Warehouse sorting transfer robot and working method

Abstract

The application discloses a warehouse classification transfer robot, which comprises a to-be-identified package conveying belt unit, a package transfer robot, a package identification unit and a plurality of warehousing conveying belt units; the package identification unit is located directly above the conveying end of the to-be-identified package conveying belt unit; the package transfer robot can walk to the conveying end of the to-be-identified package conveying belt unit; the package transfer robot can walk to the conveying starting point of any one of the warehousing conveying belt units; and the problem of "package loss" caused by inertia during acceleration and deceleration of the robot is avoided.

Description

Technical Field

[0001] This invention belongs to the field of warehouse robots. Background Technology

[0002] When a parcel transfer robot that can move freely horizontally on the ground works in conjunction with a parcel linear conveyor, an intelligent robotic arm is often needed to pick up the parcels one by one from the parcel linear conveyor and transfer them to the parcel transfer robot. Then, the parcel transfer robot carries the parcels to a designated location, where an intelligent robotic arm then clamps the parcels carried by the parcel transfer robot onto the inbound conveyor. Therefore, the intelligent robotic arm is an indispensable unit.

[0003] The following content is not necessarily existing technology: For a parcel transfer robot capable of free movement on the ground to smoothly dock with a parcel conveyor without the aid of a gripping robotic arm, the robot itself needs to carry a conveying structure level with the conveyor. This allows for a smooth docking at the end of the conveyor, thus avoiding the use of a robotic arm, as in this solution. Figure 1 , Figure 2 As shown; although the conveyor belt on this walking robot is constrained by side plates on both sides, the front and back of the package conveying channel 2 are still connected. When the subsequent package transfer robot 17 carries the package 18 and walks quickly along the ground, it is inevitable that there will be acceleration or deceleration and bumps. As a result, the package 18 constrained in the package conveying channel 2 can easily slide forward or backward under the action of inertia, causing the risk of losing the package. Summary of the Invention

[0004] Purpose of the invention: In order to overcome the shortcomings of the existing technology, the present invention provides a warehouse sorting and transfer robot and working method, which avoids the problem of "packet loss" caused by the inertia of the robot during acceleration and deceleration.

[0005] Technical solution: To achieve the above objectives, the warehouse sorting and transfer robot of the present invention includes a parcel conveyor unit to be identified, a parcel transfer robot, a parcel identification unit, and several inbound conveyor units;

[0006] The package identification unit is located directly above the end of the conveyor belt unit for the package to be identified; the package transfer robot can move to dock with the end of the conveyor belt unit for the package to be identified; the package transfer robot can move to dock with the starting point of any of the inbound conveyor belt units.

[0007] Furthermore, the parcel transfer robot includes a vehicle capable of moving horizontally on the ground, the vehicle being equipped with a conveyor structure that can connect with the parcel conveyor unit / warehouse conveyor unit to be identified.

[0008] Furthermore, a first horizontal roller mounting bracket is fixedly installed above the traveling vehicle via a support column. A conveyor belt roller a and a conveyor belt roller b are rotatably mounted at the front and rear ends of the first roller mounting bracket, respectively. A second roller mounting bracket is provided below the first roller mounting bracket, and a conveyor belt roller c is rotatably mounted on the second roller mounting bracket. It also includes a conveyor belt connected end to end, and the conveyor belt rollers a, b, and c tension the conveyor belt outward.

[0009] Furthermore, the outline of the conveyor belt is tensioned into an isosceles triangle by conveyor belt rollers a, b, and c.

[0010] Furthermore, the isosceles triangular conveyor belt includes a horizontal section, an inclined section a, and an inclined section b; the horizontal section is level with the conveying surfaces of the package to be identified conveyor belt unit and the warehouse conveyor belt unit.

[0011] Furthermore, an a-lifter is fixed to the lower side of the first roller mounting bracket, and the lower end of the a-lifting rod of the a-lifter is fixedly connected to the second roller mounting bracket, thereby driving the second roller mounting bracket to move up and down; two side plates are symmetrically arranged on both sides of the upper part of the horizontal section of the conveyor belt, and a wrapping conveying groove is formed between the two side plates; several b-lifters are fixed to the first roller mounting bracket, and the b-lifting rod of the b-lifter is fixed to the side plate, thereby controlling the raising and lowering of the two side plates;

[0012] The lower end of the side plate has a downward convex arc profile, which is tangentially or clearance-fitted with the edge of the upper surface of the horizontal section of the conveyor belt.

[0013] Furthermore, as the conveyor belt rollers move upwards while the side plates move downwards, the still taut conveyor belt undergoes the following three changes:

[0014] Change 1: The angle between inclined section a and inclined section b of the conveyor belt increases;

[0015] Change 2: The lengths of both inclined sections a and b of the conveyor belt are shortened simultaneously;

[0016] Change 3: Under the downward pressure of the convex arc profile, the middle part of the horizontal section of the conveyor belt is concave and sunken, and the original horizontal section of the conveyor belt becomes a concave arc section a.

[0017] The conveyor belt changed from its original isosceles triangular outline to a heart-shaped outline with a concave top, and a concave wrapping groove was formed between the two side plates.

[0018] Furthermore, a roller drive motor is installed on the first roller mounting bracket, and the output end of the roller drive motor drives and connects to either conveyor roller a or conveyor roller b.

[0019] Furthermore, the working method of warehouse sorting and transfer robots:

[0020] The process pauses when the identified package at the end of the conveyor belt unit smoothly transitions to the middle of the horizontal section of the conveyor belt on the package transfer robot.

[0021] Lifter a drives the second roller mounting bracket and conveyor belt roller c to move upward, while at the same time, it controls each lifter b to make the side plates move downward.

[0022] The conveyor belt changed from its original isosceles triangular outline to a heart-shaped outline with a concave top, and a concave wrapping groove was formed between the two side plates; at this time, the wrapping in the middle of the original horizontal section of the conveyor belt also fell into the concave wrapping groove.

[0023] Beneficial effects: In "Step Four" of the present invention, the conveyor belt changes from the original isosceles triangular outline to a "heart-shaped" outline with a concave upper part, and a concave wrapping groove is formed between the two side plates; at this time, the package in the middle of the original horizontal section of the conveyor belt also falls into the concave wrapping groove. Under the constraint of the concave wrapping groove, the package will not slide back and forth due to inertia, thereby avoiding the "package loss" problem when the package transfer robot accelerates, decelerates or brakes. Attached Figure Description

[0024] Appendix Figure 1 This is a schematic diagram of the overall scheme;

[0025] Appendix Figure 2 This is a schematic diagram of the overall structure of the parcel transfer robot;

[0026] Appendix Figure 3 A schematic diagram of the conveyor structure on a parcel transfer robot;

[0027] Appendix Figure 4 The conveyor belt was changed from its original isosceles triangular outline to a heart-shaped outline with a concave top.

[0028] Appendix Figure 5 For the appendix Figure 4 A sectional view. Detailed Implementation

[0029] The invention will now be further described with reference to the accompanying drawings.

[0030] As attached Figures 1 to 5 The warehouse sorting and transfer robot shown includes a package conveyor belt unit 19 to be identified, a package transfer robot 17 that can walk horizontally on the ground 16, a package identification unit 41, and several inbound conveyor belt units 15.

[0031] The unidentified package conveyor belt unit 19 is used to transport packages 18 that have not yet been identified. Several warehouse conveyor belt units 15 are used to store different types of identified packages 18. The end point of each warehouse conveyor belt unit 15 corresponds to a specific warehouse. Each specific warehouse is used to store packages of a specific category. In this scheme, only one warehouse conveyor belt unit 15 is drawn. In reality, there are many warehouse conveyor belt units 15, and they are far apart from each other.

[0032] The package identification unit 41 is located directly above the end of the conveyor belt unit 19 for the package to be identified; the package identification unit 41 scans the barcode / QR code reader or CCD vision camera downwards, in short, it can identify the type of package.

[0033] The parcel transfer robot 17 can walk to the end of the conveyor belt unit 19 to be identified and dock, so that the parcel 18 at the end of the conveyor belt unit 19 can be smoothly transferred to the parcel transfer robot 17.

[0034] The parcel transfer robot 17 can travel to the starting point of any inbound conveyor belt unit 15, so that the parcel 18 on the parcel transfer robot 17 can be transferred to the corresponding inbound conveyor belt unit 15.

[0035] like Figure 2 The parcel transfer robot 17 includes a vehicle 11 capable of moving horizontally on the ground 16. The vehicle 11 is equipped with a conveyor structure that can connect with the parcel conveyor unit 19 to be identified / the warehouse conveyor unit 15. The specific structure of the conveyor structure is described below:

[0036] A first horizontal roller mounting bracket 9 is fixedly installed above the traveling vehicle 11 via a support column 8. A conveyor belt roller 20 and a conveyor belt roller 22 are rotatably mounted at the front and rear ends of the first roller mounting bracket 9, respectively. A second roller mounting bracket 23 is provided below the first roller mounting bracket 9, and a conveyor belt roller 21 is rotatably mounted on the second roller mounting bracket 23. It also includes a conveyor belt 1 connected end to end, and the conveyor belt rollers 20, 22, and 21 tension the conveyor belt 1 outward.

[0037] The outline of conveyor belt 1 is tensioned into an isosceles triangle by conveyor belt rollers a 20, b 22, and c 21, as shown below. Figure 3 As shown.

[0038] The conveyor belt 1, with an isosceles triangular outline, includes a horizontal section 1.1, an inclined section a 1.2, and an inclined section b 1.3. The horizontal section 1.1 is level with the conveying surfaces of the package-to-be-identified conveyor belt unit 19 and the warehousing conveyor belt unit 15. Figure 1 As shown.

[0039] A lifting device 12 is fixed to the lower side of the first roller mounting bracket 9. The lower end of the lifting rod 10 of the lifting device 12 is fixedly connected to the second roller mounting bracket 23, thereby driving the second roller mounting bracket 23 to move up and down. Two side plates 3 are symmetrically arranged on the upper sides of the horizontal section 1.1 of the conveyor belt, forming a wrapping conveyor groove 2 between the two side plates 3. Several lifting devices 7 are fixed to the first roller mounting bracket 9. The lifting rod 6 of the lifting device 7 is fixed to the side plate 3, thereby controlling the lifting of the two side plates 3. The lower end of the side plate 3 is a convex arc profile 4, which slides tangentially or gap-fits with the edge of the upper surface of the horizontal section 1.1 of the conveyor belt.

[0040] As conveyor belt roller 21 moves upward, the taut conveyor belt 1, after the side plates 3 move downward, undergoes the following three changes: Figure 4 and Figure 5 As shown:

[0041] Change 1: The angle between inclined section 1.2 of conveyor belt a and inclined section 1.3 of conveyor belt b increases;

[0042] Change 2: The lengths of both inclined section 1.2 of conveyor belt a and inclined section 1.3 of conveyor belt b are shortened simultaneously;

[0043] Change 3: Under the downward pressure of the convex arc profile 4, the middle part of the horizontal section 1.1 of the conveyor belt is concave arc-shaped and sunken, and the original horizontal section 1.1 of the conveyor belt becomes a concave arc section 1a.

[0044] The conveyor belt 1 changed from its original isosceles triangular outline to a concave "heart" shape, with a concave groove 2.1 formed between the two side plates 3, as shown. Figure 5 As shown.

[0045] A roller drive motor 13 is installed on the first roller mounting bracket 9. The output end of the roller drive motor 13 drives either conveyor belt roller 20 or conveyor belt roller 22.

[0046] Working methods and principles of warehouse sorting and transfer robots:

[0047] The robot's initial state: The conveyor belt 1 on the package transfer robot 17 has a taut isosceles triangular outline, and a continuous package transfer channel 2 is formed above the horizontal section 1.1 of the conveyor belt; as shown... Figure 3 and 3 As shown;

[0048] Step one: The parcel transfer robot 17 moves to the end of the conveyor belt unit 19 to be identified. At this time, the horizontal section 1.1 of the conveyor belt on the parcel transfer robot 17 is level with the conveyor surface of the conveyor belt unit 19 and on the same extension line. Figure 1As shown;

[0049] Step 2: When an unidentified package 18 conveyed on the package conveyor belt unit 19 is conveyed to the area directly below the package identification unit 41, the package identification unit 41 identifies the type of the package 18 directly below it.

[0050] Step 3: By controlling the roller drive motor 13, the horizontal section 1.1 of the conveyor belt 1 is synchronized with the conveying surface of the package to be identified conveyor belt unit 19, so that the identified package 18 at the end of the conveyor belt unit 19 is smoothly transferred to the horizontal section 1.1 of the conveyor belt on the package transfer robot 17 and constrained in the package conveying groove 2 formed between the two side plates 3 until the identified package 18 is conveyed to the middle position of the horizontal section 1.1 of the conveyor belt on the package transfer robot 17.

[0051] If the parcel transfer robot 17 starts walking directly on the ground after this step, the following problems will occur: Although the parcel transfer channel 2 is constrained by the side plates 3 on both sides, the front and back of the parcel transfer channel 2 are still open. As the parcel transfer robot 17 carries the identified parcel 18 and walks quickly along the ground, it will inevitably experience acceleration or deceleration and bumps. In this way, the parcel 18, which is constrained in the parcel transfer channel 2, can easily slide forward or backward under the action of inertia, causing the risk of losing the parcel. In order to solve this problem, the next step is introduced.

[0052] Step 4: Control the a-lifter 12 to drive the second roller mounting bracket 23 and the c-conveyor roller 21 to move upward. At the same time, control each b-lifter 7 to make the side plates 3 move downward.

[0053] As conveyor belt roller 21 moves upward, the taut conveyor belt 1, after the side plates 3 move downward, undergoes the following three changes: Figure 4 and Figure 5 As shown:

[0054] Change 1: The angle between inclined section 1.2 of conveyor belt a and inclined section 1.3 of conveyor belt b increases;

[0055] Change 2: The lengths of both inclined section 1.2 of conveyor belt a and inclined section 1.3 of conveyor belt b are shortened simultaneously;

[0056] Change 3: Under the downward pressure of the convex arc profile 4, the middle part of the horizontal section 1.1 of the conveyor belt is concave arc-shaped and sunken, and the original horizontal section 1.1 of the conveyor belt becomes a concave arc section 1a.

[0057] The conveyor belt 1 changes from the original isosceles triangular outline to a heart-shaped outline with a concave top, and a concave wrapping groove 2.1 is formed between the two side plates 3; at this time, the package 18 in the middle of the original horizontal section 1.1 of the conveyor belt also falls into the concave wrapping groove 2.1. Under the constraint of the concave wrapping groove 2.1, the package 18 will not slide back and forth due to inertia, thus avoiding the "package loss" problem of the package transfer robot 17 when accelerating, decelerating or braking.

[0058] Step 5: The parcel transfer robot 17 moves toward the warehouse conveyor belt unit 15 corresponding to the identified parcel 18 it is carrying, until the parcel transfer robot 17 is connected to the corresponding warehouse conveyor belt unit 15.

[0059] Step 6: Control the a-lifter 12 to drive the second roller mounting bracket 23 and the c-conveyor belt roller 21 to move downward. At the same time, control each b-lifter 7 to make the side plates 3 move upward. This will restore the conveyor belt 1 to its initial state, and the concave arc segment 1a will be restored to the horizontal segment 1.1 of the conveyor belt. At this time, the horizontal segment 1.1 of the conveyor belt is level with the conveying surface of the corresponding warehouse conveyor belt unit 15 and is on the same extension line.

[0060] Step 7: By controlling the roller drive motor 13, the horizontal section 1.1 of the conveyor belt 1 is synchronized with the conveying surface of the corresponding warehouse inbound conveyor unit 15, so that the identified package 18 on the horizontal section 1.1 of the conveyor belt can smoothly transition to the starting point of the warehouse inbound conveyor unit 15. Then the warehouse inbound conveyor unit 15 will transport the package 18 to the warehouse that matches the package.

[0061] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A warehouse sorting and transfer robot, characterized in that: It includes a package conveyor belt unit (19) to be identified, a package transfer robot (17), a package identification unit (41) and several inbound conveyor belt units (15). The package identification unit (41) is located directly above the end of the conveyor belt unit (19) to be identified; the package transfer robot (17) can walk to dock with the end of the conveyor belt unit (19) to be identified; the package transfer robot (17) can walk to dock with the starting point of any of the warehouse conveyor belt units (15). The parcel transfer robot (17) includes a vehicle (11) capable of moving horizontally on the ground (16), and the vehicle (11) is equipped with a conveyor structure that can be connected to the parcel conveyor unit (19) to be identified / the warehouse conveyor unit (15). A first horizontal roller mounting bracket (9) is fixedly installed above the traveling vehicle (11) via a support column (8). A conveyor belt roller (20) and a conveyor belt roller (22) are rotatably mounted at the front and rear ends of the first roller mounting bracket (9), respectively. A second roller mounting bracket (23) is provided below the first roller mounting bracket (9). A conveyor belt roller (21) is rotatably mounted on the second roller mounting bracket (23). The vehicle also includes a conveyor belt (1) connected end to end. The conveyor belt roller (20), the conveyor belt roller (22), and the conveyor belt roller (21) tension the conveyor belt (1) outward. The outline of the conveyor belt (1) is tensioned into an isosceles triangle by conveyor belt roller (20), conveyor belt roller (22) and conveyor belt roller (21); The conveyor belt (1) with an isosceles triangle outline includes a horizontal section (1.1), an inclined section a (1.2), and an inclined section b (1.3); the horizontal section (1.1) is level with the conveyor surfaces of the package to be identified conveyor belt unit (19) and the warehouse conveyor belt unit (15); The first roller mounting bracket (9) is fixed with an a lifting device (12) on its lower side. The lower end of the a lifting rod (10) of the a lifting device (12) is fixedly connected to the second roller mounting bracket (23), thereby driving the second roller mounting bracket (23) to rise and fall. The upper side of the horizontal section (1.1) of the conveyor belt is symmetrically provided with two side plates (3), and a wrapping conveyor groove (2) is formed between the two side plates (3). The first roller mounting bracket (9) is fixed with several b lifting devices (7). The b lifting rod (6) of the b lifting device (7) is fixed to the side plate (3), thereby controlling the rise and fall of the two side plates (3). The lower end of the side plate (3) is a convex arc profile (4), which is tangentially or gap-fitted with the edge of the upper surface of the horizontal section (1.1) of the conveyor belt.

2. The warehouse sorting and transfer robot according to claim 1, characterized in that: As the conveyor belt roller (21) moves upward, the conveyor belt (1), which remains taut after the side plates (3) move downward, undergoes the following three changes: Change 1: The angle between inclined section a (1.2) and inclined section b (1.3) of the conveyor belt increases; Change 2: The lengths of both the inclined section a (1.2) and the inclined section b (1.3) of the conveyor belt are shortened simultaneously; Change 3: Under the pressure of the convex arc profile (4), the middle part of the horizontal section (1.1) of the conveyor belt is concave and sunken, and the original horizontal section (1.1) of the conveyor belt becomes a concave arc section (1a). The conveyor belt (1) changed from the original isosceles triangle outline to a "heart-shaped" outline with a concave top, and a concave wrapping groove (2.1) was formed between the two side plates (3).

3. The warehouse sorting and transfer robot according to claim 2, characterized in that: A roller drive motor (13) is installed on the first roller mounting bracket (9), and the output end of the roller drive motor (13) drives and connects to either the a conveyor belt roller (20) or the b conveyor belt roller (22).

4. The working method of the warehouse sorting and transfer robot according to claim 3, characterized in that: The identified package (18) at the end of the conveyor belt unit (19) is paused when it smoothly transitions to the middle position of the horizontal section (1.1) of the conveyor belt on the package transfer robot (17); A lifting device (12) drives the second roller mounting bracket (23) and the c conveyor belt roller (21) to move upward. At the same time, each b lifting device (7) is controlled to make the two side plates (3) move downward. The conveyor belt (1) changes from the original isosceles triangle outline to a "heart" shape with a concave top, and a concave wrapping groove (2.1) is formed between the two side plates (3); at this time, the wrapping (18) in the middle of the original horizontal section (1.1) of the conveyor belt also sinks into the concave wrapping groove (2.1).

Images