Automatic warehouse goods sorting robot

Abstract

The invention discloses an automatic warehouse goods sorting robot which comprises an active conveying type sorting vehicle walking on a passive conveying type goods shelf in the vertical direction, the active conveying type sorting vehicle comprises a vertical walking mechanism installed at one end of an assembly vehicle frame, and a first double-row conveying mechanism is installed on the assembly vehicle frame; an active driving mechanism is installed at the position, close to one end of the vertical walking mechanism, of the lower portion of the assembling frame, and four Mecanum wheels are installed at the lower end of the assembling frame. The goods shelf can adapt to goods shelves with low placing layers, goods can be efficiently carried, placed and the like, the utilization rate of the storage space of the goods shelf is increased, manual operation is replaced, the operation intensity is reduced, and the operation efficiency and safety are improved. The invention is suitable for the technical field of carrying and placing of goods in an automatic warehouse.

Description

Technical Field

[0001] The present invention belongs to the technical field of automated warehouse related equipment, and in particular, relates to an automated warehouse cargo sorting robot. Background Art

[0002] A warehouse is a place where goods are stored. After the products are produced, they are stored in order to facilitate subsequent sorting, statistics, batch transfer and other operations. At present, the sorting and transportation of warehouse goods all need to be done manually, which is extremely labor-intensive and inefficient, and more seriously, it may cause operational safety accidents. In order to avoid various problems caused by manual operations, sorting robots are used to replace manual operations such as the handling and placement of goods. However, during use, in order to facilitate the sorting robot to shuttle on the shelves, the height of each placement layer of the shelf needs to be designed to be higher, so that the sorting robot can move in the space where the placement layer is located, and the height of the layer can at least allow the sorting robot to move unimpeded with the goods. In this way, the space occupied by the entire shelf is larger, and the non-storage cargo space of the placement layer is more, resulting in a large waste of space. Therefore, there is an urgent need for a sorting robot that can adapt to shelves with lower placement layer heights, efficiently carry out operations such as handling and placement of goods, improve the utilization rate of shelf storage space, replace manual operations, reduce work intensity, and improve work efficiency. Summary of the invention

[0003] The present invention provides an automated warehouse cargo sorting robot, which is adapted to be placed on shelves with lower layer heights, efficiently carries and places cargo, improves the utilization rate of shelf storage space, replaces manual work, reduces work intensity, and improves work efficiency.

[0004] To achieve the above purpose, the technical solution adopted by the present invention is as follows:

[0005] An automated warehouse cargo sorting robot comprises an active conveying sorting vehicle that travels vertically on a passive conveying shelf, the active conveying sorting vehicle comprises a vertical traveling mechanism installed at one end of an assembly frame, a first double-row conveying mechanism is installed on the assembly frame, an active driving mechanism is installed at the lower part of the assembly frame and at one end close to the vertical traveling mechanism, and four Mecanum wheels are installed at the lower end of the assembly frame.

[0006] Furthermore, the assembly frame includes a rectangular frame-shaped body, and assembly ears are respectively constructed at the four corners of the lower end of the frame-shaped body, and four Mecanum wheels are respectively mounted on the four assembly ears. A transverse assembly beam is detachably connected to the lower end of the frame-shaped body, and the active drive mechanism is detachably mounted on the transverse assembly beam.

[0007] Furthermore, the first double-row conveying mechanism includes two first conveying units symmetrically installed on the assembly frame, and a transmission unit is respectively installed on the side of the two first conveying units away from each other. Each first conveying unit includes a plurality of conveying rollers spaced apart along the length direction of the assembly frame, and the axis of each conveying roller extends transversely along the assembly frame. Each conveying roller is rotatably connected to the assembly frame via a connecting shaft coaxially connected thereto.

[0008] Furthermore, each of the transmission units includes a transmission sprocket coaxially mounted on each connecting shaft, the transmission sprockets on the same side are connected via a transmission chain, one of the transmission shafts is coaxially connected to the output shaft of the forward and reverse motor, and the forward and reverse motor is mounted on the assembly frame.

[0009] Furthermore, the active driving mechanism includes a driving electric cylinder installed on the assembly frame, the driving electric cylinder extends along the conveying direction of the first double-row conveying mechanism, a driving motor is installed at the output end of the driving electric cylinder, and a first clutch disk is coaxially installed on the output shaft of the driving motor, and the first clutch disk is transmission-connected to the passive conveying shelf.

[0010] Furthermore, a first blocking seat and a second blocking seat are respectively installed on the assembly vehicle body at both ends along the conveying direction of the first double-row conveying mechanism, the second blocking seat is close to the passive conveying shelf, and the second blocking seat is transmission-connected to the active driving mechanism.

[0011] Furthermore, the second blocking seat includes a transverse baffle with connecting arms at both ends, the lower part of each connecting arm is rotatably connected to the assembly vehicle body, a torsion spring is installed between the connecting arm and the assembly vehicle body, a plurality of first engaging teeth are constructed at the lower end of the connecting arm, a transverse locking seat is installed on the driving motor, end limiting blocks are respectively constructed at both ends of the transverse locking seat, and a plurality of second engaging teeth are constructed at one end of each end limiting block close to the corresponding connecting arm.

[0012] Furthermore, the vertical running mechanism includes a transfer arm detachably connected to the assembly vehicle body, a transfer shaft is rotatably connected to the transfer arm, the magnetic wheel is coaxially assembled on the transfer shaft, a power motor is installed on the transfer arm, and the output shaft of the power motor is coaxially connected to the transfer shaft.

[0013] Furthermore, the passive conveying shelf includes multiple columns of passive conveying mechanisms arranged side by side, multiple passive conveying mechanisms in each column of passive conveying mechanisms are arranged along vertical intervals, each passive conveying mechanism is installed on the shelf body, and vertical guide rails are respectively arranged on both sides of each column of passive conveying mechanisms, and each of the vertical guide rails is installed on the shelf body.

[0014] Furthermore, the passive conveying mechanism includes two second conveying units arranged side by side, each of the second conveying units is transmission-connected to the shelf body, and a passive transmission unit is respectively installed at one end of the two second conveying units away from each other; the second conveying unit includes two assembly shafts respectively rotatably installed on the shelf body, a transmission wheel is coaxially installed on each of the assembly shafts, and the two transmission wheels are transmission-connected via a conveyor belt; the passive transmission unit includes a first bevel gear coaxially installed on one of the assembly shafts, a transfer seat is connected to the shelf body, a rotating shaft is rotatably installed on the transfer seat, the axis of the rotating shaft extends along the conveying direction of the second conveying unit, a second bevel gear and a second clutch disk are installed on the rotating shaft, the second bevel gear and the first bevel gear are meshed with each other, and the second clutch disk is transmission-connected to the active driving mechanism.

[0015] Due to the adoption of the above structure, the technical progress achieved by the present invention compared with the prior art is that: the present invention controls the vertical running mechanism to move on the passive conveying shelf in the vertical direction, thereby realizing the active conveying sorting vehicle to move to different placement layers of the passive conveying shelf, and then controls the active driving mechanism to be connected with the passive conveying shelf in transmission, and the active driving mechanism drives the placement layer corresponding to the passive conveying shelf to move, and at the same time controls the first double-row conveying mechanism to move, so that the goods on the first double-row conveying mechanism are gradually transported to the target placement layer, so as to realize the purpose of storing the goods on the passive conveying shelf; or the goods on the target placement layer are gradually transported to the first double-row conveying mechanism, so as to realize the purpose of transferring the goods from the passive conveying shelf. The present invention realizes the straight, oblique and turning movement on the ground by controlling four Mecanum wheels, thereby improving the maneuverability of the active conveying sorting vehicle. In summary, the present invention can adapt to the shelves with lower placement layer height, efficiently carry out operations such as handling and placing of goods, improve the utilization rate of shelf storage space, and replace manual work, reduce the work intensity, and improve work efficiency and safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The accompanying drawings are used to provide further understanding of the present invention and constitute a part of the specification. They are used to explain the present invention together with the embodiments of the present invention and do not constitute a limitation of the present invention.

[0017] In the attached picture:

[0018] Figure 1 It is a schematic diagram of the structure of the embodiment of the present invention corresponding to the passive conveyor type shelf;

[0019] Figure 2 It is a structural schematic diagram of an embodiment of the present invention;

[0020] Figure 3 It is a structural schematic diagram of another angle of an embodiment of the present invention;

[0021] Figure 4 A schematic diagram of the structure of the assembly frame and the active drive mechanism connected in an embodiment of the present invention;

[0022] Figure 5 It is a structural schematic diagram of a first double-row conveying mechanism according to an embodiment of the present invention;

[0023] Figure 6 for Figure 5 A magnified view of the structure of the middle A part;

[0024] Figure 7 It is a structural schematic diagram of an active driving mechanism according to an embodiment of the present invention;

[0025] Figure 8 It is a structural schematic diagram of a vertical running mechanism according to an embodiment of the present invention;

[0026] Fig. 9 This is a schematic diagram of the structure of a passive conveyor shelf according to an embodiment of the present invention;

[0027] Fig.10 It is a structural schematic diagram of the connection between two second conveying units and the shelf body in the passive conveying shelf according to an embodiment of the present invention;

[0028] Fig.11 It is a top view of the structure in which two second conveying units in a passive conveying rack are connected to the rack body;

[0029] Fig.12 for Fig.11 A magnified view of the structure of part B in the middle.

[0030] Labeled parts: 100-active conveyor sorting vehicle, 101-assembly frame, 1011-frame body, 1012-assembly ear, 1013-transverse assembly beam, 1014-first fixed ear, 1015-second fixed ear, 1016-longitudinal rib, 102-first double-row conveying mechanism, 1021-conveying roller, 1022-connecting shaft, 1023-transmission sprocket, 1024-transmission chain, 1025-forward and reverse motor, 103-Mecanum wheel, 104-first blocking seat, 105-second blocking seat, 106-vertical running mechanism, 1061-transfer arm, 1062-transfer shaft, 1063-magnetic wheel, 1064-power motor, 107-active driving mechanism, 1071-driving electric cylinder, 1072-driving motor, 1073-first clutch disk, 108-lateral locking seat, 109-connecting arm, 110-first meshing tooth, 111-end limiting block, 112-second meshing tooth, 200-passive conveyor shelf, 201-shelf body, 202-vertical guide rail, 203-conveyor belt, 204-assembly shaft, 205-transmission wheel, 206-adapter seat, 207-first bevel gear, 208-rotating shaft, 209-second bevel gear, 210-second clutch disk. DETAILED DESCRIPTION

[0031] The preferred embodiments of the present invention are described below in conjunction with the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present invention, and are not used to limit the present invention.

[0032] The present invention discloses an automated warehouse cargo sorting robot, such as Figure 1-12As shown, it includes an active conveying sorting vehicle 100, which can travel on a passive conveying shelf 200 in a vertical direction. The active conveying sorting vehicle 100 of the present invention includes an assembly frame 101, a first double-row conveying mechanism 102, a vertical running mechanism 106, an active driving mechanism 107 and four Mecanum wheels 103. Among them, the vertical running mechanism 106 is installed at one end of the assembly frame 101, the first double-row conveying mechanism 102 is installed on the assembly frame 101, the active driving mechanism 107 is installed at the lower part of the assembly frame 101, and the active driving mechanism 107 is arranged at one end of the assembly frame 101 close to the vertical running mechanism 106, and the four Mecanum wheels 103 are installed at the lower end of the assembly frame 101. The working principle and advantages of the present invention are as follows: the present invention controls the vertical running mechanism 106 to move on the passive conveying shelf 200 in the vertical direction, thereby realizing the active conveying sorting vehicle 100 to move to different placement layers of the passive conveying shelf 200, and then controls the active driving mechanism 107 to be transmission-connected with the passive conveying shelf 200, and the active driving mechanism 107 drives the placement layer corresponding to the passive conveying shelf 200 to move, and at the same time controls the first double-row conveying mechanism 102 to move, so that the goods on the first double-row conveying mechanism 102 are gradually transported to the target placement layer, so as to realize the purpose of storing the goods on the passive conveying shelf 200; or the goods on the target placement layer are gradually transported to the first double-row conveying mechanism 102, so as to realize the purpose of transferring the goods from the passive conveying shelf 200. The present invention realizes the straight, oblique and turning movement on the ground by controlling the four Mecanum wheels 103, thereby improving the maneuverability of the active conveying sorting vehicle 100. In summary, the present invention can be adapted to shelves with lower layer heights, and can efficiently carry and place goods, thereby improving the utilization rate of shelf storage space, replacing manual labor, reducing labor intensity, and improving work efficiency and safety.

[0033] As a preferred embodiment of the present invention, Figure 4As shown, the assembly frame 101 includes a frame-shaped body 1011, which is in a rectangular shape. Assembly ears 1012 are respectively constructed at the four corners of the lower end of the frame-shaped body 1011, and the above-mentioned four Mecanum wheels 103 are respectively assembled on the four assembly ears 1012. A transverse assembly beam 1013 is provided at the lower end of the frame-shaped body 1011, and first fixing ears 1014 are respectively constructed at both ends of the transverse assembly beam 1013. The two first fixing ears 1014 are respectively detachably connected to the lower end of the frame-shaped body 1011, and the active drive mechanism 107 is detachably assembled on the second fixing ears 1015 of the transverse assembly beam 1013. In this embodiment, the active drive mechanism 107 can be removed from the assembly frame 101 by separating the transverse assembly beam 1013 from the assembly frame 101, so as to facilitate the maintenance of the active drive mechanism 107.

[0034] As a preferred embodiment of the present invention, Figure 5As shown, the first double-row conveying mechanism 102 includes two first conveying units and two transmission units. The two first conveying units are symmetrically mounted on the assembly frame 101, and the two transmission units are respectively mounted on the sides of the two first conveying units that are away from each other. The first conveying unit of this embodiment includes a plurality of conveying rollers 1021, which are arranged at intervals along the length direction of the assembly frame 101, and the axis of each conveying roller 1021 extends along the lateral direction of the assembly frame 101. Each conveying roller 1021 is coaxially connected with a connecting shaft 1022, and a longitudinal rib plate 1016 is constructed in the middle part of the assembly frame 101. The two ends of the connecting shaft 1022 are respectively rotatably connected to the side wall of the frame-shaped body 1011 and the longitudinal rib plate 1016, thereby achieving the purpose of rotatably connecting the conveying roller 1021 with the assembly frame 101. The transmission unit of this embodiment includes a forward and reverse motor 1025, a transmission chain 1024 and a plurality of transmission sprockets 1023, wherein the transmission sprockets 1023 are respectively mounted on respective connecting shafts 1022, and each transmission sprocket 1023 is coaxially connected with the corresponding connecting shaft 1022. The transmission sprockets 1023 on the same side are connected together by transmission through the transmission chain 1024, wherein one of the transmission shafts is coaxially connected with the output shaft of the forward and reverse motor 1025, and the forward and reverse motor 1025 is mounted on the assembly frame 101. The working principle and advantages of this embodiment are as follows: this embodiment controls the forward and reverse motor 1025 to rotate forward or reverse, so that it drives each conveying roller 1021 on the first conveying unit to rotate forward or reverse, thereby realizing the conveying of goods to the passive conveying shelf 200, or conveying the goods from the passive conveying shelf 200 to the assembly frame 101; because the goods are driven by the conveying roller 1021 to move on the assembly frame 101, it is avoided that the goods stagnate on the assembly frame 101 and cannot be smoothly conveyed. This embodiment adopts two first conveying units and two transmission units, and realizes that the same goods or different goods are divided into two columns and conveyed to the assembly frame 101, or the two columns of goods are conveyed to the passive conveying shelf 200 respectively. This embodiment improves the efficiency of the transfer of goods through two first conveying units, and can reasonably use the effective storage space of the passive conveying shelf 200.

[0035] As a preferred embodiment of the present invention, Figure 4 , 7As shown, the active drive mechanism 107 includes a drive electric cylinder 1071, a drive motor 1072 and a first clutch disc 1073. The electric cylinder body of the drive electric cylinder 1071 is mounted on the second fixing ear 1015 to achieve the purpose of connecting with the assembly frame 101, and the drive electric cylinder 1071 extends along the conveying direction of the first double-row conveying mechanism 102. The drive motor 1072 is mounted on the electric cylinder rod of the drive electric cylinder 1071, and the first clutch disc 1073 is mounted on the output shaft of the drive motor 1072. The axis of the first clutch disc 1073 coincides with the axis of the output shaft of the drive motor 1072, and the first clutch disc 1073 is transmission-connected to the second clutch disc 210 in the passive conveying shelf 200. The working principle and advantages of this embodiment are as follows: this embodiment controls the driving electric cylinder 1071 to drive the driving motor 1072 to move toward the passive conveying shelf 200, so that the first clutch disk 1073 and the second clutch disk 210 on the output shaft of the driving motor 1072 engage with each other. In this way, in the process of controlling the action of the driving motor 1072, it drives the first clutch disk 1073 and the second clutch disk 210 to make the corresponding placement layer in the passive conveying shelf 200 move, thereby making the position of the goods between the assembly frame 101 and the passive conveying shelf 200 transferred, thereby achieving the purpose of loading and unloading materials on the passive conveying shelf 200.

[0036] As a preferred embodiment of the present invention, in order to prevent the goods from being separated from the active conveying sorting vehicle 100 during the transportation of the goods by the active conveying sorting vehicle 100, as shown in FIG. Figure 2 , 4-7, the measures taken are that the heights of both sides of the assembly frame 101 are higher than the first double-row conveying mechanism 102, so that the goods are restricted by both sides of the assembly frame 101. In this embodiment, a first blocking seat 104 and a second blocking seat 105 are installed. The first blocking seat 104 and the second blocking seat 105 are arranged at both ends of the assembly vehicle body along the conveying direction of the first double-row conveying mechanism 102. The second blocking seat 105 is close to the passive conveying shelf 200, and the second blocking seat 105 is transmission-connected with the active driving mechanism 107. The specific structure of the second blocking seat 105 in this embodiment is that the second blocking seat 105 includes a transverse baffle, and connecting arms 109 are respectively constructed at both ends of the transverse baffle. The lower part of each connecting arm 109 is rotatably connected to the assembly vehicle body, and a torsion spring is installed between the connecting arm 109 and the assembly vehicle body. When the connecting arm 109 is in a state of no external force, the connecting arm 109 is in a vertical state under the action of the torsion spring, and a plurality of first engaging teeth 110 are constructed at the lower end of each connecting arm 109. In this embodiment, a transverse locking seat 108 is installed on the driving motor 1072, and end limit blocks 111 are respectively constructed at both ends of the transverse locking seat 108, and a plurality of second engaging teeth 112 are constructed at one end of each end limit block 111 close to the corresponding connecting arm 109. The working principle and advantages of this embodiment are: this embodiment prevents the goods from being separated from the longitudinal ends of the active conveying sorting vehicle 100 by the first blocking seat 104 and the second blocking seat 105, and because the second blocking seat 105 is close to the passive conveying shelf 200, in order to facilitate the transfer of goods between the active conveying sorting vehicle 100 and the passive conveying shelf 200, when the corresponding placement layers of the active conveying sorting vehicle 100 and the passive conveying shelf 200 are aligned with each other, the driving electric cylinder 1071 is controlled to operate so that it drives the driving motor 1072 to align with the passive conveying shelf 200. The driving motor 1072 is driven to move toward the passive conveying shelf 200, and the transverse locking seat 108 is driven to move toward the passive conveying shelf 200, and the transverse locking seat 108 drives the end limiting block 111 away from the connecting arm 109, thereby releasing the restriction of the end limiting block 111 on the connecting arm 109; in this way, during the transfer of goods between the active conveying sorting vehicle 100 and the passive conveying shelf 200, the goods push the second blocking seat 105 to rotate a certain angle, so that the goods can be smoothly transported. After the goods are transferred, the driving electric cylinder 1071 is controlled to drive the driving motor 1072 to return to its position, so that the transverse locking seat 108 returns to its position, and the end limiting block 111 locks the connecting arm 109, so as to prevent the goods on the active conveying sorting vehicle 100 from falling off during the subsequent walking process of the active conveying sorting vehicle 100.

[0037] As a preferred embodiment of the present invention, Figure 8As shown, the vertical running mechanism 106 includes a transfer arm 1061, a transfer shaft 1062, a magnetic wheel 1063 and a power motor 1064. Among them, the lower end of the transfer arm 1061 is detachably connected to the assembly vehicle body, the transfer shaft 1062 is rotatably connected to the upper part of the transfer arm 1061, the magnetic wheel 1063 is coaxially assembled on the transfer shaft 1062, and the power motor 1064 is installed on the upper part of the transfer arm 1061, and the output shaft of the power motor 1064 is coaxially connected to the transfer shaft 1062. The working principle and advantage of this embodiment are: this embodiment controls the action of the power motor 1064 to drive the magnetic wheel 1063 to rotate, and the magnetic wheel 1063 is magnetically attracted to the passive conveyor shelf 200, and under the rotation of the magnetic wheel 1063, the assembly frame 101 is driven to move between different placement layers of the passive conveyor shelf 200 in the vertical direction to facilitate the loading and unloading of goods.

[0038] As a preferred embodiment of the present invention, Figure 9-12As shown, the passive conveying shelf 200 includes multiple columns of passive conveying mechanisms, which are arranged side by side. Multiple passive conveying mechanisms in each column of passive conveying mechanisms are arranged at intervals in the vertical direction. Each passive conveying mechanism is installed on the shelf body 201, and the placement layer is formed in the space area above each passive conveying mechanism. Vertical guide rails 202 are respectively arranged on both sides of each column of passive conveying mechanisms, and each vertical guide rail 202 is installed on the shelf body 201. The material of the vertical guide rail 202 is a metal material that can be magnetically attracted, so that the magnetic attraction wheel 1063 can be adsorbed thereon and guided to move along it. The passive conveying mechanism of this embodiment includes two second conveying units and two passive transmission units, wherein the two second conveying units are arranged side by side, each second conveying unit is connected to the shelf body 201 in a transmission manner, and the two passive transmission units are respectively installed at one end of the two second conveying units that are away from each other. When the active conveying sorting vehicle 100 is located on one side of the passive conveying shelf 200 and is connected to one of the passive transmission units, the active driving mechanism 107 of the active conveying sorting vehicle 100 drives the passive transmission unit to move, so that one of the second conveying units moves, so that the second conveying unit conveys the goods, and the purpose of transferring the goods between the second conveying unit and the active conveying sorting vehicle 100 is achieved; when the active conveying sorting vehicle 100 is located on the other side of the passive conveying shelf 200 and is connected to another passive transmission unit, the active driving mechanism 107 of the active conveying sorting vehicle 100 drives another passive transmission unit to move, so that the other second conveying unit moves. It can be seen from this that this embodiment can realize that different goods are supplied to the two second conveying units respectively, or the goods on the two second conveying units are transported to the active conveying sorting vehicle 100 respectively by driving the two passive transmission units on the passive conveying mechanism to act. The second conveying unit of this embodiment includes a conveyor belt 203, two assembly shafts 204 and two transmission wheels 205. The two assembly shafts 204 are rotatably installed on the shelf body 201 respectively, and the two transmission wheels 205 are respectively installed on the two assembly shafts 204, and the axes of the transmission wheels 205 and the assembly shafts 204 coincide with each other. The two transmission wheels 205 are connected together through the conveyor belt 203. The passive transmission unit of this embodiment includes a first bevel gear 207, a second bevel gear 209, a second clutch disk 210 and a rotating shaft 208, wherein the first bevel gear 207 is coaxially mounted on one of the assembly shafts 204, an adapter seat 206 is connected to the shelf body 201, the rotating shaft 208 is rotatably mounted on the adapter seat 206, and the axis of the rotating shaft 208 extends along the conveying direction of the second conveying unit; the second bevel gear 209 and the second clutch disk 210 are both mounted on the rotating shaft 208, and the axes of the three coincide, the second bevel gear 209 and the first bevel gear 207 are meshed with each other, and the second clutch disk 210 is transmission-connected to the active drive mechanism 107.The working principle and advantages of this embodiment are: when the active conveying sorting vehicle 100 moves to the point where the active driving mechanism 107 thereon is aligned with the passive transmission unit, the driving electric cylinder 1071 of the active driving mechanism 107 is controlled to move, so that the first clutch disc 1073 and the second clutch disc 210 engage with each other, and then the driving motor 1072 is controlled to move, so that it drives the passive transmission unit to move, and during the movement of the passive transmission unit, the second conveying unit is driven to transport the goods, thereby achieving the purpose of transferring the goods between the active conveying sorting vehicle 100 and the passive conveying mechanism. After the transfer of the goods is completed, the active driving mechanism 107 is controlled to return to its original position, so that it is separated from the passive transmission unit, thereby facilitating the active conveying sorting vehicle 100 to continue to move on the passive conveying shelf 200, or it can be separated from the passive conveying shelf 200 and move on the ground.

[0039] Finally, it should be noted that the above is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions described in the aforementioned embodiments or replace some of the technical features therein with equivalents. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the scope of protection of the claims of the present invention.

Claims

1. An automated warehouse cargo sorting robot, characterized in that: The invention comprises an active conveying sorting vehicle which travels vertically on a passive conveying shelf, wherein the active conveying sorting vehicle comprises a vertical traveling mechanism installed at one end of an assembly frame, a first double-row conveying mechanism is installed on the assembly frame, an active driving mechanism is installed at the lower part of the assembly frame and at one end close to the vertical traveling mechanism, and four Mecanum wheels are installed at the lower end of the assembly frame.

2. The automated warehouse cargo sorting robot according to claim 1, characterized in that: The assembly frame includes a rectangular frame body, and assembly ears are respectively constructed at the four corners of the lower end of the frame body. Four Mecanum wheels are respectively assembled on the four assembly ears. A transverse assembly beam is detachably connected to the lower end of the frame body, and the active drive mechanism is detachably assembled on the transverse assembly beam.

3. The automated warehouse cargo sorting robot according to claim 1, characterized in that: The first double-row conveying mechanism includes two first conveying units symmetrically installed on the assembly frame, and a transmission unit is respectively installed on the side of the two first conveying units away from each other. Each first conveying unit includes a plurality of conveying rollers arranged at intervals along the length direction of the assembly frame, and the axis of each conveying roller extends in the transverse direction of the assembly frame. Each conveying roller is rotatably connected to the assembly frame through a connecting shaft coaxially connected thereto.

4. The automated warehouse cargo sorting robot according to claim 3, characterized in that: Each of the transmission units includes a transmission sprocket coaxially mounted on each connecting shaft. The transmission sprockets on the same side are connected via a transmission chain. One of the transmission shafts is coaxially connected to the output shaft of the forward and reverse motor. The forward and reverse motor is mounted on the assembly frame.

5. The automated warehouse cargo sorting robot according to claim 1, characterized in that: The active driving mechanism includes a driving electric cylinder installed on the assembly frame, the driving electric cylinder extends along the conveying direction of the first double-row conveying mechanism, a driving motor is installed at the output end of the driving electric cylinder, and a first clutch disk is coaxially installed on the output shaft of the driving motor, and the first clutch disk is transmission-connected to the passive conveying shelf.

6. The automated warehouse cargo sorting robot according to claim 5, characterized in that: A first blocking seat and a second blocking seat are respectively installed on the assembly vehicle body at both ends along the conveying direction of the first double-row conveying mechanism, the second blocking seat is close to the passive conveying shelf, and the second blocking seat is transmission-connected to the active driving mechanism.

7. The automated warehouse cargo sorting robot according to claim 6, characterized in that: The second blocking seat includes a transverse baffle with connecting arms at both ends, the lower part of each connecting arm is rotatably connected to the assembly vehicle body, a torsion spring is installed between the connecting arm and the assembly vehicle body, a plurality of first engaging teeth are constructed at the lower end of the connecting arm, a transverse locking seat is installed on the driving motor, end limiting blocks are respectively constructed at both ends of the transverse locking seat, and a plurality of second engaging teeth are constructed at one end of each end limiting block close to the corresponding connecting arm.

8. The automated warehouse cargo sorting robot according to claim 1, characterized in that: The vertical running mechanism includes a transfer arm detachably connected to the assembly vehicle body, a transfer shaft is rotatably connected to the transfer arm, a magnetic wheel is coaxially assembled on the transfer shaft, a power motor is installed on the transfer arm, and an output shaft of the power motor is coaxially connected to the transfer shaft.

9. The automated warehouse cargo sorting robot according to claim 1, characterized in that: The passive conveying shelf includes multiple columns of passive conveying mechanisms arranged side by side, multiple passive conveying mechanisms in each column of passive conveying mechanisms are arranged along vertical intervals, each passive conveying mechanism is installed on the shelf body, and vertical guide rails are respectively arranged on both sides of each column of passive conveying mechanisms, and each of the vertical guide rails is installed on the shelf body.

10. The automated warehouse cargo sorting robot according to claim 9, characterized in that: The passive conveying mechanism includes two second conveying units arranged side by side, each of the second conveying units is transmission-connected to the shelf body, and a passive transmission unit is respectively installed at one end of the two second conveying units away from each other; the second conveying unit includes two assembly shafts respectively rotatably installed on the shelf body, a transmission wheel is coaxially installed on each of the assembly shafts, and the two transmission wheels are transmission-connected via a conveyor belt; the passive transmission unit includes a first bevel gear coaxially installed on one of the assembly shafts, a transfer seat is connected to the shelf body, a rotating shaft is rotatably installed on the transfer seat, the axis of the rotating shaft extends along the conveying direction of the second conveying unit, a second bevel gear and a second clutch disk are installed on the rotating shaft, the second bevel gear is meshed with the first bevel gear, and the second clutch disk is transmission-connected to the active driving mechanism.

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