CN113351499B

CN113351499B - Sorting system and logistics system

Info

Publication number: CN113351499B
Application number: CN202110813785.4A
Authority: CN
Inventors: 王国鹏
Original assignee: Beijing Jingdong Qianshi Technology Co Ltd
Current assignee: Beijing Jingdong Qianshi Technology Co Ltd
Priority date: 2021-07-19
Filing date: 2021-07-19
Publication date: 2023-01-31
Anticipated expiration: 2041-07-19
Also published as: CN113351499A

Abstract

The invention relates to the technical field of logistics, in particular to a sorting system and a logistics system. This letter sorting system includes platform, slide and letter sorting robot, and the platform includes the platform body and sets up the guiding mechanism above that, has seted up a plurality of openings on the platform body, and open-ended below intercommunication is provided with the slide, and guiding mechanism can lead letter sorting robot to make letter sorting robot send the goods to the opening. Prevent that the phenomenon such as off tracking, skid can appear in the working process of letter sorting robot, avoid letter sorting robot roll-off from sorting platform, perhaps lead to letter sorting robot and other letter sorting robot to take place to bump the scheduling problem, guarantee letter sorting system's letter sorting precision and letter sorting efficiency. The logistics system provided by the invention can improve the operation efficiency of the logistics system by applying the sorting system.

Description

Sorting system and logistics system

Technical Field

The invention relates to the technical field of logistics, in particular to a sorting system and a logistics system.

Background

Commodity circulation trade wide application letter sorting system sorts the goods, letter sorting system includes letter sorting platform and letter sorting robot, letter sorting robot moves in order to realize carrying the corresponding position of letter sorting platform with the goods on the platform, but present letter sorting robot can appear the off tracking in the course of the work, phenomenons such as skid, serious will lead to letter sorting robot to follow letter sorting platform and roll-off, or lead to letter sorting robot and other letter sorting robot to take place to bump the scheduling problem, seriously influence letter sorting precision and letter sorting efficiency of letter sorting system.

Disclosure of Invention

One object of the present invention is to provide a sorting system, which ensures the sorting accuracy and sorting efficiency of the sorting system.

Another objective of the present invention is to provide a logistics system, which improves the operation efficiency of the logistics system by using the above sorting system.

In order to achieve the purpose, the invention adopts the following technical scheme:

a sorting system comprising:

the platform comprises a platform body and a guide mechanism arranged on the platform body, and the platform body is provided with a plurality of openings;

the slideway is arranged below the opening in a communicating manner; and

a sorting robot, the guide mechanism being capable of guiding the sorting robot such that the sorting robot delivers goods to the opening.

Preferably, the plurality of openings are arranged in a matrix along a first direction and a second direction perpendicular to each other, and the guide mechanism includes:

a first guide rail disposed on the platform body and configured to move the sorting robot in the first direction; and

a second guide rail disposed on the platform body and configured to move the sorting robot in the second direction.

Preferably, the first guide rail comprises two first guide plates arranged in parallel along the second direction, and the first guide plates are formed by extending upwards from the side edges of the openings extending along the first direction;

the sorting robot comprises a vehicle body and two first wheels pivoted with the vehicle body, the two first wheels are distributed along the second direction and are arranged on two sides of the vehicle body, and the two first wheels are positioned on the outer sides of the two first guide plates.

Preferably, the first wheel includes:

the outer periphery of the first wheel disc is provided with a plurality of notches which are arranged at intervals along the circumferential direction; and

and the two ends of the first roller are respectively pivoted with the two side walls of the notch.

Preferably, the second guide rail comprises two second guide plates arranged in parallel along the first direction, and the second guide plates are formed by upward extending of the side edges of the openings extending along the second direction;

the sorting robot comprises a vehicle body and two second wheels pivoted with the vehicle body, wherein the two second wheels are distributed along the first direction and are arranged on two sides of the vehicle body, and the two second wheels are positioned on the outer sides of the second guide plates.

Preferably, the vehicle body includes:

a frame comprising a first channel;

the baffle is connected with the square frame; and

a driving mechanism configured to drive the shutter to switch between a first position in which the first passage is blocked and a second position in which the first passage is exposed.

Preferably, the number of the baffles is two, the two baffles are pivoted with the clip frame, and the driving mechanism comprises:

the first motor is arranged on the square frame;

the output shaft of the first motor is fixed with the first connecting rod;

the two second connecting rods are respectively pivoted with the two ends of the first connecting rod;

and one end of the third connecting rod is pivoted with the second connecting rod, and the other end of the third connecting rod is fixed with the baffle.

Preferably, the vehicle body comprises a plurality of square frames, and the square frames can be simultaneously opposite to the corresponding openings.

Preferably, the plurality of openings are arranged along a second direction, and the plurality of openings are divided into a plurality of sub-opening groups along the second direction; the slideways are obliquely arranged, and outlets of the slideways of each sub-opening group are distributed along the vertical direction; and the slideways of each group of the sub-opening groups form slideway groups, and a second channel is formed between every two adjacent slideway groups.

Preferably, the plurality of slideways of each sub-opening group are arranged in parallel.

Preferably, the sorting system further comprises:

the mounting rack comprises a frame body and a plurality of partition plates, and the partition plates are arranged on the frame body and are arranged at intervals along the vertical direction; and

and the storage mechanism can be placed on the partition plate and is in butt joint with the corresponding slide way.

A logistics system comprising a transport system, the logistics system further comprising a sorting system as described above.

The invention has the beneficial effects that:

the sorting system provided by the invention further comprises a guide mechanism, wherein the guide mechanism is arranged on the platform body and can guide the sorting robot so that the sorting robot can send the goods to the opening. Prevent that the phenomenon such as off tracking, skid can appear in the working process of letter sorting robot, avoid letter sorting robot roll-off from sorting platform, perhaps lead to letter sorting robot and other letter sorting robot to take place to bump the scheduling problem, guarantee letter sorting system's letter sorting precision and letter sorting efficiency. The logistics system applying the sorting system is high in operation efficiency.

The logistics system provided by the invention can improve the operation efficiency of the logistics system by applying the sorting system.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the description of the embodiments of the present invention will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the contents of the embodiments of the present invention and the drawings without creative efforts.

FIG. 1 is a schematic structural diagram of a logistics system provided by an embodiment of the invention;

FIG. 2 is an enlarged view of a portion of FIG. 1 at M;

fig. 3 is a first schematic structural diagram of a sorting robot according to a first embodiment of the present invention;

fig. 4 is a schematic structural diagram of a sorting system according to an embodiment of the present invention;

fig. 5 is a schematic structural diagram of a mounting rack and a slide according to an embodiment of the present invention;

FIG. 6 is a schematic view of a first wheel according to an embodiment of the present invention;

FIG. 7 is an enlarged view of a portion of FIG. 3 at A;

FIG. 8 is an enlarged view of a portion of the drive mechanism provided in accordance with one embodiment of the present invention;

fig. 9 is a schematic structural diagram of a sorting robot according to the first embodiment of the present invention;

fig. 10 is a schematic structural diagram of a sorting robot provided in the second embodiment of the present invention;

fig. 11 is a schematic partial structural diagram of a sorting robot according to a second embodiment of the present invention.

The figures are labeled as follows:

1000-a sorting system; 2000-operator; 3000-a transmission system;

100-a sorting platform; 1-a platform; 11-a platform body; 111-sub-aperture group; 1111-opening; 12-a guide mechanism; 121-a first guide rail; 1211 — a first guide plate; 122-a second guide rail; 1221-a second guide plate; 2-a slideway; 21-a sliding plate; 22-side baffle; 3-mounting a frame; 31-a frame body; 32-a separator; 4-a storage mechanism; 5-charging a pile; 6-a tag identifier; 7-manual workpiece supply table; 8, a mechanical arm workpiece supply table; 9-a detection mechanism;

the first embodiment is as follows:

200-a sorting robot; 201-a vehicle body; 2011-clip frame; 20111-first channel; 2012-baffles; 2013-a drive mechanism; 20131-a first motor; 20132-a first link; 20133-a second link; 20134-a third link; 202-a first travel mechanism; 2021-a first wheel; 20211-a first wheel; 20212-first roller; 2022-first coupling shaft; 2023-a first drive assembly; 2024-a first transmission assembly; 203-a second running gear; 2031 — a second wheel; 2032-a second coupling shaft; 2033 — a second drive assembly; 2034-a second transmission assembly;

example two:

200-a sorting robot; 201-a vehicle body; 2011' -avoidance slot; 2012' -a second guide groove; 202-a first travel mechanism; 2021-a first wheel; 2022-first coupling shaft; 2023-a first drive assembly; 2024-a first transmission assembly; 2025-mounting plate; 20251-first guide groove; 203-a second running gear; 2031 — a second wheel; 2032-a second coupling shaft; 2033 — a second drive assembly; 2034 — a second transmission assembly; 204-a switching device; 2041-a first drive motor; 2042-cam; 2043-guide bar; 2045-a third transmission assembly; 205-a transport mechanism; 2051-machine frame; 2052-motorized roller; 2053-endless conveyor; 206-a charging mechanism; 207-an electricity storage mechanism; 208-control mechanism.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.

In the description of the present invention, unless expressly stated or limited otherwise, the terms "connected," "connected," and "fixed" are to be construed broadly, e.g., as meaning permanently connected, removably connected, or integral to one another; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

In the present invention, unless otherwise expressly stated or limited, "above" or "below" a first feature means that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact with each other via another feature therebetween. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.

In the description of the present embodiment, the terms "upper", "lower", "left", "right", and the like are used based on the orientations and positional relationships shown in the drawings only for convenience of description and simplification of operation, and do not indicate or imply that the referred device or element must have a specific orientation, be configured and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used only for descriptive purposes and are not intended to have a special meaning.

The first embodiment is as follows:

as shown in fig. 1, the present embodiment provides a logistics system, which includes a sorting system 1000 and a conveying system 3000, wherein the conveying system 3000 is located upstream of the sorting system 1000, the conveying system 3000 is used for bringing the goods at other stations to the vicinity of the sorting system 1000, the sorting system 1000 sorts the received goods, and the sorted goods are stored or further transported according to categories.

As shown in fig. 1, sorting system 1000 includes sorting platform 100 and sorting robot 200, sorting platform 100 includes platform 1, slide 2, mounting bracket 3 and receiving mechanism 4, platform 1 is including being platelike platform body 11, a plurality of openings 1111 have been seted up on platform body 11, the lower extreme intercommunication of every opening 1111 has slide 2, the below of platform body 11 is provided with mounting bracket 3, be provided with receiving mechanism 4 on the mounting bracket 3, slide 2 keeps away from the other end that corresponds opening 1111 and the 4 butt joints of a receiving mechanism that corresponds. The sorting robot 200 carries the goods to move on the platform body 11, the sorting robot 200 carries the goods to the destination opening 1111 and drops the goods into the destination opening 1111, and the goods enter the receiving mechanism 4 along the corresponding slide rails 2, thereby completing the sorting action of the goods. Preferably, as shown in fig. 1, the storage mechanism 4 may be a storage box with an open top so that goods can be easily taken into the storage mechanism 4. Wherein, the receiver cross-sectional area from top to bottom reduces gradually, and the lateral wall of receiver can play the effect to the goods direction to realize the goods and get into the effect of receiving the box to the utmost.

Specifically, the openings 1111 of the present embodiment are rectangular, the number of the openings 1111 is N × N, the N × N openings 1111 are arranged in a matrix along the front-back direction (the first direction) and the left-right direction (the second direction), the density of the openings 1111 in a unit area is increased, the floor area of the sorting system 1000 can be effectively reduced when the number of the openings 1111 is the same, and the sorting efficiency of the sorting system 1000 can be effectively increased.

In addition, as shown in fig. 1, the sorting platform 100 further comprises a charging pile 5 arranged on the platform body 11, a charging mechanism is arranged on the sorting robot 200, and when the charging mechanism is in butt joint with the charging pile 5 or is close to the charging pile 5, the charging pile 5 can charge the sorting robot 200 through the charging mechanism, and the sorting robot 200 can be guaranteed to be in a better working state all the time.

In addition, as shown in fig. 1, the sorting platform 100 further includes a manual workpiece feeding table 7 and a tag identifier 6, the tag identifier 6 is disposed above the manual workpiece feeding table 7, after the operator 2000 places the goods on the manual workpiece feeding table 7, the tag identifier 6 can read tag information on the goods, and the tag identifier 6 can have different selections according to tag types on the goods, such as different types of barcode cameras, RFID readers, and the like. Sorting platform 100 still includes detection mechanism 9, and detection mechanism 9 sets up on artifical confession piece platform 7, and detection mechanism 9 can realize the measurement to goods volume information and weight information. When the label information, the volume information, and the weight information of the goods are measured, the electronic control system obtains the destination opening 1111 of the goods, and the electronic control system controls the sorting robot 200 to transfer the goods to the corresponding destination opening 1111.

In addition, as shown in fig. 1, the sorting platform 100 further includes a robot arm supply table 8, and after the information of the goods is recognized at the manual supply table 7, the robot arm of the robot arm supply table 8 picks up the goods and places the goods on the sorting robot 200.

However, the existing sorting robot 200 may deviate, slip, etc. during the working process, which may seriously cause the sorting robot 200 to slip off from the sorting platform 100, or cause the sorting robot 200 to collide with other sorting robots 200, etc., which seriously affects the sorting accuracy and sorting efficiency of the sorting system 1000.

In order to solve the above problem, as shown in fig. 1, the platform 1 further includes a guide mechanism 12, the guide mechanism 12 is disposed on the platform body 11, and the guide mechanism 12 can guide the sorting robot 200 so that the sorting robot 200 sends the goods to the opening 1111. Prevent that phenomenon such as off tracking, skid can appear in the working process in letter sorting robot 200, avoid letter sorting robot 200 from sorting platform 100 roll-off, perhaps lead to letter sorting robot 200 to take place with other letter sorting robot 200 and bump the scheduling problem, guarantee letter sorting robot 200 and letter sorting system 1000's letter sorting precision and letter sorting efficiency. The logistics system applying the sorting system 1000 is high in operation efficiency.

Referring to fig. 2, the structure of the guide mechanism 12 is described, and as shown in fig. 2, the guide mechanism 12 includes a first guide rail 121 and a second guide rail 122 disposed on the platform body 11, the first guide rail 121 is used for moving the sorting robot 200 in the front-back direction, and the second guide rail 122 is used for moving the sorting robot 200 in the left-right direction, so that the accuracy of the operation of the sorting robot 200 in each direction can be ensured.

As shown in fig. 3, the sorting robot 200 includes a vehicle body 201, a first traveling mechanism 202 and a second traveling mechanism 203, the first traveling mechanism 202 and the second traveling mechanism 203 are both disposed on the vehicle body 201, the vehicle body 201 is used for carrying goods, the first traveling mechanism 202 can drive the vehicle body 201 to move in the front-back direction, the second traveling mechanism 203 can drive the vehicle body 201 to move in the left-right direction, and the movement of the sorting robot 200 in different directions can be realized through the operation of the first traveling mechanism 202 or the second traveling mechanism 203. The first traveling mechanism 202 includes two first wheels 2021 pivotally connected to the body 201, the two first wheels 2021 are distributed along the left-right direction and disposed on two sides of the body 201, the two first wheels 2021 are located outside the two first guide plates 1211, and the two first guide plates 1211 can guide the sorting robot 200 along the front-back direction.

As shown in fig. 3, the second traveling mechanism 203 includes two second wheels 2031, the two second wheels 2031 are pivotally connected to the vehicle body 201, the two second wheels 2031 are distributed along the front-rear direction and located on both sides of the vehicle body 201, the two second wheels 2031 are located outside the two second guide plates 1221, and the two second guide plates 1221 can guide the sorting robot 200 to move in the left-right direction.

Specifically, as shown in fig. 2, the sides of the rectangular opening 1111 are parallel to the front-back direction or the left-right direction, the first guide rail 121 includes two first guide plates 1211 disposed in parallel to the left-right direction, and the first guide plates 1211 are formed by extending upward the sides of the opening 1111 extending in the front-back direction and are perpendicular to the platform body 11.

Specifically, as shown in fig. 2, the second guide rail 122 includes two second guide plates 1221 arranged in parallel in the front-rear direction, and the second guide plates 1221 are formed by extending side edges of the opening 1111 in the left-right direction, and are perpendicular to the platform body 11.

Preferably, as shown in fig. 1 and 4, the plurality of openings 1111 in a row along the left-right direction are divided into five sub-opening groups 111 along the left-right direction, all the slideways 2 are arranged obliquely, and the outlets of the plurality of slideways 2 of each sub-opening group 111 are arranged along the vertical direction, so that the operator 2000 can conveniently observe, pick and place the storage mechanism 4. In addition, the slide ways 2 of each sub-opening group 111 form a slide way group, and a second channel is formed between two adjacent slide way groups, so that the operator 2000 can conveniently walk through the slide way. Preferably, as shown in fig. 4, the plurality of runners 2 of each sub-opening group 111 are arranged in parallel, so as to maximize the second passage.

As a preferred scheme, as shown in fig. 5, the mounting rack 3 includes a frame 31 and a plurality of partition plates 32, the plurality of partition plates 32 are disposed on the frame 31 and are arranged at intervals along a vertical direction, and the storage mechanisms 4 can be placed on the partition plates 32 and butt-jointed with the corresponding slide ways 2, so that the operator 2000 can conveniently take and place the storage mechanisms 4.

Referring to fig. 6, the first wheel 2021 and the second wheel 2022 are introduced, as shown in fig. 6, the first wheel 2021 includes a first wheel disc 20211 and a first roller 20212, the outer periphery of the first wheel disc 20211 is provided with a plurality of first notches arranged at intervals along the circumferential direction, and two ends of the first roller 20212 are respectively pivoted to two opposite side walls of the first notches. The second wheel 2031 comprises a second wheel disc and a second roller, a plurality of notches are arranged at intervals along the circumferential direction are arranged on the periphery of the second wheel disc, and two ends of the second roller are respectively pivoted with two opposite side walls of the notches.

As shown in fig. 6, when the first traveling mechanism 202 operates, static friction occurs between the first wheel 2021 and the traveling surface, and rolling friction occurs between the second roller on the second wheel 2031 and the traveling surface, so that interference of the second wheel 2031 with the operation of the first traveling mechanism 202 can be prevented, and the first traveling mechanism 202 can smoothly drive the vehicle body 201 to move in the front-rear direction.

When the second running gear 203 works, the second wheel 2031 and the running surface have static friction, and the first roller 20212 on the first wheel 2021 and the running surface have rolling friction, so that the first wheel 2021 can be prevented from interfering with the work of the second running gear 203 due to the arrangement of the first roller 20212, and the second running gear 203 can be ensured to smoothly drive the vehicle body 201 to move in the left-right direction.

The sorting robot 200 of the embodiment does not need to additionally arrange a switching mechanism, so that the sorting robot 200 is small in size, simple to operate and not prone to failure, and the sorting system 1000 using the sorting robot 200 can guarantee normal work.

Preferably, as shown in fig. 6, the first wheel 2021 includes at least two first wheels 20211 arranged in the left-right direction and coaxially disposed, so that the width of the first wheel 2021 in the left-right direction is larger, thereby realizing a more stable supporting function of the first wheel 2021 on the vehicle body 201. The first rollers 20212 of the adjacent first sheaves 20211 are provided at intervals in the left-right direction, and the adjacent first rollers 20212 can be prevented from interfering with each other.

Preferably, the second wheel 2031 comprises at least two second wheels arranged coaxially and in the front-rear direction. The width of the second wheel 2031 in the front-rear direction is made larger, so that a more stable supporting effect of the second wheel 2031 on the vehicle body 201 is achieved.

Referring to fig. 3, the structure of the vehicle body 201 is described, as shown in fig. 3, the vehicle body 201 includes a frame 2011, a baffle 2012 and a driving mechanism 2013, the frame 2011 includes a first passage 20111, the baffle 2012 is pivotally connected to the frame 2011, and the driving mechanism 2013 is configured to drive the baffle 2012 to switch between a first position blocking the first passage 20111 and a second position exposing the first passage 20111. When the baffle 2012 is in the first position, the baffle 2012 can carry goods, and when the baffle 2012 is in the second position, the goods on the baffle 2012 can pass through the first passage 20111 of the clip 2011 and can be dropped. Illustratively, the driving mechanism 2013 may be a motor or the like, and the motor can realize precise control of the position of the baffle 2012. Preferably, a servo motor may be selected, which can further improve the precise control of the position of the baffle 2012.

Preferably, as shown in fig. 3, the number of the square frames 2011 is four, that is, the sorting robot 200 can transfer four pieces of goods, and the sorting efficiency of the sorting robot 200 can be improved. In other embodiments, the number of the loop frames 2011 may be one, two or more, and different numbers of the loop frames 2011 may be selected according to different sorting efficiencies as needed.

As shown in fig. 3, the number of the rectangular frames 2011 is Q × Q, and the Q × Q rectangular frames 2011 are arranged in a matrix, so that more rectangular frames 2011 can be arranged in a limited space, and the utilization rate of the limited space is improved. In addition, the size and the shape of the clip 2011 can be selected to be the same as those of the opening 1111 on the platform body 11, the arrangement mode of the clip 2011 is the same as that of the openings 1111, and when the clip 2011 is located right above the corresponding opening 1111, the clip can be released while achieving four clip frames 2011, so that the release efficiency of the sorting robot 200 is improved.

Preferably, as shown in fig. 3, two baffles 2012 are provided, two baffles 2012 can completely block the first passage 20111, the driving mechanism 2013 can simultaneously drive two baffles 2012 to operate, the number of driving mechanisms 2013 can be reduced, and more rectangular frames 2011 can be arranged on the vehicle body 201 in a limited space.

Preferably, as shown in fig. 7 and 8, the two baffles 2012 are both pivotally connected to a loop-shaped frame 2011, the driving mechanism 2013 includes a first motor 20131, a first link 20132, two second links 20133 and a third link 20134, the first motor 20131 is disposed on the loop-shaped frame 2011, an output shaft of the first motor 20131 is fixed to the first link 20132, the two second links 20133 are respectively pivotally connected to two ends of the first link 20132, one end of the third link 20134 is pivotally connected to the second link 20133, the other end of the third link 20134 is fixed to the baffles 2012, and the first motor 20131 can simultaneously control the two baffles 2012 to turn up or down, so as to realize the switching of the baffles 2012 to block or expose the first channel 20111.

As shown in fig. 3 and 7, when the first motor 20131 makes the first link 20132 in the horizontal state, the two baffles 2012 are in the downward-turned state, the two baffles 2012 are exposed out of the first passage 20111, and at this time, the goods on the baffles 2012 can be dropped from the first passage 20111.

As shown in fig. 8, when the driving motor 20132 rotates the first link 20132 clockwise by an angle, the first link 20132 drives the two second links 20133 to move, so that the left third link 20134 rotates counterclockwise, and the right third link 20134 rotates clockwise, so that the two baffles 2012 are in a horizontal state, the two baffles 2012 close the first channel 20111 together, and at this time, the two baffles 2012 can better support the cargo.

Each clip 2011 is driven by an independent first motor 20131, and each first motor 20131 can independently act, so that the requirement of putting in goods under different conditions can be met.

Referring to fig. 9, the structure of the first traveling mechanism 202 is further described, as shown in fig. 9, the first traveling mechanism 202 further includes a first connecting shaft 2022, a first transmission assembly 2024 and a first driving assembly 2023, the first connecting shaft 2022 extends along the left-right direction and is pivotally connected to the vehicle body 201, two first wheels 2021 are respectively connected to two ends of the first connecting shaft 2022, and an output end of the first driving assembly 2023 is in transmission connection with the first connecting shaft 2022 through the first transmission assembly 2024. When the first driving assembly 2023 works, the output end of the first driving assembly 2023 transmits power to the first connecting shaft 2022 through the first transmission assembly 2024, and the first connecting shaft 2022 drives the first wheel 2021 to rotate relative to the vehicle body 201, so that the first traveling mechanism 202 drives the vehicle body 201 to move in the front-rear direction relative to the traveling surface. Wherein, first drive assembly 2023 can select the integrated body of motor, motor and reduction gear, can realize the automated control to first running gear 202, is convenient for carry out accurate and quick control to sorting robot 200's motion. The first transmission assembly 2024 may be a gear set, and by selecting gear sets of different types, a speed reduction or speed increase effect on the output motion of the first driving assembly 2023 can be achieved. In addition, by arranging the gear set, the first driving assembly 2023 and the first connecting shaft 2022 can be arranged side by side, the size of the first driving assembly 2023 and the first connecting shaft 2022 along the left-right direction can be effectively reduced, and the size of the sorting robot 200 along the left-right direction can be effectively reduced.

Referring to fig. 9, the structure of the second traveling mechanism 203 is further described, as shown in fig. 9, the second traveling mechanism 203 further includes a second connecting shaft 2032, a second transmission assembly 2034 and a second driving assembly 2033, the second connecting shaft 2032 extends in the front-rear direction and is pivotally connected to the vehicle body 201, two second wheels 2031 are respectively connected to two ends of the second connecting shaft 2032, and an output end of the second driving assembly 2033 is in transmission connection with the second connecting shaft 2032 through the second transmission assembly 2034. When the second driving component 2033 works, the output end of the second driving component 2033 transmits power to the second connecting shaft 2032 through the second transmission component 2034, and the second connecting shaft 2032 drives the second wheel 2031 to rotate relative to the vehicle body 201, so that the second running gear 203 drives the vehicle body 201 to move along the left-right direction relative to the running surface. Wherein, the second transmission assembly 2034 can select the integrated body of motor, motor and reduction gear, can realize the automated control to second running gear 203, is convenient for carry out accurate and quick control to the motion of letter sorting robot 200. The second transmission assembly 2034 can be a gear set, and the reduction or acceleration of the output motion of the second driving assembly 2033 can be realized by selecting gear sets of different types. In addition, by providing the gear set, the second driving assembly 2033 and the second coupling shaft 2032 can be arranged side by side, the size of the second driving assembly 2033 and the second coupling shaft 2032 in the front-rear direction can be effectively reduced, and the size of the sorting robot 200 in the front-rear direction can be effectively reduced.

Example two:

the present embodiment provides a sorting system 1000, the structure of the sorting system 1000 is substantially the same as that of the sorting system 1000 provided in the first embodiment, and the two main differences are: the sorting robot 200 is different in structure.

Specifically, as shown in fig. 10, the sorting robot 200 further includes a transmission mechanism 205, the transmission mechanism 205 is disposed on the vehicle body 201, and the transmission mechanism 205 is used for carrying and transmitting the goods, so as to realize the dropping of the goods into the corresponding opening on the sorting platform 100. Specifically, as shown in fig. 10, the transmission mechanism 205 includes a frame 2051, a ring-shaped conveyor belt 2053 and two electric rollers 2052, the frame 2051 is disposed on the vehicle body 201, the two electric rollers 2052 are arranged at intervals in the horizontal direction and are disposed on the frame 2051, the ring-shaped conveyor belt 2053 surrounds the peripheries of the two electric rollers 2052 and is jointly tensioned by the two electric rollers 2052, when one of the electric rollers 2052 works, the electric roller 2052 can drive the ring-shaped conveyor belt 2053 to rotate, and the ring-shaped conveyor belt 2053 can drive the goods thereon to fall into the destination opening.

As a preferable scheme, the conveying mechanisms 205 may be arranged in multiple groups, the multiple groups of conveying mechanisms 205 are arranged at intervals in the vertical direction, and the sorting robot 200 may carry multiple articles at the same time, so as to improve the delivery efficiency of the sorting robot 200.

As shown in fig. 10, the sorting robot 200 further includes a charging mechanism 206 disposed on the vehicle body 1, and when the charging mechanism 206 is close to or in contact with a charging pile on the sorting platform 100, the charging mechanism 206 can charge the sorting robot 200.

As shown in fig. 10, the sorting robot 200 further includes a switching device 204, and the switching device 204 is used for switching the first traveling mechanism 202 or the second traveling mechanism 203 to contact with the traveling surface, so as to realize the rapid switching of the motions of the sorting robot 200 in different directions, improve the flexibility of the motions of the sorting robot, and match the improved sorting platform 100.

Specifically, as shown in fig. 10 and 11, the switching device 204 is configured to drive the first traveling mechanism 202 to move in the up-down direction relative to the vehicle body 201, when the first traveling mechanism 202 is raised, the first traveling mechanism 202 is separated from the traveling surface of the sorting platform 100, the second traveling mechanism 203 is in contact with the traveling surface of the sorting platform 100, and the second traveling mechanism 203 can drive the vehicle body 201 to move in the left-right direction; when the second walking mechanism 203 is lifted, the second walking mechanism 203 is separated from the walking surface of the sorting platform 100, the first walking mechanism 202 is in contact with the walking surface of the sorting platform 100, and the first walking mechanism 202 can drive the vehicle body 201 to move in the front-back direction, so that the rapid switching of the movement of the sorting robot 200 towards different directions is realized, and the rapid switching of the first walking mechanism 202 and the second walking mechanism 203 can be realized.

In other embodiments, the switching device 204 may be configured to only drive the second traveling mechanism 203 to move in the up-and-down direction relative to the vehicle body 201, and also to switch the contact between the first traveling mechanism 202 and the second traveling mechanism 203 and the traveling surface of the sorting platform 100. In other embodiments, the switching device 204 may be configured to drive the first traveling mechanism 202 and the second traveling mechanism 203 to move in the vertical direction relative to the vehicle body 201, respectively, and when one of the first traveling mechanism 202 and the second traveling mechanism 203 is damaged, the other traveling mechanism without damage may be driven, so that the sorting robot 200 may be effectively prevented from being unable to operate normally.

In order to realize the driving of the first traveling mechanism 202 by the switching device 204, as shown in fig. 10, the first traveling mechanism 202 is connected to the vehicle body 201 in a sliding manner in the up-down direction, and a first guide groove 20251 extending in the front-back direction is provided on the first traveling mechanism 202, as shown in fig. 11, the switching device 204 includes a first driving motor 2041, a cam 2042 and a guide rod 2043, the first driving motor 2041 is provided on the vehicle body 201, two ends of the cam 2042 are respectively connected to an output end of the first driving motor 2041 and the guide rod 2043, and the guide rod 2043 and the output end of the first driving motor 2041 are eccentrically provided and disposed in the first guide groove 20251. When the first driving motor 2041 works, the output end of the first driving motor 2041 drives the cam 2042 to rotate, the cam 2042 drives the guide rod 2043 to rotate, and the guide rod 2043 slides in the first guide groove 20251, so that the first traveling mechanism 202 can be driven to slide relative to the vehicle body 201 in the up-down direction.

Referring to fig. 10 and 11, the first travel mechanism 202 is described, as shown in fig. 10, the first travel mechanism 202 includes a mounting plate 2025, the mounting plate 2025 is slidably connected to the vehicle body 201 in the vertical direction, the first guide groove 20251 is formed in the mounting plate 2025, and the switching device 204 can drive the mounting plate 2025 to move in the vertical direction with respect to the vehicle body 201. Preferably, as shown in fig. 11, two second guide grooves 2012 'facing each other in the front-rear direction are formed in the vehicle body 1, the second guide grooves 2012' extend in the up-down direction, the two sides of the mounting plate 2025 in the front-rear direction are respectively inserted into one corresponding second guide groove 2012 ', and the two sets of second guide grooves 2012' guide the mounting plate 2025 together, so that the mounting plate 2025 can be prevented from being deflected in the moving process.

As shown in fig. 11, the body of the first driving assembly 2023 is locked on the vehicle body 201 by screws, ensuring the normal operation of the first driving assembly 2023. As shown in fig. 11, an accommodating cavity is provided in the vehicle body 201, and the first driving assembly 2023, the first transmission assembly 2024 and the first connecting shaft 2022 are all disposed in the accommodating cavity, so that the sorting robot 200 is more beautiful. In addition, the vehicle body 201 can achieve a good dustproof effect on the first driving assembly 2023, the first transmission assembly 2024 and the first connecting shaft 2022, and ensure good power transmission of each part. Preferably, as shown in fig. 11, an avoiding groove 2011 ' is formed in the vehicle body 201, when the first traveling mechanism 202 moves in the vertical direction with respect to the vehicle body 1, the first connecting shaft 2022 can slide along the avoiding groove 2011 ', and the avoiding groove 2011 ' can perform an avoiding function on the first connecting shaft 2022, so that smooth movement of the first traveling mechanism 202 in the vertical direction with respect to the vehicle body 1 is ensured.

As shown in fig. 11, the body of the second driving assembly 2033 is locked on the vehicle body 201 by screws to ensure the normal operation of the second driving assembly 2033. As shown in fig. 11, the second driving assembly 2033, the second transmission assembly 2034 and the second coupling shaft 2032 are disposed in the accommodating cavity, so that the sorting robot 200 is more beautiful. In addition, the vehicle body 201 can achieve a good dustproof effect on the second driving assembly 2033, the second transmission assembly 2034 and the second connecting shaft 2032, and ensure good power transmission of each component.

In addition, as shown in fig. 11, the sorting robot 200 further includes electric power storage mechanisms 207, and the electric power storage mechanisms 207 are respectively electrically connected to the charging mechanisms 206, and when the charging mechanisms 206 approach or contact the charging piles 5, the electric power storage mechanisms 207 can store electric power of the charging piles 5, and for example, the electric power storage mechanisms 207 can be batteries. In addition, the power storage mechanism 207 is electrically connected to the first driving assembly 2023, the second driving assembly 2033, the switching device 204 and the motorized roller 2052, respectively, and the power storage mechanism 207 can provide power to the first driving assembly 2023, the second driving assembly 2033, the switching device 204 and the motorized roller 2052.

As shown in fig. 11, the sorting robot 200 further includes a control mechanism 208, the control mechanism 208 is electrically connected to the first driving assembly 2023, the second driving assembly 2033, the switching device 204, and the electric roller 2052, respectively, and the control mechanism 208 can control the operating states of the first driving assembly 2023, the second driving assembly 2033, the switching device 204, and the electric roller 2052, thereby detecting and controlling the operation of the sorting robot 200.

It is noted that the foregoing shows and describes the general principles and features of the present invention, together with the advantages thereof. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are merely illustrative of the principles of the present invention, but that various changes and modifications may be made without departing from the spirit and scope of the invention, which is defined by the appended claims and their equivalents.

Claims

1. A sorting system, comprising:

the platform (1) comprises a platform body (11) and a guide mechanism (12) arranged on the platform body, wherein a plurality of openings (1111) which are arranged in a matrix manner along a first direction and a second direction which are perpendicular to each other are formed in the platform body (11);

the slideway (2) is communicated and arranged below the opening (1111); and

a sorting robot (200), the guiding mechanism (12) being capable of guiding the sorting robot (200) to cause the sorting robot (200) to send goods to the opening (1111);

wherein the guide mechanism (12) comprises:

a first guide rail (121) disposed on the platform body (11), wherein the first guide rail (121) includes two first guide plates (1211) disposed in parallel along the second direction, and the first guide plates (1211) are formed by extending upwards from the opening (1111) along a side edge extending along the first direction;

the second guide rail (122) is arranged on the platform body (11), the second guide rail (122) comprises two second guide plates (1221) which are arranged in parallel along a first direction, wherein the second guide plates (1221) are formed by upwards extending the side edges of the openings (1111) extending along a second direction, and the first guide rail (121) and the second guide rail (122) corresponding to each opening (1111) jointly form a square structure;

the plurality of openings (1111) are arranged along a second direction, and the plurality of openings (1111) are divided into a plurality of sub-opening groups (111) along the second direction; the slideways (2) are obliquely arranged, and outlets of the slideways (2) of each sub-opening group (111) are distributed along the vertical direction; the slide ways of each group of the sub-opening group (111) form a slide way group, and a second channel is formed between two adjacent slide way groups.

2. Sorting system according to claim 1,

the sorting robot (200) comprises a vehicle body (201) and two first wheels (2021) pivoted with the vehicle body (201), the two first wheels (2021) are distributed along the second direction and are arranged on two sides of the vehicle body (201), and the two first wheels (2021) are located on the outer sides of the two first guide plates (1211).

3. Sorting system according to claim 2, characterized in that the first wheel (2021) comprises:

the outer periphery of the first wheel disc (20211) is provided with a plurality of notches which are arranged at intervals along the circumferential direction; and

the two ends of the first roller (20212) are respectively pivoted with the two side walls of the notch.

4. Sorting system according to claim 1,

sorting robot (200) including automobile body (201) and two with second wheel (2031) of automobile body (201) pin joint, two second wheel (2031) are followed first direction distributes and sets up the both sides of automobile body (201), two second wheel (2031) are located two the second deflector (1221) outside.

5. Sorting system according to any of claims 2-4, characterised in that the car body (201) comprises:

a clip (2011) comprising a first channel (20111);

the baffle (2012) is connected with the clip (2011); and

a drive mechanism (2013) configured to drive the shutter (2012) to switch between a first position in which the first passage (20111) is shielded and a second position in which the first passage (20111) is exposed.

6. Sorting system according to claim 5, characterised in that said shutters (2012) are two, in that two of said shutters (2012) are pivoted to said frame (2011), and in that said drive mechanism (2013) comprises:

a first motor (20131) provided to the frame (2011);

a first link (20132), an output shaft of the first motor (20131) being fixed to the first link (20132);

two second connecting rods (20133) which are respectively pivoted with two ends of the first connecting rod (20132);

and one end of the third connecting rod (20134) is pivoted with the second connecting rod (20133), and the other end of the third connecting rod (20134) is fixed with the baffle (2012).

7. Sorting system according to claim 5, characterised in that the car body (201) comprises a plurality of return frames (2011), a plurality of which return frames (2011) can be simultaneously faced with the corresponding openings (1111).

8. Sorting system according to claim 1, characterised in that a plurality of the runners (2) of each group of sub-opening groups (111) are arranged in parallel.

9. The sortation system as claimed in claim 1, wherein said sortation system further comprises:

the mounting rack (3) comprises a frame body (31) and a plurality of partition plates (32), wherein the partition plates (32) are arranged on the frame body (31) and are arranged at intervals along the vertical direction; and

and the storage mechanism (4) can be placed on the partition plate (32) and is butted with the corresponding slide way (2).

10. Logistics system comprising a transport system, characterized in that the logistics system further comprises a sorting system according to any of claims 1-9.