Robot for automatically unstacking and sorting warehouse material boxes
By designing an automated warehouse material box depalletization and sorting robot in the warehouse, using vision detectors and code scanners to quickly locate goods and optimize material picking routes, the problem of inefficient manual sorting is solved and the goods are improved The automation level of the warehouse and reduces human error.
Patent Information
- Application Number
- CN202421238168.1
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-06-03
- Publication Date
- 2025-01-10
- Estimated Expiration
- 2034-06-03
AI Technical Summary
When manually sorting goods in the warehouse, the information response process is long and cannot meet the rapid processing needs of large batches of goods. The process management is complex, and the picking area takes a long time. There are efficiency caused by repeated paths and human errors. Reduce damage to objects.
Design an automated warehouse material box depalletization and sorting robot, including material pickup stations, conveyor lines, electric slide rails, lifting groups, rotary columns, fixtures, vision detectors and code scanning instruments, which can be realized through data transmission and calculation Rapid positioning of goods and optimized material picking routes to reduce manual intervention and error occurrence.
It realizes rapid positioning and sorting of goods in the warehouse, reduces labor costs, improves the automation level of logistics and warehousing, avoids inefficiency during manual picking and damage to objects, and optimizes the automation process.
Smart Images
Figure CN222330647U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to a robot, in particular to a robot for automatically destacking and sorting warehouse material boxes. Background Art
[0002] Sorting of goods in the warehouse is an important operation link in the warehouse. Its purpose is to classify, sort and arrange the goods according to specific requirements when entering and leaving the warehouse, so as to ensure that the goods can be delivered to customers in a timely and accurate manner later. When sorting goods on the shelves in a conventional warehouse, manual sorting is used to sort goods in and out of the warehouse. Manual operation has a long information response process when sorting goods, which cannot meet the needs of rapid processing of large quantities of goods. The process management is relatively complicated. When the picking area is large, manual picking will occur. It takes a long time to find the cargo box. Multiple picking paths are repeated and time-consuming, which reduces efficiency. At the same time, there are process errors and object damage caused by human errors. Utility Model Content
[0003] In order to overcome the shortcomings of shelf depalletizing and sorting through manual operation, there is a long information response process when sorting goods, which cannot meet the needs of rapid processing of large quantities of goods, and the process management is relatively complicated. When the picking area is large, manual picking will occur, and it takes a long time to find the cargo box. Multiple picking paths are repeated and time-consuming, which reduces efficiency. At the same time, there are shortcomings such as process errors and object damage caused by human errors. The technical problem to be solved is to provide an automated and intelligent depalletizing and sorting robot that can quickly locate, sort and unload the stacked goods in the warehouse in a short time, improve work efficiency, reduce labor costs, and improve the level of automation in modern logistics warehousing.
[0004] The technical scheme of the utility model is: a robot for automatic depalletizing and sorting of material boxes in a cargo warehouse, including an equipment platform with a flat surface set as a material picking station; a shelf, wherein two material picking areas are set in the equipment platform, and the goods boxes are placed in the material picking areas and are composed of a frame and a plurality of support plates arranged in layers, and the goods boxes are neatly placed in the shelf; a conveyor line is set in the center position on the front side of the equipment platform, and the goods boxes are placed on the conveyor line, and the conveyor line will automatically transport the goods boxes to the outside of the material picking station; a truss is symmetrically installed on the front and rear sides of the equipment platform; an electric slide rail is slidably arranged between the upper parts of the truss; a transmission group 1 is composed of a transmission motor provided on the electric slide rail, a gear fixedly connected to the output shaft of the transmission motor, and a rack installed on the upper part of the truss, the gear and the rack of the transmission group 1 are meshed with each other, and the transmission motor of the transmission group 1 rotates to drive the electric slide rail to move horizontally to the left and right; a lifting The lowering group is installed on the electric slide rail and is driven by the electric slide rail to move forward or backward. The lifting group is composed of a mounting frame, a lifting motor and a screw rod; the material picking rack is slidably installed in the lifting group frame, the upper part of the material picking rack is threadedly connected to the screw rod driven by the lifting group, and the lifting group drives the material picking rack to move up and down; the rotating column is rotatably arranged on the inner side of the lower part of the material picking rack, and the connecting plate is fixedly connected to the bottom of the rotating column. The connecting plate and the rotating column are driven by the rotating group to rotate on the material picking rack. The rotating group is composed of a gear plate, a pinion, a driving motor and a motor support frame; the connecting frame is welded to the bottom of the connecting plate, and the transmission group 2 is arranged at the lower part of the connecting frame, and is composed of a transmission motor and a bidirectional screw rod; the clamps are symmetrically arranged on the bidirectional screw rod of the transmission group 2, and the two clamps are threadedly connected to the bidirectional screw rod of the transmission group 2.
[0005] Further description, it also includes a mounting frame connected to the right side of the bottom of the connecting plate; a visual inspection instrument rotatably mounted on the front of the mounting frame; and a barcode scanner fixedly connected to the right side of the mounting frame.
[0006] Further description is provided, and guide columns are fixedly connected to the front and rear sides of the lower left part of the material taking rack, and the guide columns are slidably connected to the mounting frame on the lifting group.
[0007] Further description, it also includes a ring 1, which is fixedly connected to the top of the connecting plate, and a ring 2, which is fixedly connected to the bottom of the material picking frame and is in rotational contact with the ring 1. The ring 1 and the ring 2 are both surrounded by the outside of the rotating column and are concentric with the rotating column.
[0008] Further description, it also includes rubber blocks, and no less than four rubber blocks are evenly spaced and arranged on the inner side of the clamp.
[0009] The beneficial effect is: the utility model transmits signals with the picking robot through the cargo data and position information on the shelves in the warehouse. When depalletizing the cargo boxes, only the cargo box information needs to be input, and the picking robot can quickly locate and pick up the materials. When multiple cargo boxes need to be sorted, the picking route can be optimized through data calculation, and the picking time can be reduced. When the picking area is large, the handling system design is not affected, and the situation that manual picking takes a long time to find the cargo box, multiple picking paths are repeated and time-consuming, and efficiency is reduced is avoided, and the occurrence of process errors and object damage caused by human errors is reduced.
[0010] The utility model has achieved the following effect. The utility model collects data on the types and quantities of objects in the cargo box by installing a visual inspection device 91 at the material picking location, and cooperates with the barcode scanner 92 to scan the barcode on the cargo box before picking up the materials, quickly associates the material box ID and the product code, and scans the sorted cargo box for delivery. The corresponding visual inspection device 91 and the barcode scanner 92 will transmit the cargo information in the cargo box to the external data control console, so as to realize the rapid sorting, delivery and recording of the cargo box, reduce the later manual intervention, and optimize the automation process. BRIEF DESCRIPTION OF THE DRAWINGS
[0011] Figure 1 It is a three-dimensional structural schematic diagram of the utility model.
[0012] Figure 2 It is a three-dimensional structural schematic diagram of the truss and the material taking mechanism of the utility model.
[0013] Figure 3 It is a three-dimensional structural schematic diagram of the material taking mechanism and visual detector and other components of the utility model.
[0014] Figure 4 It is a three-dimensional structural schematic diagram of the material taking mechanism of the utility model.
[0015] Figure numbers: 1. Equipment platform, 2. Shelf, 3. Conveyor line, 4. Truss, 5. Electric slide rail, 6. Transmission group 1, 7. Lifting group, 71. Retrieving rack, 72. Guide column, 8. Rotating group, 80. Rotating column, 81. Connecting plate, 82. Connecting frame, 83. Transmission group 2, 84. Clamp, 9. Mounting frame, 91. Visual inspection instrument, 92. Barcode scanner, 10. Ring 1, 11. Ring 2, 12. Rubber block. DETAILED DESCRIPTION
[0016] The present invention is described in detail below with reference to the accompanying drawings and specific embodiments, but is not intended to limit the present invention.
[0017] Embodiment 1: A robot for automatically destacking and sorting cargo bins, such as Figure 1-4As shown, it includes an equipment platform 1 with a flat surface and set as a material-retrieving station; two material-retrieving areas are set in the equipment platform 1, and shelves 2 are placed in the material-retrieving areas by human or automatic material-transferring carts. The shelves 2 are composed of a frame and a plurality of support plates arranged in layers. The cargo boxes are neatly placed in the shelves 2. A control module is set in the shelf 2, and the object data in the cargo box at the corresponding position is stored in the memory. The data in the shelf 2 is communicated with the data in the robot control module. Passages for material-retrieving are reserved around the two shelves 2. A conveyor line 3 is set in the center of the front side of the equipment platform 1, and is located in the middle of the horizontal line of the two shelves 2. The cargo boxes on the shelf 2 need to be transferred to the conveyor line for sorting. The cargo boxes are placed On the conveyor line 3, the conveyor line 3 will automatically transfer the cargo box to the outside of the material-retrieving station; trusses 4 are symmetrically installed on the front and rear sides of the equipment platform 1. The trusses 4 are made of metal materials and are the supporting components of the material-retrieving equipment. An electric slide rail 5 is slidably arranged between the upper parts of the trusses 4. Two transmission groups 6 are arranged on the electric slide rail 5 of the truss 4. The transmission group 6 consists of a transmission motor arranged on one side of the electric slide rail 5, a gear fixedly connected to the output shaft of the transmission motor, and a rack installed on the upper part of the truss 4. The gears and racks of the transmission group 6 are meshed with each other. The transmission motors of the two transmission groups 6 rotate synchronously, driving the gears on the same side to rotate, and the gears are meshed with the racks to drive the electric slide rail 5 to move horizontally to the left and right; the electric slide rail 5 is installed A lifting group 7 is installed, and the lifting group 7 is installed on the slider of the electric slide rail 5. The electric slide rail drives the lifting group 7 to realize precise movement of the front and rear positions. The lifting group 7 is composed of a mounting frame, a lifting motor and a screw rod; a material picking rack 71 is slidably installed in the frame of the lifting group 7. The material picking rack is composed of a square profile threadedly connected to the upper part and the lifting group 7 driving the screw rod and a square plate connected to the bottom of the profile. The lifting group 7 drives the screw rod to rotate through the lifting motor, thereby driving the material picking rack 71 to move up and down; a rotating column 80 is rotatably arranged on the inner side of the lower part of the material picking rack 71, and a connecting plate 81 is fixedly welded at the bottom of the rotating column 80. The connecting plate 81 and the rotating column 80 are driven by the rotating group 8. 71 rotates clockwise or counterclockwise, the rotating group 8 is composed of a gear plate, a pinion, a driving motor and a motor support frame, the gear plate is installed on the upper part of the rotating column 80, the driving motor is installed on the material-collecting plate near the rotating column 80, and a pinion is installed on the output rod of the driving motor, and the pinion and the gear plate are meshed with each other; the connecting frame 82 is welded to the bottom of the connecting plate 81; a transmission group 2 83 is arranged at the lower part of the connecting frame 82, and the transmission group 2 83 is composed of a transmission motor and a bidirectional screw rod, and the bidirectional screw rod is provided with two thread grooves with opposite torsion directions; the bidirectional screw rod of the transmission group 2 83 is symmetrically provided with clamps 84, and the two clamps 84 are respectively screwed with the threads on the same side of the bidirectional screw rod of the transmission group 2 83.
[0018] The picking robot should be equipped with a signal module for docking with external control equipment, and the robot's mechanical arm should be equipped with a positioning module and a vision module. When it is necessary to move the cargo box on the shelf to the conveyor line, the picking robot will move to the picking position near the corresponding shelf 2 under the drive of the external control system after receiving the picking information, and move to the left or right above the workstation or in the area that does not interfere with the shelf 2 through the transmission group 16. At the same time, the electric slide rail 5 drives the picking robot to move back and forth in the workstation. When picking up materials, the picking robot will be located on the front or rear side of the shelf 2, corresponding to the side of the cargo box that needs to be sorted. The clamp 84 is in an open state and faces the side of the cargo box that needs to be taken away. The lifting group 7 drives the picking clamp 84 to move up and down to the middle of the cargo box. After the height is leveled, the clamp 84 of the picking robot is driven by the electric slide rail to move forward or backward toward the cargo box. When the cargo box is located between the two clamps 84, the transmission group 2 will drive the clamp 84 to move inward, grab the cargo box, and place the grabbed cargo box on the conveyor line 3 for unloading. When the cargo box is destacking, only the cargo box information needs to be entered, and the picking robot can quickly locate and pick up materials. When multiple cargo boxes need to be sorted, the picking route can be optimized through data calculation to reduce the picking time. When the picking area is large, the handling system design is not affected, avoiding the situation where it takes a long time to find the cargo box during manual picking, and the repeated picking path is time-consuming and inefficient, thereby reducing the occurrence of process errors and object damage caused by human errors.
[0019] Embodiment 2: Based on embodiment 1, Figure 1-3 As shown, it also includes a mounting frame 9, and the mounting frame 9 for installing detection modules and components is fixedly connected to the right side of the bottom of the connecting plate 81, and a visual inspection instrument 91 is rotatably installed on the front of the mounting frame 9. The visual inspection instrument 91 can identify the objects in the cargo box during the material picking process and pre-judge the quantity and type. A barcode scanner 92 is fixedly connected to the right side of the mounting frame 9. The barcode scanner 92 scans the barcode on the cargo box before picking up the materials, quickly associates the material box ID and the product code, and scans the sorted cargo box for delivery. The corresponding visual inspection instrument 91 and the barcode scanner 92 will transmit the cargo information in the cargo box to the external data control console, so as to realize the rapid sorting, delivery and recording of the cargo box, reduce the later manual intervention, and optimize the automation process.
[0020] In a preferred embodiment: Figure 1-3As shown, it also includes a guide column 72. The front and rear sides of the lower left part of the material picking rack 71 are fixedly connected with the guide columns 72. The guide columns 72 are slidably connected to the mounting frame on the lifting group 7. When the material picking rack 71 moves up and down, the guide columns can stabilize the material picking rack 71 and distribute the force on the material picking rack to avoid the force points being concentrated at the connection when picking up materials, and the force area being smaller. When the clamp 84 picks up materials, the material picking rack 71 shakes, and long-term handling of the cargo box causes the connection between the profile and the square plate of the material picking rack 71 to break.
[0021] In a preferred embodiment: Figure 1-3 As shown, it also includes a ring 10, which is fixedly connected to the top of the connecting plate 81, and a ring 2 11 is fixedly connected to the bottom of the material picking frame 71, and is in rotational contact with the ring 10. The rings 10 and 11 are both surrounded by the outside of the rotating column 80 and are concentric with the rotating column 80. The function of the rings 10 and 11 is to disperse the weight between the rotating column 80 and the connecting plate 81 during the rotation of the connecting plate 81, ensure the correct position of the rotating column 80, and make the entire connecting plate 81 and the clamp 84 more stable and reliable during the material picking rotation process, and at the same time protect the rotating column 80 to avoid unnecessary external damage.
[0022] In a preferred embodiment: Figure 1-4 As shown, it also includes rubber blocks 12. No less than four rubber blocks 12 are evenly spaced on the inner side of the clamp 84. The function of the rubber blocks 12 is to increase the friction between the clamp 84 and the cargo box when the clamp 84 clamps the cargo, reduce the possibility of the cargo box falling during the operation of the clamp 84, and improve the stability of material collection.
[0023] Although the embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes may be made to the embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.
Claims
1. A robot for automatically destacking and sorting cargo boxes in a warehouse, comprising an equipment platform (1) with a flat surface and arranged as a material picking station; a shelf (2), wherein two material picking areas are arranged in the equipment platform (1); the cargo boxes are placed in the material picking areas and are composed of a frame and a plurality of support plates arranged in layers, and the cargo boxes are neatly placed in the shelf (2); a conveyor line (3) is arranged in the center of the front side of the equipment platform (1), and the cargo boxes are placed on the conveyor line (3), and the conveyor line (3) automatically transports the cargo boxes to the outside of the material picking station; It is characterized in that It also includes a truss (4) symmetrically mounted on the front and rear sides of the equipment platform (1); an electric slide rail (5) slidably arranged between the upper parts of the truss (4); a transmission group (6) consisting of a transmission motor arranged on the electric slide rail (5), a gear fixedly connected to the output shaft of the transmission motor, and a rack installed on the upper part of the truss (4), the gear and the rack of the transmission group (6) being meshed with each other, the transmission motor of the transmission group (6) rotating, driving the electric slide rail (5) to move horizontally to the left or right; a lifting group (7) mounted on the electric slide rail (5), driven by the electric slide rail (5) to move forward or backward, the lifting group (7) consisting of a mounting frame, a lifting motor and a screw rod; a material taking frame (71) slidably mounted in the frame of the lifting group (7), the upper part of the material taking frame (71) being connected to the lifting group (7) ) drives the screw to be threadedly connected, and the lifting group (7) drives the material taking frame (71) to move up and down; the rotating column (80) is rotatably arranged on the inner side of the lower part of the material taking frame (71), and the connecting plate (81) is fixedly connected to the bottom of the rotating column (80). The connecting plate (81) and the rotating column (80) are driven by the rotating group (8) to rotate on the material taking frame (71), and the rotating group (8) is composed of a gear plate, a pinion, a driving motor and a motor support frame; the connecting frame (82) is welded to the bottom of the connecting plate (81), and the transmission group (83) is arranged at the lower part of the connecting frame (82), and is composed of a transmission motor and a bidirectional screw; the clamp (84) is symmetrically arranged on the bidirectional screw of the transmission group (83), and the two clamps (84) are both threadedly connected to the bidirectional screw of the transmission group (83).
2. The robot for automatic depalletizing and sorting of cargo bins according to claim 1 is characterized by: It also includes a mounting frame (9) connected to the right side of the bottom of the connecting plate (81); a visual detector (91) rotatably mounted on the front of the mounting frame (9); and a barcode scanner (92) fixedly connected to the right side of the mounting frame (9).
3. The robot for automatic depalletizing and sorting of cargo bins according to claim 2 is characterized by: It also includes a guide column (72), and the front and rear sides of the lower left part of the material taking frame (71) are fixedly connected with the guide column (72), and the guide column (72) is slidably connected to the installation frame on the lifting group (7).
4. The robot for automatic depalletizing and sorting of cargo bins according to claim 3 is characterized by: It also includes a first collar (10) fixedly connected to the top of the connecting plate (81), and a second collar (11) fixedly connected to the bottom of the material taking frame (71) and in rotational contact with the first collar (10). Both the first collar (10) and the second collar (11) surround the outside of the rotating column (80) and are concentric with the rotating column (80).
5. The robot for automatic depalletizing and sorting of cargo bins according to claim 4 is characterized by: It also includes rubber blocks (12), and no less than four rubber blocks (12) are evenly spaced and arranged inside the clamp (84).