CN114749381B - AGV intelligent robot for sorting logistics sorting centers - Google Patents
AGV intelligent robot for sorting logistics sorting centers Download PDFInfo
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- CN114749381B CN114749381B CN202210305178.1A CN202210305178A CN114749381B CN 114749381 B CN114749381 B CN 114749381B CN 202210305178 A CN202210305178 A CN 202210305178A CN 114749381 B CN114749381 B CN 114749381B
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Classifications
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
- B62D63/04—Component parts or accessories
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- 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
- B07C2501/00—Sorting according to a characteristic or feature of the articles or material to be sorted
- B07C2501/0063—Using robots
Abstract
The invention relates to the technical field of warehouse logistics, and discloses an AGV intelligent robot for sorting a logistics sorting center. According to the invention, the tray is provided with the sliding frame, the movable plate is arranged in the sliding frame, the rolling balls capable of moving at all angles are arranged on the movable partition plate, when the express box is placed on the tray, the position of the express box is deviated, the sliding magnetic strip can move to one side of the deviation due to the action of gravity in the deviation process, and in the deviation process, the magnetic strip can be contacted with the bottom of the rolling ball above and then move in the direction opposite to the upper direction of the rolling ball, so that the express box moves to the central position of the whole tray, the gravity of the deviation side is reduced, and the phenomenon that the wheel abrasion difference at two sides of the sorting robot is overlarge due to overlarge gravity of the deviation side is prevented, so that the vehicle body is unstable is avoided.
Description
Technical Field
The invention relates to the technical field of warehouse logistics, in particular to an AGV intelligent robot for sorting logistics sorting centers.
Background
Along with the rapid development of logistics technology, the increase of express delivery number of pieces leads to the work load of express delivery letter sorting also to be increasing, in order to reduce the cost of commodity circulation and the work efficiency of letter sorting, many logistics companies can select the robot that has the letter sorting function to replace manual work, intensity of labour personnel has been reduced to a great extent, and this kind of automatic guide transport vechicle (Automated Guided Vehicle, AGV), possess automatic guided way's device, can travel along prescribed guide path, and can transplant, AGV divide into turn over board type and conveyer belt type, the automatic guided transport vechicle of turn over board type falls into corresponding separate mouthful through the parcel that the board upset was once loaded in the drive.
The existing sorting robot is when sorting express delivery, when the manual work is placed on turning over the board, in order to guarantee the speed, the position is indefinite when the express delivery is put in, not necessarily in the central point that turns over the board, and AGV needs the distance of moving to be indefinite, because express delivery focus is not in the center of transport vechicle upper surface, consequently can lead to the wheel atress of transport vechicle bottom uneven, can lead to the impaired degree difference of friction of both sides wheel under the long-term effect, can finally lead to the dolly automobile body unbalanced, and is crooked easily.
Disclosure of Invention
Aiming at the defects of the prior sorting robot in the use process, the invention provides the AGV intelligent robot for sorting the logistics sorting center, which has the advantages of reducing the wheel abrasion, improving the balance of the trolley and reducing the skew degree, and solves the problem of inconsistent wheel abrasion caused by unbalanced placement of the express box in the prior art.
The invention provides the following technical scheme: the utility model provides a AGV intelligent robot for commodity circulation letter sorting center is categorised, includes letter sorting robot body, the top of letter sorting robot body is provided with the tray, the inside movable mounting of letter sorting robot body has the bull stick, the upper surface mid-mounting of bull stick has the cardan shaft, the upper end fixed mounting of cardan shaft is in the bottom surface middle part of tray, the last fixed surface of letter sorting robot body installs the contact device, the top open-ended sliding frame has been seted up to the bottom lateral wall inside of tray, sliding frame inside movable mounting has the movable plate, the movable plate inside movable inlay has the spin, the diapire fixed mounting of sliding frame has the restriction bottom plate, surface sliding mounting has the slip magnetic stripe on the restriction bottom plate, and the lower fixed surface of movable plate installs compression spring, compression spring's the other end fixed mounting is in the bottom of sliding frame, the air flue has been seted up to the inside of letter sorting robot body, the other end of air flue communicates to adjacent contact device inside, the inside slidable mounting of air flue has the movable touch panel, the side of sliding frame is provided with the second coil, the fixed mounting of second coil has the movable plate on the side of tray, the movable plate is reset wire at the side of the inside fixed mounting of tray.
Preferably, the rolling balls are uniformly distributed linearly along the length and width of the bottom surface of the tray, two sides of the rolling balls penetrate through the moving plate, an included angle between the bottom of an express box placed on the moving plate and the horizontal plane of the top of the rolling balls is a, the weight of the express is m, at the moment, the friction force between the rolling balls and the express box is F, f=μmg, cosa, the component force of the weight of the express in the inclined direction is f=mg, sina, in order to ensure that the friction force can move the express box back to the inclined direction, at the moment, F > F, at the moment, μcosa > sina, and the limiting relation between the angle a and the friction coefficient μ is tana < μ.
Preferably, a control device is arranged between the movable contact plate and the power supply of the trolley, the control device comprises an air passage, the movable contact plate and contact plates positioned in the middle of the air passage, the contact plates are positioned on the upper side and the lower side of the air passage, the air passage is provided with four pieces in total, the four air passages are used for communicating adjacent contact devices, the two contact plates are not contacted with each other and are positioned in the center of the air passage, and when in an initial position, the movable contact plates on the two sides of the contact plates are not contacted with the contact plates.
Preferably, the sliding magnetic strips are four in number, and the four sliding magnetic strips are respectively arranged below the rolling balls of the array.
Preferably, the four contact devices are arranged in total, the four contact devices are respectively arranged at four corners of the upper surface of the sorting robot body, the contact devices comprise flexible shells, adjacent flexible shells are mutually communicated through air passages, a top plate is fixedly arranged at the top end of the inside of each flexible shell, a supporting spring is fixedly arranged at the bottom end of each top plate, the other end of each supporting spring is fixedly arranged on a first coil, and the other side of each first coil is fixedly arranged on the upper surface of the sorting robot body
Preferably, the first coil, the wires and the movable contact plates on two sides of the first coil are a group of force supplementing devices, four groups of force supplementing devices are arranged on four corners of the upper surface of the sorting robot body, the magnetic properties of the first coil in the adjacent force supplementing devices towards the direction of the tray are different, the magnetic poles of the limiting bottom plate are distributed along the side direction of the sliding frame, and the magnetic properties of the magnetic poles of the limiting bottom plate on one side are opposite to the magnetic properties of the two groups of force supplementing devices corresponding to the magnetic poles of the limiting bottom plate.
Preferably, a reset device is formed among the reset touch plate, the second coil and the movable plate, a power receiving block is arranged at a position on the movable plate corresponding to the position of the reset touch plate, a wire on the second coil is connected to the power receiving block and the reset touch plate, namely, the on-off of current on the second coil is controlled by the on-off between the power receiving block and the movable plate, the reset device on one side of the tray controls the current on the second coil on the opposite side, the magnetic distribution of two ends of the second coil is identical to that of the sliding magnetic strip, and the magnetic pole distribution of two ends of the second coil is opposite to that of the sliding magnetic strip.
Preferably, four force supplementing devices are connected in parallel with the power supply in the sorting robot body, four reset devices are connected in parallel with the power supply, and the reset devices are connected in parallel with the force supplementing devices.
The invention has the following beneficial effects:
1. according to the invention, the tray is provided with the sliding frame, the movable plate is arranged in the sliding frame, the rolling balls capable of moving at all angles are arranged on the movable partition plate, when the express box is placed on the tray, the position of the express box is deviated, the sliding magnetic strip can move to one side of the deviation due to the action of gravity in the deviation process, and in the deviation process, the magnetic strip can be contacted with the bottom of the rolling ball above and then move in the direction opposite to the upper direction of the rolling ball, so that the express box moves to the central position of the whole tray, the gravity of the deviation side is reduced, and the phenomenon that the wheel abrasion difference at two sides of the sorting robot is overlarge due to overlarge gravity of the deviation side is prevented, so that the vehicle body is unstable is avoided.
2. According to the invention, the contact device is arranged at the bottom of the tray to supplement power for the movement of the sliding magnetic stripe, the contact device is sunk due to the fact that gravity is larger on one side of the offset, the flexible shell is changed after sinking, the movable contact plate is contacted with the contact sheet, at the moment, the first coil is electrified to generate magnetic force, the force supplementing device is utilized to provide a magnetic force for the movement of the sliding magnetic stripe, so that the situation that the distance between the movable plate and the limiting bottom plate is smaller and smaller from one side to the other side of the initial movement due to gravity offset of the movable plate is prevented, at the moment, the movement resistance of the movable plate is larger and larger, the magnetic attraction exists, and the effect of supplementing power for the movement of the movable plate is achieved.
Drawings
FIG. 1 is a schematic diagram of a structure of the invention when an express delivery is placed;
FIG. 2 is a schematic view of the tilting structure of the tray after the express delivery is placed;
FIG. 3 is a schematic top view of a sliding magnetic stripe and a second coil of the present invention;
FIG. 4 is a schematic top view of the force compensating device of the present invention;
FIG. 5 is a schematic diagram of the express compression on the ball bearing according to the present invention;
FIG. 6 is a schematic view of the structure of the present invention when the express delivery is moved to the center position;
FIG. 7 is a schematic view of the structure of FIG. 1A according to the present invention;
fig. 8 is a schematic diagram of the structure of fig. 2B according to the present invention.
In the figure: 1. sorting robot bodies; 2. a tray; 3. a rotating rod; 4. a universal shaft; 5. a contact device; 51. a flexible housing; 52. a top plate; 53. a support spring; 54. a first coil; 6. a sliding frame; 7. a moving plate; 8. a rolling ball; 9. a limiting base plate; 10. sliding the magnetic stripe; 11. a compression spring; 12. an airway; 13. moving the touch plate; 14. a second coil; 15. resetting the touch plate.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1-2, an AGV intelligent robot for sorting a logistics sorting center comprises a sorting robot body 1, a tray 2 is arranged above the sorting robot body 1, a rotating rod 3 is movably mounted inside the sorting robot body 1, a universal shaft 4 is movably mounted in the middle of the upper surface of the rotating rod 3, the upper end of the universal shaft 4 is fixedly mounted in the middle of the bottom surface of the tray 2, a contact device 5 is fixedly mounted on the upper surface of the sorting robot body 1, a sliding frame 6 with an upper opening is arranged inside the side wall of the bottom of the tray 2, a movable plate 7 is movably mounted inside the sliding frame 6, rolling balls 8 are movably embedded inside the movable plate 7, the rolling balls 8 are linearly and uniformly distributed along the length and width of the bottom surface of the tray 2, two sides of the rolling balls 8 penetrate through the movable plate 7, a limiting bottom plate 9 is fixedly mounted on the bottom wall of the sliding frame 6, a sliding magnetic strip 10 is slidingly mounted on the upper surface of the limiting bottom plate 9, the side of the limiting bottom plate 9 is provided with a baffle plate for limiting the moving distance of the sliding magnetic strips 10 on the limiting bottom plate 9, so that the sliding magnetic strips 10 are prevented from moving out of the limiting bottom plate 9 and influencing the downward movement of the subsequent moving plate 7, the sliding magnetic strips 10 are provided with four sliding magnetic strips 10, the four sliding magnetic strips 10 are respectively arranged below the rolling balls 8 of the array, the lower surface of the moving plate 7 is fixedly provided with a compression spring 11, the other end of the compression spring 11 is fixedly arranged at the bottom of the sliding frame 6, the inside of the sorting robot body 1 is provided with air channels 12, the other ends of the air channels 12 are communicated with the inside of adjacent contact devices 5, the inside of the air channels 12 is provided with the moving touch plates 13 in a sliding manner, the air channels 12 are provided with four air channels 12 for communicating the adjacent contact devices 5, the side of the sliding frame 6 is provided with a second coil 14, the second coil 14 is fixedly arranged inside the tray 2, the upper Fang Cebian of the moving plate 7 is provided with a reset touch plate 15, and the other end of the reset touch plate 15 is arranged on the tray 2.
Referring to fig. 7, the contact devices 5 are provided with four contact devices 5, the four contact devices 5 are respectively mounted at four corners of the upper surface of the sorting robot body 1, each contact device 5 comprises a flexible housing 51, adjacent flexible housings 51 are mutually communicated through air passages 12, a top plate 52 is fixedly mounted at the top end of the inside of each flexible housing 51, a supporting spring 53 is fixedly mounted at the bottom end of each top plate 52, the other end of each supporting spring 53 is fixedly mounted on a first coil 54, and the other side of each first coil 54 is fixedly mounted on the upper surface of the sorting robot body 1.
Wherein, referring to fig. 4, the first coil 54, the wires and the moving touch panels 13 on both sides of the first coil 54 are a group of force supplementing devices, the force supplementing devices are provided with four groups, the four groups of force supplementing devices are respectively located at four corners of the upper surface of the sorting robot body 1, and the first coil 54 in the adjacent force supplementing devices is different in magnetism towards the direction of the tray 2, referring to fig. 3, the magnetic poles of the limiting bottom plate 9 are distributed along the side direction of the sliding frame 6, the magnetic pole distribution of the limiting bottom plate 9 on one side is opposite to the magnetism between the two groups of force supplementing devices corresponding to the positions of the limiting bottom plate 9 on the other side, and in combination with fig. 3, fig. 4 and fig. 1, the force supplementing devices at the right and the lower corners of the sorting robot body 1 are assumed to be S poles, the rest magnetic pole distribution is judged in clockwise direction, and the magnetic poles SN, NS, SN, NS corresponding to the force supplementing devices are respectively N, S, N, so that once the tray 7 is placed on the moving plate, referring to the direction in fig. 1, the first case, the position of the express placement is assumed to be far left end, the magnetic stripe 2 is inclined, the inclined from the side, the magnetic stripe 2 is inclined, the magnetic stripe 10 is made to be close to the magnetic stripe 10 on the two sides of the magnetic stripe devices, the magnetic stripe 10 is gradually moves towards the two sides of the magnetic stripe 10, and the magnetic stripe 10 is made to move towards the opposite sides, and the magnetic stripe 10 is gradually moves towards the magnetic stripe 10, and the magnetic stripe device is made to move the magnetic stripe 10, and moves the magnetic stripe device is made to move opposite side and moves opposite side and the magnetic stripe device and has opposite side. The speed that slip magnetic stripe 10 moved to the left end is accelerated to because spin 8 is the rollable ball, at this moment, when slip magnetic stripe 10 moved to the left, can drive spin 8 syntropy rotation, then express delivery box can slide to one side that deviates from the slope, move the express delivery box toward the middle part gradually, thereby alleviate the bearing capacity of unilateral wheel, the second condition, the inboard of bias position orientation longitudinal direction is assumed, this moment because the magnetism distribution of moisturizing device, two sets of moisturizing device in the longitudinal direction are on, produce magnetic force, and magnetism is different with the magnetism at the slip magnetic stripe 10 both ends of inboard, and when slip magnetic stripe 10 outside was slided to the inboard, in-process and the first condition similar, also can remove the express delivery box from the inboard of tray 2 to the outside, remove the express delivery box to central point put as far as possible, the third condition, when the express delivery is placed, the skew left end is many, slightly skew tray 2's inboard at this moment, move according to first condition, because the more of gravity is the effect at left and right end, when the left and right end is used at this moment, the full position is close to the tray 2, the inside is not moved to the full condition, the inner position is moved to the inside 2 to the inner position is avoided to the full condition, the inner position is moved to the inside 2, the inner position is moved to the full condition, the inner position is more than the inner position is avoided to the inner position 2, the full condition is gradually, the inner position is moved to the inner position 2 to the inner position is moved to the inside 2 to the inside the side according to the condition.
Wherein install controlling means between the power of removal touch-plate 13 and dolly, controlling means includes air flue 12, remove touch-plate 13 and be located the contact piece at air flue 12 middle part, the contact piece is located the upper and lower both sides of air flue 12, be contactless and be located air flue 12 center between two contact pieces, during initial position, the removal touch-plate 13 of contact piece both sides is contactless with the contact piece, refer to fig. 8, when the upper surface of whole tray 2 does not place the express delivery, because tray 2 does not take place the slope this moment, gas in the contact device 5 also can not flow in air flue 12, consequently, can not contact between removal touch-plate 13 and the contact piece, and in case place the express delivery on tray 2, at this moment, can lead to removal touch-plate 13 to deviate from the incline side motion, contact with the contact piece, make the first coil 54 electrification of incline side, the magnetic force that can produce with contralateral sliding magnetic stripe 10 looks at this moment above after the first coil 54, can drive sliding magnetic stripe 10 motion this moment, for the smooth of express delivery box provides power, and in case moves in the middle part, because the gravity of incline side lightens, support force in the universal axle 4 itself and four support force of support device and the single-side contact force of the wheel support device, the single-side bearing device is close to the wheel is in the place of the bearing force of the single-side, the wheel is not broken down, the wheel is in the position of the single-side bearing device is broken, the wheel is broken down in the position of the single-side bearing device is avoided, the wheel bearing device is broken down in the bearing the position of the single-side of the power of the wheel device is in the bearing the position of the face of the wheel is down.
With reference to fig. 3 and 2, a reset device is formed between the reset touch plate 15, the second coil 14 and the moving plate 7, a power receiving block is disposed at a position on the moving plate 7 corresponding to the position of the reset touch plate 15, a wire on the second coil 14 is connected to the power receiving block and the reset touch plate 15, that is, on-off of current on the second coil 14 is controlled by on-off between the power receiving block and the moving plate 7, and the reset device on one side of the tray 2 controls current on the second coil 14 on the other side opposite to the second coil, magnetic distribution of two ends of the second coil 14 is identical to that of the sliding magnetic stripe 10, and magnetic pole distribution of two ends of the second coil 14 is opposite to that of the sliding magnetic stripe 10, when the express delivery is placed on the tray 2, at this time, since the moving plate 7 can move, the side edge is only controlled to balance, once the express delivery is placed on the upper side, the moving plate 7 is caused on the basis of the original inclination of the tray 2, the inclined condition occurs, so that the pressing degree of the movable plate 7 on the inclined side is larger, the distance between the movable plate 7 and the limiting bottom plate 9 is caused at the moment, the distance gradually decreases from the inclined side to the inclined side, the inclined side moves downwards due to the action of gravity, the reset touch plate 15 on the side is in a disconnected state with the power-on block, therefore, the opposite second coil 14 has no suction force on the sliding magnetic strip 10 on the same side due to power failure, the sliding magnetic strip 10 moves towards the inclined side, other areas continue to work due to no power failure, the sliding magnetic strip 10 on the other parts do not move, when the sliding magnetic strip 10 is in the eccentric position, the reset device is fully electrified at the moment, the position between the moving sliding magnetic strip 10 and the second coil 14 on the same side is too far, the moving magnetic strip 10 cannot move due to the action of gravity of the express box is added, once the express box is delivered, the gravity above the sliding magnetic stripe 10 disappears, the restriction of the movement of the sliding magnetic stripe 10 disappears, at this time, the attraction force of the second coil 14 will attract the sliding magnetic stripe 10, and the sliding magnetic stripe 10 is reset to provide conditions for the next use.
The four force supplementing devices are connected in parallel with the power supply in the sorting robot body 1, the four resetting devices are connected in parallel with the power supply, and the resetting devices are connected in parallel with the force supplementing devices.
Referring to fig. 5, at this time, an included angle between the bottom of the express box placed on the moving plate 7 and the horizontal plane of the top of the ball 8 is a, the weight of the express is m, at this time, the friction force between the ball 8 and the express box is F, f=μmg×cosa, and the component force of the express weight in the tilting direction, f=mg×sina, in order to ensure that the friction force can move the express box in the direction opposite to the tilting direction, at this time, F > F, at this time, μcosa > sina, a defined relationship between the angle a and the friction coefficient μ is tana < μ, and the tiltable range of the moving plate 7 can be adjusted according to the friction coefficient of the surface of the ball 8 when the device is set, so that the express cannot slide to the central position under the action of the ball 8 due to the fact that the friction force exceeds the tiltable range is avoided.
In summary, the above-mentioned device establishes only two circuits altogether, the power of two circuits all comes from the self power of sorting robot, first circuit is the compensation power device by contact device 5 control, be used for the gliding supplementary power of slip magnetic stripe 10, prevent that the action of gravity is too little, under the centre gripping effect of movable plate 7 and restriction bottom plate 9, the slip magnetic stripe 10 can not continue to move to the incline side, first coil 54 of incline side is electrified this moment, produce magnetic force, the magnetic attraction can provide power for slip magnetic stripe 10, make slip magnetic stripe 10 continue to move to the incline side, simultaneously also can make the express delivery box of spin 8 top want the opposite side to move, deviate from incline side gradually toward central point put in the removal, finally keep tray 2's overall balance, and another circuit is used for controlling the current break-make of second coil 14, connect between this circuit and the first circuit, the control condition of this circuit is that the reset touch panel 15 of incline side and the contact between the electric block on the movable plate 7, when contacting, the second coil 14 on the incline side is cut off, magnetic force can be supplied to the incline side, the second coil 14 on the opposite side is cut off, magnetic force can disappear when the second coil 14 is contacted with the magnetic stripe 10, the action on the side is reset on the side at this moment, the time, the magnetic stripe 10 is contacted with the magnetic stripe 10 is reset, can be carried down in place under the action of the magnetic stripe 10, and the attractive force is reset, can be carried down, and the magnetic stripe 10 is realized, and the attractive force is transferred down, can be had.
The application method of the invention is as follows:
firstly, the express box is not placed on the upper surface of the tray 2, so that the upper surface of the movable plate 7 has no gravity action, the reset touch plate 15 is contacted with the power receiving block on the movable plate 7, the sliding magnetic stripe 10 is adsorbed by the suction force on the second coil 14, the sliding magnetic stripe 10 is motionless, the contact device 5 has no gravity action and no pressure action, the first coil 54 is powered off, then the express box is placed on the upper surface of the movable plate 7, at the moment, the placement is unbalanced, and the tray 2 only has the supporting action of the universal shaft 4 due to the central position, so that the offset can occur;
in the first case, assuming that the position of the express delivery is far away to the left end, the tray 2 is inclined at this moment, under the action of the gravity of the express delivery, the inclined tray 2 can make the flexible housing 51 extruded, then the air in the flexible housing 51 can move outwards from the air passages 12 at two sides, and then the movable contact plates 13 at two sides of the force compensating device are caused to move outwards, at this moment, the force compensating device at the left end is electrified and magnetic, meanwhile, in the process, the reset contact plate 15 at the left end is disconnected from the power receiving block on the movable plate 7 due to the inclination of the left end, the second coil 14 at the right end is powered off, the sliding magnetic stripe 10 at the right end disappears under the action of the attraction force at the right end, the sliding magnetic stripe 10 can move to the left end on the inclined sliding frame 6, after a certain distance is moved, the sliding magnetic stripe 10 gradually approaches to the left end of the force supplementing device, at the moment, the magnetism of the left end two groups of force supplementing devices is opposite to that of the two ends of the opposite sliding magnetic stripe 10, at the moment, a magnetic attraction force is generated on the sliding magnetic stripe 10, the moving speed of the sliding magnetic stripe 10 to the left end is accelerated, and the rolling ball 8 is a rolling ball, at the moment, when the sliding magnetic stripe 10 moves to the left, the rolling ball 8 is driven to rotate in the same direction, then the express box can slide to the side deviating from the inclination, and the express box is gradually moved to the middle, so that the bearing capacity of a single-side wheel is relieved;
in the second case, the bias position is assumed to be toward the inner side in the longitudinal direction, at this time, due to the magnetic distribution of the force supplementing devices, the two groups of force supplementing devices on the outer side in the longitudinal direction are electrified to generate magnetic force, the magnetic force is different from the magnetic force of the two ends of the sliding magnetic stripe 10 on the inner side, and when the sliding magnetic stripe 10 on the outer side slides toward the inner side, the express box is also moved from the inner side of the tray 2 toward the outer side and moved to the central position in the moving process similar to the first case;
in the third situation, when the express delivery is placed, the express delivery is far towards the left end and slightly towards the inner side of the tray 2, at this time, the gravity is more and acts on the left end, the force supplementing devices on the left side and the right side work firstly, when the gravity supplementing devices move to the position close to the middle, the left side and the right side of the tray 2 gradually tend to be balanced, the inner side and the outer side of the tray 2 gradually lean towards the inner side due to unbalanced positions, and then the position of the tray 2 is gradually adjusted according to the second situation, so that the whole express delivery approaches to the center position of the tray 2 from the left side, the right side and the inner side as far as possible, and when the express delivery is delivered, the constraint force on the moving plate 7 for moving the sliding magnetic stripe 10 disappears due to the disappearance of the gravity of the express delivery, and the sliding magnetic stripe 10 moves back to the original position under the action of the magnetic force of the second coil 14.
It is noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (8)
1. The utility model provides a categorised AGV intelligent robot in commodity circulation letter sorting center, includes letter sorting robot body (1), its characterized in that: the utility model discloses a sorting robot, including sorting robot body (1), tray (2) are provided with the top of sorting robot body (1), the inside movable mounting of sorting robot body (1) has bull stick (3), the upper surface mid-mounting of bull stick (3) has cardan shaft (4), the upper end fixed mounting of cardan shaft (4) is in the middle part of the bottom surface of tray (2), the upper surface fixed mounting of sorting robot body (1) has contact device (5), top open-ended sliding frame (6) have been seted up to the bottom lateral wall inside of tray (2), sliding frame (6) internally movable mounting has movable board (7), movable board (7) inside movable is inlayed and is had spin (8), the diapire fixed mounting of sliding frame (6) has restriction bottom plate (9), restriction bottom plate (9) upper surface sliding mounting has magnetic stripe (10), and the lower surface fixed mounting of movable board (7) has compression spring (11), the other end fixed mounting of compression spring (11) is in the bottom of sliding frame (6), the inside movable frame (6) has movable board (6) movable mounting has movable board (12), the inside movable board (12) has contact device (13) to be connected to inside the inside of the air flue (12), the side of sliding frame (6) is provided with second coil (14), second coil (14) fixed mounting is in the inside of tray (2), reset touch panel (15) are installed to the top side of movable plate (7), reset touch panel (15) the other end install on tray (2), constitute resetting means between reset touch panel (15), second coil (14) and movable plate (7).
2. The intelligent AGV robot for sorting a logistics sorting center of claim 1, wherein: the rolling balls (8) are uniformly distributed linearly along the length and width of the bottom surface of the tray (2), two sides of the rolling balls (8) penetrate through the moving plate (7), an included angle between the bottom of an express delivery box and the horizontal plane of the top of the rolling balls (8) on the moving plate (7) is a, the weight of the express delivery is m, at the moment, the friction force between the rolling balls (8) and the express delivery box is F, f=mu mg cosa, the component force of the weight of the express delivery in the inclined direction is f=mg sina, and in order to ensure that the friction force can move the express delivery box back to the inclined direction, at the moment, F > F, mu cosa > sina, and the limiting relation between the angle a and the friction coefficient mu is tana < mu.
3. The intelligent AGV robot for sorting a logistics sorting center of claim 1, wherein: install controlling means between the power of removal touch panel (13) and dolly, controlling means includes air flue (12), removes touch panel (13) and is located the contact piece at air flue (12) middle part, the contact piece is located the upper and lower both sides of air flue (12), air flue (12) are equipped with four altogether, four air flue (12) are with adjacent contact device (5) intercommunication, two between the contact piece do not contact each other and are located air flue (12) center, during initial position, the removal touch panel (13) of contact piece both sides do not contact with the contact piece.
4. The intelligent AGV robot for sorting a logistics sorting center of claim 1, wherein: four sliding magnetic strips (10) are arranged in total, and the four sliding magnetic strips (10) are respectively arranged below the rolling balls (8) of the array.
5. The intelligent AGV robot for sorting a logistics sorting center of claim 1, wherein: the utility model provides a letter sorting robot, including letter sorting robot body (1), including flexible housing (51), contact device (5) are equipped with four altogether, four contact device (5) install respectively at four angles of the upper surface of letter sorting robot body (1), contact device (5) are including flexible housing (51), communicate each other between adjacent flexible housing (51) through air flue (12), inside top fixed mounting of flexible housing (51) has roof (52), the bottom fixed mounting of roof (52) has supporting spring (53), the other end fixed mounting of supporting spring (53) is on first coil (54), the opposite side fixed mounting of first coil (54) is at the upper surface of letter sorting robot body (1).
6. The intelligent AGV robot for sorting a logistics sorting center of claim 5, wherein: the movable contact plates (13) on the two sides of the first coil (54), the wires and the first coil (54) are a group of force supplementing devices, four groups of force supplementing devices are arranged on four corners of the upper surface of the sorting robot body (1) respectively, the magnetic properties of the first coils (54) in the adjacent force supplementing devices towards the direction of the tray (2) are different, the magnetic poles of the limiting bottom plate (9) are distributed along the side direction of the sliding frame (6), and the magnetic poles of the limiting bottom plate (9) are distributed on one side and the magnetic properties between the two groups of force supplementing devices corresponding to the positions of the magnetic poles are opposite.
7. The intelligent AGV robot for sorting a logistics sorting center of claim 5, wherein: the position on the movable plate (7) corresponding to the position of the reset touch plate (15) is provided with a power connection block, a lead on the second coil (14) is connected to the power connection block and the reset touch plate (15), namely, the on-off of current on the second coil (14) is controlled by the power connection block and the on-off between the movable plate (7), the reset device on one side of the tray (2) controls the current on the second coil (14) on the opposite side, the magnetic distribution of the two ends of the second coil (14) is identical to that of the sliding magnetic stripe (10), and the magnetic pole distribution of the two ends of the second coil (14) is opposite to that of the two ends of the sliding magnetic stripe (10).
8. The intelligent AGV robot for sorting a logistics sorting center of claim 6, wherein: four force supplementing devices are connected in parallel with power supplies in the sorting robot body (1), four reset devices are connected in parallel with the power supplies, and the reset devices are connected in parallel with the force supplementing devices.
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| CN114749381B true CN114749381B (en) | 2023-09-19 |
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| CN114749381A (en) | 2022-07-15 |
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