CN216323470U - Three-dimensional sorting robot and unloading device thereof - Google Patents
Three-dimensional sorting robot and unloading device thereof Download PDFInfo
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- CN216323470U CN216323470U CN202122532522.4U CN202122532522U CN216323470U CN 216323470 U CN216323470 U CN 216323470U CN 202122532522 U CN202122532522 U CN 202122532522U CN 216323470 U CN216323470 U CN 216323470U
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Abstract
The utility model relates to a three-dimensional sorting robot and an unloading device thereof, wherein the unloading device of the three-dimensional sorting robot is arranged on a slide rail of the sorting robot, and comprises a detection and identification unit, a connecting piece, a motion control unit and a turning plate; the three-dimensional sorting robot is provided with the unloading device of the three-dimensional sorting robot. The unloading device of the utility model changes the original calibrator on the sorting goods shelf or the goods basket into the detection identification unit, the connecting piece and the motion control unit on the unloading device, and the unloading device can flexibly confirm whether to unload goods according to the state of the corresponding sorting goods shelf or the goods basket on the function of delivering the goods through the turning plate, thereby achieving the purpose of improving the sorting efficiency; meanwhile, the optimized unloading device is applied to the three-dimensional sorting robot, so that the advantage of flexibly sorting cargoes is achieved.
Description
Technical Field
The utility model relates to the technical field of sorting equipment, in particular to a three-dimensional sorting robot and an unloading device thereof.
Background
In the current logistics storage field, goods sorting and unloading are widely applied through a sorting robot, namely, a self-navigation trolley. In the prior art, goods are usually unloaded in a certain predetermined exit according to needs, for example, packages are unloaded in different exits according to regional division, and then the packages in the same exit are packed and transported. There is a demand for unloading goods on a predetermined sorting shelf or basket on a shelf, and since a plurality of sorting shelves or baskets can be installed on one shelf, all goods can be conveniently transported to packing places of other areas for packing as long as the shelf is transported to the packing place, and in order to further improve the capacity of handling goods, it is necessary to sort goods simultaneously through a plurality of shelves.
The above-mentioned prior art scheme can be realized through three-dimensional letter sorting machine people, and current three-dimensional robot has the unreliable problem of delivery that goods did not drop into the goods basket because of three-dimensional letter sorting in-process to the delivery of letter sorting frame and goods basket.
SUMMERY OF THE UTILITY MODEL
In view of the disadvantages of the prior art, a first object of the present invention is to provide an unloading apparatus for a three-dimensional sorting robot, which can confirm whether to unload goods according to the state of a corresponding sorting shelf or basket, thereby improving the sorting efficiency and the goods input reliability.
A second object of the present invention is to provide a three-dimensional sorting robot having an advantage of flexibly sorting goods.
In order to achieve the first object, the utility model provides the following technical scheme:
the unloading device of the three-dimensional sorting robot is arranged on a slide rail of the sorting robot and comprises a detection and identification unit, a connecting piece, a motion control unit and a turning plate; the detection and identification unit is arranged on the turning plate through a connecting mechanism and is used for collecting and identifying information of sorting goods shelves or goods frames within a preset range; the motion control unit is used for controlling the driving piece to drive the turning plate to execute corresponding actions when the detection and identification unit sends out an up-down and/or turning instruction of the turning plate; the connecting mechanism is connected with the turning plate and the sliding rail.
By adopting the technical scheme, in the actual sorting process, the connecting mechanism firstly slides to the corresponding sorting goods shelf or goods basket through the slide rail, at the moment, the sorting goods shelf or goods basket is positioned in the range of the detection and identification unit, the image information of the sorting goods shelf or goods basket is firstly collected, then whether goods exist in the sorting goods shelf or goods basket area in the received image information is judged according to the preset image information, if the goods exist, the motion control unit does not control the driving piece to start, if the goods do not exist, the motion control unit controls the driving piece to start, the driving piece drives the turning plate to deliver the pre-installed goods into the sorting goods shelf or goods basket through the preset turning operation, so as to finish the unloading operation and the loading of the goods on the goods shelf sorting or goods basket, and the operation is simple and quick; in the process, the original calibrator on the sorting goods shelf or the goods basket is converted into the detection identification unit, the connecting piece and the motion control unit on the unloading device, and the unloading device can flexibly determine whether to unload goods according to the state of the corresponding sorting goods shelf or the goods basket on the function of delivering the goods through the turning plate, so that the aim of improving the sorting efficiency is fulfilled.
The utility model is further configured to: the detection and identification unit is set as an infrared detector and/or an image acquisition and processor.
By adopting the technical scheme, the infrared detector mainly comprises 4 parts, namely an optical system, a detector, a signal processor, a recorder and the like, and forms an infrared image by virtue of the optical mechanical scanning of the instrument and the movement of a remote sensing platform along the flight direction according to the infrared radiation of a sorting goods shelf or a goods basket and goods in a scanning range, so that image information can be formed quickly and sent to the image acquisition and processor; the image acquisition and processor mainly judges the image area of the sorting goods shelf or the goods basket in the image information of the scanning unit according to the preset image information, further judges the goods state on the sorting goods shelf or the goods basket, and sends the identification result to the motion control unit.
The utility model is further configured to: the connecting piece is arranged as a mounting rack, and the detection and identification unit is arranged on the mounting rack.
By adopting the technical scheme, the detection and identification unit can conveniently perform detection and identification operations.
The utility model is further configured to: the motion control unit is integrated with the driving member.
By adopting the technical scheme, the driving piece is used for controlling the execution of the action of the turning plate so as to control the delivery operation of goods.
The utility model is further configured to: the connecting mechanism is provided with a first driving mechanism and a second driving mechanism, the first driving mechanism is used for driving the turning plate to move close to or far away from the sorting goods shelf or the goods basket, and the second driving mechanism is used for guiding goods on the turning plate to be separated from the turning plate.
Through adopting above-mentioned technical scheme, after confirming that needs deliver goods, first actuating mechanism orders about earlier and turns over the board and be close to letter sorting goods shelves or goods basket motion, then second actuating mechanism leads the goods to break away from and turn over the board through ordering about the mode that turns over the board upset or direct action turned over the board goods on to transfer to letter sorting goods shelves or goods basket, then first actuating mechanism and second actuating mechanism drive turn over the board and reset to carry out the loading and the unloading of next goods.
The utility model is further configured to: the first driving mechanism comprises a first speed reducer arranged on the connecting mechanism, a first overturning motor arranged on the first speed reducer, and a first driving frame arranged on an output shaft of the first speed reducer, wherein the output shaft of the first speed reducer is connected to a rotating shaft of the first overturning motor, and the second driving mechanism is arranged on the first driving frame.
Through adopting above-mentioned technical scheme, through the first reduction gear of first upset motor cooperation, can realize the rotation of the big moment of torsion of low-speed revolution, and then guarantee the second actuating mechanism and turn over the stable transfer of board.
The utility model is further configured to: the first driving frames are provided with two driving frames which are respectively arranged at two ends of an output shaft of the first speed reducer, and the two driving frames are respectively in an L shape and a Z shape.
Through adopting above-mentioned technical scheme, the bearing capacity to second actuating mechanism and turn over the board can be guaranteed in the cooperation of these two kinds of first drive racks, and then guarantee the stable transfer of second actuating mechanism and turn over the board.
The utility model is further configured to: the second driving mechanism comprises a second speed reducer arranged at the output end of the first driving mechanism, a second overturning motor arranged on the second speed reducer, and a second driving frame arranged on an output shaft of the second speed reducer, wherein the output shaft of the second speed reducer is connected to a rotating shaft of the second overturning motor, and the turning plate is arranged on the second driving frame.
Through adopting above-mentioned technical scheme, through second upset motor cooperation second reduction gear, can realize the rotation of the big moment of torsion of low-speed, and then guarantee to turn over the stable transfer of board.
The utility model is further configured to: the second driving frame is provided with two driving frames which are respectively arranged at two ends of an output shaft of the second speed reducer, and the second driving frame is in an inverted T shape.
Through adopting above-mentioned technical scheme, the stub end of second carriage drive is connected with turning over the board, can guarantee to turn over the stable bearing of board to guarantee the stable transfer of goods.
The utility model is further configured to: the bottom surface of the turning plate is provided with a reticular convex rib and a reinforcing rib connected with the output end of the second driving mechanism, and the convex rib and the reinforcing rib are in smooth transition connection.
Through adopting above-mentioned technical scheme, can strengthen the bearing performance of turning over the board.
In order to achieve the second object, the utility model provides the following technical scheme:
a three-dimensional sorting robot is provided with an unloading device of the three-dimensional sorting robot.
By adopting the technical scheme, the optimized unloading device is applied to the three-dimensional sorting robot, and the three-dimensional sorting robot has the advantage of flexibly sorting goods.
In conclusion, the beneficial technical effects of the utility model are as follows:
1. by converting the original calibrator on the sorting goods shelf or the goods basket into the detection identification unit, the connecting piece and the motion control unit on the unloading device, the unloading device can flexibly confirm whether to unload goods according to the state of the corresponding sorting goods shelf or the goods basket on the function of delivering the goods through the turning plate, thereby achieving the purpose of improving the sorting efficiency;
2. the optimized unloading device is applied to the three-dimensional sorting robot, so that the advantage of flexibly sorting goods is achieved.
Drawings
Fig. 1 is a schematic structural view of an unloading device in an unloading state according to embodiment 1 of the present invention.
Fig. 2 is a schematic structural view of an unloading apparatus according to embodiment 1 of the present invention.
Fig. 3 is a schematic view of the connection relationship among the detection and identification unit, the connection member, the motion control unit, the first drive mechanism, and the second drive mechanism in embodiment 2 of the present invention.
Fig. 4 is a schematic structural view of a flap in embodiment 3 of the present invention.
Fig. 5 is a schematic structural view of a stereoscopic sorting robot according to embodiment 4 of the present invention.
In the figure, 1, a detection and identification unit; 11. an infrared detector; 12. an image acquisition and processor; 2. a connecting member; 21. a mounting frame; 3. a motion control unit; 31. a drive member; 4. turning over a plate; 41. a rib is protruded; 42. reinforcing ribs; 5. a first drive mechanism; 51. a first decelerator; 52. a first flipping motor; 53. a first driving frame; 6. a second drive mechanism; 61. a second decelerator; 62. a second turnover motor; 63. a second driving frame; 7. an unloading device; 8. a slide rail.
Detailed Description
In order to make the technical means, the creation features, the achievement purposes and the functions of the utility model clearer and easier to understand, the utility model is further explained in the following with the accompanying drawings and the detailed description.
The utility model provides an unloading device of a three-dimensional sorting robot and the three-dimensional sorting robot, which can confirm whether to unload goods according to the state of a corresponding sorting goods shelf or goods basket, and achieve the purposes of improving sorting efficiency and goods input reliability.
Example 1: referring to fig. 1 and 2, the unloading device of the three-dimensional sorting robot disclosed by the utility model comprises a detection and identification unit 1, a connecting piece 2, a motion control unit 3 and a turning plate 4; the detection and identification unit 1 is arranged on the turning plate 4 through a connecting mechanism and is used for collecting and identifying information of sorting goods shelves or goods frames in a preset range; the motion control unit 3 is used for controlling the driving piece 31 to drive the turning plate 4 to execute corresponding actions when the detection identification unit 1 sends out an up-down and/or turning instruction of the turning plate 4; the connecting mechanism is connected with the turning plate 4 and the sliding rail 8.
In the actual delivery process, the goods to be delivered do not enter the target basket unit because the goods to be delivered are too light in weight or too small in size or the unloading device is not toppled in place during delivery, and the second delivery is carried out when the goods to be delivered are not put into the target basket unit.
According to the statistics of the actual condition of not throwing into, because the sheltering from of letter sorting goods basket border height, can't know accurately whether to throw into size or the less goods of volume, perhaps because the uninstallation device must bear the weight of the plane and the goods packing is adhered and can't throw into the goods basket unit through the mode of empting. Then the viewing angle needs to be increased or more images acquired to complete the verification.
Preferably, the detection and recognition unit 1 is provided as an infrared detector 11 and/or an image acquisition and processor 12, preferably a combination of the two. The infrared detector 11 is mainly composed of 4 parts such as an optical system, a detector, a signal processor, a recorder and the like, and forms an infrared image by means of optical mechanical scanning of the instrument and movement of a remote sensing platform along the flight direction according to infrared radiation of a sorting goods shelf or a goods basket and goods in a scanning range, and can quickly form image information and send the image information to the image acquisition and processor 12; the image acquisition and processing unit 12 mainly determines the image area of the sorting shelf or the goods basket in the image information of the scanning unit according to the preset image information, further determines the goods state on the sorting shelf or the goods basket, and sends the identification result to the motion control unit 3.
The connecting piece 2 is arranged as a mounting frame 21, and the mounting frame 21 is provided with the detection and identification unit 1. This structure facilitates the detection recognition operation by the detection recognition unit 1.
The motion control unit 3 is integrated with the driver 31. The drive 31 is used to control the execution of the action of the flap 4 in order to control the delivery operation of the goods.
Correspondingly, in the actual sorting process, the connecting mechanism firstly slides to the corresponding sorting goods shelf or goods basket through the slide rail 8, at the moment, the sorting goods shelf or goods basket is in the range of the detection and identification unit 1, the image information of the sorting goods shelf or goods basket is firstly collected, then whether goods exist in the sorting goods shelf or goods basket area in the received image information is judged according to the preset image information, if so, the motion control unit 3 does not control the driving piece 31 to start, if not, the motion control unit 3 controls the driving piece 31 to start, the driving piece 31 drives the turning plate 4 to deliver the pre-installed goods to the sorting goods shelf or goods basket through the preset turning operation, so as to finish unloading operation and loading of the goods on the sorting goods shelf or goods basket, and the operation is simple and quick; in the process, the original calibrator on the sorting goods shelf or the goods basket is changed into the detection and identification unit 1, the connecting piece 2 and the motion control unit 3 on the unloading device, and the unloading device can flexibly determine whether to unload goods according to the state of the corresponding sorting goods shelf or the goods basket on the function of delivering the goods through the turning plate 4, so that the aim of improving the sorting efficiency is fulfilled.
Example 2: referring to fig. 3, the unloading device of the three-dimensional sorting robot disclosed by the utility model is different from embodiment 1 in that a first driving mechanism 5 and a second driving mechanism 6 are arranged on a mounting frame 21, the first driving mechanism 5 is used for driving a turning plate 4 to move close to or away from a sorting shelf or a goods basket, and the second driving mechanism 6 is used for guiding goods on the turning plate 4 to be separated from the turning plate 4.
After confirming that the goods need to be delivered, the first driving mechanism 5 drives the turning plate 4 to move close to the sorting goods shelf or the goods basket, then the second driving mechanism 6 guides the goods to be separated from the turning plate 4 and transferred to the sorting goods shelf or the goods basket by driving the turning plate 4 to turn or directly acting on the goods on the turning plate 4, and then the first driving mechanism 5 and the second driving mechanism 6 drive the turning plate 4 to reset so as to load and unload the next goods.
The first driving mechanism 5 includes a first speed reducer 51 disposed on the connecting mechanism, a first flipping motor 52 disposed on the first speed reducer 51, and a first driving frame 53 disposed on an output shaft of the first speed reducer 51, the output shaft of the first speed reducer 51 is connected to a rotating shaft of the first flipping motor 52, and the second driving mechanism 6 is disposed on the first driving frame 53. The first driving frames 53 are provided in two and are respectively disposed at both ends of the output shaft of the first speed reducer 51, and the two first driving frames 53 are respectively in an L-shape and a Z-shape.
The first turnover motor 52 is matched with the first speed reducer 51, so that the rotation of low rotating speed and large torque can be realized, and the stable transfer of the second driving mechanism 6 and the turning plate 4 is further ensured. Meanwhile, the cooperation of the two types of first driving frames 53 can ensure the bearing capacity of the second driving mechanism 6 and the turning plate 4, so as to ensure the stable transfer of the second driving mechanism 6 and the turning plate 4.
In addition, the second driving mechanism 6 includes a second speed reducer 61 disposed at the output end of the first driving mechanism 5, a second turnover motor 62 disposed on the second speed reducer 61, and a second driving frame 63 disposed on the output shaft of the second speed reducer 61, the output shaft of the second speed reducer 61 is connected to the rotating shaft of the second turnover motor 62, and the flap 4 is disposed on the second driving frame 63. The second driving frame 63 is provided with two and arranged at both ends of the output shaft of the second speed reducer 61, respectively, and the second driving frame 63 is in an inverted T shape.
Through second upset motor 62 cooperation second reduction gear 61, can realize the rotation of low rotational speed big moment of torsion, and then guarantee to turn over the stable transfer of board 4. Simultaneously, the stub end through second drive frame 63 is connected with turning over board 4, can guarantee to turn over the stable bearing of board 4 to guarantee the stable transfer of goods.
Example 3: referring to fig. 4, the unloading device of the stereoscopic sorting robot disclosed by the present invention is different from embodiment 1 in that the bottom surface of the turning plate 4 is provided with a mesh-shaped rib 41 and a reinforcing rib 42 connected with the output end of the second driving mechanism 6, and the rib 41 and the reinforcing rib 42 are connected in a smooth transition manner. This configuration makes it possible to enhance the bearing capacity of the flap 4.
Example 4: referring to fig. 5, the three-dimensional sorting robot disclosed by the present invention is configured in a three-dimensional sorting system, in a sorting yard, a plurality of three-dimensional sorting robots participate in sorting simultaneously, and the three-dimensional sorting robots are arranged in the three-dimensional sorting system through a bus structure. The three-dimensional sorting robot can be in a supporting frame structure, and a sorting goods shelf with a multilayer three-dimensional structure is identified and a sorting task is executed through a transverse moving mechanism and a longitudinal moving mechanism. Meanwhile, the stereoscopic sorting robot may be provided with a turning plate 4 or an unloading device 7 that drops goods to a sorting shelf. The detection and identification unit 1 in the unloading device 7 is lifted to a preset position by utilizing the lifting function of the unloading device 7, and the detection and identification unit 1 can be arranged above the front surface of the turning plate 4 or the shovel-shaped plate of the unloading device 7 and is used for scanning or shooting the periphery of the target sorting basket and the interior of the basket.
Finally, the above embodiments are only for illustrating the technical solutions of the present invention and not for limiting, although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications or equivalent substitutions may be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all of them should be covered in the claims of the present invention.
Claims (11)
1. The utility model provides a three-dimensional letter sorting machine people's uninstallation device, uninstallation device sets up on letter sorting machine people's slide rail (8), its characterized in that: the unloading device comprises a detection and identification unit (1), a connecting piece (2), a motion control unit (3) and a turning plate (4); the detection and identification unit (1) is arranged on the turning plate (4) through a connecting mechanism and is used for collecting and identifying information of sorting shelves or goods frames within a preset range; the motion control unit (3) is used for controlling the driving piece (31) to drive the turning plate (4) to execute corresponding actions when the detection identification unit (1) sends out an up-and-down and/or turning instruction of the turning plate (4); the connecting mechanism is connected with the turning plate (4) and the sliding rail (8).
2. The unloading apparatus of the stereoscopic sorting robot of claim 1, wherein: the detection and identification unit (1) is arranged as an infrared detector (11) and/or an image acquisition and processor (12).
3. The unloading apparatus of the stereoscopic sorting robot of claim 1, wherein: the connecting piece (2) is arranged to be an installation frame (21), and the detection and identification unit (1) is installed on the installation frame (21).
4. The unloading apparatus of the stereoscopic sorting robot of claim 1, wherein: the motion control unit (3) is integrated with the drive element (31).
5. The unloading device of the stereoscopic sorting robot according to any one of claims 1 to 4, wherein: the goods sorting device is characterized in that a first driving mechanism (5) and a second driving mechanism (6) are arranged on the connecting mechanism, the first driving mechanism (5) is used for driving the turning plate (4) to move close to or far away from the sorting goods shelf or the goods basket, and the second driving mechanism (6) is used for guiding goods on the turning plate (4) to be separated from the turning plate (4).
6. The unloading apparatus of the stereoscopic sorting robot of claim 5, wherein: the first driving mechanism (5) comprises a first speed reducer (51) arranged on the connecting mechanism, a first overturning motor (52) arranged on the first speed reducer (51), and a first driving frame (53) arranged on an output shaft of the first speed reducer (51), wherein the output shaft of the first speed reducer (51) is connected to a rotating shaft of the first overturning motor (52), and the second driving mechanism (6) is arranged on the first driving frame (53).
7. The unloading apparatus of the stereoscopic sorting robot of claim 6, wherein: the two first driving frames (53) are arranged at two ends of an output shaft of the first speed reducer (51), and the two first driving frames (53) are respectively in an L shape and a Z shape.
8. The unloading apparatus of the stereoscopic sorting robot of claim 5, wherein: the second driving mechanism (6) comprises a second speed reducer (61) arranged at the output end of the first driving mechanism (5), a second overturning motor (62) arranged on the second speed reducer (61), and a second driving frame (63) arranged on the output shaft of the second speed reducer (61), the output shaft of the second speed reducer (61) is connected with the rotating shaft of the second overturning motor (62), and the turning plate (4) is arranged on the second driving frame (63).
9. The unloading apparatus of the stereoscopic sorting robot of claim 8, wherein: the two second driving frames (63) are arranged at two ends of an output shaft of the second speed reducer (61) respectively, and the second driving frames (63) are inverted T-shaped.
10. The unloading apparatus of the stereoscopic sorting robot of claim 5, wherein: the bottom surface of the turning plate (4) is provided with a reticular convex rib (41) and a reinforcing rib (42) connected with the output end of the second driving mechanism (6), and the convex rib (41) and the reinforcing rib (42) are in smooth transition connection.
11. The utility model provides a three-dimensional letter sorting robot which characterized in that: unloading device (7) provided with a stereo sorting robot according to any of claims 1-10.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122532522.4U CN216323470U (en) | 2021-10-20 | 2021-10-20 | Three-dimensional sorting robot and unloading device thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122532522.4U CN216323470U (en) | 2021-10-20 | 2021-10-20 | Three-dimensional sorting robot and unloading device thereof |
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| Publication Number | Publication Date |
|---|---|
| CN216323470U true CN216323470U (en) | 2022-04-19 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202122532522.4U Active CN216323470U (en) | 2021-10-20 | 2021-10-20 | Three-dimensional sorting robot and unloading device thereof |
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| CN (1) | CN216323470U (en) |
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2021
- 2021-10-20 CN CN202122532522.4U patent/CN216323470U/en active Active
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