CN116442189B

CN116442189B - Order turnover box sorting mobile robot

Info

Publication number: CN116442189B
Application number: CN202310498449.4A
Authority: CN
Inventors: 周浪; 章军; 刘禹; 吕兵
Original assignee: Jiangnan University
Current assignee: Jiangnan University
Priority date: 2023-05-05
Filing date: 2023-05-05
Publication date: 2023-11-17
Anticipated expiration: 2043-05-05
Also published as: CN116442189A

Abstract

The invention relates to an order turnover box sorting mobile robot which comprises a mobile base, a storage rack, a telescopic platform and a telescopic part, wherein the telescopic part comprises a shell driving motor, a first gear, a second gear, a first rotary drum screw, a first sleeve, a second rotary drum screw, a spline shaft and a second sleeve. The first gear and the second gear are meshed to transmit the power of the driving motor to the first rotary drum screw rod to drive the first rotary drum screw rod and the spline shaft to rotate; the first rotary cylinder screw rotates to drive the first sleeve to axially move, and the spline shaft drives the second rotary screw to rotate and drives the second sleeve to axially move, so that the telescopic platform stretches out and draws back. The nested structure generates a driving stroke superposition function to form a secondary stroke-increasing telescopic structure, so that the use is convenient, and the working stroke is long; the telescopic platform provides linear guiding function for the telescopic part; the space utilization rate is high; the hollow structure has better lateral force resistance, and the flexible platform is matched with the spline shaft to ensure that goods with different weights are borne by the flexible platform, so that the bending resistance is good.

Description

Order turnover box sorting mobile robot

Technical Field

The invention relates to the technical field of logistics equipment, in particular to an order transfer case sorting mobile robot.

Background

With the development of electronic commerce, efficient distribution of goods is also becoming more and more important. In order to ensure efficient delivery of goods, the current picking processes of electronic commerce can be generally classified into "person to find goods" and "person to find goods".

Wherein, the picking flow of the person for goods comprises the following steps: (1) the method comprises the steps of opening a logistics box in a nondestructive mode, wherein the logistics box is a paper box which is transported to an electronic commerce department from a supplier in a logistics mode, and after the logistics box is opened, reading codes and information of goods in each piece of inner package are input into a database; (2) and (3) warehousing: re-pasting a seal on the logistics box, and carrying out stock storage; (3) and (5) tallying: unpacking the logistics box again, and placing the goods into a supermarket shelf; (4) pick (also known as order picking): manually taking down goods from a supermarket shelf according to orders, reading codes, and picking the goods into an order turnover box used in the interior; (5) and (3) packaging: reading and checking codes, namely loading all spellings and invoices of one order in the order turnover box into small cartons or plastic bags and other outer packages, and attaching express orders; (6) sorting: filling plastic turnover boxes or woven bags according to different lines or various express companies; (7) and (5) loading: the plastic transfer case or woven bag is fitted to the transport vehicle according to the line. In the above-mentioned distributing process, the distributing process is similar to supermarket shopping, and after the goods position is found by the distributing vehicle, the goods in the order are taken from the supermarket shelf and put into the order turnover box on the distributing vehicle.

The picking flow of the goods searching person is as follows: the method comprises the steps of conveying order goods and the whole supermarket goods shelves (including a large number of other goods) to a pick-up person by adopting an jacking AGV, placing the picked goods into an order turnover box after picking up and stacking, enabling the order turnover box to enter a temporary storage area of a conveying line, and waiting for collecting all the order goods.

It is known that the picking process of either "person to pick" or "person to pick" requires an order transfer box to collect all orders and send them to the packaging area, and also requires a sorting mobile robot to carry multiple order transfer boxes. Therefore, the telescopic part of the sorting mobile robot has higher performance requirements, such as working stroke, bending resistance and the like, and the telescopic part of the traditional sorting mobile robot cannot achieve both volume and performance. How to meet the requirements for high performance while ensuring small size and high space utilization rate of the telescopic component becomes a problem to be solved.

Disclosure of Invention

Therefore, the invention aims to solve the technical problems that the telescopic part of the traditional sorting mobile robot cannot give consideration to volume and performance, and provides the sorting mobile robot with the order turnover box, which has the advantages of long working stroke, strong lateral force resistance, convenient use, compact structure and high space utilization rate.

The invention provides an order turnover box sorting mobile robot, which comprises a mobile base, wherein the mobile base comprises a base, a movable base and a movable base; the storage rack is arranged on the movable base and is provided with a plurality of storage layers, each storage layer is provided with at least one telescopic platform and a telescopic part for driving the telescopic platform to extend or retract, the telescopic platforms provide linear guiding function for the telescopic parts, and each telescopic platform is provided with at least one order turnover box; the telescopic component comprises a shell, and the shell is arranged on the storage layer; the driving motor is connected with the shell, and an output shaft of the driving motor is connected with the first gear; the first rotary cylinder lead screw is rotatably connected with the shell, one end of the first rotary cylinder lead screw, which is positioned in the shell, is connected with a second gear, and the second gear is meshed with the first gear; the outer wall of the other end of the first rotary cylinder screw rod is provided with a first thread section, and a spline hole is axially and hollow in the first rotary cylinder screw rod; the first sleeve, the second rotary drum screw, the spline shaft and the second sleeve are coaxially arranged along the axial direction of the first rotary drum screw; the first sleeve is characterized in that a cylinder shaft of the first sleeve is connected with the first threaded section, the second rotary cylinder screw rod is rotatably arranged in the first sleeve, a second threaded section is arranged on the outer wall of one end, far away from the first sleeve, of the second rotary cylinder screw rod, a spline hole is axially arranged in the second rotary cylinder screw rod in a hollow mode, one end of the spline shaft can be movably arranged in the spline hole of the first rotary cylinder screw rod in a penetrating mode along the axial direction of the first rotary cylinder screw rod, the other end of the spline shaft is connected with the spline hole of the second rotary cylinder screw rod, and the cylinder shaft of the second sleeve is in threaded connection with the second threaded section; the telescopic platform is respectively connected with the first sleeve and the second sleeve, and the first gear and the second gear are meshed to transmit the power of the driving motor to the first rotary drum screw rod so as to drive the first rotary drum screw rod and the spline shaft to rotate; the first rotary drum screw rotates to drive the first sleeve to move along the axial direction of the first rotary drum screw, the spline shaft rotates to drive the second rotary screw to rotate and drive the second sleeve to move along the axial direction of the second rotary screw, so that the telescopic platform stretches out or retracts.

In one embodiment of the invention, the first sleeve and the first rotary drum screw or/and the second sleeve and the second rotary drum screw are connected through a rolling friction screw transmission mode of a ball screw structure.

In one embodiment of the invention, the first and second barrel screws are connected by a rolling friction screw drive of a ball spline arrangement.

In one embodiment of the invention, one end of the spline shaft, which is far away from the first rotary drum screw, is fixedly connected with the second rotary drum screw.

In one embodiment of the invention, an accommodating space accommodating the first thread section is formed at one end of the second rotary drum screw, which is close to the first rotary drum screw.

In one embodiment of the present invention, an accommodating space for accommodating the second thread segment is formed in the second sleeve; the pitch of the first thread segments is related to the pitch of the second thread segments.

In one embodiment of the invention, the telescopic platform comprises a guide vertical plate, a telescopic guide bar and a telescopic guide plate, wherein the guide vertical plate is arranged on the storage layer, the telescopic guide bar can move along the length direction of the guide vertical plate and is connected with the guide vertical plate, the telescopic guide bar is fixedly connected with the first sleeve, and the telescopic guide plate can move along the length direction of the telescopic guide bar and is connected with the telescopic guide bar, and the telescopic guide bar is fixedly connected with the first sleeve.

In one embodiment of the invention, a row of first guide bearings are symmetrically arranged on two side walls of the guide vertical plate along the length direction of the guide vertical plate, a first wide straight groove is formed in the end face of the telescopic guide bar, which is connected with the guide vertical plate, along the length direction of the guide vertical plate, first guide grooves are symmetrically formed in the inner walls of two sides of the first wide straight groove, and the telescopic guide bar is movably connected with the guide vertical plate through the first guide grooves and the first guide bearings; the telescopic guide bars are symmetrically provided with second guide grooves on two side walls of the first wide straight grooves, the telescopic guide plates are connected with the end faces of the telescopic guide bars along the length direction of the telescopic guide bars, a row of second guide bearings are symmetrically arranged on the inner walls of two sides of each second wide straight groove, and the telescopic guide plates can move through the second guide grooves and the second guide bearings and are connected with the telescopic guide bars.

In one embodiment of the invention, only one telescopic part is arranged, two telescopic platforms are arranged, and the two telescopic platforms are respectively arranged at two sides of the telescopic part; or only one telescopic platform and one telescopic part are arranged; or the telescopic part and the telescopic platform are both provided with two.

In one embodiment of the present invention, when only one of the telescopic members is provided and two of the telescopic platforms are provided, the telescopic guide plates of the two telescopic platforms are connected by a connecting guide plate.

In one embodiment of the invention, the shelf is rotatably connected with the mobile base.

In one embodiment of the invention, the mobile base is further provided with an operation robot, the operation robot comprises a warehouse rack and a mechanical arm, different types of end effectors are arranged on the warehouse rack, and the mechanical arm is provided with a quick-change device which can change different types of end effectors from the warehouse rack.

Compared with the prior art, the technical scheme of the invention has the following advantages:

according to the order transfer box sorting mobile robot, the first gear and the second gear are meshed to transmit power of a driving motor to the first rotary drum screw rod to drive the first rotary drum screw rod and the spline shaft to rotate; the first rotary cylinder screw rotates to drive the first sleeve to axially move along the first rotary cylinder screw, the spline shaft rotates to drive the second rotary screw to rotate and drive the second sleeve to axially move along the second rotary screw, and the telescopic platform stretches out or retracts. The nested structure among the first rotary drum screw, the first sleeve, the second rotary drum screw and the second sleeve generates a driving stroke superposition effect, and all parts linearly move along the same axis to generate a driving effect, so that a secondary stroke-increasing telescopic structure is formed, and the telescopic structure is convenient to use and long in working stroke; the telescopic platform provides linear guiding function for the telescopic part; the telescopic range-extending structure ensures that the space utilization rate of the telescopic component is high, and the structure is compact; the hollow structure of the sleeve has better lateral force resistance, and can ensure that the telescopic platform can bear goods with different weights by matching with the spline shaft, and the bending resistance is good.

Drawings

In order that the invention may be more readily understood, a more particular description of the invention will be rendered by reference to specific embodiments thereof that are illustrated in the appended drawings, in which

FIG. 1 is a schematic front view of a mobile robot for sorting order totes in a preferred embodiment of the invention;

FIG. 2 is a schematic front view of a shelf according to a preferred embodiment of the present invention;

FIG. 3 is a schematic cross-sectional view of the telescoping member corresponding to A-A in a preferred embodiment of the present invention;

FIG. 4 is a schematic cross-sectional view of the telescoping member corresponding to B-B in accordance with a preferred embodiment of the present invention;

FIG. 5 is a schematic cross-sectional view of a telescoping platform corresponding to C-C in accordance with a preferred embodiment of the present invention;

FIG. 6 is a schematic cross-sectional view of a telescopic platform according to the preferred embodiment of the present invention at D-D;

FIG. 7 is a schematic cross-sectional view of another telescoping platform in accordance with a preferred embodiment of the present invention;

FIG. 8 is a schematic view of the maximum extension of the telescoping member and telescoping platform in accordance with the preferred embodiment of the present invention;

FIG. 9 is a schematic view showing the retraction of the telescoping members and telescoping platform in an initial state in accordance with the preferred embodiment of the present invention;

fig. 10 is a schematic top view of an operating robot in a preferred embodiment of the present invention.

Description of the specification reference numerals: 10. a movable base; 11. a rotating device; 20. a commodity shelf; 21. a storage layer; 30. a telescopic member; 301. a housing; 302. a cover; 303. supporting feet; 304. a driving motor; 305. a first gear; 306. a second gear; 307. a rotating bearing; 308. a first rotary drum screw body; 309. a first thread segment; 310. a spline hole sleeve; 311. a first sleeve body; 312. a first lead screw nut; 313. a bearing cap with a handle; 314. a first fixing strip; 315. a spline shaft; 316. the second rotary drum screw body; 317. a second thread segment; 318. a spacer bush; 319. an accommodation space; 320. a second sleeve body; 321. a second lead screw nut; 322. a ring cover with a handle; 323. a second fixing strip; 40. a telescoping platform; 41. a guide vertical plate; 411. a pin shaft; 412. a first guide bearing; 413. a straight groove; 42. a telescopic guide bar; 421. a first wide straight groove; 422. a first guide groove; 423. a second guide groove; 43. a telescopic guide plate; 431. a second wide straight groove; 432. a second guide bearing; 433. a connecting guide plate; 50. an order turnover box; 61. a mechanical arm; 62. a quick change device; 63. an end effector; 64. and a warehouse rack.

Detailed Description

The present invention will be further described with reference to the accompanying drawings and specific examples, which are not intended to be limiting, so that those skilled in the art will better understand the invention and practice it.

The invention discloses a mobile robot for sorting order turnover boxes 50, which comprises a mobile base 10; the rack 20 is arranged on the mobile base 10, the rack 20 is provided with a plurality of storage layers 21, each storage layer 21 is provided with at least one telescopic platform 40 and a telescopic part 30 for driving the telescopic platform 40 to extend or retract, the telescopic platforms 40 provide linear guiding function for the telescopic parts 30, each telescopic platform 40 is provided with at least one order turnover box 50, each telescopic part 30 comprises a shell 301, and the shell 301 is arranged on the storage layer 21; a driving motor 304, wherein the driving motor 304 is connected with the housing 301, and an output shaft of the driving motor 304 is connected with a first gear 305; the first rotary drum screw is rotatably connected with the shell 301, one end of the first rotary drum screw, which is positioned in the shell 301, is connected with a second gear 306, and the second gear 306 is meshed with the first gear 305; the outer wall of the other end of the first rotary drum screw is provided with a first thread section 309, and a spline hole is axially and hollow in the first rotary drum screw; a first sleeve, a second drum screw, a spline shaft 315 and a second sleeve coaxially disposed along an axial direction of the first drum screw; the first sleeve is connected with the first threaded section 309 by a shaft of the first sleeve, the second rotary screw is rotatably arranged in the first sleeve, a second threaded section 317 is arranged on the outer wall of one end of the second rotary screw far away from the first sleeve, a spline hole is axially arranged in the second rotary screw in a hollow manner, one end of the spline shaft 315 can move along the axial direction of the first rotary screw and penetrates through the spline hole of the first rotary screw, the other end of the spline shaft 315 is connected with the spline hole of the second rotary screw, and the shaft of the second sleeve is in threaded connection with the second threaded section 317; the telescopic platform 40 is respectively connected with the first sleeve and the second sleeve, and the first gear 305 and the second gear 306 are meshed to transmit the power of the driving motor 304 to the first rotary drum screw rod to drive the first rotary drum screw rod and the spline shaft 315 to rotate; the first rotating cylinder screw rotates to drive the first sleeve to move along the axial direction of the first rotating cylinder screw, the spline shaft 315 rotates to drive the second rotating screw to rotate and drive the second sleeve to move along the axial direction of the second rotating screw, so that the telescopic platform 40 stretches out or retracts.

Referring to fig. 1 and 2, the order transfer box 50 sorting mobile robot according to the present invention, the mobile base 10 is used as a moving mechanism of the whole order transfer box 50 sorting mobile robot, so that the whole order transfer box can move and collect goods in a sorting warehouse, and the model and specification of the mobile base 10 are not limited, so long as normal movement and non-rollover can be realized. Preferably, the mobile base 10 is configured as a mobile robot, and has good moving and bearing effects. The rack 20 is used to carry telescoping members 30 and an order transfer box 50 to provide support thereto. The commodity shelf 20 sets up on removing base 10, and both can be fixed connection, also can set up to the connection that can rotate relatively according to actual demand. The structure of thing layer 21 is put to the multilayer, is convenient for an order turnover case 50 letter sorting mobile robot can collect multiple goods once, improves letter sorting efficiency. Each placement layer 21 is provided with at least one telescopic platform 40 and a telescopic component 30 for driving the telescopic platform 40 to extend or retract, each telescopic platform 40 is provided with at least one order turnover box 50, the telescopic platform 40 is used as a bearing mechanism of the order turnover box 50, and the order turnover boxes 50 are used for placing goods; at the same time, telescoping platform 40 also provides a linear guide for telescoping member 30. When the telescopic platforms 40 are provided with a plurality of telescopic members 30, each telescopic platform 40 can be provided with one telescopic member, can be independently driven to be telescopic, can be provided with one driving member, can drive two telescopic platforms 40 to be telescopic simultaneously, and can be flexibly selected according to actual requirements. Preferably, each commodity shelf 20 is provided with three placement layers 21, so that sorting efficiency can be ensured, the load of each order turnover box 50 sorting mobile robot can be reasonably controlled, energy consumption is reduced, and rollover and other problems are avoided. Preferably, two telescopic platforms 40 are arranged side by side on each storage layer 21, and an order turnover box 50 is arranged on each telescopic platform 40. When two telescopic platforms 40 are arranged side by side on each storage layer 21, when the telescopic platforms 40 extend, the telescopic platform 40 or both of the telescopic platforms 40 should be clearly extended; specifically, the purpose of distinguishing the telescopic platform 40 can be achieved in a manner of lighting a lamp to provide a manual or robot vision or a wireless positioning signal to the robot, so as to prevent the problem of misplacing goods. Preferably, only one or two order transfer boxes 50 are provided on each telescoping platform 40; when two order transfer boxes 50 are provided, they should be ensured to be arranged side by side, rather than front to back, to avoid misplacing the goods. It should be noted that, the number of the racks 20 can also be selected according to actual requirements; preferably, only one or two storage racks 20 are provided for each movable base 10, so that sorting requirements can be met, and further, the reduction of sorting efficiency and unnecessary increase of energy consumption caused by excessive goods can be avoided.

Referring to fig. 3 and 4, the driving motor 304 is used to provide driving force to the whole telescopic member 30, and the housing 301 serves as a protective housing to protect the internal structure, prevent external dust and the like from affecting the parts, and ensure the service life of the whole telescopic member 30; and also as a bearing seat connected with the object placing layer 21. Preferably, the shell 301 is provided with a shell cover 302, and the shell cover 302 and the shell cover are detachably connected through a fastener, so that the shell is convenient to install; the housing 301 is connected to the storage layer 21 by support feet 303. The driving motor 304 is connected to the housing 301, and an output shaft of the driving motor 304 is connected to the first gear 305, and preferably, the first gear 305 is fixedly connected to an output shaft of the driving motor 304 by a set screw or by a key to transmit torque. The first rotary drum screw is rotatably connected with the shell 301, one end of the first rotary drum screw, which is positioned in the shell 301, is connected with the second gear 306, the second gear 306 is meshed with the first gear 305, and the power of the driving motor 304 is transmitted to the first rotary drum screw through the second gear 306 and the first gear 305. Preferably, the first barrel lead screw and the second gear 306 are fixedly connected by set screws, or keyed to transmit torque. Preferably, a rotation bearing 307 is provided in the housing 301, and the second gear 306 is rotatably provided in the housing 301 through the rotation bearing 307. Preferably, the rotary bearing 307 is configured as a radial thrust bearing, and the radial thrust bearing is mainly used for mounting and fixing the transmission shaft with radial and axial loads, so that the rotation precision and rigidity of the first rotary drum screw can be well improved. The end of the first rotary drum screw connected with the rotary bearing 307 is provided with a fixing part to prevent the first rotary drum screw from being separated from the rotary bearing 307. Preferably, the fixing part is provided with a fixing nut and a backing ring; in some other embodiments, the fixation can also be achieved by means such as a key and slot fit, as long as the first spool screw and the swivel bearing 307 are prevented from disengaging. The outer wall of the other end of the first rotary drum screw is provided with a first thread section 309, and the first thread section 309 is used for forming a thread transmission with the first sleeve so as to enable the first sleeve to move along the axial direction of the first rotary drum screw. The spline hole is arranged in the axial hollow mode in the first rotary cylinder screw rod, the spline hole is used for being matched with the spline shaft 315, the fact that components provided with the spline hole can synchronously rotate along with the spline shaft 315 is guaranteed, the spline shaft 315 can be contracted into the first rotary cylinder screw rod through the axial hollow mode, and the space utilization rate is improved. The splined hole can be integrally formed with the first barrel lead screw, or the same effect can be achieved by a structure such as the splined hole sleeve 310 cooperating with the through hole.

The first sleeve, the second rotary screw, the spline shaft 315 and the second sleeve are coaxially arranged along the axial direction of the first rotary screw, and the coaxial arrangement ensures that all parts can normally rotate. The shaft of the first sleeve is connected with the first thread section 309, so that the first sleeve can move along the axial direction of the first rotary drum screw rod; but also can ensure that the first sleeve can be self-locked by threads when extending or retracting. Preferably, two rotating bearings 307 are coaxially arranged in the inner hole of the first sleeve, a spacer bush 318 is arranged between the two rotating bearings 307, the second rotary drum screw rod can be rotatably arranged in the first sleeve through the rotating bearings 307, and the spacer bush 318 is matched with the radial thrust bearing, so that the radial thrust bearing can obtain pretightening force, eliminate the influence of gaps between the inner ring and the outer ring of the bearing, and the rotating precision and the rigidity of the second rotary drum screw rod are improved. The second rotary drum lead screw is internally provided with a spline hole in an axial hollow mode, the spline hole is used for being matched with the spline shaft 315, the fact that components provided with the spline hole can synchronously rotate along with the spline shaft 315 is guaranteed, the spline shaft 315 can be contracted into the first rotary drum lead screw through the axial hollow mode, and the space utilization rate is improved. The splined hole can be integrally formed with the first barrel lead screw, or the same effect can be achieved by a structure such as the splined hole sleeve 310 cooperating with the through hole. One end of the spline shaft 315 is capable of moving along the axial direction of the first rotary drum screw and is inserted into a spline hole of the first rotary drum screw, and the other end of the spline shaft 315 is connected with a spline hole of the second rotary drum screw. The conventional telescopic structure adopted by the order transfer box 50 for sorting mobile robots generally realizes the telescopic operation of the order transfer box 50 only by a simple telescopic cylinder or by a belt transmission structure, etc., however, the structure cannot achieve both volume and performance, and the bending resistance and working stroke are often improved by sacrificing the volume and space utilization, or the working stroke and bending resistance are sacrificed to ensure the volume and space utilization. Therefore, the spline shaft 315 is matched with two screw rods and the whole hollow structure has better bending resistance compared with a solid structure; the spline shaft 315 can function both to transmit torque and to increase the bending resistance of the structure. The outer wall of one end of the second rotary drum screw, which is far away from the first sleeve, is provided with a second threaded section 317, and a drum shaft of the second sleeve is in threaded connection with the second threaded section 317, so that the second sleeve can move along the axial direction of the second rotary drum screw; but also can ensure that the second sleeve can be self-locked by threads when extending or retracting. In addition, the two thread segments can be adjusted according to actual requirements, so that a longer working stroke is obtained. The telescopic platform 40 is respectively connected with the first sleeve and the second sleeve to form a two-stage range-extending telescopic structure, and has high space utilization rate, compact structure and longer working stroke.

Preferably, the spline holes of the first rotary drum screw and the second rotary drum screw are coaxial with the axes of the first rotary drum screw and the second rotary drum screw, so that parts can be machined and installed conveniently. In some other embodiments, the spline holes and spline shaft 315 can also be provided in an eccentric configuration.

Referring to fig. 8 and 9, the order transfer box 50 according to the present invention sorts the mobile robot, and the first gear 305 and the second gear 306 mesh to transmit the power of the driving motor 304 to the first spindle, so as to drive the first spindle and the spline shaft 315 to rotate; the first rotary cylinder screw rotates to drive the first sleeve to move along the axial direction of the first rotary cylinder screw, the spline shaft 315 rotates to drive the second rotary screw to rotate and drive the second sleeve to move along the axial direction of the second rotary screw, and the telescopic platform 40 extends or retracts. The nested structure among the first rotary drum screw, the first sleeve, the second rotary drum screw and the second sleeve generates a driving stroke superposition effect, and all parts linearly move along the same axis to generate a driving effect, so that a secondary stroke-increasing telescopic structure is formed, and the telescopic structure is convenient to use and long in working stroke; telescoping platform 40 provides linear guidance for telescoping member 30; the telescopic range-extending structure ensures that the space utilization rate of the telescopic component 30 is high, and the structure is compact; the hollow structure of the sleeve has better lateral force resistance, and the telescopic platform 40 can bear goods with different weights by matching with the spline shaft 315, so that the bending resistance is good.

The order transfer box 50 of the present invention is a sorting mobile robot, and in some embodiments, the first sleeve and the first rotary screw, or/and the second sleeve and the second rotary screw are connected by rolling friction screw transmission mode of ball screw structure. In some embodiments, only the first sleeve and the first spindle are connected by a ball drive arrangement. Preferably, the first sleeve comprises a first sleeve body 311 and a first screw nut 312 arranged at one end of the first sleeve body 311 close to the first screw, wherein the first screw is arranged as a ball screw, and the first screw nut 312 is arranged as a ball screw nut, so that rolling friction replaces sliding friction, friction force is reduced, the telescopic action is smoother, and the sorting efficiency is improved. In some embodiments, only the second sleeve and the second barrel lead screw are connected by a ball drive arrangement. Preferably, the second sleeve includes a first rotary screw body 308 and a second screw nut 321 disposed at one end of the second sleeve body 320 near the second rotary screw, where the second rotary screw is set as a ball screw, and the second screw nut 321 is set as a ball screw nut, so that rolling friction replaces sliding friction, friction force is reduced, so that telescoping action is smoother, and sorting efficiency is improved. In some embodiments, the first sleeve and the first rotary drum screw and the second sleeve and the second rotary drum screw are connected through ball transmission structures, and compared with the case that only one of the first sleeve and the first rotary drum screw is in sliding friction instead of rolling friction, the two are in sliding friction instead of rolling friction, so that smoothness of telescopic action is further, and sorting efficiency is improved again.

The order transfer box 50 of the present invention sorts mobile robots, in some embodiments, by rolling friction screw drive type connections between a first and a second barrel screw via a ball spline structure. Preferably, the first rotary drum lead screw includes a first rotary drum lead screw body 308 and a spline hole sleeve 310 arranged at one end of the first rotary drum lead screw body 308 far away from the second gear 306, the second rotary drum lead screw includes a second rotary drum lead screw body 316 and a spline hole sleeve 310 arranged at one end of the second rotary drum lead screw body 316 close to the second gear 306, the spline shaft 315 is set to be a ball spline shaft 315, and two spline hole sleeves 310 are all set to be ball spline hole sleeves 310, so that rolling friction replaces sliding friction, friction force is reduced, telescoping action is smoother, and sorting efficiency is improved.

Referring to fig. 3, the order transfer box 50 of the present invention is a sorting mobile robot, and in some embodiments, an end of the spline shaft 315 remote from the first drum screw is fixedly connected to the second drum screw. The fixed connection ensures that the spline shaft 315 and the second rotary screw can move along the axial direction of the first rotary screw along with the first sleeve, ensures that the spline shaft 315 and the second rotary screw can provide supporting force when in work extension, prevents bending and breaking caused by overlarge lateral force, and effectively improves the operation stability and the service life of the telescopic component 30. In some other embodiments, the spline shaft 315 can be abutted against the second rotary screw by providing springs to abut against the first rotary screw and the spline shaft 315, respectively.

Referring to fig. 3, in the order turnover box 50 sorting mobile robot according to the present invention, in some embodiments, a receiving space 319 for receiving the first thread section 309 is formed at an end of the second rotary screw adjacent to the first rotary screw; the second sleeve is provided with a receiving space 319 for receiving the second thread segment 317. By arranging the accommodation space 319, the first rotary drum screw corresponding to the first thread section 309 is retracted into the accommodation space 319 of the second rotary drum screw when the telescopic platform 40 is retracted, and the second rotary drum screw corresponding to the second thread section 317 is retracted into the accommodation space 319 of the second sleeve when the telescopic platform 40 is retracted, so that the space utilization rate is further improved, and the volume is reduced. Preferably, the second sleeve is hollow along the axial direction of the second sleeve, so that the second rotary screw correspondingly provided with the second thread section 317 can penetrate through the second sleeve when the telescopic platform 40 is retracted, thereby realizing further contraction and improving the space utilization rate.

The order transfer box 50 of the present invention sorts mobile robots, in some embodiments, the pitch of the first thread segments 309 is related to the pitch of the second thread segments 317. In some embodiments, the pitch of the first thread segments 309 is equal to the pitch of the second thread segments 317, such that the linear movement speed and travel of the corresponding first and second sleeves are equal. In some other embodiments, due to the different axial distance between the two receiving spaces 319, the telescoping travel of the thread segments is different, and in the event of consistent rotational displacement, the pitch of the first thread segment 309 and the second thread segment 317 are matched in any single or combination of the following to achieve the minimum axial dimension in the retracted to final position: according to the pitch, match according to the type of screw thread is trapezoidal screw thread or rectangular screw thread or triangle-shaped screw thread, match according to single thread or double thread to guarantee to possess high space utilization when can satisfy different working stroke's demand.

In some embodiments, the telescopic platform 40 includes a guiding vertical plate 41, a telescopic conducting bar 42 and a telescopic conducting plate 43, the guiding vertical plate 41 is disposed on the storage layer 21, the telescopic conducting bar 42 can move along the length direction of the guiding vertical plate 41 and is connected with the guiding vertical plate 41, the telescopic conducting bar 42 is fixedly connected with the first sleeve, and the telescopic conducting plate 43 can move along the length direction of the telescopic conducting bar 42 and is connected with the telescopic conducting bar 42, and the telescopic conducting bar 42 is fixedly connected with the first sleeve. Through setting up fixed direction riser 41, cooperation can be followed the flexible conducting bar 42 and the flexible baffle 43 of direction riser 41 length direction displacement, can realize the extension and the action of retracting of order turnover case 50 well, stable in structure, firm, space utilization is high, and working stroke is long, also can provide sharp guide effect for telescopic part 30. The sliding friction of direct contact can be selected among the guide vertical plate 41, the telescopic guide bar 42 and the telescopic guide plate 43, and the rolling friction can be realized by selecting structures such as bearings. Preferably, referring to fig. 3 and 8, one end of the first sleeve, which is far away from the first thread section 309, is fixedly connected with a bearing cap with a handle 313, a first fixing strip 314 is fixedly connected to the bearing cap with a handle 313, and the bearing cap with a handle 313 is connected with the telescopic conducting strip 42 through the first fixing strip 314; the end of the second sleeve, which is far away from the second thread section 317, is provided with a handle ring cover 322, a second fixing strip 323 is fixedly connected to the handle ring cover 322, and the handle ring cover 322 is connected with the telescopic guide plate 43 through the second fixing strip 323. When the telescopic member 30 works, the guide vertical plate 41 is fixed, the telescopic guide bar 42 moves along the length direction of the guide vertical plate 41 under the action of the first fixing bar 314 and the handle bearing cover 313, meanwhile, the telescopic guide plate 43 moves along the length direction of the guide vertical plate 41 under the action of the second fixing bar 323 and the handle ring cover 322, and the telescopic guide bar 42 and the guide vertical plate 41 are telescopic simultaneously, so that the telescopic member 30 has stable and firm structure, high space utilization rate and long working stroke, and can provide a linear guide effect for the telescopic member 30.

Referring to fig. 5 and 6, in some embodiments, a row of first guide bearings 412 are symmetrically disposed on two side walls of the guide vertical plate 41 along the length direction of the guide vertical plate, a first wide straight groove 421 is formed on the end surface of the telescopic guide bar 42 connected with the guide vertical plate 41 along the length direction of the guide vertical plate, first guide grooves 422 are symmetrically formed on two inner walls of the first wide straight groove 421, and the telescopic guide bar 42 is movably connected with the guide vertical plate 41 through the first guide grooves 422 and the first guide bearings 412; the telescopic guide bars 42 are symmetrically provided with second guide grooves 423 on two side walls opposite to the first wide straight grooves 421, the end faces of the telescopic guide bars 42 connected with the telescopic guide plates 43 are provided with second wide straight grooves 431 along the length direction of the telescopic guide bars, two side inner walls of the second wide straight grooves 431 are symmetrically provided with a row of second guide bearings 432, and the telescopic guide plates 43 can move through the second guide grooves 423 and the second guide bearings 432 and are connected with the telescopic guide bars 42. Preferably, the first guide bearing 412 and the second guide bearing 432 are connected to the corresponding side wall through the pin shaft 411. Preferably, the pin 411 is configured as a threaded stepped pin, and the first guide bearing 412 and the second guide bearing 432 are sleeved on the middle section of the threaded stepped pin. Specifically, taking the first guide bearing 412 as an example, a step surface at one end of a threaded step pin shaft axially limits one side of an inner ring of the first guide bearing 412, a guide vertical plate 41 axially limits the other side of the inner ring of the first guide bearing 412, a gap is formed between an outer ring of the first guide bearing 412 and the guide vertical plate 41, and a middle section of the threaded step pin shaft is in clearance fit with a hole on the guide vertical plate 41 and is fixed on the guide vertical plate 41 by a nut; the upper plane of the guide vertical plate 41 is provided with a straight groove 413 for fastening nuts on the threaded step pin shaft, so that the guide vertical plate 41 and the telescopic guide strip 42 are limited along the cross section direction, the fixing and transmission effects are good, the relative displacement is smoother, and the sorting efficiency is improved. In some other embodiments, the fixing of the first guide bearings 412 at both sides of the guide riser 41 can be achieved by a long pin without providing the straight groove 413. Preferably, the width dimension of the first guide groove 422 and the outer diameter dimension of the first guide bearing 412, the width dimension of the second guide groove 423 and the outer diameter dimension of the second guide bearing 432 are all in clearance fit, so that the relative displacement is smoother, and the sorting efficiency is improved. The first wide straight groove 421 and the second wide straight groove 431 enable the cross sections of the corresponding telescopic guide bars 42 and the corresponding telescopic guide plates 43 to be inverted U-shaped, and the corresponding guide bearings and the corresponding pin shafts 411 are matched, so that the problems of rollover, derailment and the like of the telescopic guide bars 42 and the telescopic guide plates 43 can be well prevented, and the stability is good.

The order transfer box 50 sorting mobile robot of the present invention, in some embodiments, only one of the telescopic platform 40 and the telescopic member 30 is provided; or only one telescopic part 30 is provided, two telescopic platforms 40 are provided, and the two telescopic platforms 40 are respectively arranged at two sides of the telescopic part 30; or both the telescoping member 30 and the telescoping platform 40 may be provided. When the telescopic platform 40 and the telescopic component 30 are only provided with one, the telescopic component 30 on each stacking layer 21 is only responsible for driving the corresponding telescopic platform 40 to stretch and retract, and the order turnover box 50 is only provided with one, so that the structure is suitable for sorting goods of the same order. When the telescopic components 30 are only provided with one and two telescopic platforms 40 are provided, and the two telescopic platforms 40 are respectively arranged on two sides of the telescopic components 30, the telescopic components 30 on each layer of the object placing layer 21 are simultaneously responsible for driving the telescopic components of the corresponding two telescopic platforms 40, and the order turnover box 50 is provided with two parts, so that the structure is suitable for sorting when more goods of the same order and one order turnover box 50 cannot be put down, or sorting and improving sorting efficiency of goods of two different orders, and has higher space utilization rate. Preferably, the telescopic part 30 is arranged centrally, ensuring uniform stress of the telescopic platform 40 and improving structural stability. When two telescopic members 30 and two telescopic platforms 40 are provided, the independent telescopic operation of any one of the two order transfer boxes 50 can be further realized by sacrificing the space, so that unnecessary energy consumption is reduced.

Referring to fig. 7, in the order transfer box 50 sorting mobile robot according to the present invention, in some embodiments, when only one of the telescopic members 30 is provided and two of the telescopic stages 40 are provided, the telescopic guide plates 43 of the two telescopic stages 40 are connected by a connecting guide plate 433. This structure connects two telescopic guide plates 43 through the connection guide plate 433, increases the volume of the order turn-around box 50 that can be placed, to realize sorting of larger goods.

Referring to fig. 1, the order transfer box 50 of the present invention is a sorting mobile robot, and in some embodiments, the rack 20 is rotatably connected to the mobile base 10. Preferably, the rotating device 11 is rotatably connected with the movable base 10, and the shelf 20 is arranged on the rotating device 11. When a plurality of shelves 20 are provided, a rotating device 11 can be independently arranged for each shelf 20; the rotating device 11 can also be connected with a platform, and a plurality of storage racks 20 are arranged on the platform, so that the synchronous rotation of the storage racks 20 by the rotating device 11 is realized. The rotating device 11 is of the prior art, the principle of which will not be described in any more detail. Through setting up supporter 20 can be pivoted with remove base 10 and be connected, be convenient for remove when base 10 inconvenient turn around or turn to, supporter 20 can rotate and aim at the sorting machine, with nimble realization different angles get put the sorting demand. Meanwhile, when two storage racks 20 are arranged, each storage rack 20 can flexibly adjust the self-taking and placing angles. It should be noted that the rotation of the rack 20 and the movable base 10 is only required, and is not limited to be realized by the rotation device 11.

Referring to fig. 10, in some embodiments, the mobile robot for sorting the order boxes 50 according to the present invention is further provided with an operation robot on the mobile base 10, the operation robot includes a magazine 64 and a robot arm 61, different types of end effectors 63 are provided on the magazine 64, and a quick-change device 62 is provided on the robot arm 61, and the quick-change device 62 can change different types of end effectors 63 from the magazine 64. Preferably, two storage racks 64 are symmetrically arranged on two sides of the mechanical arm 61. Through setting up operating robot, be convenient for nimble change end effector 63, supplementary cooperation accomplishes the letter sorting operation of different grade type goods, has expanded the functional of whole order turnover case 50 letter sorting mobile robot. When the operation robot is provided and the shelf 20 is provided with two, it is preferable that the telescopic members 30 on the two shelf 20 and the telescopic direction of the telescopic platform 40 are set to be telescopic to two sides respectively, specifically, taking fig. 10 as an example of a top view, the telescopic members 30 on the left shelf 20 and the telescopic members 30 on the right shelf 20 in the two shelf 20 are telescopic to the left side and telescopic to the right side, respectively, so that the space utilization is reasonably distributed and improved.

The working principle of the order transfer box 50 sorting mobile robot of the invention is as follows:

the order transfer box 50 sorting mobile robot moves between different sorting locations of the sorting warehouse by moving the base 10, collects the required goods of the order, all the required goods to be collected in order, and moves to the packing station or the shipment port. When it moves to a sorting place, the sorting angle is adjusted by moving the base 10 or the rotating device 11. Then, the output shaft of the driving motor 304 rotates to drive the first gear 305 to rotate, the first gear 305 drives the second gear 306, the first rotating cylinder screw and the spline shaft 315 to rotate, the first rotating cylinder screw rotates to drive the first sleeve to axially move along the first rotating cylinder screw, the spline shaft 315 rotates to drive the second rotating screw to rotate and drive the second sleeve to axially move along the second rotating screw, so that the telescopic platform 40 stretches out, and the goods are placed in the order turnover box 50 conveniently. After the placement is completed, the output shaft of the drive motor 304 rotates in the opposite direction to achieve retraction. The nested structure among the first rotary drum screw, the first sleeve, the second rotary drum screw and the second sleeve generates a driving stroke superposition effect, and all parts linearly move along the same axis to generate a driving effect, so that a secondary stroke-increasing telescopic structure is formed, and the telescopic structure is convenient to use and long in working stroke; telescoping platform 40 provides linear guidance for telescoping member 30; the telescopic range-extending structure ensures that the space utilization rate of the telescopic component 30 is high, and the structure is compact; the hollow structure of the sleeve has better lateral force resistance, and the telescopic platform 40 can bear goods with different weights by matching with the spline shaft 315, so that the bending resistance is good.

It is apparent that the above examples are given by way of illustration only and are not limiting of the embodiments. Other variations and modifications of the present invention will be apparent to those of ordinary skill in the art in light of the foregoing description. It is not necessary here nor is it exhaustive of all embodiments. And obvious variations or modifications thereof are contemplated as falling within the scope of the present invention.

Claims

1. An order transfer box sorting mobile robot, comprising:

a movable base;

the storage rack is arranged on the movable base and is provided with a plurality of storage layers, each storage layer is provided with at least one telescopic platform and a telescopic part for driving the telescopic platform to extend or retract, the telescopic platforms provide linear guiding function for the telescopic parts, and each telescopic platform is provided with at least one order turnover box;

the utility model is characterized in that, the supporter can rotate with remove the base and be connected, the telescopic member includes:

the shell is arranged on the storage layer;

the driving motor is connected with the shell, and an output shaft of the driving motor is connected with the first gear;

The first rotary cylinder lead screw is rotatably connected with the shell, one end of the first rotary cylinder lead screw, which is positioned in the shell, is connected with a second gear, and the second gear is meshed with the first gear; the outer wall of the other end of the first rotary cylinder screw rod is provided with a first thread section, and a spline hole is axially and hollow in the first rotary cylinder screw rod;

the first sleeve, the second rotary drum screw, the spline shaft and the second sleeve are coaxially arranged along the axial direction of the first rotary drum screw; the first sleeve is characterized in that a cylinder shaft of the first sleeve is connected with the first threaded section, the second rotary cylinder screw rod is rotatably arranged in the first sleeve, a second threaded section is arranged on the outer wall of one end, far away from the first sleeve, of the second rotary cylinder screw rod, a spline hole is axially arranged in the second rotary cylinder screw rod in a hollow mode, one end of the spline shaft can be movably arranged in the spline hole of the first rotary cylinder screw rod in a penetrating mode along the axial direction of the first rotary cylinder screw rod, the other end of the spline shaft is connected with the spline hole of the second rotary cylinder screw rod, and the cylinder shaft of the second sleeve is in threaded connection with the second threaded section;

the telescopic platform is respectively connected with the first sleeve and the second sleeve, and the first gear and the second gear are meshed to transmit the power of the driving motor to the first rotary drum screw rod so as to drive the first rotary drum screw rod and the spline shaft to rotate; the first rotary drum screw rotates to drive the first sleeve to move along the axial direction of the first rotary drum screw, the spline shaft rotates to drive the second rotary drum screw to rotate and drive the second sleeve to move along the axial direction of the second rotary drum screw, so that the telescopic platform stretches out or retracts;

The telescopic platform comprises a guide vertical plate, a telescopic guide bar and a telescopic guide plate, wherein the guide vertical plate is arranged on the storage layer, the telescopic guide bar can move along the length direction of the guide vertical plate, is connected with the guide vertical plate and is fixedly connected with the first sleeve, and the telescopic guide plate can move along the length direction of the telescopic guide bar, is connected with the telescopic guide bar and is fixedly connected with the second sleeve;

a row of first guide bearings are symmetrically arranged on two side walls of the guide vertical plate along the length direction of the guide vertical plate, a first wide straight groove is formed in the end face of the guide vertical plate, which is connected with the telescopic guide strip, along the length direction of the guide vertical plate, first guide grooves are symmetrically formed in the inner walls of the two sides of the first wide straight groove, and the telescopic guide strip is movably connected with the guide vertical plate through the first guide grooves and the first guide bearings; the telescopic guide bars are symmetrically provided with second guide grooves on two side walls of the first wide straight grooves, the telescopic guide plates are connected with the end faces of the telescopic guide bars along the length direction of the telescopic guide bars, a row of second guide bearings are symmetrically arranged on the inner walls of two sides of each second wide straight groove, and the telescopic guide plates can move through the second guide grooves and the second guide bearings and are connected with the telescopic guide bars.

2. The order transfer box sorting mobile robot of claim 1, wherein: the first sleeve and the first rotary drum screw rod or/and the second sleeve and the second rotary drum screw rod are connected in a rolling friction screw transmission mode through a ball screw structure.

3. The order transfer box sorting mobile robot of claim 1, wherein: the first rotary drum screw and the second rotary drum screw are connected in a rolling friction transmission mode through a ball spline structure; one end of the spline shaft, which is far away from the first rotary drum screw, is fixedly connected with the second rotary drum screw.

4. A mobile order transfer box sorting robot according to any one of claims 1-3, characterized in that: one end of the second rotary drum screw rod, which is close to the first rotary drum screw rod, is provided with an accommodating space for accommodating the first thread section; an accommodating space for accommodating the second thread section is formed in the second sleeve; the pitch of the first thread segments is related to the pitch of the second thread segments.

5. The order transfer box sorting mobile robot of claim 1, wherein: only one telescopic part is arranged, two telescopic platforms are arranged, and the two telescopic platforms are respectively arranged at two sides of the telescopic part;

Or only one telescopic platform and one telescopic part are arranged;

or the telescopic part and the telescopic platform are both provided with two.

6. The order transfer box sorting mobile robot of claim 5, wherein: when only one telescopic part is arranged and two telescopic platforms are arranged, the telescopic guide plates of the two telescopic platforms are connected through a connecting guide plate.

7. The order transfer box sorting mobile robot of claim 1, wherein: the movable base is further provided with an operation robot, the operation robot comprises a warehouse rack and a mechanical arm, different types of end effectors are arranged on the warehouse rack, the mechanical arm is provided with a quick-change device, and the quick-change device can replace different types of end effectors on the warehouse rack.