Sorting robot

Abstract

The utility model relates to the technical field of robots, in particular to a sorting robot. Comprising a chassis walking mechanism, a lifting mechanism arranged on the chassis walking mechanism and a goods picking and placing mechanism arranged on the lifting mechanism in a sliding mode, a mechanical arm used for sorting goods is arranged on the goods picking and placing mechanism, and a detection assembly used for identifying the goods is arranged on the mechanical arm. When goods are taken, the chassis walking mechanism moves to a designated goods shelf, the goods taking and placing mechanism is lifted to the corresponding goods shelf layer number through the lifting mechanism, the goods are scanned and recognized through a detection assembly on the mechanical arm, then the mechanical arm grabs the goods and places the goods on a material box of the goods taking and placing mechanism, the corresponding goods are delivered out of a warehouse, manual sorting is not needed, and the labor intensity of workers is reduced. The labor cost is reduced, meanwhile, the time for the robot to convey the material boxes to the sorting table back and forth is saved, and the sorting efficiency is improved.

Description

Technical Field

[0001] The present application relates to the field of robotics technology, and in particular to a sorting robot. Background Art

[0002] The rapid development of the warehousing and logistics field has brought great convenience to all walks of life. The sorting of goods is a key link in the warehousing and logistics process, and to a large extent determines the overall efficiency of warehousing and logistics. At present, robots are responsible for the transportation of material boxes, and the sorting of goods is done by robots transporting the material boxes to the sorting table, and then sorting is done manually at the sorting table. However, manual sorting has the disadvantages of high labor costs and low sorting efficiency, which is not conducive to the overall efficiency of warehousing and logistics. Utility Model Content

[0003] In order to solve one of the above technical problems, the present application provides a sorting robot, including a chassis walking mechanism, a lifting mechanism arranged on the chassis walking mechanism, and a pick-up and release mechanism slidably arranged on the lifting mechanism, wherein the pick-up and release mechanism is provided with a manipulator for sorting goods, and the manipulator is provided with a detection component for identifying goods. When picking up goods, the chassis walking mechanism moves to a designated shelf, the pick-up and release mechanism is lifted to the corresponding shelf layer by the lifting mechanism, the goods are scanned and identified by the detection component on the manipulator, and then the manipulator grabs the goods and places them on the material box of the pick-up and release mechanism, and the corresponding goods are shipped out of the warehouse, without manual sorting, reducing labor costs, and at the same time saving the time of the robot transporting the material box back and forth to the sorting platform, improving the sorting efficiency.

[0004] Preferably, the cargo pick-up and placement mechanism comprises a base plate, a fork assembly and a rotating assembly arranged on the base plate, wherein the rotating assembly drives the fork assembly to rotate on the base plate. The base plate is driven to move up and down by a lifting mechanism. The material box can be placed on the fork assembly, and the fork assembly is driven to rotate by the rotating assembly, thereby adjusting the direction of the fork assembly so that the fork assembly faces the shelves in different directions.

[0005] Preferably, the fork assembly includes a first driver, a fork, and a transmission assembly connected to the first driver, and the fork is connected to the transmission assembly. The first driver drives the transmission assembly to rotate, and then the transmission assembly drives the fork to extend, so that the material box on the fork extends toward the shelf, thereby facilitating the manipulator to store and retrieve goods on the shelf.

[0006] Preferably, the transmission assembly includes a rotating shaft connected to the driving end of the first driver, and a first chain connected to the rotating shaft, and the fork is provided with a fixing plate connected to the first chain. The first driver drives the rotating shaft to rotate, and then the rotating shaft drives the first chain to rotate, and then the fixing plate on the first chain drives the fork to move, so that the fork is extended or retracted.

[0007] Preferably, the fork assembly is provided with a top plate, a baffle extending toward the fork is provided on the side of the top plate, and the fixed plate is provided with a baffle abutting against the baffle. When the fork is driven to move by the fixed plate on the first chain, the baffle on the top plate abuts against the baffle, thereby limiting the movement of the fork.

[0008] Preferably, the fork assembly further includes a mounting plate, the rotating assembly includes a second driver and a second chain connected to the second driver, and a sprocket connected to the second chain is disposed on the bottom surface of the mounting plate. The second driver drives the sprocket to rotate through the second chain, so that the sprocket drives the mounting plate to rotate, thereby adjusting the direction of the fork assembly so that the fork assembly faces shelves in different directions.

[0009] Preferably, the mounting plate is provided with a slide rail that is slidably matched with the top plate, and the mounting plate is provided with an elastic member connected to the bottom of the top plate. When the stop bar of the fixed plate abuts against the stop block, the stop block drives the top plate to slide on the slide rail, and the elastic member on the mounting plate pulls the top plate, thereby buffering the fixed plate.

[0010] Preferably, the mounting plate is provided with a limiting groove, and the bottom plate is provided with a limiting column inserted into the limiting groove. The limiting groove is arc-shaped, and during the rotation of the mounting plate, the limiting column and the limiting groove cooperate to limit the rotation of the mounting plate, thereby preventing the fork assembly from rotating too much.

[0011] Preferably, a plurality of detectors for detecting the position of the limit column are arranged at the outer periphery of the limit groove at the bottom of the mounting plate. The detector is a sensor, and the position of the limit column is detected by the detector, and then whether the mounting plate is rotated in place is detected, thereby improving the position accuracy.

[0012] Preferably, a support assembly is provided at the bottom of the base plate, and the support assembly includes a mounting box provided at the bottom of the base plate, a telescopic driving member provided at the mounting box, and support rods passing through both sides of the mounting box, and the support rods are connected to the telescopic driving member. When the picking and placing mechanism is lifted onto the shelf to pick and place the goods, the telescopic driving member drives the support rods to extend and clamp on the shelves on both sides, and then the picking and placing mechanism is supported by the support rods, thereby avoiding the risk of shaking or falling of the picking and placing mechanism, and improving the safety of operation.

[0013] Compared with the prior art, the beneficial effects of the present application are as follows: the present application sets a lifting mechanism on the chassis travel mechanism, slides a pick-up and release mechanism on the lifting mechanism, and the lifting mechanism is used to drive the pick-up and release mechanism to lift and move, and then to store and retrieve goods on the shelf. A manipulator for sorting goods is set on the pick-up and release mechanism, and a detection component for identifying goods is set on the manipulator. When picking up goods, the chassis travel mechanism moves to the designated shelf, and the pick-up and release mechanism is lifted to the corresponding shelf layer by the lifting mechanism. The detection component on the manipulator scans and identifies the goods, and then the manipulator grabs the goods and places them on the material box of the pick-up and release mechanism, and the corresponding goods are shipped out of the warehouse without manual sorting, which reduces labor costs, and at the same time saves the time for the robot to transport the material box back and forth to the sorting table, thereby improving sorting efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings required for use in the description of the embodiments of the present application or the prior art are briefly introduced below. Obviously, the drawings described below are only part of the embodiments of the present application, and for ordinary technicians in this field, other drawings can be obtained based on these drawings without creative labor.

[0015] Figure 1 This is a schematic diagram of the structure of a sorting robot according to an embodiment of the present application;

[0016] Figure 2 This is a schematic diagram of the structure of the cargo picking and placing mechanism of an embodiment of the present application;

[0017] Figure 3 This is a diagram of the internal structure of the cargo pick-up and delivery mechanism of an embodiment of the present application;

[0018] Figure 4 A bottom view of the cargo picking and placing mechanism according to an embodiment of the present application;

[0019] Figure 5 This is a schematic diagram of a cargo pick-up and delivery mechanism according to an embodiment of the present application;

[0020] Figure 6 This is a schematic diagram of the support component structure of an embodiment of the present application.

[0021] Reference numerals

[0022] 10. Chassis walking mechanism; 20. Lifting mechanism; 30. Pick-up and release mechanism; 31. Bottom plate; 311. Limiting column; 32. Fork assembly; 321. First drive; 322. Fork; 3221. Middle fork; 3222. Inner fork; 3223. Outer fork; 323. Transmission assembly; 3231. Rotating shaft; 3232. First chain; 324. Fixed plate; 3241. Stopper; 33. Rotating assembly; 331. Second drive; 332. Second chain; 333. Sprocket; 34. Top plate; 35. Mounting plate; 351. Slide rail; 352. Elastic member; 36. Stopper bar; 37. Limiting groove; 38. Support assembly; 381. Telescopic drive member; 382. Mounting box; 383. Support rod; 384. Elastic pad; 39. Detector; 40. Manipulator. DETAILED DESCRIPTION

[0023] The following will disclose multiple embodiments of the present application with drawings. For the purpose of clear description, many practical details will be described together in the following description. However, it should be understood that these practical details should not be used to limit the present application. In other words, in some embodiments of the present application, these practical details are not necessary. In addition, in order to simplify the drawings, some conventional structures and components will be depicted in a simple schematic manner in the drawings.

[0024] It should be noted that all directional indications such as up, down, left, right, front, back... in the embodiments of the present application are only used to explain the relative position relationship, movement status, etc. between the components in a certain specific posture as shown in the accompanying drawings. If the specific posture changes, the directional indication will also change accordingly.

[0025] In addition, in the present application, the descriptions of "first", "second", etc. are only used for descriptive purposes, and do not specifically refer to the order or sequence, nor are they used to limit the present application. They are only used to distinguish components or operations described with the same technical terms, and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in the field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by the present application.

[0026] In order to further understand the content, features and effects of the present application, the following embodiments are given as examples and described in detail with reference to the accompanying drawings:

[0027] In order to solve the above technical problems, this embodiment provides a sorting robot, such as Figure 1As shown, it includes a chassis running mechanism 10, a lifting mechanism 20 arranged on the chassis running mechanism 10, and a pick-up and release mechanism 30 slidably arranged on the lifting mechanism 20. The lifting mechanism 20 is used to drive the pick-up and release mechanism 30 to move up and down, and then to store and retrieve goods on the shelf. A manipulator 40 for sorting goods is arranged on the pick-up and release mechanism 30, and a detection component for identifying goods is arranged on the manipulator 40. When picking up goods, the chassis running mechanism 10 moves to a designated shelf, and the pick-up and release mechanism 30 is lifted to the corresponding shelf layer by the lifting mechanism 20. The detection component on the manipulator 40 scans and identifies the goods, and then the manipulator 40 grabs the goods and places them on the material box of the pick-up and release mechanism 30, and the corresponding goods are shipped out of the warehouse, without manual sorting, reducing labor costs, and saving the time of the robot transporting the material box back and forth to the sorting platform, improving sorting efficiency.

[0028] Specifically, the lifting mechanism 20 includes a frame and a lifting component arranged on the frame. The lifting component can be composed of a motor, a transmission shaft and a synchronous belt or a sprocket and a chain. The transmission shaft is driven by the motor to rotate, thereby driving the synchronous belt to rotate. The picking and placing mechanism 30 is connected to the synchronous belt, and then the picking and placing mechanism 30 is lifted and lowered on the frame through the synchronous belt. In some embodiments, the picking and placing mechanism 30 rolls with the frame through guide wheels, thereby improving the stability of the picking and placing mechanism 30 when it is lifted and lowered.

[0029] Furthermore, the detection component can be an industrial camera. In some embodiments, the camera scans the labels on the shelves to identify the corresponding layer numbers, and then the goods to be shipped out are sorted by scanning the QR codes on the goods. The manipulator 40 grabs the goods and places them on the material box of the pick-up and release mechanism 30, and then the chassis walking mechanism 10 moves the goods out of the warehouse.

[0030] In order to store goods, Figure 2-3 As shown, the pick-up and place mechanism 30 includes a bottom plate 31, a fork assembly 32 and a rotating assembly 33 arranged on the bottom plate 31. The rotating assembly 33 drives the fork assembly 32 to rotate on the bottom plate 31. The lifting mechanism 20 is connected to the bottom plate 31, and the bottom plate 31 is driven to move up and down by the lifting mechanism 20. The material box can be placed on the fork assembly 32, and the fork assembly 32 is driven to rotate by the rotating assembly 33, thereby adjusting the direction of the fork assembly 32 so that the fork assembly 32 faces the shelves in different directions.

[0031] Specifically, Figure 3As shown, the fork assembly 32 includes a first driver 321, a fork 322, and a transmission assembly 323 connected to the first driver 321, and the fork 322 is connected to the transmission assembly 323. Exemplarily, the first driver 321 can be a motor, and the first driver 321 drives the transmission assembly 323 to rotate, and then the transmission assembly 323 drives the fork 322 to extend, so that the material box on the fork 322 extends toward the shelf, thereby facilitating the manipulator 40 to store and retrieve goods on the shelf.

[0032] In the above solution, the transmission assembly 323 includes a rotating shaft 3231 connected to the driving end of the first driver 321, and a first chain 3232 connected to the rotating shaft 3231, and the fork 322 is provided with a fixing plate 324 connected to the first chain 3232. The first driver 321 drives the rotating shaft 3231 to rotate, and then the rotating shaft 3231 drives the first chain 3232 to rotate, and then the fixing plate 324 on the first chain 3232 drives the fork 322 to move, so that the fork 322 is extended or retracted.

[0033] In some embodiments, the fork 322 includes an outer fork 3223, a middle fork 3221 and an inner fork 3222. The middle fork 3221 is slidably connected to the outer fork 3223 and the inner fork 3222. The fixed plate 324 is connected to the middle fork 3221. The first driver 321 drives the fixed plate 324 through the rotating shaft 3231, thereby driving the middle fork 3221 to move. A belt is provided on the middle fork 3221, and the belt is fixedly connected to the outer fork 3223 and the inner fork 3222. Therefore, when the middle fork 3221 is extended and moved, the inner fork 3222 will move relative to the outer fork 3223.

[0034] Furthermore, a top plate 34 is provided on the fork assembly 32, a stop bar 36 extending toward the fork 322 is provided on the side of the top plate 34, and a stop block 3241 abutting against the stop bar 36 is provided on the fixed plate 324. When the fixed plate 324 on the first chain 3232 drives the fork 322 to move, the stop block 3241 on the top plate 34 abuts against the stop bar 36, so as to limit the movement of the fork 322.

[0035] Furthermore, the fork assembly 32 also includes a mounting plate 35, such as Figure 4 As shown, the rotating assembly 33 includes a second driver 331 and a second chain 332 connected to the second driver 331. The second driver 331 can be a motor. A sprocket 333 connected to the second chain 332 is provided on the bottom surface of the mounting plate 35. The motor drives the sprocket 333 to rotate through the second chain 332, so that the sprocket 333 drives the mounting plate 35 to rotate, thereby adjusting the direction of the fork assembly 32 so that the fork assembly 32 faces shelves in different directions.

[0036] In the above scheme, if Figure 5As shown, the mounting plate 35 is provided with a slide rail 351 that is slidably matched with the top plate 34, and the mounting plate 35 is provided with an elastic member 352 connected to the bottom of the top plate 34. When the stop bar 36 of the fixed plate 324 abuts against the stop block 3241, the stop block 3241 drives the top plate 34 to slide on the slide rail 351, and the top plate 34 is pulled by the elastic member 352 on the mounting plate 35, thereby buffering the fixed plate 324.

[0037] Furthermore, the mounting plate 35 is provided with a limiting groove 37, and the bottom plate 31 is provided with a limiting column 311 inserted into the limiting groove 37. Exemplarily, the limiting groove 37 is in an arc shape, and during the rotation of the mounting plate 35, the limiting column 311 cooperates with the limiting groove 37 to limit the rotation of the mounting plate 35, thereby preventing the fork assembly 32 from rotating too much.

[0038] Furthermore, in the above scheme, a plurality of detectors 39 for detecting the position of the limit column 311 are arranged at the outer periphery of the limit groove 37 at the bottom of the mounting plate 35. The detector 39 is a sensor, and the position of the limit column 311 is detected by the detector 39, and then whether the mounting plate 35 is rotated in place is detected, thereby improving the position accuracy.

[0039] When the cargo picking and placing mechanism 30 is picking and placing cargo, in order to prevent the cargo picking and placing mechanism 30 from falling, as a preferred embodiment, Figure 6 As shown, a support assembly 38 is provided at the bottom of the bottom plate 31, and the support assembly 38 includes an installation box 382 provided at the bottom of the bottom plate 31, a telescopic driving member 381 provided at the installation box 382, ​​and support rods 383 inserted on both sides of the installation box 382, ​​and the support rods 383 are connected to the telescopic driving member 381. The telescopic driving member 381 is a driving cylinder. When the picking and placing mechanism 30 is lifted onto the shelf to pick and place the goods, the telescopic driving member 381 drives the support rods 383 to extend and get stuck on the shelves on both sides, and then the picking and placing mechanism 30 is supported by the support rods 383, so as to avoid the risk of shaking or falling of the picking and placing mechanism 30, and improve the safety of operation. An elastic pad 384 is provided at the end of the support rod 383 that contacts the shelf, so as to improve the stability of the support rod 383 when contacting the shelf.

[0040] In summary, in one or more embodiments of the present application, the present application sets a lifting mechanism on the chassis travel mechanism, slides a pick-up and release mechanism on the lifting mechanism, and the lifting mechanism is used to drive the pick-up and release mechanism to lift and move, so as to store and retrieve goods on the shelf. A manipulator for sorting goods is set on the pick-up and release mechanism, and a detection component for identifying goods is set on the manipulator. When picking up goods, the chassis travel mechanism moves to the designated shelf, and the pick-up and release mechanism is lifted to the corresponding shelf layer by the lifting mechanism. The goods are scanned and identified by the detection component on the manipulator, and then the manipulator grabs the goods and places them on the material box of the pick-up and release mechanism, and the corresponding goods are shipped out of the warehouse without manual sorting, which reduces labor costs, and at the same time saves the time of the robot transporting the material box back and forth to the sorting table, thereby improving sorting efficiency.

[0041] The above-described implementation methods do not constitute a limitation on the protection scope of the technical solution. Any modification, equivalent replacement and improvement made within the spirit and principle of the above-described implementation methods shall be included in the protection scope of the technical solution.

Claims

1. A sorting robot, characterized in that: The invention comprises a chassis traveling mechanism (10), a lifting mechanism (20) arranged on the chassis traveling mechanism (10), and a picking and placing mechanism (30) slidably arranged on the lifting mechanism (20); a manipulator (40) for sorting goods is arranged on the picking and placing mechanism (30); a detection component for identifying goods is arranged on the manipulator (40); the picking and placing mechanism (30) comprises a bottom plate (31), a fork assembly (32) arranged on the bottom plate (31), and a rotating assembly (33); the rotating assembly (33) drives the fork assembly (32) to rotate on the bottom plate (31); the fork assembly (32) comprises a first driver (321), a fork (322), and a transmission assembly (323) connected to the first driver (321); the fork (322) is connected to the transmission assembly (323).

2. The sorting robot according to claim 1, characterized in that: The transmission assembly (323) comprises a rotating shaft (3231) connected to a driving end of the first driver (321), and a first chain (3232) connected to the rotating shaft (3231); the fork (322) is provided with a fixing plate (324) connected to the first chain (3232).

3. The sorting robot according to claim 2, characterized in that: The fork assembly (32) is provided with a top plate (34), a side edge of the top plate (34) is provided with a stop bar (36) extending toward the fork (322), and the fixed plate (324) is provided with a stop block (3241) abutting against the stop bar (36).

4. The sorting robot according to claim 3, characterized in that: The fork assembly (32) further comprises a mounting plate (35); the rotating assembly (33) comprises a second driver (331) and a second chain (332) connected to the second driver (331); and a sprocket (333) connected to the second chain (332) is disposed on the bottom surface of the mounting plate (35).

5. The sorting robot according to claim 4, characterized in that: The mounting plate (35) is provided with a slide rail (351) that is slidably matched with the top plate (34), and the mounting plate (35) is provided with an elastic member (352) connected to the bottom of the top plate (34).

6. The sorting robot according to claim 4, characterized in that: The mounting plate (35) is provided with a limiting groove (37), and the bottom plate (31) is provided with a limiting column (311) inserted into the limiting groove (37).

7. The sorting robot according to claim 6, characterized in that: A plurality of detectors (39) for detecting the position of the limiting column (311) are arranged at the bottom of the mounting plate (35) and on the outer periphery of the limiting groove (37).

8. The sorting robot according to claim 1, characterized in that: A support assembly (38) is arranged at the bottom of the base plate (31), and the support assembly (38) comprises a mounting box (382) arranged at the bottom of the base plate (31), a telescopic driving member (381) arranged in the mounting box (382), and support rods (383) passing through two sides of the mounting box (382), and the support rods (383) are connected to the telescopic driving member (381).

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