CN113560192A - Sorting robot and sorting system - Google Patents
Sorting robot and sorting system Download PDFInfo
- Publication number
- CN113560192A CN113560192A CN202110813764.2A CN202110813764A CN113560192A CN 113560192 A CN113560192 A CN 113560192A CN 202110813764 A CN202110813764 A CN 202110813764A CN 113560192 A CN113560192 A CN 113560192A
- Authority
- CN
- China
- Prior art keywords
- sorting
- vehicle body
- sorting robot
- connecting shaft
- robot according
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C3/00—Sorting according to destination
- B07C3/02—Apparatus characterised by the means used for distribution
- B07C3/08—Apparatus characterised by the means used for distribution using arrangements of conveyors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C3/00—Sorting according to destination
- B07C3/02—Apparatus characterised by the means used for distribution
Landscapes
- Discharge Of Articles From Conveyors (AREA)
- Manipulator (AREA)
Abstract
The invention relates to the technical field of logistics, in particular to a sorting robot and a sorting system. This letter sorting robot includes the automobile body, first running gear, second running gear and auto-change over device, first running gear can drive the automobile body along first direction motion, second running gear can drive the automobile body along the motion of second direction, first direction and second direction are perpendicular, auto-change over device is used for switching first running gear or second running gear and running surface contact, thereby realize the quick switch-over of the motion of letter sorting robot towards different directions, improve the flexibility of letter sorting robot motion, thereby match the letter sorting platform after the improvement. The sorting system provided by the invention can realize the rapid sorting of goods by applying the sorting robot and the improved sorting platform.
Description
Technical Field
The invention relates to the technical field of logistics, in particular to a sorting robot and a sorting system.
Background
The commodity circulation trade wide application letter sorting system, more common in the letter sorting system is cross belt formula letter sorting system, and cross belt formula letter sorting system includes belt conveyor and letter sorting robot, and when belt conveyor removed letter sorting robot to specified letter sorting position, letter sorting robot can see the goods letter sorting out, and letter sorting robot can only be along belt conveyor's cyclic annular conveyer belt operation.
Along with letter sorting system progressively improves, needs the cooperation that the letter sorting robot can come realization to other equipment of letter sorting system towards different direction movements, but current letter sorting robot can not move towards different directions, leads to the unable realization of letter sorting system to the goods fast.
Therefore, the invention is needed to provide a sorting robot and a sorting system to solve the problems that the sorting robot cannot move in different directions and cannot be matched with other equipment, and the sorting system has low efficiency in sorting goods.
Disclosure of Invention
One object of the present invention is to propose a sorting robot that can move in different directions to cooperate with other equipment of the sorting system.
Another object of the present invention is to provide a sorting system to achieve rapid sorting of goods.
In order to achieve the purpose, the invention adopts the following technical scheme:
a sorting robot comprising:
a vehicle body;
the first travelling mechanism can drive the vehicle body to move along a first direction;
the second travelling mechanism can drive the vehicle body to move along a second direction, and the first direction is vertical to the second direction; and
a switching device configured to switch the first traveling mechanism or the second traveling mechanism to be in contact with a traveling surface.
Preferably, the first traveling mechanism is connected with the vehicle body in a sliding manner in an up-down direction, and the switching device is configured to drive the first traveling mechanism to move in the up-down direction relative to the vehicle body.
Preferably, the first traveling mechanism is provided with a first guide groove extending along a second direction; the switching device comprises a first driving motor, a cam and a guide rod, wherein the first driving motor is arranged on the vehicle body, two ends of the cam are respectively connected with the output end of the first driving motor and the guide rod, and the guide rod and the output end of the first driving motor are eccentrically arranged and are arranged in the first guide groove.
Preferably, the first travel mechanism includes:
the mounting plate is connected with the vehicle body in a sliding mode along the vertical direction, and the first guide groove is formed in the mounting plate;
the first connecting shaft is pivoted with the vehicle body;
the first wheels are respectively fixed at two ends of the first connecting shaft;
the output end of the first driving assembly is in transmission connection with the first connecting shaft through the first transmission assembly.
Preferably, the first transmission assembly is a gear set.
As a preferred scheme, an avoiding groove is formed in the vehicle body, and the first connecting shaft can slide along the avoiding groove.
Preferably, the second traveling mechanism includes:
the second connecting shaft is pivoted with the vehicle body;
the two ends of the second connecting shaft are respectively fixed with the second wheel; and
the output end of the second driving assembly is in transmission connection with the second connecting shaft through the second transmission assembly.
Preferably, the sorting robot further includes:
a transport mechanism disposed on the vehicle body, the transport mechanism configured to carry and transport cargo.
Preferably, the transmission mechanism includes:
the frame is arranged on the vehicle body;
the two electric rollers are arranged at intervals along the horizontal direction and are arranged on the rack; and
and the annular conveying belt is arranged around the peripheries of the two electric rollers and is tensioned by the two electric rollers together.
As a preferred scheme, the transmission mechanisms are arranged into a plurality of groups, and the plurality of groups of transmission mechanisms are arranged at intervals along the vertical direction.
A sorting system comprising a sorting platform, the sorting system further comprising a sorting robot as described above, the sorting robot being movable on the sorting platform.
The invention has the beneficial effects that:
the sorting robot provided by the invention comprises a vehicle body, a first walking mechanism, a second walking mechanism and a switching device, wherein the first walking mechanism can drive the vehicle body to move along a first direction, the second walking mechanism can drive the vehicle body to move along a second direction, the first direction is vertical to the second direction, and the switching device is used for switching the first walking mechanism or the second walking mechanism to be in contact with a walking surface, so that the quick switching of the movement of the sorting robot towards different directions is realized, the movement flexibility of the sorting robot is improved, and the improved sorting platform is matched.
The sorting system provided by the invention can realize the rapid sorting of goods by applying the sorting robot and the improved sorting platform.
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 a first schematic structural diagram of a sorting robot provided by an embodiment of the invention;
fig. 3 is a schematic structural diagram ii of a sorting robot according to an embodiment of the present invention;
FIG. 4 is an enlarged view of a portion of FIG. 1 at M;
fig. 5 is a schematic structural diagram of a sorting system provided by an embodiment of the invention;
fig. 6 is a schematic structural diagram of a mounting rack and a slide rail provided in an 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 pile; 6-a tag identifier; 7-manual workpiece supply table; 8, a mechanical arm workpiece supply table; 9-a detection mechanism;
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 connecting shaft; 2023-a first drive assembly; 2024-a first transmission assembly; 2025' -a mounting plate; 20251' -a first guide groove; 203-a second running gear; 2031 — a second wheel; 2032-a second connecting 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.
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 includes a charging pile 5 disposed on the platform body 11, a charging mechanism 206 is disposed on the sorting robot 200, and when the charging mechanism 206 is in butt joint with or close to the charging pile 5, the charging pile 5 can charge the sorting robot 200 through the charging mechanism 206, so as to ensure a better working state of the sorting robot 200 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.
Referring to fig. 2, the structure of the sorting robot 200 is described, as shown in fig. 2, the sorting robot 200 includes a vehicle body 201, a first traveling mechanism 202 and a second traveling mechanism 203, wherein the vehicle body 201 is used for carrying goods, the first traveling mechanism 202 and the second traveling mechanism 203 are disposed on the vehicle body 201, the first traveling mechanism 202 can drive the vehicle body 201 to move in a front-back direction, and the second traveling mechanism 203 can drive the vehicle body 201 to move in a left-right direction, so that the sorting robot 200 can move in different directions, and the flexibility of the movement of the sorting robot 200 is improved.
As shown in fig. 2, 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 drop the goods into the corresponding opening 1111 of the sorting platform 100. Specifically, as shown in fig. 2, 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 along the 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 target opening 1111.
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. 2, the sorting robot 200 further includes a charging mechanism 206 disposed on the vehicle body 201, and when the charging mechanism 206 is close to or in contact with the charging pile 5 on the sorting platform 100, the charging mechanism 206 can charge the sorting robot 200.
As shown in fig. 2, the sorting robot 200 further includes a switching device 204, and the switching device 204 is configured to switch the first traveling mechanism 202 or the second traveling mechanism 203 to contact with the traveling surface, so as to realize fast switching of the motions of the sorting robot 200 in different directions, improve the flexibility of the motions of the sorting robot 200, and match the improved sorting platform 100.
Specifically, as shown in fig. 2, 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. 2, 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. 3, 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. 2 and 3, the first travel mechanism 202 is described, as shown in fig. 2, 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. 3, two second guide grooves 2012 'facing each other in the front-rear direction are formed in the vehicle body 201, 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 deflecting during the movement.
In addition, in order to realize that the first traveling mechanism 202 drives the vehicle body 201 to move along the front-back direction, as shown in fig. 3, the first traveling mechanism 201 further includes a first connecting shaft 2022, a first wheel 2021, a first driving assembly 2023 and a first transmission assembly 2024, the first connecting shaft 2022 extends along the left-right direction and is pivotally connected to the vehicle body 201, the first wheel 2021 is fixed to each of 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 power at the output end of the first driving assembly 2023 is transmitted to the first connecting shaft 2022 through the first transmission assembly 2024, and the first connecting shaft 2022 can simultaneously drive the two first wheels 2021 thereon to rotate relative to the vehicle body 201, so that the first driving assembly 2023 drives the vehicle body 201 to move along the front-rear direction.
For example, the first driving assembly 2023 of the present embodiment may be a rotating electrical machine or a rotating electrical machine reducer integrated body, which enables automatic driving of the first traveling mechanism 202. In addition, as shown in fig. 3, 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. 3, 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 component. Preferably, as shown in fig. 3, an avoiding groove 2011 ' is formed in the vehicle body 201, when the first traveling mechanism 202 moves in the vertical direction relative to the vehicle body 201, 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 the first traveling mechanism 202 can move smoothly in the vertical direction relative to the vehicle body 201.
For example, as shown in fig. 3, the first transmission assembly 2024 may be a gear set, and by selecting a gear set of a different type, a speed reduction or speed increase effect on the output motion of the first driving assembly 2023 can be achieved. In addition, by providing 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. 3, the second traveling mechanism 203 is described, as shown in fig. 3, the second traveling mechanism 203 includes a second connecting shaft 2032, a second wheel 2031, a second driving component 2033 and a second transmission component 2034, the second connecting shaft 2032 extends in the front-rear direction and is pivotally connected to the vehicle body 201, the second wheel 2031 is fixed to each end of the second connecting shaft 2032, and the output end of the second driving component 2033 is in transmission connection with the second connecting shaft 2032 through the second transmission component 2034. When the second driving assembly 2033 works, the power at the output end of the second driving assembly 2033 is transmitted to the second connecting shaft 2032 through the second transmission assembly 2034, and the second connecting shaft 2032 can simultaneously drive the two second wheels 2031 thereon to rotate relative to the vehicle body 201, so that the second running gear 203 drives the vehicle body 201 to move in the front-rear direction.
For example, the second driving component 2033 of the present embodiment may be a rotating electrical machine or an integrated rotating electrical machine reducer, which can realize automatic driving of the second traveling mechanism 203. In addition, as shown in fig. 3, the body of the second driving assembly 2033 is locked to the vehicle body 201 by screws, ensuring the normal operation of the second driving assembly 2033. As shown in fig. 3, the second driving assembly 2033, the second transmission assembly 2034 and the second connection shaft 2032 are disposed in the accommodating cavity, so that the sorting robot 200 is more beautiful. In addition, the vehicle body 201 can exert 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.
For example, as shown in fig. 3, the second transmission assembly 2034 may be a gear set, and by selecting a gear set of a different type, a speed reduction or speed increase of the output motion of the second drive assembly 2033 can be achieved. In addition, by providing the gear train, the second driving assembly 2033 and the second connecting shaft 2032 can be arranged side by side, the size of the second driving assembly 2033 and the second connecting 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.
In addition, as shown in fig. 3, the sorting robot 200 further includes electric power storage mechanisms 207, and the electric power storage mechanisms 207 are electrically connected to the charging mechanisms 206, respectively, and the electric power storage mechanisms 207 can store electric power of the charging piles 5 when the charging mechanisms 206 approach or contact the charging piles 5, and the electric power storage mechanisms 207 can be batteries, for example. 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. 3, 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.
But the phenomenon such as off tracking, skid can appear in current letter sorting robot 200 in the course of the work, serious will lead to letter sorting robot 200 to follow letter sorting platform 100 roll-off, or lead to letter sorting robot 200 to take place the scheduling problem that collides with other letter sorting robot 200, seriously influences letter sorting precision and letter sorting efficiency of letter 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 sorting robot 200 can appear phenomenons such as off tracking, skidding in the course of the work, avoid sorting robot 200 from the roll-off on sorting platform 100, perhaps lead to sorting robot 200 to take place to collide the scheduling problem with other sorting robot 200, guarantee sorting robot 200 and sorting system 1000's letter sorting precision and letter sorting efficiency. The logistics system applying the sorting system 1000 has high operation efficiency.
Referring to fig. 4, the structure of the guide mechanism 12 is described, and as shown in fig. 4, 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.
Specifically, as shown in fig. 4, 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. 4, 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 extending in the left-right direction upward and are perpendicular to the platform body 11.
Preferably, as shown in fig. 1 and 5, 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 channel is formed between two adjacent slide way groups, so that an operator 2000 can conveniently walk through the channel. Preferably, as shown in fig. 5, the plurality of runners 2 of each sub-opening group 111 are arranged in parallel, so as to maximize the passage.
As a preferable scheme, as shown in fig. 6, the mounting frame 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 the vertical direction, and the storage mechanism 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 mechanism 4.
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 (11)
1. A sorting robot, comprising:
a vehicle body (201);
the first traveling mechanism (202) can drive the vehicle body (201) to move along a first direction;
the second travelling mechanism (203) can drive the vehicle body (201) to move along a second direction, and the first direction is vertical to the second direction; and
a switching device (204) configured to switch the first running gear (202) or the second running gear (203) to be in contact with a running surface.
2. The sorting robot according to claim 1, characterized in that the first travelling mechanism (202) is connected with the vehicle body (201) in a sliding manner in an up-down direction, and the switching device (204) is configured to move the first travelling mechanism (202) in the up-down direction relative to the vehicle body (201).
3. Sorting robot according to claim 2, characterised in that the first travelling mechanism (202) is provided with a first guide groove (20251) extending in a second direction; the switching device (204) comprises a first driving motor (2041), a cam (2042) and a guide rod (2043), the first driving motor (2041) is arranged on the vehicle body (201), two ends of the cam (2042) are respectively connected with the 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 arranged and arranged in the first guide groove (20251).
4. Sorting robot according to claim 3, characterized in that the first travelling mechanism (202) comprises:
an attachment plate (2025) which is slidably connected to the vehicle body (201) in the vertical direction, wherein the first guide groove (20251) is formed in the attachment plate (2025);
a first connecting shaft (2022) pivotally connected to the vehicle body (201);
a first wheel (2021), to both ends of which the first wheel (2021) is fixed, respectively, of the first connecting shaft (2022);
a first driving assembly (2023) and a first transmission assembly (2024), wherein 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).
5. Sorting robot according to claim 4, characterized in that the first transmission assembly (2024) is a gear set.
6. The sorting robot according to claim 4, characterized in that the car body (201) is provided with an avoiding groove (2011 '), and the first connecting shaft (2022) can slide along the avoiding groove (2011').
7. Sorting robot according to any of claims 1-4, characterised in that the second walking mechanism (203) comprises:
a second connecting shaft (2032) pivoted to the vehicle body (201);
a second wheel (2031), the second wheel (2031) being fixed to each of both ends of the second connecting shaft (2032); and
the output end of the second driving component (2033) is in transmission connection with the second connecting shaft (2032) through the second transmission component (2034).
8. The sorting robot according to any one of claims 1 to 4, further comprising:
a transport mechanism (205) disposed on the vehicle body (201), the transport mechanism (205) configured to carry and transport cargo.
9. Sorting robot according to claim 8, characterised in that the transport mechanism (205) comprises:
a frame (2051) provided on the vehicle body (201);
two electric rollers (2052) which are arranged at intervals along the horizontal direction and are arranged on the rack (2051); and
and the annular conveying belt (2053) is arranged around the peripheries of the two electric rollers (2052) and is tensioned by the two electric rollers (2052) together.
10. The sorting robot according to claim 8, wherein the conveying mechanisms (205) are arranged in a plurality of groups, and the plurality of groups of conveying mechanisms (205) are arranged at intervals in the up-down direction.
11. A sorting system comprising a sorting platform, characterized in that the sorting system further comprises a sorting robot according to any of claims 1-10, which is movable on the sorting platform.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110813764.2A CN113560192B (en) | 2021-07-19 | 2021-07-19 | Sorting robot and sorting system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110813764.2A CN113560192B (en) | 2021-07-19 | 2021-07-19 | Sorting robot and sorting system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113560192A true CN113560192A (en) | 2021-10-29 |
| CN113560192B CN113560192B (en) | 2023-05-12 |
Family
ID=78165453
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110813764.2A Active CN113560192B (en) | 2021-07-19 | 2021-07-19 | Sorting robot and sorting system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113560192B (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN207079996U (en) * | 2017-07-31 | 2018-03-09 | 尹传锋 | Robot, intelligent three-dimensional storehouse in length and breadth |
| US10048697B1 (en) * | 2015-10-29 | 2018-08-14 | Vecna Technologies, Inc. | Mobile robot with conveyor system |
| TW201943515A (en) * | 2018-04-08 | 2019-11-16 | 日商Ａｉｒｏｂｏｔ股份有限公司 | Autonomous mobile transfer robot |
| CN211140484U (en) * | 2019-10-30 | 2020-07-31 | 北京京东乾石科技有限公司 | Conveyer and logistics system |
| CN112108379A (en) * | 2020-09-22 | 2020-12-22 | 中邮科技有限责任公司 | Push pedal formula letter sorting dolly and letter sorting system |
| CN112591398A (en) * | 2020-11-27 | 2021-04-02 | 北京三快在线科技有限公司 | Shuttle, goods shelves, goods letter sorting system and building |
| CN112849982A (en) * | 2021-01-30 | 2021-05-28 | 河南力生智能科技有限公司 | Buckled track and have its intelligent sorting device |
-
2021
- 2021-07-19 CN CN202110813764.2A patent/CN113560192B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US10048697B1 (en) * | 2015-10-29 | 2018-08-14 | Vecna Technologies, Inc. | Mobile robot with conveyor system |
| CN207079996U (en) * | 2017-07-31 | 2018-03-09 | 尹传锋 | Robot, intelligent three-dimensional storehouse in length and breadth |
| TW201943515A (en) * | 2018-04-08 | 2019-11-16 | 日商Ａｉｒｏｂｏｔ股份有限公司 | Autonomous mobile transfer robot |
| CN211140484U (en) * | 2019-10-30 | 2020-07-31 | 北京京东乾石科技有限公司 | Conveyer and logistics system |
| CN112108379A (en) * | 2020-09-22 | 2020-12-22 | 中邮科技有限责任公司 | Push pedal formula letter sorting dolly and letter sorting system |
| CN112591398A (en) * | 2020-11-27 | 2021-04-02 | 北京三快在线科技有限公司 | Shuttle, goods shelves, goods letter sorting system and building |
| CN112849982A (en) * | 2021-01-30 | 2021-05-28 | 河南力生智能科技有限公司 | Buckled track and have its intelligent sorting device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113560192B (en) | 2023-05-12 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| MX2014012190A (en) | Method and apparatus for sorting or retrieving items. | |
| CN111774313B (en) | Sorting device | |
| CN110386393A (en) | A kind of material handling system based on novel shuttle | |
| CN210363460U (en) | Car trades power station based on robot | |
| CN111760802A (en) | Rail guided trolley for logistics sorting and logistics sorting system | |
| CN109178813B (en) | Card sorting equipment | |
| CN109911492A (en) | A kind of three-dimensional matrice formula warehousing system | |
| CN113911731B (en) | Alternate feeding device and lamination equipment | |
| US20220324649A1 (en) | A storage assembly and a method for storing articles internally of a storage assembly | |
| CN113560192A (en) | Sorting robot and sorting system | |
| CN113369149B (en) | Sorting platform and sorting system | |
| CN113351499B (en) | Sorting system and logistics system | |
| CN209618189U (en) | Disk has transfer robot | |
| CN217625537U (en) | Light rail style specimen transportation system | |
| CN115520156A (en) | Heavy truck power exchanging station | |
| CN211686794U (en) | Intelligent shuttle vehicle driven in four directions and stereoscopic warehouse | |
| CN210707337U (en) | Direct-connected double-lane battery replacement station | |
| CN112960325A (en) | Storage device with replaceable rails | |
| CN113477535A (en) | Sorting robot and sorting system | |
| CN219079009U (en) | Explosion-proof RGV trolley capable of switching transportation tracks | |
| CN111453446A (en) | Stacking device and stacking method applied to intelligent loading of bagged materials | |
| CN214057268U (en) | Vertical sorting equipment and dolly charging mechanism thereof | |
| CN218538192U (en) | Intelligent wheel set conveying vehicle | |
| CN215204519U (en) | Battery conveying system and battery replacing station comprising same | |
| CN212150825U (en) | Stacking device applied to intelligent loading of bagged materials |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |