Cargo handover equipment and method based on robot transportation

Abstract

The invention discloses a cargo handover device and method based on robot transportation, and relates to the technical field of logistics robots. The device comprises a main body embedded plate, a bottom plate is fixedly installed at the top of the main body embedded plate, a channel rack is fixedly installed at the top of the bottom plate, a one-way inlet and a one-way outlet are formed in one side of the channel rack, and a goods delivery port is formed in the other side of the channel rack. By arranging a three-door interlocking mechanism, the one-way inlet and the one-way outlet are not opened at the same time with the cargo interface, and the system monitors and recognizes access of personnel in real time through hardware terminals such as a personnel detection camera and temperature sensing detection equipment; the one-way entrance and the one-way exit are always kept in a closed state, it is ensured that personnel do not enter a reservoir area at will, other robots automatically queue in the handover process, the waiting time in the handover process is shortened, and the working efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of logistics robots, and in particular to a cargo delivery device and method based on robot transportation. Background Art

[0002] Currently, the most common handover channel machine is a double-door opening and closing method, with the double doors interlocked. In the vault application scenario, the handling robot delivers the goods to be handed over into the channel machine. After the robot puts down the goods, it needs to exit the channel machine again, and the channel machine door opens for the handover operation. In the scenario of continuous handover, if the handling robot's driving path is a single channel, the channel machine entrance and exit cannot realize the queuing of the handling robot, otherwise it will affect the driving of the returned handling robot.

[0003] At present, the solution to the problem of opening and closing the double-door transfer channel machine is not to set up a queue, or to set the queue at a location far away from the entrance and exit of the channel machine. When the goods in the channel machine are handed over, the handling robot will carry the next pallet of goods for handover. At this time, the handling robot will travel a long distance to transport the goods, and the operator will need to wait. However, this solution will greatly affect the handover efficiency, thereby extending the overall operation time. For this reason, a cargo handover device and method based on robot transportation are proposed. Summary of the invention

[0004] The purpose of the present invention is to solve the problem that the current solution to the opening and closing problem of the double-door transfer channel machine will greatly affect the transfer efficiency, thereby causing the overall operation time to be extended. The present invention provides a cargo transfer device and method based on robot transportation.

[0005] In order to achieve the above-mentioned purpose, the present invention specifically adopts the following technical solutions: A cargo delivery device based on robot transportation comprises a main body embedded panel, a bottom plate is fixedly installed on the top of the main body embedded panel, a channel rack is fixedly installed on the top of the bottom plate, a one-way inlet and a one-way outlet are opened on one side of the channel rack, a cargo delivery interface is opened on the other side of the channel rack, a plurality of cargo unloading electric turntables and two reversing electric turntables are fixedly installed on the top of the bottom plate, the positions of the two reversing electric turntables respectively correspond to the positions of the one-way inlet and the one-way outlet, the positions of the plurality of cargo unloading electric turntables correspond to the positions of the cargo delivery interface, the tops of the cargo unloading electric turntables and the reversing electric turntables are both fixedly installed with assembly disks, a plurality of assembly plates are fixedly installed on the top of the bottom plate, the assembly disks and the assembly plates are both located inside the channel rack, and the top of the channel rack is fixedly installed There are automatic rolling shutters for the import, the delivery interface and the export, which are respectively located above the one-way import, the cargo delivery interface and the one-way exit, and alloy rolling shutters are rolled up inside the automatic rolling shutters for the import, the delivery interface and the export, and vertically arranged rolling shutter tracks are fixedly installed on both sides of the one-way import, the cargo delivery interface and the one-way exit, and the bottom ends of the alloy rolling shutters on the same side extend to the insides of the two rolling shutter tracks, and two import and export inner panels are fixedly installed on one side of the main body inner panel, and the two import and export inner panels are respectively located on one side of the one-way import and export and the cargo delivery interface, and an import ramp and an export ramp are respectively fixedly installed on the tops of the two import and export inner panels.

[0006] Furthermore, outer track grooves are provided at the tops of the inlet ramp and the outlet ramp, inner track grooves are provided at the tops of the assembly disc and the assembly plate, and the outer track grooves and a plurality of the inner track grooves can be interconnected.

[0007] Furthermore, the sides of the inlet ramp and the outlet ramp away from the channel frame are both provided with track groove expansion openings, and the track groove expansion openings located at the same position are connected to the outer track groove.

[0008] Furthermore, a plurality of evenly distributed gate door frames are fixedly installed on the top of the entrance ramp, and a gate guard plate is fixedly installed between any two adjacent gate door frames.

[0009] Furthermore, gate plate receiving grooves are provided on both sides of the gate door frame, and isolation gate plates are rotatably installed inside the gate plate receiving grooves. Gate plate drivers are fixedly installed on both sides of the gate door frame, and the gate plate drivers located at the same place are drivingly connected to the isolation gate plates.

[0010] Furthermore, two coil spring reset door shafts are provided on the side of the one-way inlet located inside the channel frame and the side of the one-way outlet located outside the channel frame. The coil spring reset door shafts located at the same place are fixedly installed on the side wall of the rolling shutter track, and the one-way door panels are rotatably installed on the coil spring reset door shafts.

[0011] Furthermore, a plurality of evenly distributed classification isolation doors are rotatably installed inside the cargo handover interface, and the positions of the plurality of classification isolation doors respectively correspond to the positions of the plurality of electric turntables for unloading cargo.

[0012] A cargo delivery method based on robot transportation, characterized in that it includes the following steps: S1, robot queue: the gate driver on each gate frame will drive each isolation gate to retract into the gate storage slot, and the robots will move forward in order. When the robot queue stops, the isolation gate will reset to separate the robots; S2, Robot enters the warehouse: The gate driver releases the restriction on the first robot in the queue, allowing it to carry the goods onto the import ramp. After being recognized by the system, the import automatic rolling shutter door and the export automatic rolling shutter door retract the alloy roller shutter, opening the one-way import and one-way export, and the robot drives into the channel rack; S3, robot unloading: the robot stops on the reversing electric turntable on the one-way entrance side, and the reversing electric turntable drives the assembly disk to drive the robot to turn 90 degrees. The robot continues to move to the top of one of the unloading electric turntables, and then the unloading electric turntable drives the assembly disk to drive the robot to turn for unloading; S4, robot exits the warehouse: the robot resets, continues to drive to the reversing electric turntable on the one-way exit side and stops, repeats the previous operation, the robot reverses and drives out of the one-way exit, at this time the entrance automatic rolling shutter door and exit automatic rolling shutter door close the one-way entrance and one-way exit; S5. Goods handover: The automatic rolling shutter door at the handover interface controls the opening of the goods handover interface, and the staff opens the corresponding classification isolation door to start the handover operation. After the handover is completed, the goods handover interface is closed, and the one-way import and export are opened again for the next round of handover.

[0013] The beneficial effects of the present invention are as follows: 1. The present invention sets a three-door interlocking mechanism so that the one-way entrance and one-way exit will not be opened at the same time as the cargo handover interface, and the system will monitor the situation inside the channel rack. When a person enters the channel rack through the cargo handover interface, the one-way entrance and one-way exit will always remain closed to ensure that people do not enter the warehouse area at will. During the handover process, other robots automatically queue up, which reduces the waiting time during the handover process and improves the work efficiency. 2. By setting three doors, the present invention enables this handover device to solve the problem that the traditional double-door mechanism cannot queue, and the three doors are arranged in a "pin" shape structure, making the structure of this handover device more compact. The unloading electric turntable and the reversing electric turntable arranged inside the channel rack can assist the robot in turning, so that this handover device no longer needs to reserve a large turning space for the robot, reducing the space occupied by this handover device and improving the positioning accuracy of the robot. 3. By setting an outer track groove and an inner track groove, after the robot drives onto the import ramp, its wheels will be located in the outer track groove, and the outer track groove plays a guiding and positioning role in its driving. When the robot drives onto the first assembly disk along the outer track groove and the inner track groove, the reversing electric turntable drives the assembly disk to rotate, so that the inner track groove on the assembly disk is docked with the inner track groove of the next section, realizing track change, so that the robot always drives under the guidance of the outer track groove and the inner track groove, further improving the accuracy of the robot's driving and staying. 4. By setting the turnstile door frame, the turnstile door frame and the turnstile guard plate can cover the top of the import ramp inside, so that the robots queuing on the import ramp will be located inside the turnstile channel composed of multiple turnstile door frames and turnstile guard plates, reducing the interference of external environmental factors on the robots and the recognition system in the queue. 5. By setting the isolation shutter, after the previous handover is completed, the one-way import and the one-way export will be opened again. At this time, the shutter drivers on each turnstile door frame will respectively drive each isolation shutter to rotate downward, and then retract into the shutter storage groove, releasing the restriction on each robot, so that the robots can move forward in order. When the robot queue stops, the isolation shutter will turn to the horizontal again to play a role in blocking, preventing robots or unauthorized personnel from entering the inside of the channel rack through the one-way import. 6. By setting the one-way door panel, two groups of one-way door panels located on one side of the one-way import and the one-way export are respectively arranged inside and outside the channel rack, so that the one-way door panel is blocked by the rolling curtain tracks on both sides, so that the one-way door panel located on one side of the one-way import can only open inward, and the one-way door panel located on one side of the one-way export can only open outward, realizing one-way passage and preventing robots or unauthorized personnel from going out reversely through the one-way import or entering reversely through the one-way export. 7. By setting the classification isolation door, the robots will place the goods at different positions inside the goods interface respectively under the drive of different unloading electric turntables, and then the corresponding staff will open the corresponding classification isolation door for handover. Thus, when multiple people hand over at the same time, only the corresponding personnel can open the classification isolation door to hand over the goods, effectively avoiding the handover personnel from taking the wrong goods. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1It is a schematic diagram of the three-dimensional structure of the present invention from a first viewing angle; Figure 2 The present invention Figure 1 Schematic diagram of the structure at A in the middle; Figure 3 is a schematic diagram of a three-dimensional structure from a second viewing angle of the present invention; Figure 4 It is a schematic diagram of the three-dimensional structure of the inlet ramp, the outlet ramp and the inlet and outlet inner panels of the present invention; Figure 5 It is a schematic diagram of the three-dimensional structure of the interior of the channel rack of the present invention from a first-view perspective; Figure 6 The present invention Figure 5 Schematic diagram of the structure of middle B; Figure 7 is a schematic diagram of the second perspective stereoscopic structure of the interior of the channel rack of the present invention; Figure 8 It is a schematic diagram of the three-dimensional structure of the bottom plate and the electric turntable for unloading goods of the present invention; Fig. 9 It is a flow chart of a cargo delivery method based on robot transportation of the present invention; Figure numerals: 1. Main body embedded panel; 2. Bottom plate; 3. Channel frame; 301. One-way import; 302. Cargo delivery interface; 303. One-way export; 4. Electric turntable for unloading goods; 5. Reversing electric turntable; 6. Assembly plate; 7. Assembly plate; 8. Automatic rolling shutter door for import; 9. Automatic rolling shutter door for delivery interface; 10. Automatic rolling shutter door for export; 11. Alloy roller shutter; 12. Roller shutter track; 13. Inlet and outlet embedded panels; 14. Import ramp; 15. Export ramp; 16. Outer track groove; 1601. Track groove expansion; 17. Inner track groove; 18. Gate machine door frame; 1801. Gate plate storage groove; 19. Gate machine guard plate; 20. Gate plate driver; 21. Isolation gate plate; 22. Coil spring reset door shaft; 23. One-way door plate; 24. Classification isolation door. DETAILED DESCRIPTION

[0015] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.

[0016] Therefore, the following detailed description of the embodiments of the present invention provided in the drawings is not intended to limit the scope of the claimed invention, but merely represents selected embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts fall within the scope of protection of the present invention.

[0017] It should be noted that similar reference numerals and letters denote similar items in the following drawings. Therefore, once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings. In addition, the terms "first", "second", etc. are only used for descriptive distinction and cannot be construed as indicating or implying relative importance.

[0018] In the description of the embodiments of the present invention, it should be noted that the orientation or positional relationship indicated by the terms "inner", "outer", "upper", etc. is based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship in which the invention product is habitually placed during use. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be construed as a limitation of the present invention.

[0019] As Figures 1 to 8 shown, a goods transfer device based on robot transportation includes a main body inlay panel 1. As Figure 1 、 Figure 3 shown, a bottom plate 2 is fixedly installed on the top of the main body inlay panel 1, and a channel frame 3 is fixedly installed on the top of the bottom plate 2. As Figure 5 、 Figure 7 shown, a one-way inlet 301 and a one-way outlet 303 are provided on one side of the channel frame 3, and a goods transfer interface 302 is provided on the other side of the channel frame 3. In this embodiment, the one-way inlet 301 and the one-way outlet 303 are located on the same side, and the goods transfer interface 302 is located on the opposite side of the one-way inlet 301 and the one-way outlet 303 and is in the middle of the one-way inlet 301 and the one-way outlet 303, that is, the goods transfer interface 302, the one-way inlet 301, and the one-way outlet 303 form a "pin" - shaped structure on a plane. As Figure 8 shown, a plurality of unloading electric turntables 4 and two reversing electric turntables 5 are fixedly installed on the top of the bottom plate 2. The positions of the two reversing electric turntables 5 correspond to the positions of the one-way inlet 301 and the one-way outlet 303 respectively, and the positions of the plurality of unloading electric turntables 4 correspond to the position of the goods transfer interface 302. As Figure 7 shown, assembly disks 6 are fixedly installed on the tops of the unloading electric turntables 4 and the reversing electric turntables 5, and a plurality of assembly plates 7 are fixedly installed on the top of the bottom plate 2. The assembly disks 6 and the assembly plates 7 are both located inside the channel frame 3. As Figure 4As shown, the top of the channel frame 3 is fixedly installed with an inlet automatic rolling shutter door 8, a handover interface automatic rolling shutter door 9 and an exit automatic rolling shutter door 10, which are respectively located above the one-way inlet 301, the cargo handover interface 302 and the one-way exit 303. The inlet automatic rolling shutter door 8, the handover interface automatic rolling shutter door 9 and the exit automatic rolling shutter door 10 are all rolled up with alloy rolling curtains 11. In this embodiment, the inlet automatic rolling shutter door 8, the handover interface automatic rolling shutter door 9 and the exit automatic rolling shutter door 10 are The dynamic rolling shutter door 9 and the exit automatic rolling shutter door 10 are both controlled by independent motors. The motor drives the transmission shaft to rotate, thereby controlling the retraction and unwinding of the alloy roller shutter 11. The visual recognition system or information recognition equipment is used to realize the opening and closing of the door. The three doors can be interlocked. The alloy roller shutter 11 is composed of EPDM strips and aluminum alloy door strips. At the same time, hardware terminals such as personnel detection cameras and temperature sensing equipment are arranged near the cargo handover interface 302 in the channel rack 3 to monitor and identify the entry and exit of personnel in real time. Figure 5 As shown, vertically arranged roller shutter tracks 12 are fixedly installed on both sides of the one-way inlet 301, the cargo delivery port 302 and the one-way outlet 303, and the bottom ends of the alloy roller shutters 11 on the same side extend to the inside of the two roller shutter tracks 12, as shown in FIG. Figure 4As shown in the figure, two import and export inlay panels 13 are fixedly installed on one side of the main body inlay panel 1. The two import and export inlay panels 13 are respectively located on one side of the one-way import 301 and the goods interface 302. At the tops of the two import and export inlay panels 13, an import ramp 14 and an export ramp 15 are respectively fixedly installed. In this embodiment, the main body inlay panel 1 and the import and export inlay panels 13 are both inlaid in the hardened concrete floor. The two import and export inlay panels 13 are of different lengths, corresponding to the longer import ramp 14 and the shorter export ramp 15 respectively. Specifically, when the goods transfer device based on robot transportation is in use, the first handling robot carries the goods and drives onto the import ramp 14. After being recognized by the system, the system controls the import automatic rolling gate 8 and the export automatic rolling gate 10 to drive, and winds up the alloy rolling curtain 11 to open the one-way import 301 and the one-way export 303. The first robot drives into the channel rack 3 and stops on the reversing electric turntable 5 on one side of the one-way import 301. The reversing electric turntable 5 drives the assembly disk 6 to drive the robot to turn 90 degrees. The robot continues to drive above one of the unloading electric turntables 4, and then the unloading electric turntable 4 at this place drives the assembly disk 6 to drive the robot to turn for unloading. After that, the robot resets and continues to drive to stop on the reversing electric turntable 5 on one side of the one-way export 303, repeating the previous operation. After the robot changes direction, it drives out of the one-way export 303. At this time, the import automatic rolling gate 8 and the export automatic rolling gate 10 close the one-way import 301 and the one-way export 303, and the interface automatic rolling gate 9 controls the goods interface 302 to open, and the staff starts the handover operation. At this time, other handling robots stop in sequence on the import ramp 14 to queue up. After the handover is completed, the goods interface 302 is closed, and the one-way import 301 and the one-way export 303 are opened again for the next round of handover. By setting a three-door interlock mechanism, the one-way import 301 and the one-way export 303 will not be opened simultaneously with the goods interface 302, and the system will monitor the situation inside the channel rack 3. When personnel enter the channel rack 3 through the goods interface 302, the one-way import 301 and the one-way export 303 always remain closed to ensure that personnel do not enter the storage area at will. And during the handover process, other robots automatically queue up, reducing the waiting time during the handover process and improving the operation efficiency. By setting three doors, this handover device solves the problem that the traditional double-door mechanism cannot queue up, and by setting the three doors in a "pin" shape structure, the structure of this handover device is more compact. The unloading electric turntable 4 and the reversing electric turntable 5 installed inside the channel rack 3 can assist the robot to turn, so that this handover device does not need to reserve a large turning space for the robot, reducing the space occupied by this handover device and improving the positioning accuracy of the robot.

[0020] As Figure 7As shown, the tops of the inlet ramp 14 and the outlet ramp 15 are both provided with an outer track groove 16, and the tops of the assembly disc 6 and the assembly plate 7 are both provided with an inner track groove 17. The outer track groove 16 and the plurality of inner track grooves 17 can be connected to each other. In this embodiment, the assembly disc 6 and the assembly plate 7 are respectively mounted on the unloading electric turntable 4, the reversing electric turntable 5 and the bottom plate 2 by bolts, so that the assembly disc 6 and the assembly plate 7 can be replaced conveniently to adjust the spacing between the outer track groove 16 and the inner track groove 17 for robots of different models. The assembly plate 7 on the bottom plate 2 is a structure composed of multiple plates, wherein the assembly plate 7 adjacent to the assembly disc 6 is provided with a groove corresponding to the assembly disc 6. The outer track groove 16 and the inner track groove 17 are arranged so that after the robot drives onto the import ramp 14, its wheels will be located in the outer track groove 16, so that the outer track groove 16 plays a guiding and positioning role in its driving. When the robot drives onto the first assembly disk 6 according to the outer track groove 16 and the inner track groove 17, the reversing electric turntable 5 drives the assembly disk 6 to rotate, so that the inner track groove 17 on the assembly disk 6 is docked with the inner track groove 17 of the next section to achieve track change, so that the robot always drives under the guidance of the outer track groove 16 and the inner track groove 17, further improving the accuracy of the robot's driving and staying.

[0021] like Figure 4 As shown, a track groove expansion opening 1601 is provided on the side of the entrance ramp 14 and the exit ramp 15 away from the channel frame 3, and the track groove expansion opening 1601 located at the same place is connected with the outer track groove 16; specifically, by setting the track groove expansion opening 1601, the track groove expansion opening 1601 expands the port of the outer track groove 16 into a fan shape, which facilitates the robot to align with the outer track groove 16 and improves the fault tolerance of the robot positioning.

[0022] like Figure 1 As shown, a plurality of evenly distributed gate door frames 18 are fixedly installed on the top of the entrance ramp 14, and a gate guard plate 19 is fixedly installed between any two adjacent gate door frames 18. In the present embodiment, the gate door frames 18 are arranged in an evenly distributed array on one side of the one-way entrance 301, and the nearest gate door frame 18 is fixedly connected to the channel frame 3. The plurality of gate door frames 18 and gate guard plates 19 are connected to each other by bolt groups and installed on the entrance ramp 14 and one side of the channel frame 3; specifically, by arranging the gate door frames 18, the gate door frames 18 and the gate guard plates 19 can cover the top of the entrance ramp 14 inside, so that the robots queuing on the entrance ramp 14 will be located inside the gate channel composed of the plurality of gate door frames 18 and the gate guard plates 19, thereby reducing the interference of external environmental factors on the robots in the queue and the recognition system.

[0023] like Figure 2As shown, gate receiving grooves 1801 are provided on both sides of the gate door frame 18, and isolation gates 21 are rotatably installed inside the gate receiving grooves 1801. Gate drivers 20 are fixedly installed on both sides of the gate door frame 18, and the gate drivers 20 located at the same place are drivingly connected to the isolation gates 21. In the present embodiment, the gate driver 20 includes driving parts such as a driving motor and a gear set, which are used to drive the isolation gates 21 to rotate on the vertical plane; specifically, by setting the isolation gates 21, after the last round of handover is completed, the one-way entrance 301 and the one-way exit 303 will be opened again, at this time, the gate drivers 20 on each gate door frame 18 will respectively drive each isolation gate 21 to rotate downward, and then retract into the gate receiving grooves 1801, thereby removing the restrictions on each robot and allowing the robot to move forward in order, and when the robot queue stops, the isolation gate 21 will turn back to the horizontal position to play a blocking role, preventing the robot or unrelated personnel from entering the interior of the channel frame 3 through the one-way entrance 301.

[0024] like Figure 6 As shown, two coil spring return door shafts 22 are arranged on one side of the one-way inlet 301 located inside the channel frame 3 and one side of the one-way outlet 303 located outside the channel frame 3. The coil spring return door shafts 22 located at the same place are fixedly installed on the side wall of the rolling track 12, as shown in FIG. Figure 1 As shown, a one-way door plate 23 is rotatably mounted on the coil spring reset door shaft 22. In this embodiment, as shown in FIG. Figure 4 As shown, the one-way door panel 23 located below the entrance automatic rolling shutter door 8 is located inside the alloy rolling curtain 11 there, and the one-way door panel 23 located below the exit automatic rolling shutter door 10 is located outside the alloy rolling curtain 11 there; specifically, by setting the one-way door panel 23, two groups of one-way door panels 23 located on one side of the one-way entrance 301 and the one-way exit 303 are respectively arranged inside and outside the channel frame 3, so that the one-way door panel 23 is blocked by the rolling shutter track 12 on both sides, so that the one-way door panel 23 located on one side of the one-way entrance 301 can only be opened inward, and the one-way door panel 23 located on one side of the one-way exit 303 can only be opened outward, thereby realizing one-way passage and preventing robots or unrelated personnel from going out in the reverse direction through the one-way entrance 301, or going in in the reverse direction through the one-way exit 303.

[0025] like Figure 3As shown, the cargo handover interface 302 is internally rotatably installed with a plurality of evenly distributed classification isolation doors 24, and the positions of the plurality of classification isolation doors 24 correspond to the positions of the plurality of electric turntables 4 for unloading cargo. In the present embodiment, the alloy roller shutter 11 driven and controlled by the automatic rolling shutter door 9 of the handover interface is located inside the space surrounded by the plurality of classification isolation doors 24 and the channel frame 3; specifically, by setting the classification isolation doors 24, the robot will place the cargo at different positions inside the cargo handover interface 302 driven by different electric turntables 4 for unloading cargo, and then the corresponding staff will open the corresponding classification isolation door 24 for handover, so that when multiple people hand over cargo at the same time, only the corresponding personnel can open the classification isolation door 24 to hand over cargo, effectively preventing the handover personnel from taking the wrong cargo.

[0026] like Fig. 9 As shown, a cargo delivery method based on robot transportation is characterized by comprising the following steps: S1, robot queue: the gate driver 20 on each gate door frame 18 will drive each isolation gate 21 to retract into the gate storage slot 1801, and the robots move forward in order. When the robot queue stops, the isolation gate 21 will reset to separate the robots; S2, robot enters the warehouse: the gate driver 20 releases the restriction on the first robot in the queue, allowing it to carry the goods onto the entrance ramp 14. After identification by the system, the entrance automatic rolling shutter door 8 and the exit automatic rolling shutter door 10 retract the alloy roller shutter 11, so that the one-way entrance 301 and the one-way exit 303 are opened, and the robot enters the interior of the channel rack 3; S3, robot unloading: the robot stops on the reversing electric turntable 5 on one side of the one-way entrance 301, and the reversing electric turntable 5 drives the assembly plate 6 to drive the robot to turn 90 degrees. The robot continues to move to the top of one of the unloading electric turntables 4, and then the unloading electric turntable 4 drives the assembly plate 6 to drive the robot to turn to unload; S4, robot exits the warehouse: the robot resets, continues to drive to the reversing electric turntable 5 on one side of the one-way exit 303, and stops, repeats the previous operation, the robot reverses and drives out of the one-way exit 303, at this time the entrance automatic rolling shutter door 8 and the exit automatic rolling shutter door 10 close the one-way entrance 301 and the one-way exit 303; S5. Goods handover: The automatic rolling shutter door 9 at the handover interface controls the goods handover interface 302 to open, and the staff opens the corresponding classification isolation door 24 to start the handover operation. After the handover is completed, the goods handover interface 302 is closed, and the one-way entrance 301 and the one-way exit 303 are opened again for the next round of handover.

[0027] In summary: When the goods transfer device based on robot transportation is in use, the first handling robot carries the goods and drives onto the import ramp 14. After being recognized by the system, the system controls the import automatic rolling gate 8 and the export automatic rolling gate 10 to drive, and winds up the alloy rolling curtain 11 to open the one-way import 301 and the one-way export 303. The first robot drives into the channel rack 3 and stops on the reversing electric turntable 5 on one side of the one-way import 301. The reversing electric turntable 5 drives the assembly disk 6 to drive the robot to turn 90 degrees. The robot continues to drive above one of the unloading electric turntables 4, and then the unloading electric turntable 4 at this place drives the assembly disk 6 to drive the robot to turn for unloading. After that, the robot resets and continues to drive to stop on the reversing electric turntable 5 on one side of the one-way export 303, repeating the previous operation. After the robot changes direction, it drives out of the one-way export 303. At this time, the import automatic rolling gate 8 and the export automatic rolling gate 10 close the one-way import 301 and the one-way export 303, and the interface automatic rolling gate 9 controls the goods interface 302 to open, and the staff starts the handover operation. At this time, other handling robots stop in sequence on the import ramp 14 to queue. After the handover is completed, the goods interface 302 is closed, and the one-way import 301 and the one-way export 303 are opened again for the next round of handover. By setting a three-door interlock mechanism, the one-way import 301 and the one-way export 303 will not be opened simultaneously with the goods interface 302, and the system will monitor the situation inside the channel rack 3. When personnel enter the channel rack 3 through the goods interface 302, the one-way import 301 and the one-way export 303 always remain closed to ensure that personnel do not enter the storage area at will. And during the handover process, other robots automatically queue, reducing the waiting time during the handover process and improving the operation efficiency. By setting three doors, this transfer device solves the problem that the traditional double-door mechanism cannot queue, and setting the three doors in a "pin" shape structure makes the structure of this transfer device more compact. The unloading electric turntable 4 and the reversing electric turntable 5 arranged inside the channel rack 3 can assist the robot to turn, so that this transfer device does not need to reserve a large turning space for the robot, reducing the space occupied by this transfer device and improving the positioning accuracy of the robot. By setting the outer track groove 16 and the inner track groove 17, after the robot drives onto the import ramp 14, its wheels will be located in the outer track groove 16, and the outer track groove 16 plays a guiding and positioning role in its driving. When the robot drives onto the first assembly disk 6 according to the outer track groove 16 and the inner track groove 17, the reversing electric turntable 5 drives the assembly disk 6 to rotate, so that the inner track groove 17 on the assembly disk 6 is docked with the next section of the inner track groove 17 to realize track change, so that the robot always drives under the guidance of the outer track groove 16 and the inner track groove 17, further improving the accuracy of the robot's driving and stopping. By setting the track groove flare 1601, the track groove flare 1601 expands the port of the outer track groove 16 into a fan shape, facilitating the robot to align with the outer track groove 16.The fault tolerance of robot positioning is improved. By setting the gate door frame 18, the gate door frame 18 and the gate guard plate 19 can cover the top of the entrance ramp 14 inside, so that the robots queuing on the entrance ramp 14 will be located inside the gate channel composed of multiple gate door frames 18 and gate guard plates 19, reducing the interference of external environmental factors on the robots in the queue and the identification system. By setting the isolation gate plate 21, after the last round of handover is completed, the one-way entrance 301 and the one-way exit 303 will be opened again. At this time, the gate plate drivers 20 on each gate door frame 18 will respectively drive each isolation gate plate 21 to rotate downward, and then retract into the gate plate storage slot 1801, thereby removing the restrictions on each robot and allowing the robot to move forward in order. When the robot queue stops, the isolation gate plate 21 will turn horizontally again to play a blocking role, preventing robots or unrelated personnel from entering the interior of the channel frame 3 through the one-way entrance 301. By setting the one-way door panels 23, the two groups of one-way door panels 23 located on the one-way entrance 301 and the one-way exit 303 are respectively set inside and outside the channel frame 3, so that the one-way door panels 23 are blocked by the roller shutter tracks 12 on both sides, so that the one-way door panels 23 located on the one-way entrance 301 can only be opened inward, and the one-way door panels 23 located on the one-way exit 303 can only be opened outward, so as to realize one-way passage, and prevent the robot or irrelevant personnel from going out through the one-way entrance 301 in the reverse direction, or from going in through the one-way exit 303 in the reverse direction. By setting the classification isolation door 24, the robot will place the goods at different positions inside the goods handover interface 302 under the drive of different unloading electric turntables 4, and then the corresponding staff will open the corresponding classification isolation door 24 for handover, so that when multiple people hand over at the same time, only the corresponding personnel can open the classification isolation door 24 to hand over the goods, which effectively prevents the handover personnel from taking the wrong goods.

[0028] The above shows and describes the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The above embodiments and descriptions only describe the principles of the present invention. The present invention may be subject to various changes and improvements without departing from the spirit and scope of the present invention. These changes and improvements fall within the scope of the present invention. The scope of protection claimed by the present invention is defined by the attached claims and their equivalents.

Claims

1. A cargo delivery device based on robot transportation, characterized in that: The invention comprises a main body inner panel (1), a bottom panel (2) is fixedly mounted on the top of the main body inner panel (1), a channel frame (3) is fixedly mounted on the top of the bottom panel (2), a one-way inlet (301) and a one-way outlet (303) are opened on one side of the channel frame (3), a cargo handover interface (302) is opened on the other side of the channel frame (3), a plurality of cargo unloading electric turntables (4) and two reversing electric turntables (5) are fixedly mounted on the top of the bottom panel (2), and the positions of the two reversing electric turntables (5) are respectively opposite to the one-way inlet (3 01), the position of the one-way exit (303) corresponds to the position of the multiple electric turntables (4) for unloading goods corresponds to the position of the goods handover interface (302), the tops of the electric turntables (4) for unloading goods and the reversing electric turntable (5) are both fixedly mounted with assembly plates (6), the top of the bottom plate (2) is fixedly mounted with multiple assembly plates (7), the assembly plates (6) and the assembly plates (7) are both located inside the channel rack (3), the top of the channel rack (3) is fixedly mounted with an imported automatic rolling shutter door (8), an automatic handover interface The invention relates to a rolling shutter door (9) and an exit automatic rolling shutter door (10), wherein the entrance automatic rolling shutter door (8), the handover interface automatic rolling shutter door (9) and the exit automatic rolling shutter door (10) are respectively located above the one-way entrance (301), the cargo handover interface (302) and the one-way exit (303), and the entrance automatic rolling shutter door (8), the handover interface automatic rolling shutter door (9) and the exit automatic rolling shutter door (10) are all rolled up with alloy rolling curtains (11), and the one-way entrance (301), the cargo handover interface (302) and the one-way exit are all rolled up with alloy rolling curtains (11). Vertically arranged roller shutter tracks (12) are fixedly installed on both sides of the interior of (303); the bottom ends of the alloy roller shutters (11) located on the same side extend to the interior of the two roller shutter tracks (12); two inlet and outlet inlet panels (13) are fixedly installed on one side of the main body inlet panel (1); the two inlet and outlet inlet panels (13) are respectively located on one side of the one-way inlet (301) and the cargo delivery interface (302); and an inlet ramp (14) and an outlet ramp (15) are respectively fixedly installed on the top of the two inlet and outlet inlet panels (13).

2. The cargo transfer equipment based on robot transportation according to claim 1 is characterized in that: The tops of the inlet ramp (14) and the outlet ramp (15) are each provided with an outer track groove (16), the tops of the assembly disc (6) and the assembly plate (7) are each provided with an inner track groove (17), and the outer track groove (16) and a plurality of the inner track grooves (17) are capable of being interconnected.

3. The cargo transfer equipment based on robot transportation according to claim 2 is characterized in that: The entrance ramp (14) and the exit ramp (15) are both provided with a track groove expansion opening (1601) on the side away from the channel frame (3), and the track groove expansion opening (1601) located at the same position is connected to the outer track groove (16).

4. The cargo transfer device based on robot transportation according to claim 1 is characterized in that: A plurality of evenly distributed gate frames (18) are fixedly mounted on the top of the entrance ramp (14), and a gate guard plate (19) is fixedly mounted between any two adjacent gate frames (18).

5. The cargo transfer device based on robot transportation according to claim 4 is characterized in that: Both sides of the gate door frame (18) are provided with gate receiving grooves (1801), and isolation gates (21) are rotatably mounted inside the gate receiving grooves (1801). Both sides of the gate door frame (18) are fixedly mounted with gate drivers (20), and the gate drivers (20) located at the same position are drivingly connected to the isolation gates (21).

6. The cargo transfer equipment based on robot transportation according to claim 1, characterized in that: Two coil spring reset door shafts (22) are provided on the side of the one-way inlet (301) located inside the channel frame (3) and on the side of the one-way outlet (303) located outside the channel frame (3). The coil spring reset door shafts (22) located at the same location are fixedly mounted on the side wall of the rolling shutter track (12), and a one-way door panel (23) is rotatably mounted on each of the coil spring reset door shafts (22).

7. The cargo transfer equipment based on robot transportation according to claim 1 is characterized in that: A plurality of evenly distributed classification isolation doors (24) are rotatably mounted inside the cargo delivery interface (302), and the positions of the plurality of classification isolation doors (24) respectively correspond to the positions of the plurality of cargo unloading electric turntables (4).

8. A cargo delivery method based on robot transportation based on the delivery device according to any one of claims 1 to 7, characterized in that: The following steps are involved: S1, robot queue: the gate driver (20) on each gate frame (18) drives each isolation gate (21) to be retracted into the gate storage slot (1801), and the robots move forward in sequence. When the robot queue stops, the isolation gate (21) is reset to separate the robots; S2, robot entering the warehouse: the gate driver (20) releases the restriction on the first robot in the queue, allowing it to carry the goods onto the entrance ramp (14). After being recognized by the system, the entrance automatic rolling shutter door (8) and the exit automatic rolling shutter door (10) retract the alloy roller shutter (11), so that the one-way entrance (301) and the one-way exit (303) are opened, and the robot enters the interior of the channel rack (3); S3, robot unloading: the robot stops on the reversing electric turntable (5) on one side of the one-way entrance (301), the reversing electric turntable (5) drives the assembly plate (6) to drive the robot to turn ninety degrees, and the robot continues to move to the top of one of the unloading electric turntables (4), and then the unloading electric turntable (4) there drives the assembly plate (6) to drive the robot to turn to unload; S4, robot exits the warehouse: the robot resets, continues to drive to the reversing electric turntable (5) on one side of the one-way exit (303) and stops, repeats the previous operation, and the robot reverses and drives out of the one-way exit (303). At this time, the entrance automatic rolling shutter door (8) and the exit automatic rolling shutter door (10) close the one-way entrance (301) and the one-way exit (303); S5. Goods handover: The automatic rolling shutter door (9) at the handover interface controls the goods handover interface (302) to open, and the staff opens the corresponding classification isolation door (24) to start the handover operation. After the handover is completed, the goods handover interface (302) is closed, and the one-way entrance (301) and the one-way exit (303) are opened again for the next round of handover.

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