CN207390297U - Item picking system - Google Patents

Abstract

The utility model is related to logistic storage technical field, more particularly to a kind of item picking system.Item picking system provided by the utility model, including Prospect of Robot Sorting System and track structure, wherein：Track structure sets and which is provided with the first track and the second track that intersect each other with making somebody a mere figurehead；Prospect of Robot Sorting System is suspended to below track structure, and Prospect of Robot Sorting System switchably walks along the first track and the second track and treats selection article and chosen.The utility model can increase ground areal packing density with effectively save ground space, furthermore, it is possible to improve selection efficiency, accelerate selection beat.

Description

Item picking system

Technical field

The utility model is related to logistic storage technical field, more particularly to a kind of item picking system.

Background technology

Cargo selection is an important step of logistic storage, after cargo is chosen out, is transported by sorting system Required position, so that follow-up logistic car transports.In order to accelerate article rate flow, usually using Prospect of Robot Sorting System to cargo Automatically chosen.

In the prior art, Prospect of Robot Sorting System is usually all walked on the ground, must correspondingly, on ground be reserved very much Passage is walked for Prospect of Robot Sorting System.Since shelf and cargo can not be stored at these passages, warehouse storage can be caused to utilize Rate is relatively low, and storage density is smaller, and warehouse cost is higher.

And in order to save ground space, make that passage can not be stayed on ground, cargo can be stored more densely packed, at present be occurred The suspension type item picking system that a kind of Prospect of Robot Sorting System is walked above shelf.This suspension type item picking system is led to Chain is often set above shelf, and Prospect of Robot Sorting System is suspended to below chain, is walked by chain-driving.Due to without again on ground Therefore the upper passage set for Prospect of Robot Sorting System walking, can effectively promote storage density, increase the utilization of warehouse memory space Rate.

However, this existing suspension type item picking system, Prospect of Robot Sorting System can only keep opposing stationary with chain, It unidirectionally walks under the drive of chain, walking manner is more single, and Prospect of Robot Sorting System is more difficult quickly to reach arbitrary selection position, picks It selects less efficient, and is mutually restricted between each Prospect of Robot Sorting System, the latter Prospect of Robot Sorting System can only be followed in previous picker It walks and chooses after device people, cause whole system operation beat slower.

Utility model content

A technical problem to be solved in the utility model is：Increase ground areal packing density, and improve selection efficiency.

In order to solve the above-mentioned technical problem, the utility model provides a kind of item picking system, including choosing machine People and track structure, wherein：Track structure sets and which is provided with the first track and the second track that intersect each other with making somebody a mere figurehead；It picks Robot is selected to be suspended to below track structure, and Prospect of Robot Sorting System is switchably walked and treated along the first track and the second track Selection article is chosen.

Optionally, Prospect of Robot Sorting System includes robot body and traveling wheel, and robot body passes through traveling wheel and track knot Structure connects, and traveling wheel can be along the first track and the second track travel, also, in the intersecting of the first track and the second track Place, traveling wheel can be turned to the second state by first state, and in first state, traveling wheel is along the first track and the second rail One in road walking, in the second state, traveling wheel is along another walking in the first track and the second track.

Optionally, traveling wheel includes two son wheels and the walking shaft being connected between two son wheels, and two son wheels can It is rotated synchronously around walking shaft, to realize the walking of Prospect of Robot Sorting System.

Optionally, Prospect of Robot Sorting System includes at least two traveling wheels, in the intersection of the first track and the second track, at least Two traveling wheels synchronously can turn to the second state by first state.

Optionally, Prospect of Robot Sorting System further includes steering driving mechanism, and steering driving mechanism is used to drive traveling wheel first The intersection of track and the second track turns to the second state by first state.

Optionally, Prospect of Robot Sorting System includes at least two traveling wheels, wherein：

Steering driving mechanism is drivingly connected at least two traveling wheels and can be in the phase of the first track and the second track At friendship at least two traveling wheels is driven synchronously to turn to the second state by first state；Alternatively,

Prospect of Robot Sorting System includes at least two steering driving mechanisms, at least two steering driving mechanisms and at least two walkings Wheel is drivingly connected correspondingly, and in the intersection of the first track and the second track, each steering driving mechanism can be synchronous Ground drives corresponding traveling wheel to turn to the second state by first state.

Optionally, track structure is arranged to house the roof in the warehouse of article to be chosen.

Optionally, track structure includes two transverse parts and the vertical part being connected between two transverse parts, the first track and second Track is arranged on transverse part, and track structure is connected by one in two transverse parts with the roof in warehouse, and Prospect of Robot Sorting System branch It holds on another in two transverse parts.

Optionally, track structure is equipped at least two first tracks, and the second track intersects with each first track； And/or track structure is equipped at least two second tracks, the first track intersects with each second track.

Optionally, the first track and the second track intersect perpendicular to each other.

Item picking system provided by the utility model is suspension type item picking system, without setting confession on the ground Therefore the passage of Prospect of Robot Sorting System walking, can increase ground areal packing density with effectively save ground space；Moreover, because this reality With the Prospect of Robot Sorting System of novel article radio frequency switchably along the first track and the second track travel to intersect each other, because This, walking manner is more flexible, can more efficiently implement item picking operation, is conducive to accelerate selection beat.

By the way that the exemplary embodiment of the utility model is described in detail referring to the drawings, the utility model its Its feature and its advantage will become apparent.

Description of the drawings

It in order to illustrate the embodiment of the utility model or the technical proposal in the existing technology more clearly, below will be to embodiment Or attached drawing needed to be used in the description of the prior art is briefly described, it should be apparent that, the accompanying drawings in the following description is only It is some embodiments of the utility model, for those of ordinary skill in the art, before not making the creative labor property It puts, can also be obtained according to these attached drawings other attached drawings.

Fig. 1 shows the working state figure of the item picking system of one embodiment of the utility model.

Fig. 2 shows the scheme of installation of item picking system shown in Fig. 1.

Fig. 3 shows the dimensional structure diagram of the track structure in Fig. 1 and Fig. 2.

Fig. 4 shows the front view of Fig. 3.

Fig. 5 shows the top view of Fig. 3.

Fig. 6 shows the dimensional structure diagram of the Prospect of Robot Sorting System in Fig. 2.

Fig. 7 shows the simplified schematic diagram of the steering driving mechanism of item picking system shown in Fig. 1.

In figure：

1st, Prospect of Robot Sorting System；

11st, robot body；111st, matrix；112nd, pars contractilis；113rd, clamping part；

12nd, traveling wheel；121st, sub- wheel；122nd, walking shaft；

13rd, movable motor；14th, shaft is turned to；15th, steering motor；16th, first bevel gear；17th, second bevel gear；18th, axis It holds；

2nd, track structure；

21st, transverse part；22nd, vertical part；2a, the first track；2b, the second track；

3rd, ground；

4th, roof；

5th, article to be chosen.

Specific embodiment

The following is a combination of the drawings in the embodiments of the present utility model, and the technical scheme in the embodiment of the utility model is carried out It clearly and completely describes, it is clear that the described embodiments are only a part of the embodiments of the utility model rather than whole Embodiment.It is illustrative to the description only actually of at least one exemplary embodiment below, is never used as to this practicality New and its application or any restrictions used.Based on the embodiment in the utility model, those of ordinary skill in the art are not having Have carry out creative work under the premise of all other embodiments obtained, shall fall within the protection scope of the present invention.

It may be not discussed in detail for technology, method and apparatus known to person of ordinary skill in the relevant, but suitable In the case of, the technology, method and apparatus should be considered as authorizing part for specification.

In the description of the utility model, it is to be understood that the noun of locality such as " forward and backward, upper and lower, left and right ", " horizontal, Vertically, vertically, it is horizontal " and " pushing up, bottom " etc. indicated by orientation or position relationship be normally based on orientation or position shown in the drawings Relation is put, be for only for ease of description the utility model and simplifies description, in the case where not making explanation on the contrary, these nouns of locality It does not indicate that and implies signified device or element must have specific orientation or with specific azimuth configuration and operation, because This is it is not intended that limitation to scope of protection of the utility model；The noun of locality " inside and outside " refers to the wheel compared with each component in itself Wide is inside and outside.

In the description of the utility model, it is to be understood that limit zero using the words such as " first ", " second " Part, it is only for convenient for being distinguished to corresponding parts, such as without Stated otherwise, above-mentioned word there is no particular meaning, Therefore it is not intended that limitation to scope of protection of the utility model.

Fig. 1-7 shows one embodiment of the utility model item picking system.With reference to Fig. 1-7, the utility model institute The item picking system of offer, including Prospect of Robot Sorting System 1 and track structure 2, wherein：Track structure 2 is set and thereon aerially Equipped with the first track 2a and the second track 2b to intersect each other；Prospect of Robot Sorting System 1 is suspended to 2 lower section of track structure, and picker Device people 1 switchably walks along the first track 2a and the second track 2b and treats selection article 5 and chosen.

The item picking system of the utility model, Prospect of Robot Sorting System 1 are suspended to 2 lower section of track structure of aerial setting simultaneously It can switchably walk along the first track 2a to intersect each other on track structure 2 and the second track 2b, this aspect causes The item picking system of the utility model becomes suspension type item picking system, and Prospect of Robot Sorting System 2 can walk above shelf, Ground space need not be occupied, so as to effectively increase ground areal packing density, promotes the utilization rate of ground memory space；The opposing party Face, the walking manner of Prospect of Robot Sorting System 1 is more flexible, can only be in chain compared with suspension type Prospect of Robot Sorting System in the prior art Situation about unidirectionally walking under drive can effectively improve selection efficiency, accelerate selection beat.

In the utility model, in order to realize the aerial setting of track structure 2, it can be set in warehouse floor and be higher than goods The support construction of top of support, and track structure 2 is arranged in support construction；Alternatively, track structure 2 can also be arranged at storehouse On the roof 4 in storehouse.Wherein, track structure 2 is arranged on the roof 4 in warehouse, due to can further save support construction pair Therefore the occupancy of ground space, is advantageously implemented cargo and more densely stores.

In addition, in the utility model, between the first track 2a and the second track 2b, can intersect perpendicular to each other or Person into other angles is intersected.Wherein, when the first track 2a and the second track 2b intersect perpendicular to each other, track structure 2 Structure is more simple, and processing is more convenient.Also, in this case, Prospect of Robot Sorting System 1 can be walked along horizontal and vertical lines, On the one hand, the mobile route of Prospect of Robot Sorting System 1 more meets the disposing way of article 5 to be chosen on the ground, so as to choose machine The shift position of people 1 can correspond between the sub- memory space of article 5 to be chosen, and be easy to implement more efficient selection Process；On the other hand, it is also beneficial to more easily and efficiently realize Prospect of Robot Sorting System 1 along the first track 2a's and the second track 2b Switching walking.

The utility model is described further with reference to the embodiment shown in Fig. 1-7.

As shown in figs. 1-7, in this embodiment, item picking system includes choosing the picker of article 5 to be chosen Device people 1 and the track structure 2 for walking for Prospect of Robot Sorting System 1, track structure 2 is arranged on the roof 4 in warehouse, and picker Device people 1 is suspended to the lower section of track structure 2.

Wherein, as in Figure 3-5, in this embodiment, track structure 2 includes vertical part 22 and two transverse parts 21, vertical part 22 It being connected between two transverse parts 21, this causes track structure 2 in I-shaped, convenient for installation of the track structure 2 on roof 4, It is easy to implement suspention of the Prospect of Robot Sorting System 1 on track structure 2.Specifically, as shown in Figure 2, the track structure 2 of the embodiment, One in two transverse part 21 is embedded in roof 4, and another in two transverse parts 21 extend out to 4 lower section of roof, selection Robot 1, which is then supported on, to be extend out on the transverse part 21 of 4 lower section of roof.Based on this, track structure 2 passes through one in two transverse parts 21 It is a to be connected with roof 4, and pass through in two transverse parts 21 another be connected with Prospect of Robot Sorting System 1, it is simple in structure, and can realize The more stable and firm suspention of Prospect of Robot Sorting System 1 is set, while is also allowed for Prospect of Robot Sorting System 1 and neatly walked.The embodiment Track structure 2 can be obtained by being transformed design to H profile steel.

From Fig. 3 and Fig. 5, in this embodiment, track structure 2 be equipped with the first intersecting vertically track 2a and Second track 2b.Specifically, as shown in Figure 3 and Figure 5, the first track 2a and the second track 2b may be contained on two transverse parts 21, That is, the first track 2a is both equipped on two transverse parts 21, also is provided with the second track 2b；Also, the first track 2a and the second track 2b intersects each other and angle in 90 ° therebetween.More specifically, from Fig. 3 and Fig. 5, the first track 2a of the embodiment and The quantity of second track 2b is multiple, i.e. track structure 2 is equipped with multiple first track 2a, while also is provided with multiple second Track 2b, wherein, each first track 2a intersects vertically with each second track 2b, and each second track 2b is also with each One track 2a intersects vertically.Based on this, each first track 2a and each second track 2b are divided by other side with more A subsegment, multiple first track 2a and multiple second track 2b are crossed to form multiple grids so that the track structure 2 of the embodiment With rail network in length and breadth, more neatly walk convenient for Prospect of Robot Sorting System 1, more efficiently choose.Wherein, the first track 2a can To be known as cross track, the second track 2b is properly termed as long rails.

It should be noted that the quantity of the first track 2a and the second track 2b be not limited to it is multiple, for example, can be with the first rail The quantity of road 2a is one, and the quantity of the second track 2b is at least two；For another example can also the quantity of the second track 2b be One, and the quantity of the first track 2a is at least two；Even, can be with the quantity of the first track 2a and the second track 2b One.In addition, alternatively, the first track 2a and the second track 2b can also only be arranged at one in two transverse parts 21 On a, without may be contained on two transverse parts 21, for example, the first track 2a and the second track 2b can only be arranged at the horizontal stroke of lower section In portion 21, and it is not provided on the transverse part 21 of top.

As shown in Fig. 1-2 and Fig. 6-7, in this embodiment, the Prospect of Robot Sorting System 1 for being suspended to 2 lower section of track structure wraps Robot body 11, traveling wheel 12, hoofing part mechanism and steering driving mechanism are included, and the Prospect of Robot Sorting System 1 can be changeable It walks along the first track 2a and the second track 2b and treats selection article 5 and chosen in ground.

Wherein, as shown in Figure 1, in this embodiment, robot body 11 includes matrix 111, pars contractilis 112 and clamping part 113.The other structures component of the Prospect of Robot Sorting System 1 such as matrix 111 is traveling wheel 12, pars contractilis 112 and clamping part 113 provides installation Matrix, and it is connected by traveling wheel 12 with the underlying transverse part 21 of track structure 2, realizes Prospect of Robot Sorting System 1 in track The suspention of 2 lower section of structure is set.The upper end of pars contractilis 112 is connected with matrix 111, and lower end and the clamping part 113 of pars contractilis 112 connect It connects, can stretch compared with matrix 111 and clamping part 113 is controlled to move up and down, different height is in so as to meet The selection demand of article 5 to be chosen.Clamping part 113 is connected to the lower end of pars contractilis 112, can treat selection article 5 and carry out Clamping, so as to fulfill the crawl of selection article 5 is treated.

With reference to Fig. 1, during selection, article 5 choose stacks on ground 3, forms the stack with certain altitude, and chooses Robot 1 is walked by traveling wheel 12 along track structure 2 above stack, is reached after 5 place horizontal level of article is chosen, is picked Robot 1 is selected using pars contractilis 112 clamping part 113 to be controlled to move up and down to the height where article 5 to be chosen, and by clamping part 113, which treat selection article 5, is clamped, and realizes the selection for treating selection article 5.

Since Prospect of Robot Sorting System 1 is suspended to the lower section for the track structure 2 being arranged on warehouse roof 4, the embodiment Prospect of Robot Sorting System 1 can walk above stack, without again on the ground set for Prospect of Robot Sorting System 1 walk passage, over the ground The occupancy of space of planes is less, so that cargo can be stored more densely, as shown in Figure 1, the spacing between different stacks Very little can be set to obtain, and then can effectively increase storage density, improve the utilization rate of the ground memory space in warehouse.

Traveling wheel 12 is used to implement Prospect of Robot Sorting System 1 in track knot for connecting robot body 11 and track structure 2 Walking on structure 2.The quantity of traveling wheel 12 can be one, it is two or more.In this embodiment, the quantity of traveling wheel 12 is Four.As shown in fig. 6, four traveling wheels 12 are separately positioned on four corners of matrix 111, the knot of such Prospect of Robot Sorting System 1 Structure is more stablized, and also allows for Prospect of Robot Sorting System 1 and more smoothly walks.And in order to simplify structure, which walks four Wheel 12 is arranged to identical structure.

Traveling wheel 12 is arranged on robot body 11, and is connected with the underlying transverse part 21 of track structure 2 so that Robot body 11 can be connected by the traveling wheel 12 with track structure 2, realize Prospect of Robot Sorting System 1 below track structure 2 Suspention set.Also, as shown in fig. 6, in this embodiment, traveling wheel 12, which includes two sons, takes turns 121 and is connected to two sons Walking shaft 122 between wheel 121.Two son wheels 121 are oppositely arranged, and walking shaft 122 is flatly set.Two son wheels 121 By being rotated synchronously around walking shaft 122, the walking of Prospect of Robot Sorting System 1 can be realized.Wherein, as shown in Fig. 2, traveling wheel 12 Two son wheels 121 are supported on the underlying transverse part 21 of track structure 2 and are located at track (the first track 2a or the respectively Two track 2b) both sides, i.e. two of traveling wheel 12 son wheels 121 are across track (the first track 2a or the second track 2b) twelve Earthly Branches It holds on the underlying transverse part 21 of track structure 2.As it can be seen that traveling wheel 12 is arranged to include two son wheels 121, Ke Yigeng The design feature of track structure 2 is adapted to well, realizes traveling wheel 12 on the first track 2a and the second track 2b more smoothly Walking.

Moreover, the traveling wheel 12 of the embodiment can be in the intersection of the first track 2a and the second track 2b, by along A walking in one rail 2a and the second track 2b, switches to along another row in the first track 2a and the second track 2b It walks so that Prospect of Robot Sorting System 1 can switchably walk along the first track 2a and the second track 2b, and walking manner is more flexible, Prospect of Robot Sorting System 1 is allowd easily to reach arbitrary 5 position of article to be chosen to be chosen, selection is more efficient.And And, it is possible to reduce the autonomous of each Prospect of Robot Sorting System 1 and multiple is realized in the mutual restriction between each Prospect of Robot Sorting System 1 The concurrent job of Prospect of Robot Sorting System 1 neatly distributes the selection machine of input selection work convenient for the task amount according to order The quantity of people 1 realizes optimizing scheduling, accelerates selection beat.

Wherein, in order to which traveling wheel 12 is enable switchably to walk along the first track 2a and the second track 2b, in the implementation In example, traveling wheel 12 is configured to turn to second by first state in the intersection of the first track 2a and the second track 2b State, during in first state, traveling wheel 12 is along a walking in the first track 2a and the second track 2b, in the second shape During state, traveling wheel 12 along in the first track 2a and the second track 2b another walking.That is, the embodiment is by by traveling wheel 12 are configured to turn in the intersection of the first track 2a and the second track 2b, to realize Prospect of Robot Sorting System 1 in the first track Switching walking between 2a and the second track 2b.

Specifically, as shown in Fig. 2, Fig. 6 and Fig. 7, the traveling wheel 12 of the embodiment is by turning to shaft 14 and robot sheet Body 11 is rotatably coupled.More specifically, steering shaft 14 is vertically arranged, and pass through the walking shaft of bearing 18 and traveling wheel 12 122 connections.The outer ring of bearing 18 can be rigidly connected with turning to shaft 14.In this way, when turning to the rotation of shaft 14, can drive Traveling wheel 12 rotates so that traveling wheel 12 can be turned to the second state by first state, realize Prospect of Robot Sorting System 1 in the first rail Switching walking between road 2a and the second track 2b.Due to as previously mentioned, the first track 2a and the second track 2b of the embodiment Intersect perpendicular to each other, therefore, in this embodiment, traveling wheel 12 turns to the second state by first state to be needed to rotate 90 °. Based on this, by the way that steering shaft 14 is made to rotate 90 °, you can traveling wheel 12 is made to rotate 90 ° by a horizontal level and reaches another Horizontal level realizes the switching of traveling wheel 12 between the first state and a second state so that Prospect of Robot Sorting System 1 allows hand over ground Along the first track 2a and the second track 2b walking intersecting vertically.

In this embodiment, in order to further improve selection efficiency, Prospect of Robot Sorting System 1 further includes hoofing part mechanism and turns To driving mechanism.

Wherein, hoofing part mechanism is drivingly connected with traveling wheel 12, for sub- wheel 121 to be driven to be rotated around walking shaft 122, So that Prospect of Robot Sorting System 1 can on track structure 2 automatically walk.In this embodiment, hoofing part mechanism is using walking electricity Machine 13.Specifically, as shown in Fig. 2, in this embodiment, four movable motors 13 respectively with four traveling wheels 12 correspondingly It is drivingly connected, it is real for two of corresponding traveling wheel 12 son wheels 121 synchronously to be driven to be rotated around walking shaft 122 The automatically walk of existing Prospect of Robot Sorting System 1.Wherein, as shown in Figure 2, the movable motor 13 of the embodiment is arranged at walking shaft 122 On, space so can be more fully utilized, realizes that hoofing part mechanism is more reasonably arranged.

Certainly, hoofing part mechanism can also use other structures.For example, hoofing part mechanism may be employed outside motor Other power-equipments；Alternatively, hoofing part structure can not also be correspondingly drivingly connected with each traveling wheel 12, but One hoofing part mechanism is only set, and the hoofing part mechanism is made to be drivingly connected simultaneously with each traveling wheel 12, by the walking Driving mechanism drives each traveling wheel 12 synchronously to walk.

And steering driving mechanism is then for driving traveling wheel 12 in the intersection of the first track 2a and the second track 2b by the One state turns to the second state, realizes automatic switchover walking of the Prospect of Robot Sorting System 1 on the first track 2a and the second track 2b. Since the Prospect of Robot Sorting System 1 of the embodiment includes four traveling wheels 12, in order to enable Prospect of Robot Sorting System 1 more efficiently Switch walking between transverse and longitudinal track, each traveling wheel 12 of the embodiment is configured to synchronously in the first track 2a and the The intersection of two track 2b turns to the second state by first state.

Specifically, in this embodiment, four steering driving mechanisms are drivingly connected correspondingly with four traveling wheels 12, For corresponding traveling wheel 12 synchronously to be driven to be turned by first state in the intersection of the first track 2a and the second track 2b It moves to the second state.More specifically, in order to make the structure of Prospect of Robot Sorting System 1 simpler, four of the embodiment turn to driving Mechanism uses identical structure, and including steering power mechanism and steering gear, steering power mechanism is driven by turning to Mechanism is drivingly connected with traveling wheel 12, for corresponding traveling wheel 12 to be driven to automatically rotate to the second shape by first state State.

Wherein, as shown in Figure 7, in this embodiment, steering power mechanism includes steering motor 15, is moved for providing to turn to Power；Steering gear includes the first bevel gear 16 being engaged with each other and second bevel gear 17, for turning steering motor 15 Turn turns to the rotation of traveling wheel 12 between the first state and a second state.Specifically, steering motor 15 and first bevel gear 16 connections.Second bevel gear 17 is engaged with first bevel gear 16 and is connected with turning to shaft 14.Based on this, when Prospect of Robot Sorting System 1 When running to the intersection of the first track 2a and the second track 2b, steering motor 15 can be started, drive 16 He of first bevel gear Second bevel gear 17 rotates, and steering shaft 14 is made to rotate 90 °, and traveling wheel 12 is driven to rotate 90 °, second is switched to by first state State realizes automatic reverse.For example, when Prospect of Robot Sorting System 1 needs to be transformed to longitudinal driving by cross running, in the first track The intersection of 2a and the second track 2b can be driven first bevel gear 16 and second bevel gear 17 to rotate by steering motor 15, made It turns to shaft and rotates 90 °, drive traveling wheel 12 by walking shaft 122 and second track 2b (long rails) parallel rotation to walking Shaft 122 is parallel with the first track 2a (cross track), then enables Prospect of Robot Sorting System 1 by walking along the first track 2a It switches to and walks along the second track 2b.

It should be appreciated that the realization method of steering driving mechanism is not limited to aforementioned manner.For example, steering driving mechanism can be with Using the power-equipment outside motor as steering power mechanism, other mechanisms outside gear mechanism can also be used to be used as and turned To transmission mechanism；For another example turning to driving structure can not also correspondingly be drivingly connected with each traveling wheel 12, but only One steering driving mechanism is set, and the steering driving mechanism is made to be drivingly connected with each traveling wheel 12, and the steering is driven Motivation structure is configured to drive each traveling wheel 12 synchronously by first in the intersection of the first track 2a and the second track 2b State turns to the second state.

In addition, to enable Prospect of Robot Sorting System 1 switchably along the first track 2a and the second track 2b rows to intersect each other It walks, is also not limited to traveling wheel 12 being configured to the mode turned in the intersection of the first track 2a and the second track 2b. For example, alternatively, traveling wheel 12 can also be arranged to to include two sub- wheel units, and by two sub- wheel units It is arranged to switchably contact with the first track 2a and the second track 2b, i.e. being respectively set to two sub- wheel units being capable of edge The first track 2a and the second track 2b walkings, and two sub- wheel units are disposed as it is liftable, so can be first The intersection of track 2a and the second track 2b depart from itself corresponding track and will be another by the way that a sub- wheel unit is raised up to A sub- wheel unit is transferred to rail contact corresponding with itself, to realize Prospect of Robot Sorting System 1 in the first track 2a and the second track Switching walking between 2b.Compared to this alternative, it is illustrated that be configured to traveling wheel 12 used by embodiment The mode that the intersection of first track 2a and the second track 2b turn to, structure is simpler, and control is more convenient, and commutation is more increased Effect.

The foregoing is merely the exemplary embodiments of the utility model, are not intended to limit the utility model, all in this reality Within new spirit and principle, any modifications, equivalent replacements and improvements are made should be included in the utility model Within protection domain.

Claims (10)

1. a kind of item picking system, which is characterized in that including Prospect of Robot Sorting System (1) and track structure (2), wherein：The rail Road structure (2) sets and which is provided with the first track (2a) to intersect each other and the second track (2b) aerially；The picker Device people (1) is suspended to below the track structure (2), and the Prospect of Robot Sorting System (1) is along first track (2a) and described Second track (2b) switchably walks and treats selection article (5) and chosen.

2. item picking system according to claim 1, which is characterized in that the Prospect of Robot Sorting System (1) includes robot Body (11) and traveling wheel (12), the robot body (11) are connected by the traveling wheel (12) and the track structure (2) It connecing, the traveling wheel (12) can be walked along first track (2a) and second track (2b), also, described the The intersection of one track (2a) and second track (2b), the traveling wheel (12) can be turned to the second shape by first state State, in the first state, the traveling wheel (12) is along in first track (2a) and second track (2b) One walking, in second state, the traveling wheel (12) is along first track (2a) and second track Another walking in (2b).

3. item picking system according to claim 2, which is characterized in that the traveling wheel (12) includes two sons and takes turns (121) and the walking shaft (122) that is connected between two sub- wheels (121), described two sub- wheels (121) can be around described Shaft of walking (122) rotates synchronously, to realize the walking of the Prospect of Robot Sorting System (1).

4. item picking system according to claim 2, which is characterized in that the Prospect of Robot Sorting System (1) includes at least two A traveling wheel (12), in first track (2a) and the intersection of second track (2b), at least two row Walk wheel (12) synchronously can turn to second state by the first state.

5. according to any item picking systems of claim 2-4, which is characterized in that the Prospect of Robot Sorting System (1) is also wrapped Include steering driving mechanism, the steering driving mechanism is for driving the traveling wheel (12) in first track (2a) and described The intersection of second track (2b) turns to second state by the first state.

6. item picking system according to claim 5, which is characterized in that the Prospect of Robot Sorting System (1) includes at least two A traveling wheel (12), wherein：

The steering driving mechanism is drivingly connected at least two traveling wheel (12) and can be in first track The intersection of (2a) and second track (2b) drives at least two traveling wheel (12) synchronously by the first state Turn to second state；Alternatively,

The Prospect of Robot Sorting System (1) include at least two steering driving mechanisms, at least two steering driving mechanism with At least two traveling wheel (12) is drivingly connected correspondingly, and in first track (2a) and second track The intersection of (2b), each steering driving mechanism can synchronously drive corresponding traveling wheel (12) by described First state turns to second state.

7. item picking system according to claim 1, which is characterized in that the track structure (2) is arranged to hold On the roof (4) for putting the warehouse of the article (5) to be chosen.

8. item picking system according to claim 7, which is characterized in that the track structure (2) includes two transverse parts (21) and the vertical part (22) that is connected between described two transverse parts (21), first track (2a) and second track (2b) It is arranged on the transverse part (21), the track structure (2) passes through one in described two transverse parts (21) and the warehouse Roof (4) connects, and the Prospect of Robot Sorting System (1) is supported on another in described two transverse parts (21).

9. item picking system according to claim 1, which is characterized in that the track structure (2) is equipped at least two A first track (2a), second track (2b) are intersected with each first track (2a)；And/or the rail Road structure (2) is equipped at least two second tracks (2b), first track (2a) and each second track (2b) is intersecting.

10. item picking system according to claim 1, which is characterized in that first track (2a) and described second Track (2b) intersects perpendicular to each other.