CN208932191U - A kind of automatic unloading system and its robot of unloading automatically - Google Patents

Abstract

The utility model discloses a kind of automatic unloading system and its automatically it unloads robot, automatic robot of unloading includes: AGV ontology and the shelf that are set on AGV ontology；Shelf include the goods yard that several are used to place article；Each goods yard is equipped with the conveying mechanism for the article on goods yard to be delivered to destination.The utility model realizes article and docks with the point-to-point of goods yard is connect, and improves the accuracy of the sending objects of robot；The unmanned of robot unloading, automation and intelligence are realized simultaneously.

Description

A kind of automatic unloading system and its robot of unloading automatically

Technical field

The utility model relates to AGV technical field, espespecially a kind of automatic unloading system and its robot of unloading automatically.

Background technique

With the popularization and fast development of manual intelligent, AGV intelligent distribution is also gradually employed a field, such as hospital Dispensing system, logistics system etc..

The article of existing AGV single conveying is few, and cannot achieve automation and intelligent unloading, therefore, when AGV is defeated When sending article one destination of every arrival, requires to wait artificial discharging, waste time very much, reduce the dispatching efficiency of AGV； Since the existing AGV article loaded is stacked upon, it is unable to reach article and the one-to-one relationship in goods yard, so that people It needs to judge and look for when work is unloaded and is derived from the article that oneself needs to unload, waste of manpower and time, further reduced the dispatching of AGV Efficiency；Simultaneously because the article that existing AGV is loaded is stacked upon, it is corresponding with its own that AGV cannot achieve article The corresponding relationship in landing place, that is, cannot achieve article and landing place is one-to-one precisely with cargo interests formula.In summary, at me In the case that state's aging is on the rise, human cost is got higher increasingly, the unmanned and precision of AGV delivery system how is realized It is those skilled in the art's problem urgently to be resolved.

Summary of the invention

The purpose of the utility model is to provide a kind of automatic unloading system and its automatically unload robot, realize article with The point-to-point docking for connecing goods yard, improves the accuracy of the sending objects of robot；Robot unloading is realized simultaneously Unmanned, automation and intelligence.

The technical scheme that the utility model is provided is as follows:

A kind of automatic unloading robot, including

AGV ontology and the shelf being set on the AGV ontology；

The shelf include the goods yard that several are used to place article；

Each described goods yard is equipped with the conveying mechanism for the article on the goods yard to be delivered to destination.

In the technical program, by the setting in multiple goods yards on shelf, the big of robot single conveying capacity is realized It is big to be promoted, and since each goods yard is equipped with a conveying mechanism, so that the accurate conveying of the article in each goods yard is realized, It realizes article and docks (i.e. one-to-one dispatching) with the point-to-point of destination, improve the accurate of the sending objects of robot Degree；Since the presence of conveying mechanism is waited without the staff of the distribution unloading article at destination without original place Until the article of required dispatching is removed, the unmanned of robot delivery system, automation and intelligent unloading are realized, greatly The item dispenser efficiency of robot is improved greatly；Due to being not necessarily to artificial discharging, the manpower for reducing enterprise is thus greatly reduced Cost.

It is further preferred that two neighboring goods yard is mutually indepedent, and each goods yard is equipped with for preventing article in described The protection structure that goods yard is fallen；The protection structure includes being fixedly arranged on the nonfloating rail mechanism in the goods yard, and be set to described Goods yard is used to export the movable rail mechanism of the output end of article；It is described after the movable rail mechanism appears the output end The article in the goods yard is delivered to destination by conveying mechanism.

In the technical program, in order to avoid robot transmission process article falls phenomenon and item dispenser is caused to lose It loses, structure is protected by setting；And the output end setting of corresponding article effectively avoids convenient for the movable rail mechanism of article output Interference problem in protection structure and conveying mechanism actuation process.

It is further preferred that the movable rail mechanism includes the guardrail for crossing at the output end, and first motor, first Synchronizing shaft and a pair of of the Synchronization Component for being relatively arranged on the output end two sides, i.e. the first Synchronization Component and the second synchronization group Part；The Synchronization Component includes the first synchronizing wheel, the first driven wheel and the first synchronous piece；First synchronous piece respectively with institute State the first synchronizing wheel and first driven wheel tensioning connection；The first of one end of the guardrail and first Synchronization Component is same Part connection is walked, the other end of the guardrail is connect with the first synchronous piece of second Synchronization Component；First Synchronization Component The first synchronizing wheel pass through the described first synchronous axis connection, the first motor with the first synchronizing wheel of second Synchronization Component First synchronizing shaft is driven to rotate, so that the guardrail rises or falls along the short transverse of the shelf.

It is further preferred that one end of the guardrail at least two goods yards is synchronous with the first of first Synchronization Component Part connection, the other end of the guardrail at least two goods yards are connect with the first synchronous piece of second Synchronization Component.

In the technical program, according to the application scenarios of robot, the guardrail in each goods yard can individually be gone up and down, can also two The guardrail in a or more than two goods yards is gone up and down simultaneously, to improve the scope of application of robot, meets the need of different clients It asks.

It is further preferred that the movable rail mechanism includes the door for being covered on the output end, rotary shaft and the second electricity Machine；The door is connected to the side of the output end by the rotary shaft axis；The rotary shaft is connect with the second motor, and described The rotation of rotary shaft described in two motor drivens, so that the door rotates in the rotary shaft and exposes the goods yard.

It is further preferred that the rotary shaft of at least two movable rail mechanisms is connect with second motor.

In the technical program, according to the application scenarios of robot, the door in each goods yard can be opened and closed individually, can also be two Or the door in more than two goods yards opens and closes simultaneously, to improve the scope of application of robot, meets the needs of different clients.

It is further preferred that each goods yard is equipped with the card reader of RFID label tag for identification.

In the technical program, the Item Information in each goods yard is obtained for the ease of delivery system, can be known by card reader RFID label tag on other article, to realize that delivery system obtains the automation of Item Information and intelligence, fast and accurately.

It is further preferred that the conveying mechanism includes first conveyer belt, drive roller shaft, driven roll shaft and third motor； The first conveyer belt and the tensioning of the drive roller shaft and the driven roll shaft connect, so that the upper surface of the first conveyer belt Form the goods yard；The third motor is connect with the drive roller shaft, the rotation of drive roller shaft described in the third motor driven, So that the first conveyer belt is advanced towards the output end, the article positioned at the goods yard is transported to destination；Or, described Conveying mechanism includes first conveyer belt, drive roller shaft, driven roll shaft, supporting element and third motor；The first conveyer belt and institute Drive roller shaft and driven roll shaft tensioning connection are stated, so that the upper surface of the first conveyer belt forms the goods yard；It is described Supporting element is set to the lower section of the first conveyer belt；The third motor is connect with the drive roller shaft, and the third motor drives The drive roller shaft rotation is moved, so that the first conveyer belt is advanced towards the output end, the article quilt positioned at the goods yard It is delivered to destination；Or, the conveying mechanism includes the first driving lever, the first driving wheel, the second driven wheel, synchronous belt and the 4th electricity Machine；The synchronous belt is connected with first driving wheel and the tensioning of the second driven wheel respectively；First driving lever is set to described Synchronous belt, and far from the goods yard for exporting the output end of article；4th motor is connect with first driving wheel, institute The rotation of the first driving wheel described in the 4th motor driven is stated, so that the synchronous belt drives first driving lever close to or far from described Output end；Or, the conveying mechanism includes the second driving lever, the second driving wheel, third driven wheel, synchronous chain and the 5th motor；Institute Synchronous chain is stated to connect with second driving wheel and the tensioning of third driven wheel respectively；Second driving lever is set to the synchronization Chain, and far from the goods yard for exporting the output end of article；5th motor is connect with second driving wheel, and described The rotation of second driving wheel described in five motor drivens, so that the synchronous chain drives second driving lever close to or far from the output End；Or, the conveying mechanism includes third driving lever and linear motor, the third driving lever is set to pushing away for the linear motor Bar, and far from the goods yard for exporting the output end of article；The linear motor drive the third driving lever close to or far from The output end.

In the technical program, the implementation of conveying mechanism is varied, can be carried out according to the application scenarios of robot Selection.When such as needing to dispense lighter article, then stirred by conveyer belt conveying or driving lever；If dispensing heavier object The mode of movement that conveyer belt has supporting element then may be selected in product, so that conveyer belt provides conveying power, and supporting element provides branch Support force, convenient for the conveying of the article of weight.

The utility model additionally provides a kind of automatic unloading system, comprising:

Several automatic unloading robots, host computer, several be used to place article connect goods platform；

The automatic unloading robot includes AGV ontology and the shelf that are set on the AGV ontology；The shelf packet Several are included for placing the goods yard of article；Each goods yard is equipped with for the article on the goods yard to be delivered to destination Conveying mechanism；

The host computer obtains target and unloads automatically the Item Information of robot；And according to Item Information planning Target is unloaded the discharge path of robot, target unloading robot according to the discharge path row to the planning path Corresponding to connect goods platform, target item is delivered to and corresponding connects goods platform by the conveying mechanism.

In the technical program, by the setting in multiple goods yards on shelf, the big of robot single conveying capacity is realized It is big to be promoted, and since each goods yard is equipped with a conveying mechanism, so that the accurate conveying of the article in each goods yard is realized, It realizes article and docks (i.e. one-to-one dispatching) with the point-to-point of destination, improve the accurate of the sending objects of robot Degree；Since the presence of conveying mechanism is waited without the staff of the distribution unloading article at destination without original place Until the article of required dispatching is removed, the unmanned of robot delivery system, automation and intelligent unloading are realized, greatly The item dispenser efficiency of robot is improved greatly；Due to being not necessarily to artificial discharging, the manpower for reducing enterprise is thus greatly reduced Cost.

It is further preferred that the goods platform that connects includes that several connect goods yard, the goods yard that connects is by close to the goods yard one Side is directed away from the goods yard one and is sloped downwardly.

In the technical program, article is accepted for the ease of connecing goods platform, it is improved and connects goods speed and efficiency, will be used to place The goods yard that connects of article is obliquely installed, so that article is easier to slide in the presence of its gravity in connecing goods yard.

A kind of automatic unloading system provided by the utility model and its robot of unloading automatically can bring following at least one Kind the utility model has the advantages that

1, in the utility model, by the setting in multiple goods yards on shelf, robot single conveying capacity is realized It greatly promotes, and since each goods yard is equipped with a conveying mechanism, to realize the accurate defeated of the article in each goods yard It send, that is, realizes article with the point-to-point of destination and dock (i.e. one-to-one dispatching), improve the sending objects of robot Accuracy；Due to the presence of conveying mechanism, without the staff of the distribution unloading article at destination, without original place Waiting is removed up to the article of required dispatching, is realized the unmanned of robot delivery system, automation and intelligence and is unloaded Goods substantially increases the item dispenser efficiency of robot；Due to being not necessarily to artificial discharging, thus greatly reducing reduces enterprise Human cost.

2, in the utility model, the achievable structure for avoiding article from falling in robot transmission process is more, And the achievable mode for realizing that article is delivered to the conveying mechanism of destination in goods yard is also very much, it can be according to the application of robot Scene is configured, and is substantially increased the applicability and harmony of robot, is met different clients demand.

3, in the utility model, a card reader is arranged in each goods yard, so that realizing system obtains Item Information Automation and intelligent, convenient and efficient, the sound of the planning path so as to shorten system based on Item Information planning robot Between seasonable, so as to shorten entire distribution time, the working efficiency of system is improved.

Detailed description of the invention

Below by clearly understandable mode, preferred embodiment is described with reference to the drawings, to automatic unloading system and its certainly Above-mentioned characteristic, technical characteristic, advantage and its implementation of dynamic unloading robot are further described.

Fig. 1 is the first example structure schematic diagram of the automatic unloading robot of the utility model；

Fig. 2 is second of example structure schematic diagram of the automatic unloading robot of the utility model；

Fig. 3 is the first example structure schematic diagram of the automatic unloading system of the utility model；

Fig. 4 is the third example structure schematic diagram of the automatic unloading robot of the utility model；

Fig. 5 is the 4th kind of example structure schematic diagram of the automatic unloading robot of the utility model；

Fig. 6 is second of example structure schematic diagram of the automatic unloading system of the utility model；

Fig. 7 is a kind of example structure schematic diagram for connecing goods platform of the utility model.

Drawing reference numeral explanation:

1.AGV ontology, 11.L type vehicle frame, 12. wheels, 2. shelf, 21. goods yards, 211. output ends, 2211., 2221. Guardrail, 2231. first conveyer belts, 3. connect goods platform, and 31. connect goods yard, 4. articles.

Specific embodiment

In order to illustrate the embodiment of the utility model or the technical proposal in the existing technology more clearly, attached drawing will be compareed below Illustrate specific embodiment of the present utility model.It should be evident that the accompanying drawings in the following description is only the one of the utility model A little embodiments for those of ordinary skill in the art without creative efforts, can also be according to these Attached drawing obtains other attached drawings, and obtains other embodiments.

To make simplified form, part relevant to the utility model is only schematically shown in each figure, they are simultaneously Its practical structures as product is not represented.In addition, so that simplified form is easy to understand, have in some figures identical structure or The component of function, only symbolically depicts one of those, or has only marked one of those.Herein, "one" is not It only indicates " only this ", can also indicate the situation of " more than one ".Herein, it should be noted that unless otherwise bright True regulation and restriction, term " installation ", " connected ", " connection " shall be understood in a broad sense, for example, it may be fixedly connected, it can also To be to be detachably connected, or be integrally connected；It can be mechanical connection, be also possible to be electrically connected；It can be directly connected, it can also Indirectly connected through an intermediary, can be the connection inside two elements.For the ordinary skill in the art, The concrete meaning of above-mentioned term in the present invention can be understood with concrete condition.

In example 1, as shown in figs. 1-7, a kind of automatic unloading robot, including AGV ontology 1 and it is set to AGV Shelf 2 on ontology 1；Shelf 2 include the goods yard 21 that several are used to place article 4；Each goods yard 21 is equipped with for by goods Article 4 on position 21 is delivered to the conveying mechanism of destination.In the present embodiment, due to multiple goods yards 21 settable on shelf 2, from And the quantity of robot single conveying article 4 is improved, improve the allocative efficiency of the delivery system of robot；Due to every One goods yard 21, which is equipped with one, to be realized for conveying the conveying mechanism of article 4 to realize the automatic unloading of robot The unmanned of the delivery system of robot, automation and intelligence；Single goods yard 21 and single destination one are realized simultaneously One corresponding relationship improves the accuracy of delivery system.

In example 2, as shown in figs. 1-7, on the basis of example 1, two neighboring goods yard 21 is mutually indepedent, and Each goods yard 21 is equipped with the protection structure for preventing article 4 from falling in goods yard 21；Protection structure includes being fixedly arranged on goods yard 21 Nonfloating rail mechanism, and set on goods yard 21 be used for export article 4 output end 211 movable rail mechanism；Movable rail After mechanism appears output end 211, the article 4 in goods yard 21 is delivered to destination by conveying mechanism.In order to avoid robot is defeated During sending, the walking such as the uneven of road surface, climbing, descending road conditions, which will lead to, to be placed in the article 4 in goods yard 21 and is easy to happen Phenomena such as displacement, sliding and easily there is the bad phenomenon that 4 midway of article is fallen, and then cause article 4 that can not be sent in time mesh Ground, and the article 4 for also needing manual cleaning to fall, very trouble.If that robot is carried is drug or doctor in hospital When treating instrument, even more delay the treatment of patient.Structure is protected by setting, so that article 4 is the inside that circle is located at protection structure On space (i.e. goods yard 21), it is worth noting that, protection structure can be enclosed construction, as shown in Figure 1-3,21 top of goods yard Five positions are equipped with partition, so that goods yard 21 is a closed space when conveying article 4.Protecting structure can also be opened type Structure, as Figure 4-Figure 6, one or more of the top in goods yard 21, left side, right side, front side or rear side are put position and are equipped with and goods 21 identical channels of position.Therefore, protecting the design of structure can be designed according to the application scenarios etc. of robot.Preferably, The output end 211 in goods yard 21 can be that one or two then corresponds to output end 211 and set when the output end 211 in goods yard 21 is one The movable rail mechanism set is one；When the output end 211 in goods yard 21 is two, then the activity of the setting of output end 211 is corresponded to Guardrail mechanism is two.In practical applications, when robot only needs unilateral conveying article 4, then it is preferably provided with an output End 211；When robot needs two sides to convey article 4, to save transferring to other use, turn round, positioning for robot two sides conveying article 4 Deng movement and its required space of walking, the optimizations such as mode, path of robot unloading are realized, to improve delivery system Efficient operation.Certainly, the two sides of article 4 can also be realized and the output end 211 in different goods yards 21 is carried out not ipsilateral be arranged Dispatching.When goods yard 21 is arranged in array, and the goods yard 21 of row and track column causes when being two, then two be disposed adjacent Goods yard 21 can share mutual protection structure, and such as along two goods yards 21 that short transverse is set gradually, a upper goods yard 21 is formed Protect knot in the right side of the top protection structure in lower goods yard 21, and two goods yards 21 set gradually in left-right direction, left goods yard 21 Protect structure in the left side that structure can become right goods yard 21.

In the third embodiment, as shown in Figure 1-3, on the basis of example 2, movable rail mechanism is defeated including being covered on The door 2211 of outlet 211, rotary shaft and the second motor；Door 2211 is connected to the side of output end 211 by rotary shaft axis；Rotary shaft It is connect with the second motor, the rotation of the second motor driven rotary shaft, so that door 2211 rotates in rotary shaft and exposes goods yard 21.In reality In the application of border, when goods yard 21 needs to load article 4, then rotary shaft can be rotated by the second motor, and then realize and be set to output The unlatching of the door 2211 at end 211 after article 4 places on goods yard 21, is led to so that article 4 places article 4 from output end 211 The second motor rotation rotary shaft is crossed, and then realizes the closing for being set to the door 2211 of output end 211, to realize the dimension to article 4 Shield effect, during transportation, door 2211 is constantly in closed state, needs to convey article 4 until arriving at the destination, door 2211 It first opens, then the article 4 on corresponding goods yard 21 is delivered to designated destination by conveying mechanism.Preferably, at least two is living The rotary shaft of dynamic guardrail mechanism is connect with the second motor.In practical applications, when article 4 is delivered to destination by needs batch When, it can be realized open and close by same second motor by the door 2211 in the goods yard 21 where the article of batch feed 4 at this time, thus Transfer efficiency is improved, and optimizes the topology layout of shelf 2, improves the compactedness of shelf 2.Certainly, in practical applications, Can setting corresponding to the door 2211 in goods yard 21 where the article 4 by starting batch feed simultaneously the second motor, thus real The batch feed of the article 4 of existing batch feed.Preferably, door 2211 can be articulated with the same of each output end 211 as needed Bian Shang is such as articulated with the top, the left side, the right or following in goods yard 21.It is worth noting that when shelf 2 be equipped with it is self-locking and When the door 2211 of closing, it can be used for conveying valuables or the article (some drugs in such as hospital) with Permission Levels, make After obtaining the identification that staff passes through the identity recognizer progress identity and/or permission that are arranged on counter 2 or its station, the machine Device talent conference will be opened based on host computer with the door 2211 where article corresponding to staff's identity and/or permission And realize the dispatching of article.

In example IV, as Figure 4-Figure 6, on the basis of example 2, movable rail mechanism is defeated including crossing at The guardrail 2221 of outlet 211, first motor, the first synchronizing shaft and a pair of of the synchronization group for being relatively arranged on 211 two sides of output end Part, i.e. the first Synchronization Component and the second Synchronization Component；Synchronization Component includes that the first synchronizing wheel, the first driven wheel and first are synchronous Part；First synchronous piece is connected with the first synchronizing wheel and the tensioning of the first driven wheel respectively；One end of guardrail 2221 and the first synchronization group First synchronous piece of part connects, and the other end of guardrail 2221 is connect with the first synchronous piece of the second Synchronization Component；First synchronization group For first synchronizing wheel of part with the first synchronizing wheel of the second Synchronization Component by the first synchronous axis connection, first motor driving first is same Axis rotation is walked, so that guardrail 2221 rises or falls along the short transverse of shelf 2.In practical applications, when goods yard 21 needs to fill When carrying or unloading article 4, first motor drives the rotation of the first synchronizing shaft, to realize the decline of guardrail 2221；When unloading article 4 When, after guardrail 2221 declines, article 4 is delivered to corresponding destination by conveying mechanism.Preferably, at least two goods yard 21 One end of guardrail 2221 connect with the first synchronous piece of the first Synchronization Component, the guardrail 2221 at least two goods yards 21 it is another End is connect with the first synchronous piece of the second Synchronization Component.In practical applications, when article 4 is delivered to destination by needs batch When, it can be gone up and down, be added by the same first motor by the guardrail 2221 in the goods yard 21 where the article of batch feed 4 at this time The efficiency get in stocks fastly, unloaded, and improve the structural compactness of shelf 2.It is worth noting that the first synchronous piece can for synchronous chain or Synchronous belt.

In embodiment five, as shown in figs. 1-7, on the basis of embodiment one, two, three or four, each goods yard 21 is set There is the card reader of RFID label tag for identification.It in practical applications, can be by the RFID of reader identification by the setting on article 4 Label, it is preferable that RFID label tag is loaded with the Item Information of article 4, so that delivery system was gone out by reader identification The content of RFID label tag and know Item Information, convenient for the path planning to the robot for being loaded with the article 4, realize system Automation, intelligence and unmanned management.It is worth noting that card reader is preferably fixedly arranged on the output end 211 in goods yard 21, then The RFID label tag of article 4 is arranged preferably adjacent to the output end 211 in goods yard 21.

In embodiment six, as shown in figs. 1-7, on the basis of embodiment one, two, three, four or five, conveying mechanism includes First conveyer belt 2231, drive roller shaft, driven roll shaft and third motor；First conveyer belt 2231 and drive roller shaft and driven roll shaft Tensioning connection, so that the upper surface of first conveyer belt 2231 forms goods yard 21；Third motor is connect with drive roller shaft, third motor Drive roller shaft rotation is driven, so that first conveyer belt 2231 is advanced towards output end 211, the article 4 positioned at goods yard 21 is conveyed To destination.Preferably, when robot needs to convey heavier article 4, it is preferable that the lower section of first conveyer belt 2231 is set There is supporting element.So that conveyer belt provides conveying power, and supporting element provides support force, convenient for the conveying of the article 4 of weight.In reality In, supporting element can be support plate；Supporting element can also be unpowered roll shaft, and unpowered roller is located in drive roller shaft and driven Between roll shaft, and it is arranged in parallel with drive roller shaft and driven roll shaft；Certainly, supporting element can also be power roll shaft, at this time power roller Axis can by synchronization mechanism and drive roller shaft and driven roll shaft under the driving of third motor rotating Vortex together.It is worth explanation It is that, when conveying mechanism is conveyer belt, the output end 211 in goods yard 21 can be one or two at this time.

In embodiment seven, as shown in figs. 1-7, on the basis of embodiment one, two, three, four or five, conveying mechanism includes First driving lever, the first driving wheel, the second driven wheel, synchronous belt and the 4th motor；Synchronous belt respectively with the first driving wheel and second Driven wheel tensioning connection；First driving lever is set to synchronous belt, and is used to export the output end 211 of article 4 far from goods yard 21；4th Motor is connect with the first driving wheel, the 4th the first driving wheel of motor driven rotation so that synchronous belt drive the first driving lever it is close or Far from output end 211.When needing to unload, the 4th the first driving wheel of motor driven rotation, so that synchronous belt is towards output end 211 Advance, so that article 4 is allocated to destination from goods yard 21 by the first driving lever.It is worth noting that when conveying mechanism is conveying When band, the output end 211 in goods yard 21 is one at this time.

In embodiment eight, as shown in figs. 1-7, on the basis of embodiment one, two, three, four or five, conveying mechanism includes Third driving lever and linear motor, third driving lever are set to the push rod of linear motor, and far from goods yard 21 for exporting the defeated of article 4 Outlet 211；Linear motor drives third driving lever close to or far from output end 211.When needing to unload, linear motor direction output 211 movement of end, so that article 4 is allocated to destination from goods yard 21 by third driving lever.It is worth noting that when conveying mechanism is When linear motor, the output end 211 in goods yard 21 is one at this time.

Article 4 in above-described embodiment can be of article 4 itself, can also be the article frame or article for storing article 4 Basket etc..And destination can also can be used for placing multiple articles to connect goods yard 31 correspondingly with the goods yard 21 of shelf 2 for one 4 large platform, does not just repeat one by one here.Preferably, the man-machine interface that robot is equipped with convenient for human-computer interaction, is such as used for It identifies identity information or the purview certification etc. of staff, and realizes opening or closing for goods yard 21.Preferably, robot is also Equipped with for positioning purposes infrared positioning mechanism or laser positioning mechanism.Preferably, AGV ontology 1 includes L-type vehicle frame, with And it is set to the wheel of L-type vehicle frame, wherein shelf 2 are fixedly arranged on the interior right angle of L-type vehicle frame.In order to guarantee the outer of robot Aesthetic feeling and uniformity are seen, except the mechanism or part structures that must expose are revealed in the outside of robot, other components quilt The inside of integrated shelf 2 is without being revealed in external environment.

In embodiment nine, as shown in figs. 1-7, a kind of automatic unloading system, comprising: several above-mentioned any one are implemented Automatic unloading robot described in example, host computer, several be used to place article 4 connect goods platform 3；Host computer obtains target certainly The Item Information of dynamic unloading robot；And according to the discharge path of Item Information object of planning unloading robot, target decrater Device people connects goods platform 3 to corresponding with planning path according to discharge path row, and target item is delivered to corresponding by conveying mechanism Connect goods platform 3.It is worth noting that the Item Information that host computer obtains robot can be believed for the article of its prior default settings Breath, i.e., the article 4 in robot are that staff or robot of getting in stocks are carried out according to the Item Information of host computer default settings It gets in stocks；The Item Information that host computer obtains robot can also be manually entered for staff or manual scanning obtains；Certainly, on The Item Information of position machine acquisition robot can also be the RFID label tag for the card reader automatic identification article 4 being arranged on goods yard 21 And it realizes.

In embodiment ten, as shown in figs. 1-7, connecing goods platform 3 includes that several connect goods yard 31, connects goods yard 31 by close to goods 21 sides of position are directed away from goods yard 21 and are sloped downwardly.Preferably, the arrangement mode for connecing goods yard 31 and the goods yard 21 on shelf 2 Arrangement mode it is identical and correspond.As shown in Figure 1-3, the goods yard 21 on shelf 2 is two column, four row 8, and it is corresponding, connect goods The goods yard 31 that connects on platform 3 is also two column, four row 8.Such as Fig. 4-7, the goods yard 21 on shelf 2 is that a column are 2 two rows of, corresponding, Connect on goods platform 3 to connect goods yard 31 also be a column two rows of 2.Preferably, when robot row is to when connecing goods platform 3, pass through it Infrared positioning mechanism and/or laser positioning mechanism the docking goods yard 31 of itself are positioned, and article 4 is then conveyed.

It should be noted that above-described embodiment can be freely combined as needed.The above is only the utility model Preferred embodiment, it is noted that for those skilled in the art, do not departing from the utility model principle Under the premise of, several improvements and modifications can also be made, these improvements and modifications also should be regarded as the protection scope of the utility model.

Claims (14)

1. a kind of automatic unloading robot characterized by comprising

AGV ontology and the shelf being set on the AGV ontology；

The shelf include the goods yard that several are used to place article；

Each described goods yard is equipped with the conveying mechanism for the article on the goods yard to be delivered to destination.

2. automatic unloading robot according to claim 1, it is characterised in that:

Two neighboring goods yard is mutually indepedent, and each goods yard is equipped with the protection knot for preventing article from falling in the goods yard Structure；

The protection structure includes being fixedly arranged on the nonfloating rail mechanism in the goods yard, and be used to export article set on the goods yard Output end movable rail mechanism；

After the movable rail mechanism appears the output end, the article in the goods yard is delivered to purpose by the conveying mechanism Ground.

3. automatic unloading robot according to claim 2, it is characterised in that:

The movable rail mechanism includes the guardrail for crossing at the output end, first motor, the first synchronizing shaft and opposite is set It is placed in a pair of of Synchronization Component of the output end two sides, i.e. the first Synchronization Component and the second Synchronization Component；The Synchronization Component packet Include the first synchronizing wheel, the first driven wheel and the first synchronous piece；First synchronous piece respectively with first synchronizing wheel and institute State the tensioning connection of the first driven wheel；

One end of the guardrail is connect with the first synchronous piece of first Synchronization Component, the other end of the guardrail and described the First synchronous piece of two Synchronization Component connects；

First synchronizing wheel of first Synchronization Component and the first synchronizing wheel of second Synchronization Component are same by described first Axis connection is walked, the first motor drives the first synchronizing shaft rotation, so that short transverse of the guardrail along the shelf It rises or falls.

4. automatic unloading robot according to claim 3, it is characterised in that:

One end of the guardrail at least two goods yards is connect with the first synchronous piece of first Synchronization Component, at least two institutes The other end for stating the guardrail in goods yard is connect with the first synchronous piece of second Synchronization Component.

5. automatic unloading robot according to claim 2, it is characterised in that:

The movable rail mechanism includes the door for being covered on the output end, rotary shaft and the second motor；

The door is connected to the side of the output end by the rotary shaft axis；

The rotary shaft is connect with the second motor, the rotation of rotary shaft described in second motor driven, so that the door Yu Suoshu Rotary shaft rotates and exposes the goods yard.

6. automatic unloading robot according to claim 5, it is characterised in that:

The rotary shaft of at least two movable rail mechanisms is connect with second motor.

7. automatic unloading robot according to claim 1, it is characterised in that:

Each goods yard is equipped with the card reader of RFID label tag for identification.

8. the automatic unloading robot according to claim 2-6 any one, it is characterised in that:

The conveying mechanism includes first conveyer belt, drive roller shaft, driven roll shaft and third motor；The first conveyer belt and institute Drive roller shaft and driven roll shaft tensioning connection are stated, so that the upper surface of the first conveyer belt forms the goods yard；It is described Third motor is connect with the drive roller shaft, the rotation of drive roller shaft described in the third motor driven, so that first conveying Band advances towards the output end, and the article positioned at the goods yard is transported to destination.

9. the automatic unloading robot according to claim 2-6 any one, it is characterised in that:

The conveying mechanism includes first conveyer belt, drive roller shaft, driven roll shaft, supporting element and third motor；Described first is defeated Band is sent to connect with the drive roller shaft and driven roll shaft tensioning, so that the upper surface of the first conveyer belt forms the goods Position；The supporting element is set to the lower section of the first conveyer belt；The third motor is connect with the drive roller shaft, the third The rotation of drive roller shaft described in motor driven, so that the first conveyer belt is advanced towards the output end, positioned at the goods yard Article is transported to destination.

10. the automatic unloading robot according to claim 2-6 any one, it is characterised in that:

The conveying mechanism includes the first driving lever, the first driving wheel, the second driven wheel, synchronous belt and the 4th motor；The synchronization Band is connected with first driving wheel and the tensioning of the second driven wheel respectively；First driving lever is set to the synchronous belt, and remote From the output end that the goods yard is used to export article；4th motor is connect with first driving wheel, the 4th motor First driving wheel is driven to rotate, so that the synchronous belt drives first driving lever close to or far from the output end.

11. the automatic unloading robot according to claim 2-6 any one, it is characterised in that:

The conveying mechanism includes the second driving lever, the second driving wheel, third driven wheel, synchronous chain and the 5th motor；The synchronization Chain is connected with second driving wheel and the tensioning of third driven wheel respectively；Second driving lever is set to the synchronous chain, and remote From the output end that the goods yard is used to export article；5th motor is connect with second driving wheel, the 5th motor Second driving wheel is driven to rotate, so that the synchronous chain drives second driving lever close to or far from the output end.

12. the automatic unloading robot according to claim 2-6 any one, it is characterised in that:

The conveying mechanism includes third driving lever and linear motor, and the third driving lever is set to the push rod of the linear motor, And it is used to export the output end of article far from the goods yard；The linear motor drives the third driving lever close to or far from described Output end.

13. a kind of automatic unloading system characterized by comprising

Several automatic unloading robots, host computer, several be used to place article connect goods platform；

The automatic unloading robot includes AGV ontology and the shelf that are set on the AGV ontology；If the shelf include Dry for placing the goods yard of article；Each goods yard is equipped with the conveying for the article on the goods yard to be delivered to destination Mechanism；

The host computer obtains target and unloads automatically the Item Information of robot；And the target is planned according to the Item Information The discharge path of unloading robot, the target unloading robot are extremely corresponding with the discharge path according to the discharge path row Connect goods platform, target item is delivered to and corresponding connects goods platform by the conveying mechanism.

14. automatic unloading system according to claim 13, it is characterised in that:

The goods platform that connects includes that several connect goods yard, and the goods yard that connects is by being directed away from the goods yard close to the goods yard side One is sloped downwardly.