting the bracket and the bracket seat body; each support body is provided with one connecting component; the bracket base is provided with a fixed gear corresponding to each group of connecting components; and

the driving unit is used for driving the connecting assembly to rotate relative to the bracket base, so that the bracket can be integrally switched between a storage state and an expansion state;

wherein, the coupling assembling includes:

a first link rotatably mounted with respect to the bracket base;

the second connecting rod can do telescopic motion relative to the first connecting rod, and the support body is fixed on the second connecting rod; a rack portion formed thereon;

a first gear rotatably mounted on the first link, and engaged with the fixed gear;

a second gear rotatably mounted on the first link and engaged with the rack portion;

and the gearbox is used for establishing a transmission relation between the first gear and the second gear, and enables the rotation speed of the second gear to be higher than that of the first gear.

Furthermore, the four connecting components are divided into two groups, and the two connecting components in each group are driven by a driving unit to rotate relative to the bracket seat body;

the driving unit includes:

a slide block slidably mounted with respect to the bracket base;

the linear motion execution unit is used for driving the sliding block to slide relative to the bracket base;

and one end of the driving rod is hinged on the sliding block, and the other end of the driving rod is hinged on the first connecting rod.

Further, when the tray is in a low position, the rollers of the bracket are separated from the ground; when the tray is in the high position, the rollers of the bracket are in contact with the ground.

Further, install jacking system on the chassis pedestal, jacking system includes:

the fixing seat is fixedly arranged relative to the chassis seat body;

the first sliding block is installed in a sliding mode relative to the fixed seat, the sliding direction is the vertical direction, a first inclined plane is formed at the lower end of the first sliding block, and the tray can act on the upper end of the first sliding block;

the second sliding block is installed in a sliding mode relative to the fixed seat, the sliding direction is the horizontal direction, a second inclined plane and a third inclined plane are formed at two ends of the second sliding block respectively, the second inclined plane is in contact with the first inclined plane, and the second sliding block and the first inclined plane can slide relatively;

the third sliding block is installed in a sliding mode relative to the fixed seat, the sliding direction is the vertical direction, a fourth inclined plane is formed at the lower end of the third sliding block, the fourth inclined plane is in contact with the third inclined plane, and the fourth sliding block and the third sliding block can slide relatively; the upper end of which can act on the carrier.

Further, a guide piece is fixed on the tray, a sliding sleeve is formed on the bracket base body, the sliding sleeve is in sliding fit with the guide piece, and the sliding direction is the vertical direction.

A logistics goods shelf conveying method comprises the following steps:

controlling the jacking rotary assembly to execute jacking action to enable the tray to move to the highest position;

controlling the bracket to be switched from a storage state to a development state;

controlling the jacking rotary assembly to execute descending action, so that four leg parts of the goods shelf are respectively supported to the four support bodies of the bracket;

and controlling the robot chassis to move, and when the robot chassis needs to turn, controlling the robot chassis to rotate in situ, controlling the jacking rotating assembly to execute rotating action, so that the tray and the robot chassis rotate in the same speed and the opposite direction, and the goods shelf is kept stationary relative to the ground.

Has the advantages that: according to the logistics goods shelf transporting robot and the logistics goods shelf transporting method, the bracket is arranged, and the bracket is unfolded when the transporting robot transports goods shelves, so that the four supporting bodies support the four legs of the goods shelves, and the four legs and the bottom of the goods shelves are supported when the goods shelves are transported, so that the goods shelves cannot shake or topple over when the transporting robot accelerates or decelerates suddenly.

Drawings

FIG. 1 is a three-dimensional structure diagram of a logistics goods shelf carrying robot;

fig. 2 is a front view structural view of the logistics goods shelf transporting robot;

FIG. 3 is a block diagram of the bracket in an expanded state;

FIG. 4 is a block diagram of a connection assembly;

FIG. 5 is a top view of the logistics pallet handling robot including the pallet in a stowed state;

FIG. 6 is an external view of the jacking device;

FIG. 7 is an internal structural view of the jacking device;

fig. 8 is a state diagram of the logistics pallet transporting robot when transporting the pallet.

The names of the parts indicated by the reference numerals in the drawings are as follows:

1-a robot chassis; 11-chassis base; 12-a driving wheel; 13-a driven wheel; 2-a tray; 3-jacking a rotating assembly; 4-a bracket; 41-a support body; 42-a bracket base; 421-fixed gear; 43-a connecting assembly; 431-a first link; 432-a second link; 432-1-rack portion; 433 — a first gear; 434-a second gear; 435-a gearbox; 44-the drive unit; 441-slider; 442-a linear motion execution unit; 443-a drive rod; 45-a roller; 5-a jacking device; 51-a fixed seat; 52-first slider; 53-second slider; 54-third slider; 55-a return rectangular spring; 6-a guide; 7-sliding sleeve.

Detailed Description

The present invention will be further described with reference to the accompanying drawings.

The logistics goods shelf handling robot shown in fig. 1 and 2 comprises a robot chassis 1, a tray 2, a jacking rotary assembly 3 and a bracket 4.

The robot chassis 1 comprises a chassis base body 11, two driving wheels 12 are symmetrically arranged on the left side and the right side of the middle part of the chassis base body 11, and two driven wheels 13 are respectively arranged on the front side and the rear side of the chassis base body 11; thus, by controlling the rotation speed of the two driving wheels 12, the entire robot chassis 1 can perform forward, backward, in-situ rotation, and other actions.

The tray 2 is used for supporting a goods shelf; the jacking rotary assembly 3 is used for driving the tray 2 to do lifting motion and rotary motion relative to the robot chassis 1; in the present invention, the jacking rotary component 3 adopts the prior art, for example, the jacking rotary unit structure in chinese patent No. 201910137187.2 can be adopted.

The bracket 4 comprises four support bodies 41, and a roller 45 is arranged below each support body 41; the bracket 4 can be switched between a storage state and an expansion state; in the unfolded state, the four holders 41 can hold the four legs of the shelf, respectively, and the entire bracket 4 can rotate with the tray 2 relative to the tray 2. In the storage state, as shown in fig. 5, the four brackets 41 are retracted to the side of the chassis base 11, so that the overall size of the carrier 4 is small, and the overall size of the transfer robot is not significantly increased.

By adopting the bracket 4, the four supporting bodies 41 of the bracket 4 can support the four legs of the shelf, the lower ends of the supporting bodies 41 are provided with the rollers 45 which are directly contacted with the ground, if the shelf is inclined, the legs of the shelf can be supported by the supporting bodies 41, and the supporting bodies 41 can effectively prevent the inclination trend of the shelf, thereby effectively preventing the shelf from shaking and even toppling over.

Specifically, as shown in fig. 3, the bracket 4 further includes a bracket base 42, a connecting assembly 43, and a driving unit 44. The bracket base 42 is circumferentially fixed relative to the tray 2 in the overlooking direction and can translate relative to the bracket base 42 in the vertical direction, so that when the tray 2 does lifting motion, the bracket 4 is not affected, and when the tray 2 rotates, the bracket 4 can be driven to synchronously rotate; a connecting assembly 43 for connecting the bracket 4 and the bracket holder 42; one connecting assembly 43 is provided for each support body 41; the bracket base 42 is provided with a fixed gear 421 corresponding to each connecting assembly 43; the driving unit 44 is used for driving the connecting assembly 43 to rotate relative to the bracket base 42, so that the bracket 4 can be integrally switched between a storage state and an expansion state;

as shown in fig. 4, the connecting assembly 43 includes a first link 431, a second link 432, a first gear 433, a second gear 434, and a transmission case 435. First link 431 is rotatably mounted with respect to bracket base 42; the second link 432 can move telescopically relative to the first link 431, and the support body 41 is fixed on the second link; the second link 432 has a rack portion 432-1 formed thereon; a first gear 433 rotatably installed on the first link 431 and engaged with the fixed gear 421; a second gear 434 is rotatably installed on the first link 431 and engaged with the rack portion 432-1; the gearbox 435 is used to establish a transmission relationship between the first gear 433 and the second gear 434, and it makes the rotation speed of the second gear 434 higher than that of the first gear 433, so that when the first gear 433 rotates a few turns, the second gear 434 can rotate a lot of turns to drive the second link 432 to extend a larger distance. With the above structure, when the first link 431 rotates relative to the bracket base 42, the first gear 433 rotates due to the engagement between the first gear 433 and the fixed gear 421, so that the second gear 434 is driven to rotate by driving the gear box 435, and the second link 432 extends relative to the first link 431 due to the engagement between the second gear 434 and the rack portion 432-1. In this way, by driving the first link 431 to rotate, the second link 432 can be extended and contracted at the same time.

Further, the four connecting assemblies 43 are divided into two groups, and the two connecting assemblies 43 in each group are driven by a driving unit 44 to rotate relative to the bracket base 42; the driving unit 44 includes a slider 441, a linear motion actuator 442, and a driving rod 443; the sliding block 441 is installed in a sliding manner relative to the bracket base 42; the linear motion actuator 442 is configured to drive the sliding block 441 to slide relative to the bracket base 42, and in this embodiment, the linear motion actuator 442 is a lead screw; one end of the driving rod 443 is hinged to the sliding block 441, and the other end is hinged to the first link 431. Thus, when the sliding block 441 moves, the two connecting components 43 connected with the sliding block rotate.

In a further embodiment, when the tray 2 is in the lowered position, the rollers 45 of the carriage 4 are disengaged from the ground; when the tray 2 is in the raised position, the rollers 45 of the carriage 4 are in contact with the ground. Thus, when the tray 2 is in a low position, that is, the transfer robot does not perform a transfer task, since the roller 45 is separated from the ground, the transfer robot only has the driving wheel 12 and the driven wheel 13 contacting with the ground, the number of the wheels contacting with the ground is small, and the roller 45 does not have the hidden trouble of making the robot chassis 1 overhead.

Specifically, the chassis base 11 is mounted with a jacking device 5, as shown in fig. 6 and fig. 7, the jacking device 5 includes a fixing seat 51, a first sliding block 52, a second sliding block 53, and a third sliding block 54, where the fixing seat 51 is fixedly disposed relative to the chassis base 11; the first sliding block 52 is installed in a sliding manner relative to the fixed seat 51, the sliding direction is a vertical direction, a first inclined plane is formed at the lower end of the first sliding block, and the tray 2 can act on the upper end of the first sliding block; the second sliding block 53 is installed in a sliding manner relative to the fixed seat 51, the sliding direction is a horizontal direction, a second inclined plane and a third inclined plane are respectively formed at two ends of the second sliding block, the second inclined plane is in contact with the first inclined plane, and the second sliding block and the first inclined plane can slide relatively; the third sliding block 54 is installed in a sliding manner relative to the fixed seat 51, the sliding direction is a vertical direction, a fourth inclined surface is formed at the lower end of the third sliding block, the fourth inclined surface is in contact with the third inclined surface, and the third sliding block can slide relatively; the upper end of which can act on the carrier 4. A return rectangular spring 55 is arranged between the third sliding block 54 and the fixed seat 51.

When the tray 4 is in the high position, there is a certain gap between the lower end of the tray 2 and the upper end of the first slide block 52, and there is also a certain gap between the upper end of the third slide block 54 and the lower end of the tray 4, and the jacking device 5 does not affect the rotation motion of the tray 2 and the tray 4. When the tray 2 descends, the tray 2 moves a distance empty first, then the tray 2 contacts with the first sliding block 52, the first sliding block 52 descends, the third sliding block 54 ascends due to the transmission function of the second sliding block 53, the third sliding block 54 moves a distance empty first, then contacts with the bracket 4 and jacks up the bracket.

The tray 2 is fixed with the guide 6, the bracket seat 42 is formed with the sliding sleeve 7, the sliding sleeve 7 is in sliding fit with the guide 6, the sliding direction is the vertical direction, and therefore the tray 2 can be lifted without affecting the bracket 42, and the bracket 42 can be driven to rotate together when rotating.

A logistics goods shelf handling method comprises the following steps A1-A4:

step A1, controlling the jacking rotary component 3 to execute jacking action, and enabling the tray 2 to move to the highest position;

step a2, controlling the bracket 4 to switch from the storage state to the expansion state;

step a3, controlling the jacking rotary assembly 3 to perform a descending action, so that four legs of the shelf are respectively supported on the four support bodies 41 of the bracket 4; after the step is completed, the states of the goods shelf and the transfer robot are as shown in the attached figure 8;

step A4, controlling the robot chassis 1 to move, and when the robot chassis 1 needs to turn, controlling the robot chassis 1 to rotate in situ, controlling the jacking rotating assembly 3 to execute a rotating action, so that the tray 2 and the robot chassis 1 rotate in the same speed and opposite directions, and the goods shelf is kept stationary relative to the ground.

According to the logistics goods shelf transporting robot and the logistics goods shelf transporting method, the bracket is arranged, and the bracket is unfolded when the transporting robot transports goods shelves, so that the four supporting bodies support the four legs of the goods shelves, and the four legs and the bottom of the goods shelves are supported when the goods shelves are transported, so that the goods shelves cannot shake or topple over when the transporting robot accelerates or decelerates suddenly.

The above description is only of the preferred embodiments of the present invention, and it should be noted that: it will be apparent to those skilled in the art that various modifications and adaptations can be made without departing from the principles of the invention and these are intended to be within the scope of the invention.

Claims

1. A logistics rack transfer robot, comprising:

a tray for holding a shelf;

the bracket comprises four support bodies, and rollers are arranged below each support body; the bracket can be switched between a storage state and an expansion state; in the unfolding state, the four support bodies can respectively support the four leg parts of the goods shelf, and the whole bracket can rotate relative to the tray along with the tray;

the bracket further includes:

wherein, the coupling assembling includes:

a first link rotatably mounted with respect to the bracket base;

2. The logistics rack transfer robot of claim 1, wherein the four connecting members are divided into two groups, and the two connecting members of each group are driven by a driving unit to rotate relative to the tray base;

the driving unit includes:

a slide block slidably mounted with respect to the bracket base;

3. The logistics rack handling robot of claim 1, wherein the rollers of the carriage are disengaged from the ground when the tray is in the lowered position; when the tray is in the high position, the rollers of the bracket are in contact with the ground.

4. The logistics rack transfer robot of claim 3, wherein the chassis base has a jacking device mounted thereon, the jacking device comprising:

the fixing seat is fixedly arranged relative to the chassis seat body;

5. The logistics rack transfer robot of claim 1, wherein the tray is fixed with a guide member, the tray body is formed with a sliding sleeve, the sliding sleeve is in sliding fit with the guide member, and the sliding direction is vertical.