CN210557148U - Turnover box type sorting robot - Google Patents
Turnover box type sorting robot Download PDFInfo
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- CN210557148U CN210557148U CN201921066894.9U CN201921066894U CN210557148U CN 210557148 U CN210557148 U CN 210557148U CN 201921066894 U CN201921066894 U CN 201921066894U CN 210557148 U CN210557148 U CN 210557148U
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Abstract
The utility model discloses a transfer box type sorting robot, which comprises a robot chassis, a storage rack, a transfer box assembly and a goods taking unit; the robot chassis is movable; the commodity shelf is fixed on the robot chassis and is provided with a plurality of commodity shelf layers; the turnover box assembly comprises a lifting platform capable of lifting relative to the commodity shelf and a turnover box capable of rotating relative to the lifting platform; the goods taking unit is arranged on the turnover box and can enable goods to enter and exit the turnover box. The utility model discloses a box letter sorting robot of turnover can acquire multiple goods in a letter sorting task through set up supporter, turnover case subassembly and get the goods unit on the robot chassis, deposit the goods that acquires temporarily extremely on the supporter and transport to the letter sorting district together and carry out follow-up letter sorting processing, need not carry goods shelves, the load of robot is light, and the action is nimble, and once can multiple goods, can make letter sorting efficiency improve by a wide margin.
Description
Technical Field
The utility model relates to a robotechnology field especially relates to a be applied to box letter sorting robot of turnover in storage commodity circulation field.
Background
With the explosive growth of electronic commerce, the warehousing and sorting workload of electronic commerce is also greatly increased. At present, a plurality of E-commerce warehouses are equipped with automatic unmanned carrying articles for realizing the warehouses, so that the labor cost is reduced, the warehouse article delivery time is shortened, and the warehousing and sorting efficiency is improved.
The warehouse goods letter sorting scheme of current mainstream is based on goods shelves transfer robot, and goods shelves that goods shelves transfer robot will deposit the goods are whole to be carried to the letter sorting district and supply the manual sorting goods, moves back the normal position with goods shelves after the goods letter sorting is accomplished again, and transfer robot can only carry a goods shelves once in this kind of warehouse goods letter sorting scheme, and need move goods shelves and seem master and master to labour to goods letter sorting, and efficiency is on the low side.
Disclosure of Invention
The purpose of the invention is as follows: in order to overcome the not enough of existence among the prior art, the utility model provides a turnover box letter sorting machine people aims at solving the problem on the low side of current storage goods letter sorting scheme efficiency.
The technical scheme is as follows: in order to achieve the above object, the utility model discloses a box letter sorting robot of turnover, include:
a robot chassis that is movable;
the storage rack is fixed on the robot chassis and is provided with a plurality of storage layers;
a turnover box assembly which comprises a lifting platform capable of lifting relative to the commodity shelf and a turnover box capable of rotating relative to the lifting platform; and
and the goods taking unit is arranged on the turnover box and can enable goods to enter and exit the turnover box.
Furthermore, two sides of the middle part of the robot chassis are respectively provided with a driving wheel, and the front side and the rear side of the robot chassis are respectively provided with a plurality of driven wheels.
Furthermore, all the points of the driving wheels and the driven wheels, which are contacted with the ground, form all vertexes of a polygon;
the vertically projected point of the center of gravity of the commodity shelf falls within the polygon.
Furthermore, a vacant part is formed on the placing layer;
for the front side edge and the back side edge of the material placing layer, the vacancy part at least enables the back side edge of the material placing layer to be in an incomplete state; wherein the edge close to the turnover box is a front edge.
Furthermore, the material placing layer comprises two strip-shaped support bodies which are symmetrically arranged, and a flange is formed on one side of each strip-shaped support body.
Furthermore, the turnover box assembly also comprises a vertically arranged rail, and the rail is fixed on the storage rack;
the lifting platform is provided with a sliding part matched with the rail.
Further, the lifting motion of the lifting platform is driven by a driving component;
the drive assembly includes a timing belt assembly and a first motor.
Further, the goods taking unit comprises a telescopic unit which is installed in a sliding mode relative to the turnover box;
the front end of the telescopic unit is provided with a rotary part which can controllably rotate relative to the telescopic unit;
the rear end of the telescopic unit is provided with a pushing part.
Further, the telescopic unit is pushed by an electric push rod to do telescopic motion relative to the turnover box.
Further, a gear part is fixed on the turnover box;
and a second motor is installed on the lifting platform, and a pinion meshed with the gear part is fixed on an output shaft of the second motor.
Has the advantages that: the utility model discloses a box letter sorting robot of turnover can acquire multiple goods in a letter sorting task through set up supporter, turnover case subassembly and get the goods unit on the robot chassis, deposit the goods that acquires temporarily extremely on the supporter and transport to the letter sorting district together and carry out follow-up letter sorting processing, need not carry goods shelves, the load of robot is light, and the action is nimble, and once can multiple goods, can make letter sorting efficiency improve by a wide margin.
Drawings
FIG. 1 is a structural diagram of a transfer box type sorting robot;
FIG. 2 is a second perspective view of the turnaround box sorting robot;
FIG. 3 is a combined structure diagram of a turnover box and a goods taking unit;
FIG. 4 is a state diagram of the pickup unit in an extended state relative to the tote;
fig. 5 is a combined view of a sorting robot and a discharge device.
The names of the parts indicated by the reference numerals in the drawings are as follows:
1-a robot chassis; 11-a driving wheel; 12-a driven wheel; 13-chassis base; 2-a shelf; 21-placing a layer; 211-strip carrier; a flange 211-1; 3-a turnaround box assembly; 31-a lifting table; 32-turnover boxes; 33-a track; 34-a glide part; 35-a synchronous belt assembly; 36-a first motor; 37-a second motor; 38-pinion gear; 39-slewing bearings; 4-a goods taking unit; 41-a telescopic unit; 42-a rotating part; 43-a push-out part; 44-an electric push rod; 5-a discharge device; 51-a fixed frame body; 52-a lifting frame; 53-lifting seat; 54-support body.
Detailed Description
The present invention will be further described with reference to the accompanying drawings.
The turnover box type sorting robot (hereinafter, referred to as a sorting robot) shown in fig. 1 and fig. 2 includes a robot chassis 1, a rack 2, a turnover box assembly 3, and a goods taking unit 4. The utility model discloses a letter sorting robot is used for obtaining the goods from goods shelves and deposits to supporter 2 temporarily with the goods that acquire, treats that the shelf 2 is gone up to deposit full goods or has accomplished the single task of getting goods, and letter sorting robot can transport the letter sorting position together and lift the goods off and supply further processing.
Wherein, the robot chassis 1 can be controlled to move; the device comprises a chassis base body 13, wherein two driving wheels 11 are respectively arranged on two sides of the middle part of the chassis base body 13, and two driven wheels 12 are respectively arranged on the front side and the rear side of the chassis base body. The robot chassis 1 is provided with a control unit, the driving wheels 11 are connected with the control unit, and through the arrangement mode of the driving wheels and the driven wheels, the control unit can realize the actions of advancing, retreating, in-situ rotation and the like of the sorting robot by respectively controlling the rotating speeds of the two driving wheels 11, so that the sorting robot can move flexibly; and because two driving wheels 11 are symmetrically arranged at two sides of the middle part of the chassis base body 13, the rotary radius of the sorting robot is minimum, the required motion space is minimum, and the robot can carry out in-situ rotary execution task in a narrow passageway. In addition, the robot chassis 1 can also be provided with a detection sensor group, such as a laser radar, an ultrasonic detector, an infrared detector, a depth camera and the like, and SLAM navigation of the robot chassis 1 is realized through the sensors so as to improve the intelligence of the sorting robot.
Since the shelf 2 is designed in a vertical multi-layer structure, the height of the shelf 2 may be more than ten times of the height of the robot chassis 1, therefore, in order to avoid the sorting robot from shaking greatly or even toppling over during operation, preferably, all the driving wheels 11 and the driven wheels 12 of the robot chassis 1 contact with the ground to form all the vertices of a polygon, and the vertically projected point of the center of gravity of the shelf 2 falls within the polygon. The polygon can be regarded as the effective supporting range of the robot chassis 1, so that the gravity center of the commodity shelf 2 does not deviate from the effective supporting range of the robot chassis 1, and the dumping danger can be reduced.
As shown in fig. 3, the container assembly 3 includes a lifting table 31 which can be lifted and lowered with respect to the rack 2, and a container 32 which can be rotated with respect to the lifting table 31, and the pickup unit 4 is attached to the container 32 and can move the goods into and out of the container 32. Because the turnover box 32 can rotate relative to the lifting platform 31, the turnover box 32 can obtain goods on the goods shelves on three sides except the side where the goods shelf 2 is located, and turns to the goods shelf 2 to store the goods in the goods shelf 2 after the goods are taken, the position and the posture of the goods on the goods shelves at different positions relative to the robot can be obtained without depending on the robot chassis 1 to change frequently, and the goods taking and placing are flexible.
The lifting movement of the lifting platform 31 can be realized in various manners, in this embodiment, the turnover box assembly 3 further includes a rail 33 vertically arranged, and the rail 33 is fixed on the storage rack 2; the lifting platform 31 is provided with a sliding part 34 used in cooperation with the rail 33, specifically, the rail 33 is provided with a guide groove therein, the sliding part 34 is a roller rotatably arranged on the lifting platform 31, and the roller is arranged in the guide groove and can roll up and down in the guide groove. The lifting movement of the lifting table 31 is driven by a driving assembly; the driving assembly comprises a synchronous belt assembly 35 and a first motor 36, and the first motor 36 is in driving connection with the synchronous belt assembly 35.
The turnover box 32 is rotated relative to the lifting table 31 in the following manner: a gear portion is fixed to the circulation box 32; a second motor 37 is mounted on the elevating table 31, and a pinion 38 engaged with the gear portion is fixed to an output shaft of the second motor 37. Preferably, the turnover box 32 and the lifting table 31 are connected by a turntable bearing 39, and the gear portion is formed on the turntable bearing 39. The turntable bearing 39, i.e. the crossed roller bearing, can bear larger radial load and axial load, and is reliably and stably connected.
As shown in fig. 3 and 4, the goods taking unit 4 includes a telescopic unit 41, the telescopic unit 41 is slidably mounted with respect to the turnover box 32, and the telescopic unit 41 can be controllably moved telescopically with respect to the turnover box 32; the front end of the telescopic unit 41 is provided with a rotary part 42 which can controllably rotate relative to the telescopic unit, the rear end of the telescopic unit 41 is provided with a push-out part 43, and the push-out part 43 is a push plate.
Based on the above structure, when the goods taking unit 4 obtains goods from the goods shelf, the action flow is as follows: first, the telescopic unit 41 is controlled to extend relative to the turnaround case 32 so that the telescopic unit 41 enters the shelf with the rotary part 42 behind the goods on the shelf; then, the rotary part 42 is controlled to rotate so that the rotary part 42 is changed from the upright state to the lateral state; finally, the retracting unit 41 is controlled to retract, and since the rotating part 42 is in the horizontal state (as shown in fig. 4), when the retracting unit 41 retracts, the rotating part 42 pushes the goods into the container 32 against the rear side of the goods. When the goods taking unit 4 deposits the goods from the turnover box 32 to the goods placing shelf 2, the operation flow is as follows: firstly, the turnover box 32 is controlled to rotate, so that the goods inlet and outlet of the turnover box face the telescopic unit 41; then, the lifting platform 31 is lifted, so that the turnover box 32 moves to a material placing layer 21 which is not stored with goods; then, the telescopic unit 41 is controlled to extend, and the pushing part 43 pushes the goods to the goods placing layer 21 because the pushing part 43 is fixedly connected to the rear side of the telescopic unit 41; finally, the telescopic unit 41 is controlled to retract.
Further, the telescopic unit 41 is pushed by an electric push rod 44 to perform telescopic movement relative to the turnover box 32.
It is worth mentioning that the utility model discloses in "goods" can be the singleness goods, also can be the carrier that has the goods such as the goods frame, the packing box that have many the same goods of storage. In practice, the latter case is preferred, in which case, storage carriers with uniform specifications can be arranged on the shelves, so that the difficulty of obtaining goods by the goods taking unit 4 can be reduced, and in this case, the work flow of the sorting robot is as follows: firstly, a sorting robot sequentially obtains goods frames filled with target goods from a goods shelf and loads the goods frames to a goods shelf 2; then, the sorting robot uniformly transports all the goods frames to a goods picking point and unloads all the goods frames for further goods picking processing; finally, after the picking is completed, the sorting robot loads all the goods frames to the goods shelf 2 again in sequence, moves to the goods shelf area and returns the goods frames to the corresponding positions of the goods shelf in sequence.
In a preferred embodiment, a void part is formed on the placing layer 21; the gap part at least makes the back side edge of the material layer 21 in an incomplete state for the front side edge and the back side edge of the material layer 21; wherein the edge close to the turnover box 32 is a front edge. That is, the vacant part makes the article layer 21 have only a notch facing backward, or the vacant part penetrates the article layer 21 forward and backward, so that when the goods are placed on the article layer 21, the article layer 21 mainly holds both sides of the bottom of the goods, and the middle position of the bottom of the goods is exposed.
With the arrangement, the goods on the shelf 2 can be conveniently unloaded by utilizing the external unloading device. As shown in fig. 5, a structure diagram of the unloading device 5 is shown, which comprises a fixed frame body 51, a lifting frame 52 and a lifting seat 53, wherein the lifting frame 52 is provided with a number of supporting bodies 54 equal to the number of layers of the material placing layer 21, the lifting frame 52 can be controlled to lift slightly relative to the fixed frame body 51, so that the sorting robot can move to the unloading position, all the supporting bodies 54 extend to the bottom of the goods on all the material placing layers 21, then the lifting frame 52 is lifted to lift the goods to be separated from the material placing layer 21, and the sorting robot is separated to finish unloading. Conveyor belts are arranged on the support bodies 54 and the lifting seat 53, so that the lifting seat 53 moves to the positions of the support bodies 54 on each layer in sequence, then the conveyor belts on the support bodies 54 on each layer convey the goods to the lifting seat 53, and the lifting seat 53 descends to the lowest position to transfer the goods away, so that the goods can be unloaded. So, the process of unloading the goods from supporter 2 can need not rely on turnover case subassembly 3, can adopt the discharge devices of peripheral hardware once to take off all goods on supporter 2, promotes unloading efficiency.
Specifically, in this embodiment, the material placing layer 21 includes two strip-shaped support bodies 211 symmetrically arranged, and a rib 211-1 is formed on one side of each strip-shaped support body 211, so that when the goods are placed on the material placing layer 21, the two strip-shaped support bodies 211 respectively support two sides of the bottom of the goods, and the goods are placed between the two ribs 211-1 on the two strip-shaped support bodies 211, so that the goods do not move in the left-right direction, and the goods can be conveniently taken out subsequently.
The utility model discloses a box letter sorting robot of turnover can acquire multiple goods in a letter sorting task through set up supporter, turnover case subassembly and get the goods unit on the robot chassis, deposit the goods that acquires temporarily extremely on the supporter and transport to the letter sorting district together and carry out follow-up letter sorting processing, need not carry goods shelves, the load of robot is light, and the action is nimble, and once can multiple goods, can make letter sorting efficiency improve by a wide margin.
The above description is only a preferred embodiment of the present invention, and it should be noted that: for those skilled in the art, without departing from the principle of the present invention, several improvements and modifications can be made, and these improvements and modifications should also be considered as the protection scope of the present invention.
Claims (10)
1. The utility model provides a turnover box letter sorting robot which characterized in that includes:
a robot chassis that is movable;
the storage rack is fixed on the robot chassis and is provided with a plurality of storage layers;
a turnover box assembly which comprises a lifting platform capable of lifting relative to the commodity shelf and a turnover box capable of rotating relative to the lifting platform; and
and the goods taking unit is arranged on the turnover box and can enable goods to enter and exit the turnover box.
2. The revolving box sorting robot of claim 1, wherein the robot chassis is provided with a driving wheel on each side of the middle part and a plurality of driven wheels on each side of the front and rear parts.
3. The revolving box sorting robot of claim 1, wherein all the points where the driving wheels and the driven wheels contact the ground form all the vertices of a polygon;
the vertically projected point of the center of gravity of the commodity shelf falls within the polygon.
4. The revolving box sorting robot of claim 1, wherein the product layer is formed with a void;
for the front side edge and the back side edge of the material placing layer, the vacancy part at least enables the back side edge of the material placing layer to be in an incomplete state; wherein the edge close to the turnover box is a front edge.
5. The transfer box sorting robot of claim 4, wherein the product layer comprises two symmetrically arranged strip-shaped supports, and a rib is formed on one side of each strip-shaped support.
6. The turnaround box sorting robot of claim 1, wherein the turnaround box assembly further comprises vertically disposed rails, the rails being secured to the rack;
the lifting platform is provided with a sliding part matched with the rail.
7. The epicyclic bin sorter robot of claim 1 wherein the elevating movement of the elevator platform is driven by a drive assembly;
the drive assembly includes a timing belt assembly and a first motor.
8. The epicyclic bin sorting robot of claim 1 wherein said pick unit comprises a telescopic unit slidably mounted with respect to said turnaround;
the front end of the telescopic unit is provided with a rotary part which can controllably rotate relative to the telescopic unit;
the rear end of the telescopic unit is provided with a pushing part.
9. The epicyclic bin sorting robot of claim 8 wherein said telescoping units are moved telescopically relative to said turnaround by powered pushrods.
10. The epicyclic box sorting robot of claim 1 wherein said epicyclic box has a gear section fixed thereto;
and a second motor is installed on the lifting platform, and a pinion meshed with the gear part is fixed on an output shaft of the second motor.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201921066894.9U CN210557148U (en) | 2019-07-09 | 2019-07-09 | Turnover box type sorting robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201921066894.9U CN210557148U (en) | 2019-07-09 | 2019-07-09 | Turnover box type sorting robot |
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| CN210557148U true CN210557148U (en) | 2020-05-19 |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112439704A (en) * | 2020-11-16 | 2021-03-05 | 深圳市海达威工业自动化设备有限公司 | Sorting system and method based on vertical sorting |
| CN112591441A (en) * | 2020-11-27 | 2021-04-02 | 安徽橡树工业设计有限公司 | Six-degree-of-freedom series-parallel sorting robot |
| CN112978197A (en) * | 2021-05-20 | 2021-06-18 | 牧星机器人(江苏)有限公司 | Storage and retrieval optimization method and device for warehouse goods and warehouse system |
| CN113023205A (en) * | 2021-03-16 | 2021-06-25 | 苏州牧星智能科技有限公司 | Hanging clothes sorting robot, sorting system and sorting method |
| CN113213039A (en) * | 2021-05-13 | 2021-08-06 | 深圳市库宝软件有限公司 | Material box robot control method and device, electronic equipment and storage medium |
| CN113772316A (en) * | 2021-11-10 | 2021-12-10 | 苏州牧星智能科技有限公司 | Prevent rocking supporting mechanism, get goods device and get goods robot |
| CN114408531A (en) * | 2022-02-15 | 2022-04-29 | 佛山市恒灏科技有限公司 | Improved structure of gripping device |
| DE202024100329U1 (en) | 2023-02-03 | 2024-02-06 | Suzhou Mushiny Intelligence Technology Co., Ltd. | Distribution system |
| WO2024037508A1 (en) * | 2022-08-19 | 2024-02-22 | 深圳市海柔创新科技有限公司 | Article transfer method and apparatus, device, and storage medium |
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2019
- 2019-07-09 CN CN201921066894.9U patent/CN210557148U/en active Active
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112439704A (en) * | 2020-11-16 | 2021-03-05 | 深圳市海达威工业自动化设备有限公司 | Sorting system and method based on vertical sorting |
| CN112591441A (en) * | 2020-11-27 | 2021-04-02 | 安徽橡树工业设计有限公司 | Six-degree-of-freedom series-parallel sorting robot |
| CN113023205A (en) * | 2021-03-16 | 2021-06-25 | 苏州牧星智能科技有限公司 | Hanging clothes sorting robot, sorting system and sorting method |
| CN113213039A (en) * | 2021-05-13 | 2021-08-06 | 深圳市库宝软件有限公司 | Material box robot control method and device, electronic equipment and storage medium |
| CN113213039B (en) * | 2021-05-13 | 2022-07-15 | 深圳市库宝软件有限公司 | Material box robot control method and device, electronic equipment and storage medium |
| CN112978197A (en) * | 2021-05-20 | 2021-06-18 | 牧星机器人(江苏)有限公司 | Storage and retrieval optimization method and device for warehouse goods and warehouse system |
| CN112978197B (en) * | 2021-05-20 | 2021-07-30 | 牧星机器人(江苏)有限公司 | Storage and retrieval optimization method and device for warehouse goods and warehouse system |
| CN113772316A (en) * | 2021-11-10 | 2021-12-10 | 苏州牧星智能科技有限公司 | Prevent rocking supporting mechanism, get goods device and get goods robot |
| CN113772316B (en) * | 2021-11-10 | 2022-03-18 | 苏州牧星智能科技有限公司 | Prevent rocking supporting mechanism, get goods device and get goods robot |
| CN114408531A (en) * | 2022-02-15 | 2022-04-29 | 佛山市恒灏科技有限公司 | Improved structure of gripping device |
| WO2024037508A1 (en) * | 2022-08-19 | 2024-02-22 | 深圳市海柔创新科技有限公司 | Article transfer method and apparatus, device, and storage medium |
| DE202024100329U1 (en) | 2023-02-03 | 2024-02-06 | Suzhou Mushiny Intelligence Technology Co., Ltd. | Distribution system |
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