CN113731850A

CN113731850A - 3D selects commodity circulation robot

Info

Publication number: CN113731850A
Application number: CN202111156867.2A
Authority: CN
Inventors: 王伦木; 魏冬艳
Original assignee: Shenzhen Jia Kang Jie Technology Co ltd
Current assignee: Shenzhen Jia Kang Jie Technology Co ltd
Priority date: 2021-09-30
Filing date: 2021-09-30
Publication date: 2021-12-03

Abstract

The utility model relates to a 3D sorting logistics robot, belonging to the technical field of logistics parcel sorting, comprising an automatic robot base, a lifting device arranged on the automatic robot base, a goods sorting device arranged on the lifting device, a storage device arranged on the automatic robot base and used for temporarily storing goods and a discharging device arranged on the automatic robot base and used for pushing out the goods stored in the storage device; the lifting device, the goods sorting device, the storage device and the discharging device are electrically connected with a control signal end interface of the automatic robot base. This application enables the material and selects the required manual work of operation and reduce, and improves the work efficiency that the commodity circulation was selected.

Description

3D selects commodity circulation robot

Technical Field

The application relates to the technical field of logistics package picking, in particular to a 3D logistics picking robot.

Background

At present, with the rise of online shopping, the quantity of logistics packages is increased suddenly, and the sorting operation provides guarantee for timely delivery of the logistics packages. However, as the number of the material packages is increased, the manual sorting can not meet the demand of the logistics sorting.

In the related art, a manual picking robot and a logistics picking robot are used to perform a picking operation of logistics packages in a labor-sharing manner, that is, the logistics packages are manually put on the robot, and the packages with specific weight or specific size are put on a corresponding conveying belt after being analyzed by the robot, so that the picking operation is completed.

In view of the above-mentioned related art, the inventors found that the logistics picking operation is labor-consuming and laborious, and the picking efficiency is low.

Disclosure of Invention

In order to make the material select the required manual work of operation and reduce, and improve the work efficiency that the commodity circulation was selected, this application provides a 3D selects commodity circulation robot.

The application provides a 3D selects logistics robot adopts following technical scheme:

A3D sorting logistics robot comprises an automatic robot base, a lifting device arranged on the automatic robot base, a goods sorting device arranged on the lifting device, a storage device arranged on the automatic robot base and used for temporarily storing goods, and a discharging device arranged on the automatic robot base and used for pushing the goods stored in the storage device out;

the lifting device, the goods sorting device, the storage device and the discharging device are electrically connected with a control signal end interface of the automatic robot base.

Through adopting above-mentioned technical scheme, automatic robot base can drive whole 3D selects commodity circulation robot and remove the goods shelves next door in the warehouse, and send control signal and give elevating gear, choose goods device and discharge apparatus, then elevating gear can drive to choose the goods device to rise or descend to certain height, then choose the goods device to begin the operation, move the goods on the goods shelves in the storing device, then repeat above-mentioned operation, until the storing device is full of goods in stock can, automatic robot base drives whole 3D again and selects commodity circulation robot and remove each commodity circulation classification point and classify and unload, whole process need not artifical the participation, it is laborsaving to save labour, and the work efficiency that the material was selected has been improved.

Optionally, the lifting device comprises a support and a lifting assembly mounted on the support in a vertical direction.

Through adopting above-mentioned technical scheme, lifting unit can drive and follow support rebound to specific position, and subsequent material of being convenient for is selected the operation.

Optionally, the picking device comprises a rotating assembly mounted on the lifting assembly, an expansion member arranged on the rotating assembly, and a goods taking and placing assembly mounted at an expansion end of the expansion member.

Through adopting above-mentioned technical scheme, after the extension of extensible member, goods is got and is put the subassembly and take the goods away from goods shelves, then the extensible member shortens, makes the rotatory 180 degrees backs of goods by rotating assembly again, is extended by the extensible member again, makes the goods sent to storing device in, it can to put the subassembly and put the goods down with the goods at last goods.

Optionally, the cargo taking and placing assembly comprises a support frame connected with the telescopic end of the telescopic part, a manipulator arranged at the top of the support frame and an electric push rod arranged on the support frame;

the electric push rod is positioned between the manipulator and the supporting plate.

Through adopting above-mentioned technical scheme, the support frame is as installation supporting component, and the layer board is inserted from the goods bottom surface, makes goods and goods shelves separation, then by the fixed goods of manipulator, then the extensible member can take off the goods from the goods shelves after withdrawing.

Optionally, the surface of the side of the supporting plate away from the supporting frame is an inclined surface.

Through adopting above-mentioned technical scheme, keep away from one side of support frame on the layer board and be the inclined plane, it is more swift when making the layer board insert from the gap between goods shelves and the goods lower surface.

Optionally, the storage device comprises a box body with openings on two sides, a plurality of partition plates fixedly connected with the box body and a weighing sensor arranged on the partition plates.

Through adopting above-mentioned technical scheme, baffle and box can form a plurality of matter storage check, and weighing sensor on the baffle can be used for measuring the weight of placing the goods on the baffle to convert quality signal to digital signal transmission to the control end of automatic robot base, prepare for the unloading operation afterwards.

Optionally, one side of the partition plate, which is far away from the support, is rotatably connected with a baffle plate, springs are arranged on two sides of the baffle plate, and two ends of each spring are respectively connected with the baffle plate and the box body.

Through adopting above-mentioned technical scheme, the setting of baffle can prevent that the goods from dropping because inertia from storing device's baffle in the removal process, and the setting of spring can make the baffle resume to initial position after the completion of unloading.

Optionally, the discharging device comprises a driving assembly mounted on the base of the automatic robot, a movable member detachably connected with the driving assembly, and a horizontal pushing member arranged on the movable member.

Through adopting above-mentioned technical scheme, drive assembly can drive the moving part and remove, and the moving part can drive the flat push member and remove, and the flat push member can push off the goods on the storing device, unloads.

Optionally, the driving assembly comprises a driving motor installed on the upper surface of the automatic robot base, a lead screw connected with a power output shaft of the driving motor, and a sliding piece sleeved on the lead screw, and the moving piece is an electric push rod and is installed on the upper surface of the sliding piece.

Through adopting above-mentioned technical scheme, driving motor on the automatic robot base upper surface can drive the lead screw and rotate, and then make the cover establish the sliding piece reciprocating motion on the lead screw, electric putter then installs on the sliding piece, makes the horizontal push piece can be followed the horizontal direction and released the goods, accomplishes the unloading.

Optionally, discharge apparatus is still including establishing the installing frame on automatic robot base upper surface, drive assembly is including installing driving motor on automatic robot base upper surface, establishing in the installing frame both sides and through chain drive's drive sprocket and driven sprocket, drive sprocket is connected with driving motor's power take off shaft, the moving part is plate body and both sides and is connected with the chain, the flat push part slides and connects on the moving part.

By adopting the technical scheme, the driving motor can drive the driving chain wheel to rotate so as to drive the chain and the driven chain wheel to move, and the moving part moves up and down along with the movement of the chain so as to drive the horizontal pushing part to move up and down. When the position of the horizontal pushing piece needs to be adjusted, the horizontal pushing piece can slide on the movable piece to change the position.

In summary, the present application includes at least one of the following beneficial technical effects:

1. the automatic robot base can drive the whole 3D sorting logistics robot to move to the side of a goods shelf in a warehouse and send control signals to the lifting device, the goods sorting device and the unloading device, then the lifting device can drive the goods sorting device to ascend or descend to a certain height, then the goods sorting device starts to operate, goods on the goods shelf are moved into the storage device, then the operation is repeated until the storage device is full of goods, the automatic robot base drives the whole 3D sorting logistics robot to move to each logistics classification point for classification unloading, manual participation is not needed in the whole process, labor and force are saved, and the work efficiency of material sorting is improved;

2. the arrangement of the baffle plate can prevent goods from falling off from the partition plate of the storage device due to inertia in the moving process, and the arrangement of the spring can enable the baffle plate to return to the initial position after unloading is finished;

3. the driving motor can drive the driving chain wheel to rotate so as to drive the chain and the driven chain wheel to move, and the moving part moves up and down along with the movement of the chain so as to drive the horizontal pushing part to move up and down. When the position of the horizontal pushing piece needs to be adjusted, the horizontal pushing piece can slide on the movable piece to change the position.

Drawings

Fig. 1 is an overall structure schematic diagram of a 3D cull logistics robot disclosed in an embodiment of the present application.

Fig. 2 is an overall structure schematic diagram of another 3D picking material robot disclosed in the embodiments of the present application.

Fig. 3 is a schematic view of the base and the discharging device of the robot in fig. 2.

Description of reference numerals:

1. an automatic robot base;

2. a lifting device; 21. a support; 22. a lifting assembly;

3. a goods picking device; 31. a rotating assembly; 32. a telescoping member; 33. a goods picking and placing component; 331. a support frame; 332. a support plate; 333. a manipulator; 334. an electric push rod;

4. a storage device; 41. a box body; 42. a partition plate; 421. a baffle plate; 422. a spring; 43. a weighing sensor;

5. a discharge device; 51. a drive assembly; 52. a movable member; 53. a horizontal pushing piece; 511. a drive motor; 512. a lead screw; 513. a sliding member; 54. installing a frame; 511. a drive motor; 514. a chain; 515. a drive sprocket; 516. a driven sprocket.

Detailed Description

The present application is described in further detail below with reference to figures 1-3.

The embodiment of the application discloses 3D selects material flow robot, referring to fig. 1, this 3D selects material flow robot includes that automatic robot base 1, elevating gear 2, the device of choosing goods 3, storing device 4 and discharge apparatus 5 constitute. Automatic robot base 1 is used for freely removing in the warehouse, reach preset position's goods shelves next door, elevating gear 2 installs on automatic robot base 1, it is connected with elevating gear 2 to choose goods device 3, storing device 4 sets up on automatic robot base 1, be used for the temporary storage goods, discharge apparatus 5 sets up the position that lies in between elevating gear 2 and the storing device 4 on automatic robot base 1, elevating gear 2, choose goods device 3, storing device 4 and discharge apparatus 5 all with automatic robot base 1's control signal end interface electric connection.

Specifically, the automatic robot base 1 mainly comprises an outer shell, traveling wheels arranged on the bottom surface of the outer shell, an execution main body arranged in the outer shell and a control host. The automatic robot base 1 can freely move on the ground in a warehouse and automatically move to a corresponding goods shelf tray according to the goods taking requirement.

Referring to fig. 1, the lifting device 2 includes a bracket 21 and a lifting assembly 22, wherein the bracket 21 may be fixedly mounted on the upper surface of the robot base 1 by means of bolts or welding, and the bracket 21 has a rectangular frame structure. The lifting assembly 22 comprises two motors which are oppositely arranged at the bottom of the automatic robot base 1, a main chain wheel which is arranged on the side face of the support 21 and is fixedly connected with a power output shaft of the motor, a transmission chain of which one part is meshed with the main chain wheel, an auxiliary chain wheel which is arranged on the support 21 and an object placing plate which is fixedly connected with the transmission chain, wherein the motor is electrically connected with a control host in the automatic robot base 1 through a control signal end interface, and the object placing plate is used for installing the picking device 3.

Referring to fig. 1, the picking device 3 includes a rotating assembly 31 bolted to the object placing plate of the lifting device 2, an expansion member 32 disposed on the rotating assembly 31, and a goods picking and placing assembly 33 mounted at the expansion end of the expansion member 32. Wherein, rotating assembly 31 includes the servo motor of bolted connection on the mounting panel of lifting unit 22, one end and servo motor's power output shaft fixed connection's pivot, with the other end fixed connection's of pivot carousel, extensible member 32 can adopt bolt fixed mounting on the carousel, extensible member 32 can adopt electric putter or cylinder, subassembly 33 fixed mounting is got at the flexible end of extensible member 32 to the goods.

Specifically, referring to fig. 1, the goods taking and placing assembly 33 includes a support frame 331, a pallet 332, a robot 333, and an electric push rod 334. The supporting frame 331 can be a rectangular plate or a rectangular frame, and the supporting frame 331 can be fixedly mounted at the telescopic end of the telescopic member 32 by using a bolt connection manner. The upper surface of the supporting plate 332 and the lower side surface of the supporting frame 331 can be fixed by welding or bolting, the manipulator 333 can be mounted on the top of the supporting frame 331 by a pin joint, the electric push rod 334 can be an electric hydraulic push rod or an electric push rod, the electric push rod 334 can be fixedly mounted on the supporting frame 331 by bolting, and the electric push rod 334 is located between the manipulator 333 and the supporting plate 332 to push the goods from the supporting plate to the storage device 4. Certainly, in this embodiment of the application, in order to enable the manipulator 333 to rotate around the pin, an adjustable speed motor fixedly connected with the pin should be installed on one side of the support frame 331, when the supporting plate 332 extends to the bottom of the cargo, the adjustable speed motor can be used for supporting the cargo, then the manipulator 333 rotates downwards through the adjustable speed motor, and then the manipulator 333 is used for grabbing the cargo, so that the cargo receives a force in the horizontal direction, and the cargo is not easily separated from the supporting plate.

Further, for making the layer board 332 insert the goods bottom surface on the goods shelves and more convenient and fast during the gap between the goods shelves, the surface of the one side of keeping away from support frame 331 on the layer board 332 is the inclined plane, makes the inclined plane part of layer board 332 can insert the gap between goods lower surface and the goods shelves earlier, then makes whole layer board 332 insert the gap gradually, avoids appearing leading to the condition emergence that layer board 332 ejects out the goods shelves because of the gap undersize.

Referring to fig. 1, the storage device 4 is used for temporarily storing goods, so that the whole 3D picking logistics robot can pick various goods once between the goods shelf and the goods transportation belt to and fro, thereby improving the picking efficiency. The storage device 4 includes a case 41, a partition plate 42, and a load cell 43.

The box body 41 has a box structure with openings at both sides, and the loading side and the unloading side of the box body 41 are both open sides. The inner side surfaces of the partition plates 42 and the box body 41 can be fixedly connected through angle iron and screws, the partition plates 42 are distributed in the box body 41 at intervals in a parallel mode along the vertical direction, and the box body 41 and the partition plates 42 form a plurality of storage lattices for storing goods. The load cell 43 may be mounted on the upper surface of the partition plate 42 by means of bonding or bolting, and serves to detect the weight of the goods placed on the partition plate 42 and convert the weight into a digital signal to be transmitted to the control main unit of the robot base 1.

Further, in order to prevent the goods from falling off from the storage device 4 in the transferring process, a baffle 421 is rotatably connected to one side of the partition plate 42 far away from the support 21, the baffle 421 and the partition plate 42 can be connected through a pin shaft or a hinge, springs 422 are fixedly connected to positions on the baffle 421 close to two sides, one ends of the springs 422 and the surface of the baffle 421 can be fixed through bolts or U-shaped nails, the other ends of the springs 422 are connected with the box body 41, when unloading, the goods are outwards pushed out of the box body 41 under the action of the unloading device 5, the baffle 421 rotates after being abutted against the baffle 421 until the goods are unloaded from the box body 41, and then the original positions of the baffle 421 are restored under the action of the springs 422.

Referring to fig. 1, the discharging apparatus 5 includes a driving assembly 51 installed on the base 1 of the automatic robot, a movable member 52 detachably connected to the driving assembly 51, and a horizontally pushing member 53 provided on the movable member 52. The driving component 51 drives the movable member to move, and after the movable member 52 moves to the corresponding position, the horizontal pushing member 53 starts to operate, so that the goods are pushed out from the storage device 4, and the unloading process is completed.

Specifically, drive assembly 51 includes driving motor 511, lead screw 512 and sliding part 513, wherein, driving motor 511 fixed mounting is on the upper surface of automatic robot base 1, in order to install lead screw 512, still need two rectangular plates of perpendicular fixed mounting on automatic robot base 1 upper surface, lead screw 512 wears to establish on the rectangular plate, the power output shaft accessible coupling joint of one end and driving motor 511 of lead screw 512, sliding part 513 can adopt the rectangular block that the boiling water has the screw hole, sliding part 513 cover is established on lead screw 512 and with lead screw 512 screw-thread fit. The movable member 52 is an electric push rod, and the movable member 52 is fixedly mounted on the upper surface of the sliding member 513 by means of bolts. The horizontal pushing member 53 can also be an electro-hydraulic push rod, the electro-hydraulic push rod can drive the horizontal pushing member 53 to move up and down when the electro-hydraulic push rod is stretched, and the horizontal pushing member 53 can be fixedly installed at the stretching end of the movable member 52 in a bolt connection mode.

When the driving motor 511 is started, the driving motor 511 drives the screw 512 to rotate, the sliding member 513 moves in a reciprocating manner, so that the sliding member 513 can drive the movable member 52 and the horizontal pushing member 53 to slide along the horizontal direction, and after the sliding member slides to a preset position, the horizontal pushing member 53 starts to operate, so that goods are pushed out of the storage device 4, and unloading is completed.

Referring to fig. 2, in other possible embodiments of the present application, the discharging device 5 further includes a mounting frame 54 disposed on the upper surface of the robot base 1, and the driving assembly 51 includes a driving motor 511 mounted on the upper surface of the robot base 1, a driving sprocket 515 and a driven sprocket 516 disposed on both sides of the mounting frame 54 and driven by a chain 514, and a driving sprocket 515 and a driven sprocket 516 disposed on both sides of the mounting frame 54 and driven by a chain 514.

Referring to fig. 2 and 3, specifically, the driving motor 511 may be fixedly mounted on the upper surface of the base 1 of the automatic robot in a bolt connection manner, two sets of driving sprockets 515 and driven sprockets 516 are provided, and the same set of driving sprockets 515 and driven sprockets 516 are mounted on the same side surface of the mounting frame 54, the chain 514 is in meshing transmission with the driving sprockets 515 and the driven sprockets 516, a power output shaft of the driving motor 511 is fixedly connected with the driving sprockets 515 through a coupler, the movable member 52 is a rectangular plate, fixing blocks are provided on two sides of the movable member 52, the fixing blocks are fixedly connected with the chain 514, when the chain 514 is in transmission, the movable member 52 moves along with the fixing blocks, a ball screw is further mounted on the upper surface of the movable member 52, the horizontal pushing member 53 is fixedly connected with a sliding sleeve on the ball screw, the horizontal pushing member 53 may be an electric push rod for pushing the goods out of the storage device 4, and finishing the unloading process.

The above embodiments are preferred embodiments of the present application, and the protection scope of the present application is not limited by the above embodiments, so: all equivalent changes made according to the structure, shape and principle of the present application shall be covered by the protection scope of the present application.

Claims

1. A 3D sort logistics robot, characterized by: the automatic goods picking device comprises an automatic robot base (1), a lifting device (2) arranged on the automatic robot base (1), a goods picking device (3) arranged on the lifting device (2), a storage device (4) arranged on the automatic robot base (1) and used for temporarily storing goods, and a discharging device (5) arranged on the automatic robot base (1) and used for pushing out the goods stored in the storage device (4);

the lifting device (2), the goods picking device (3), the storage device (4) and the discharging device (5) are electrically connected with a control signal end interface of the automatic robot base (1).

2. A 3D pick flow robot as claimed in claim 1, wherein: the lifting device (2) comprises a support (21) and a lifting assembly (22) which is arranged on the support (21) along the vertical direction.

3. A 3D pick flow robot as claimed in claim 2, wherein: the goods picking device (3) comprises a rotating component (31) arranged on the lifting component (22), a telescopic piece (32) arranged on the rotating component (31) and a goods taking and placing component (33) arranged at the telescopic end of the telescopic piece (32).

4. A 3D pick logistics robot as claimed in claim 3 wherein: the goods taking and placing assembly (33) comprises a support frame (331) connected with the telescopic end of the telescopic piece (32), a supporting plate (332) arranged at the bottom of the support frame (331), a manipulator (333) arranged at the top of the support frame (331) and an electric push rod (334) arranged on the support frame (331);

the electric push rod (334) is located at a position between the robot (333) and the pallet (332).

5. A3D pick flow robot as claimed in claim 4, wherein: the surface of one side of the supporting plate (332), which is far away from the supporting frame (331), is an inclined surface.

6. A 3D pick flow robot as claimed in claim 1, wherein: the storage device (4) comprises a box body (41) with openings on two sides, a plurality of partition plates (42) fixedly connected with the box body (41) and a weighing sensor (43) arranged on the partition plates (42).

7. The 3D pick flow robot of claim 6, wherein: one side of keeping away from support (21) on baffle (42) rotates and is connected with baffle (421), the both sides of baffle (421) are equipped with spring (422), the both ends of spring (422) are connected with baffle (421) and box (41) respectively.

8. A 3D pick flow robot as claimed in claim 1, wherein: the discharging device (5) comprises a driving component (51) arranged on the automatic robot base (1), a movable piece (52) detachably connected with the driving component (51) and a horizontal pushing piece (53) arranged on the movable piece (52).

9. A 3D pick flow robot as claimed in claim 8, wherein: the driving assembly (51) comprises a driving motor (511) arranged on the upper surface of the automatic robot base (1), a screw rod (512) connected with a power output shaft of the driving motor (511) and a sliding piece (513) sleeved on the screw rod (512), and the moving piece (52) is an electric push rod and is arranged on the upper surface of the sliding piece (513).

10. A 3D pick flow robot as claimed in claim 8, wherein: discharge apparatus (5) are still including establishing installing frame (54) on automatic robot base (1) upper surface, drive assembly (51) are including installing driving motor (511) on automatic robot base (1) upper surface, establishing installing frame (54) both sides and through chain (514) driven drive sprocket (515) and driven sprocket (516), drive sprocket (515) are connected with the power take off axle of driving motor (511), moving part (52) are plate body and both sides and are connected with chain (514), flat push member (53) slide and connect on moving part (52).