CN111824666A - Shuttle robot and warehousing system - Google Patents
Shuttle robot and warehousing system Download PDFInfo
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- CN111824666A CN111824666A CN202010878402.7A CN202010878402A CN111824666A CN 111824666 A CN111824666 A CN 111824666A CN 202010878402 A CN202010878402 A CN 202010878402A CN 111824666 A CN111824666 A CN 111824666A
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- Prior art keywords
- shuttle robot
- vehicle body
- driving
- shuttle
- track
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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
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/0492—Storage devices mechanical with cars adapted to travel in storage aisles
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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
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
- B65G1/1373—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses
Abstract
The invention discloses a shuttle robot and a warehousing system, comprising: the reversing trigger mechanism is arranged on the vehicle body and comprises a driving element, a transmission assembly and an elastic rod, the driving element is arranged on the vehicle body, the elastic rod is provided with a triggering state extending out of the vehicle body and a resetting state retracting into the vehicle body, the transmission assembly is respectively connected with the driving element and the elastic rod, and the driving element drives the elastic rod to be in the triggering state or the resetting state through the transmission assembly. The shuttle robot can be freely switched between the horizontal rail and the vertical rail of the three-dimensional rail, the shuttle robot can independently and automatically lift, the use of a lift can be omitted, and the goods picking efficiency of the storage system can be effectively improved.
Description
Technical Field
The invention relates to the technical field of sorting, in particular to a shuttle robot and a warehousing system.
Background
To save labor and space, logistics warehouses often use automated warehouse systems to sort goods. The automatic storage system is a closed space, the goods shelves are arranged on the periphery of the automatic storage system, the goods positions are arranged on the goods shelves in rows and columns, and the goods are conveyed to the designated goods positions for temporary storage, so that the subsequent goods can be conveniently circulated.
In the prior art, an automatic warehousing system comprises a three-dimensional track and a conveying system, wherein the three-dimensional track comprises a vertical track and a horizontal track, a lift in the conveying system moves in the vertical track, and a shuttle vehicle moves in the horizontal track. When the goods are put in storage, the lifter vertically lifts the goods from the ground to a specified height, then the shuttle vehicles on the layer receive the goods, horizontally move to a specified goods location and unload the goods; when the goods are delivered out of the warehouse, the shuttle cars receive the goods from the designated goods location and convey the goods to the designated position on the layer, and the goods are vertically dropped to the ground by the lifter and then unloaded. The automatic warehousing system comprises a lift and a plurality of shuttle cars, all the shuttle cars correspond to the same lift, and the plurality of shuttle cars cannot work independently, so that the use of the lift directly influences the picking efficiency. If the elevator breaks down, the whole row of shelves can not work, and the picking efficiency is affected.
Therefore, it is highly desirable to provide a shuttle robot to solve the above-mentioned problems that since all shuttle vehicles correspond to one elevator, a plurality of shuttle vehicles cannot work independently of each other, and the elevator fails to work, so that the goods shelf cannot work, thereby affecting the goods picking efficiency.
Disclosure of Invention
The invention aims to provide a shuttle robot and a warehousing system, and aims to solve the problems that due to the fact that all shuttle vehicles correspond to one elevator, a plurality of shuttle vehicles cannot work independently, and due to the fact that the elevators break down, a goods shelf cannot work, and accordingly the goods picking efficiency is affected.
To achieve the purpose, on one hand, the invention adopts the following technical scheme:
a shuttle robot comprising: the reversing trigger mechanism is arranged on the vehicle body and comprises a driving element, a transmission assembly and an elastic rod, the driving element is arranged on the vehicle body, the elastic rod is provided with a triggering state extending out of the vehicle body and a resetting state retracting into the vehicle body, the transmission assembly is respectively connected with the driving element and the elastic rod, and the driving element drives the elastic rod to be in the triggering state or the resetting state.
In one embodiment, the transmission assembly comprises a connecting rod, a rocker, an elastic sheet and a movable rod, the elastic sheet is rotatably connected with the vehicle body, the connecting rod is connected with the driving element, one end of the rocker is connected with the connecting rod, the other end of the rocker is connected with the elastic sheet, one end of the movable rod is connected with the elastic sheet, and the other end of the movable rod is connected with the elastic sheet.
In one embodiment, the shuttle robot further comprises a driving mechanism, the driving mechanism comprises a driving wheel, a driving motor and a transmission piece, the driving wheel and the driving motor are both arranged on the vehicle body, and the transmission piece is respectively connected with the driving wheel and the driving motor.
In one embodiment, the drive motor is a reduction motor.
In one embodiment, the driving motor is provided with a signal feedback device, and the signal feedback device is used for detecting the rotating speed of the driving motor and recording the rotating number information of the driving motor.
In one embodiment, the shuttle robot further comprises a detection sensor disposed on the vehicle body.
In one embodiment, the shuttle robot further comprises a conveying mechanism, the conveying mechanism comprises a driving device, a belt and a plurality of sensors, the driving device is arranged on the vehicle body, the belt is connected with the driving device, the plurality of sensors are respectively arranged on the vehicle body, and the plurality of sensors are respectively positioned on two sides of the belt.
In one embodiment, the shuttle robot further comprises a power supply for supplying power to the drive element, the power supply being provided on the vehicle body.
In one embodiment, the power supply is configured to be chargeable on a charging track within a track adapted to the shuttle robot.
In another aspect, the invention further provides a warehousing system comprising the shuttle robot described in any one of the above.
When the shuttle robot runs on the three-dimensional track, the reversing mechanism at the intersection of the horizontal track and the vertical track on the three-dimensional track can be triggered, so that the use of a lift can be eliminated. Specifically, when the shuttle robot moves to the position of a horizontal rail and a vertical rail intersection and needs to change the moving direction, the driving element drives the transmission assembly to move, and then the elastic rod is driven to move, so that the elastic rod extends out of the vehicle body and is in a trigger state, the elastic rod can trigger the reversing mechanism at the intersection to reverse after extending out of the vehicle body, and therefore the shuttle robot can be switched to the vertical rail from the horizontal rail or switched to the horizontal rail from the vertical rail, and after the shuttle robot completely passes through the intersection, the driving element drives the transmission assembly to move reversely to drive the elastic rod to retract into the vehicle body and be in a reset state. The shuttle robot can be freely switched between the horizontal rail and the vertical rail of the three-dimensional rail, the shuttle robot can independently and automatically lift, the use of a lift can be omitted, and the goods picking efficiency of the storage system can be effectively improved.
The warehousing system can eliminate the use of a lifter by applying the shuttle robot, and the picking efficiency is high.
Drawings
FIG. 1 is a schematic diagram of the construction of a shuttle robot in one embodiment;
FIG. 2 is a schematic structural view of the reversing trigger mechanism in a reset state according to one embodiment;
FIG. 3 is a schematic diagram of the reversing trigger mechanism in a triggered state in one embodiment;
FIG. 4 is a schematic view of the operation of a reversing mechanism on a three-dimensional track according to the prior art in one embodiment 1;
FIG. 5 is a schematic view of the operation of a reversing mechanism on a three-dimensional track according to the prior art in one embodiment 2;
FIG. 6 is a bottom view of the structure of the shuttle robot in one embodiment;
FIG. 7 is a schematic view of a partial structure of the shuttle robot in one embodiment.
Description of reference numerals:
10-vehicle body, 20-reversing trigger mechanism, 21-driving element, 23-elastic rod, 221-connecting rod, 222-rocker, 223-elastic piece, 224-movable rod, 31-horizontal rail, 32-vertical rail, 33-reversing rail, 40-driving mechanism, 41-driving wheel, 42-driving motor, 43-driving piece, 50-conveying mechanism, 52-belt, 53-sensor, 511-motor, 512-driving wheel and 513-driven wheel.
Detailed Description
The technical scheme of the invention is further explained by the specific implementation mode in combination with the attached drawings.
In the description of the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, but 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, are not to be construed as limiting the present invention.
Referring to fig. 1 to 7, a shuttle robot according to an embodiment includes a vehicle body 10 and a reversing trigger mechanism 20, the reversing trigger mechanism 20 is disposed on the vehicle body 10, the reversing trigger mechanism 20 includes a driving element 21, a transmission assembly and an elastic rod 23, the driving element 21 is disposed on the vehicle body 10, the elastic rod 23 has a triggering state of extending out of the vehicle body 10 and a resetting state of retracting into the vehicle body 10, the transmission assembly is respectively connected with the driving element 21 and the elastic rod 23, and the driving element 21 drives the elastic rod 23 to be in the triggering state or the resetting state through the transmission assembly.
When the shuttle robot runs on the three-dimensional track, the reversing mechanism at the intersection of the horizontal track and the vertical track on the three-dimensional track can be triggered, so that the use of a lift can be eliminated. Specifically, as shown in fig. 4 and 5, the three-dimensional rail according to an embodiment of the prior art includes a horizontal rail 31, a vertical rail 32, and a reversing mechanism, where the reversing mechanism includes at least a reversing rail 33, the horizontal rail 31 and the vertical rail 32 are arranged in a crossing manner, the reversing rail 33 is arranged at the crossing of the horizontal rail 31 and the vertical rail 32, and the reversing rail 33 can be triggered to selectively communicate with the horizontal rail 31. When the shuttle robot runs on the three-dimensional track, the reversing track 33 is adjusted to be not communicated with the horizontal track 31, and the shuttle robot can enter the vertical track 32 from the horizontal track 31; the reversing rail 33 is adjusted to communicate with the horizontal rail 31, and the shuttle robot continues to move along the horizontal rail 31.
When the shuttle robot runs on the three-dimensional track, and the running direction of the shuttle robot is required to be changed when the shuttle robot runs to the intersection of the horizontal track 31 and the vertical track 32, the driving element 21 drives the transmission assembly to move, so as to drive the elastic rod 23 to move, so that the elastic rod 23 extends out of the vehicle body 10 and is in a trigger state, the elastic rod 10 extends out of the vehicle body and can trigger the reversing track 33 at the intersection to reverse, so that the shuttle robot can be switched to the vertical track 32 from the horizontal track 31 or switched to the horizontal track 31 from the vertical track 32, and after the shuttle robot completely passes through the intersection, the driving element 21 drives the transmission assembly to reversely move so as to drive the elastic rod 23 to retract into the vehicle body 10 and be in a reset state. The shuttle robot can be freely switched between the horizontal rail 31 and the vertical rail 32 of the three-dimensional rail, the shuttle robot can independently and automatically lift, the use of a lift can be omitted, and the goods picking efficiency of the warehousing system can be effectively improved.
As shown in fig. 2 and 3, in one embodiment, the transmission assembly includes a connecting rod 221, a rocker 222, a spring piece 223 and a movable rod 224, the spring piece 223 is rotatably connected to the vehicle body 10, the connecting rod 221 is connected to the driving element 21, one end of the rocker 222 is connected to the connecting rod 221, the other end of the rocker 222 is connected to the spring piece 223, one end of the movable rod 224 is connected to the spring piece 223, and the other end of the movable rod 224 is connected to the spring rod 23. In particular, the driving element 21 may be, but is not limited to, a motor, and the driving element 21 is communicatively connected to a control system of the warehousing system. When the shuttle robot runs on the horizontal rail 31 or the vertical rail 32, the elastic rod 23 is in a reset state (as shown in fig. 2), when the shuttle robot runs to an intersection of the horizontal rail 31 and the vertical rail 32, the control system controls the driving element 21 to run, the driving element 21 drives the connecting rod 221 to rotate, the connecting rod 221 rotates to drive the rocker 222 to move upwards, and further the elastic piece 223 is pulled to drive the elastic pieces 223 to respectively drive the movable rods 224 at two sides to eject the elastic rod 23 outwards, the reversing trigger mechanism 20 is in a trigger state (as shown in fig. 3), the elastic rod 23 is abutted to the reversing rail 33 after being ejected, the shuttle robot continues to run, and the elastic rod 23 pushes the reversing rail 33 to reverse; after the shuttle robot completely passes through the intersection, the control system controls the driving element 21 to rotate reversely to pull the elastic rod 23 back into the vehicle body 10, and the reversing trigger mechanism 20 returns to the reset state.
In one embodiment, the shuttle robot further includes a driving mechanism 40, the driving mechanism 40 includes a driving wheel 41, a driving motor 42, and a transmission member 43, the driving motor 42 and the driving wheel 41 are disposed on the vehicle body 10, and the transmission member 43 is connected to the driving wheel 41 and the driving motor 42, respectively. Specifically, the driving motor 42 drives the driving wheel 41 to rotate through the transmission member 43, so as to drive the vehicle body 10 to displace. Further, the driving motor 42 is connected to the control system in communication, and the driving motor 42 drives the driving wheel 41 to move according to the control command of the control system.
In one embodiment, the driving motor 42 is a reduction motor, the driving motor 42 is disposed on a side close to the ground when the vehicle body 10 normally travels, the driving motor 42 is fixed to a middle portion of the traveling direction of the vehicle body 10 by bolts, and the four driving wheels 41 are respectively disposed on both sides of the vehicle body 10. The driving motor 42 can be connected to the rotating shaft of the driving wheel 41 through the transmission member 43, so that when the driving motor 42 is powered on and rotates, the driving wheel 41 is driven to rotate together, thereby driving the vehicle body 10 to move. Specifically, the transmission member 43 may be, but is not limited to, a timing belt, a gear, a chain, or the like. The driving wheel 41 includes at least two parts, which are a roller near the inner side of the vehicle body 10 and a gear near the outer side of the vehicle body 10, the corresponding three-dimensional track has a light rail and a rack rail, the roller can freely roll on the light rail on the three-dimensional track, the gear is engaged with the rack rail on the three-dimensional track, and the interaction force between the gear and the rack rail when the gear rotates can drive the vehicle body 10 to travel along the advancing direction of the three-dimensional track. Meanwhile, when the driving motor 42 stops operating, the gear is locked with the rack rail, so that the position of the vehicle body 10 on the horizontal rail 31 or the vertical rail 32 can be kept unchanged, and the vehicle body 10 is ensured to be stably parked.
Further, in one embodiment, the drive motor 42 has a signal feedback device for detecting the rotation speed of the drive motor 42 and recording the information of the number of rotations of the drive motor 42, the signal feedback device including but not limited to a photoelectric sensor, a rotary transformer, etc. After the shuttle robot receives the goods, the control system calculates a specific path from the current position of the shuttle robot to the target goods space, wherein the specific path comprises a transverse and longitudinal segmented traveling route and specific coordinates of each reversing position. Because the displacement of the shuttle robot and the number of rotation turns of the driving motor 42 are in a direct proportional function relationship, the real-time position of the shuttle robot on the planned path from the starting point can be calculated according to the signal feedback device of the driving motor 42. When the control system judges that the shuttle robot is about to reach a preset reversing position, the elastic rods 23 of the reversing trigger mechanisms 20 distributed around the vehicle body 10 are popped up, the reversing trigger mechanisms 20 are switched to a trigger state from a reset state, the reversing tracks 33 on the three-dimensional tracks are triggered through the elastic rods 23, the tracks in the original horizontal or vertical straight direction in the three-dimensional tracks are closed, and the turning tracks at the intersection are connected. Therefore, when the shuttle robot continues to move forward along the communication track of the track intersection, the reversing operation from horizontal to vertical or from vertical to horizontal is realized. After the shuttle robot completely passes through the intersection, the elastic rod 23 of the reversing trigger mechanism 20 retracts into the vehicle body 10, the reversing trigger mechanism 20 is restored to the reset state from the trigger state, the reversing track 33 on the three-dimensional track is automatically reset, and the default state that the vertical track and the horizontal track are not communicated with each other is restored.
In the above-described embodiment, the operating position of the vehicle body 10 is calculated by providing the signal feedback device, however, the present invention is not limited thereto. In another embodiment, the shuttle robot further includes a detection sensor (not shown) provided on the vehicle body 10. Specifically, the detection sensor is in communication connection with the control system, the detection sensor is used for matching with a matched detection mechanism on the three-dimensional track, detecting and judging the position of the vehicle body 10 and sending the position information to the control system, the control system controls the reversing trigger mechanism 20 to act according to the position information sent by the detection sensor, and the control system can also send a position adjusting instruction to the driving mechanism 40 according to the position information sent by the detection sensor, so that the position of the vehicle body 10 is corrected. In particular, the detection sensor may be, but is not limited to, a correlation sensor or a reflection sensor. In this embodiment, the running position of the vehicle body 10 can also be detected in real time by arranging the detection sensor and matching the detection mechanism on the three-dimensional track, and in practical application, any one of the schemes can be arbitrarily selected according to actual needs to detect the running position of the vehicle body 10 in real time, which is not specifically limited in this embodiment.
In one embodiment, the shuttle robot further includes a transport mechanism 50, the transport mechanism 50 includes a driving device, a belt 52, and a plurality of sensors 53, the driving device is disposed on the vehicle body 10, the belt 52 is connected with the driving device, the plurality of sensors 53 are respectively disposed on the vehicle body 10, and the plurality of sensors 53 are respectively located at both sides of the belt 52.
Specifically, the driving device is used for providing power for the belt 52, the belt 52 can move back and forth relative to the vehicle body 10 under the driving of the driving device, the sensor 53 is used for detecting the position of the goods on the belt 52, and the driving device can adjust the running state of the belt 52 according to the detection results of the sensors 53 so as to adjust the position of the goods on the belt 52. The driving device comprises a motor 511, a driving wheel 512 and a driven wheel 513, wherein the motor 511, the driving wheel 512 and the driven wheel 513 are all fixedly arranged on the vehicle body 10, the driving wheel 512 and the driven wheel 513 are spaced at a certain distance along the length direction of the vehicle body 10, a belt 52 is wound on the driving wheel 512 and the driven wheel 513, a loading area is formed between the driving wheel 512 and the driven wheel 513, and the belt 52 in the loading area is horizontally arranged. The motor 511 may provide a clockwise/counterclockwise driving force to the driving wheel 512, and the clockwise/counterclockwise rotation of the driving wheel 512 drives the belt 52 to move forward/backward.
Specifically, the sensor 53 may be one or more of an infrared sensor, a sound wave sensor, and a camera, the sensor 53 may be disposed at a position slightly higher than the belt 52 on both sides of the belt 52, and the sensor 53 is kept relatively fixed with respect to the vehicle body 10 to detect the position of the cargo on the belt 52. The plurality of sensors 53 are arranged at intervals along the moving direction of the belt 52 to form a sensor column, the sensors 53 can be arranged on one side or two sides above the driving wheel 512 and the driven wheel 513, and the installation positions of the sensors 53 at least comprise a front sensor close to the driving wheel 512 and a rear sensor close to the driven wheel 513.
Further, in one embodiment, the carrying mechanism 50 further includes a control device (not shown) coupled to the sensor 53 and the driving device, respectively, for controlling the driving device according to the result fed back by the sensor 53. For example, the drive device is controlled to start or stop the driving force according to the position of the cargo on the belt 52, the direction (e.g., forward or backward) of the driving force applied by the drive device is controlled, and the relative position of the cargo on the belt with respect to the vehicle body 10 is adjusted. The plurality of sensors 53 respectively transmit the detected results (whether the goods are sensed or not) to the control device, and the control device controls the operation of the driving device according to the set control logic, thereby controlling the position and the state of the goods on the belt 52.
Specifically, the working process of the shuttle robot is as follows: firstly, the shuttle robot is driven by the driving mechanism 40 to reach a designated goods receiving position on the three-dimensional track, at this time, the belt 52 in the conveying mechanism 50 starts to rotate, the direction is that the belt is directed to the driven wheel 513 along the driving wheel 512, the front sensor 53 installed on one side of the driving wheel 512 detects a signal for the first time to indicate that goods are loaded successfully, the belt 52 continues to rotate to enable the goods position to continue moving backwards, the goods are ensured to be completely loaded on the shuttle robot, and the moving direction of the belt 52 is immediately reversed when the rear sensor installed on one side of the driven wheel 513 senses the goods, so that the goods are prevented from falling off the shuttle robot due to inertia forward sliding. Thus, the front sensor and the rear sensor have no cargo signal, which indicates that the cargo is completely in place, the conveying mechanism 50 suspends operation, and meanwhile, the control system sends an instruction to the driving mechanism to start the cargo conveying process; then, the shuttle robot is driven by the driving mechanism to move forward along a certain direction of the three-dimensional track, when the shuttle robot approaches an intersection between the horizontal track and the vertical track and the control system judges that the shuttle robot needs to change the direction, the control system controls the reversing trigger mechanism 20 to be switched to a trigger state, the elastic rod 23 of the reversing trigger mechanism 20 triggers the reversing track 33 which is closest to the moving direction on the three-dimensional track to change the direction, so that the horizontal track 31 and the vertical track 32 are connected, and the driving mechanism 40 carries the vehicle body 10 to pass through the intersection along the reversing track 33 to complete one-time reversing. The shuttle robot can perform multiple reversing operations in the process of traveling from the initial position to the target position in the three-dimensional track; after the shuttle robot reaches the target location, the control system re-wakes the transport mechanism 50. According to the instruction received by the conveying mechanism 50, the driving device controls the belt 52 to move forwards or backwards for a certain time, and goods are put into the goods positions on the two sides of the three-dimensional track; finally, after unloading is completed, the operation of the conveying mechanism 50 is suspended, and the shuttle robot continuously moves in the three-dimensional track under the cooperation of the driving mechanism 40 and the reversing trigger mechanism 20 until the shuttle robot returns to the initial position designated by the goods receiving port to prepare for the next goods receiving and conveying process.
In one embodiment, the shuttle robot further includes a power supply (not shown) for supplying power to the driving element 21, the power supply being provided on the vehicle body 10. Further, the power supply is also used to supply power to the driving mechanism 40 and the carrying mechanism 50. Specifically, the power source is an energy storage device such as a lithium battery or a capacitor. Further, in one embodiment, the power supply is configured to be capable of charging on a charging track within a track adapted to the shuttle robot.
In another aspect, the invention further provides a warehousing system comprising the shuttle robot. The warehousing system of the embodiment can eliminate the use of a lift by applying the shuttle robot, and the goods picking efficiency is high.
The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. A shuttle robot, comprising: automobile body (10) and switching-over trigger mechanism (20), switching-over trigger mechanism (20) set up on automobile body (10), switching-over trigger mechanism (20) include drive element (21), transmission assembly and elastic rod (23), drive element (21) set up on automobile body (10), elastic rod (23) have stretch out the trigger condition and the withdrawal of automobile body (10) reset condition in automobile body (10), transmission assembly respectively with drive element (21) with elastic rod (23) are connected, drive element (21) pass through transmission assembly drive elastic rod (23) are in trigger condition or reset condition.
2. The shuttle robot as claimed in claim 1, wherein the transmission assembly comprises a connecting rod (221), a rocker (222), a spring plate (223) and a movable rod (224), the spring plate (223) is rotatably connected with the vehicle body (10), the connecting rod (221) is connected with the driving element (21), one end of the rocker (222) is connected with the connecting rod (221), the other end of the rocker (222) is connected with the spring plate (223), one end of the movable rod (224) is connected with the spring plate (223), and the other end of the movable rod (224) is connected with the spring rod (23).
3. The shuttle robot according to claim 1, further comprising a driving mechanism (40), wherein the driving mechanism (40) comprises a driving wheel (41), a driving motor (42), and a transmission member (43), wherein the driving motor (42) and the driving wheel (41) are disposed on the vehicle body (10), and the transmission member (43) is connected to the driving wheel (41) and the driving motor (42), respectively.
4. The shuttle robot as claimed in claim 3, wherein the drive motor (42) is a reduction motor.
5. A shuttle robot as claimed in claim 3, characterised in that the drive motor (42) has signal feedback means for detecting the rotational speed of the drive motor (42) and recording the information on the number of revolutions of the drive motor (42).
6. The shuttle robot according to claim 1, further comprising a detection sensor (53), the detection sensor (53) being provided on the vehicle body (10).
7. The shuttle robot according to claim 1, further comprising a transport mechanism (50), wherein the transport mechanism (50) comprises a driving device, a belt (52) and a plurality of sensors (53), the driving device is disposed on the vehicle body (10), the belt (52) is connected with the driving device, the plurality of sensors (53) are respectively disposed on the vehicle body (10), and the plurality of sensors (53) are respectively located at both sides of the belt (52).
8. The shuttle robot as claimed in claim 1, further comprising a power supply for supplying power to the drive element (21), the power supply being provided on the vehicle body (10).
9. The shuttle robot of claim 8, wherein the power source is configured to be chargeable on a charging track within a track adapted to the shuttle robot.
10. A warehousing system comprising the shuttle robot of any one of claims 1 to 9.
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| CN202010878402.7A CN111824666A (en) | 2020-08-27 | 2020-08-27 | Shuttle robot and warehousing system |
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| CN202010878402.7A CN111824666A (en) | 2020-08-27 | 2020-08-27 | Shuttle robot and warehousing system |
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| CN115027862A (en) * | 2022-07-11 | 2022-09-09 | 上海忍诚科技有限公司 | Automatic sorting system and automatic sorting method |
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| CN110171656A (en) * | 2019-05-13 | 2019-08-27 | 上海忍诚科技有限公司 | A kind of three-dimensional track for warehousing system |
| CN110386393A (en) * | 2019-08-07 | 2019-10-29 | 杭州慧仓信息科技有限公司 | A kind of material handling system based on novel shuttle |
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| CN112859852A (en) * | 2021-01-08 | 2021-05-28 | 华为技术有限公司 | Path planning method and device |
| CN113955419A (en) * | 2021-11-09 | 2022-01-21 | 中国兵器装备集团自动化研究所有限公司 | There is rail dolly that shuttles back and forth suitable for hazardous environment |
| CN115027862A (en) * | 2022-07-11 | 2022-09-09 | 上海忍诚科技有限公司 | Automatic sorting system and automatic sorting method |
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