A logistics sorting device based on collaborative robots

Abstract

The utility model relates to the technical field of logistics sorting, and disclose a kind of logistics sorting device based on collaborative robot, including conveying belt, sorting warehouse-in belt, collaborative robot, scanning warehouse-in device and rack, the rack is provided with by motor and pusher device of roller, the rack is provided with adjusting device for adjusting package and slave device for controlling adjusting device, the adjusting device includes: push plate, rack, support rod, gear, crossbeam, connecting frame, return spring, support spring, fixed plate, scroll spring, this logistics sorting device based on collaborative robot, when package moves to the top of rack, package pushes and touches block to move downwards, it can control rack to move upwards and engage with gear, to control two groups of push plate to mutually approach and push and correct package, avoid package skewing to affect normal grabbing.

Description

Technical Field

[0001] This utility model relates to the field of logistics sorting technology, specifically a logistics sorting device based on a collaborative robot. Background Technology

[0002] Logistics companies require a large number of manual laborers and urgently need the introduction of intelligent and automated robots to improve factory production efficiency and quality and reduce labor costs.

[0003] For example, the logistics sorting device based on a collaborative robot disclosed in announcement number CN221335475U uses a speed reduction roller to slow down the conveyor belt process of packages, causing the packages to move slowly towards the output side of the conveyor belt. The split structure of the conveyor belt makes it easy to adjust the conveying speed of each part, thereby achieving the purpose of slowing down the package conveying without affecting the efficiency of package scanning in the warehouse. This device is suitable for widespread application.

[0004] However, during use, when a package falls onto the deceleration roller during transportation, it may become tilted due to contact, causing the package to be out of position when the collaborative robot picks it up, thus affecting normal grasping. To address this, we propose a logistics sorting device based on a collaborative robot. Utility Model Content

[0005] The purpose of this invention is to provide a logistics sorting device based on a collaborative robot to solve the problems mentioned in the background art.

[0006] To achieve the above objectives, this utility model provides the following technical solution: a logistics sorting device based on a collaborative robot, comprising a conveyor belt, a sorting and warehousing belt, a collaborative robot, a scanning and warehousing device, and a placement rack. The placement rack is provided with a pushing device consisting of a motor and a rotating roller, and the placement rack is provided with an adjustment device for adjusting the package and a driven device for controlling the adjustment device.

[0007] The adjustment device includes:

[0008] Push plate: The push plate is used to push the package and prevent it from tilting.

[0009] A rack and pinion is used to control the movement of a push plate via a support rod.

[0010] Gears are used to drive racks to move.

[0011] Preferably, the push plate passes through the top of the placement frame and is slidably connected to the placement frame. A support rod is hinged to the side of the push plate near the rack. The end of the support rod away from the push plate is hinged to a horizontal plate. The horizontal plate is slidably connected to the side of the rack near the push plate. The rack passes through the connecting frame and is slidably connected to the connecting frame. A return spring is fixed to the end of the rack away from the horizontal plate. The end of the return spring away from the rack is fixed to the inside of the connecting frame. The connecting frame is slidably mounted on the inner wall of the placement frame. A support spring is fixed to the bottom of the connecting frame. The end of the support spring away from the connecting frame is fixed to the top of a fixing plate. The fixing plate is fixed to the inner wall of the placement frame. The gear is rotatably mounted on the inner wall of the placement frame. A circular hole is opened in the center of the gear. The inner side of the circular hole in the center of the gear... A spiral spring is fixed to the side, and the end of the spiral spring away from the gear is fixed to the output shaft of the motor. When the connecting frame drives the rack to move upward, the rack meshes with the gear. Even if it cannot mesh with the gear immediately, when the rack and gear come into contact, the spiral spring can provide a certain buffer for the gear, so that when the gear stops due to contact, the output shaft of the motor can still continue to rotate. When the gear swings under the action of the spiral spring, it can mesh with the rack. The output shaft of the motor drives the gear to rotate through the spiral spring, thereby controlling the rack to move towards the side closer to the push plate. The rack moves with the horizontal plate, and the horizontal plate can push the push plate towards the side closer to the center of the placement rack through the support rod. The push plate can then correct the package at the top of the placement rack, preventing the package from being crooked and affecting normal gripping.

[0012] Preferably, the driven device includes an abutment block that passes through the top of the placement rack and is slidably connected to it. A connecting spring is fixed to the inner wall of the placement rack, and the end of the connecting spring away from the placement rack is fixed to the abutment block. A connecting rod is hinged to the side of the abutment block away from the push plate, and the end of the connecting rod away from the abutment block is hinged to a top rod. The top of the top rod is slidably mounted on the top of the placement rack. An inclined block is fixed to the top of the connecting rack. When the package is conveyed to the top of the placement rack via the conveyor belt, the package abuts against the inclined surface of the abutment block, pushing the abutment block downward. Once the block moves, the contact block can push the top rod to move away from the push plate via the connecting rod. The top rod no longer contacts the inclined block. At this time, the connecting frame can move upward with the rack under the action of the support spring. When the package is conveyed to the center position of the placement frame by the roller, the contact block is no longer contacted. Under the action of the connecting spring, the contact block moves upward. The contact block pulls the top rod to reset via the connecting rod. The top rod can then push the connecting frame downward through the inclined surface of the contact block. The connecting frame can then control the rack to move downward and disengage from the gear, without affecting the normal grasping of the package by the collaborative robot.

[0013] Preferably, the motor is fixed to the front of the placement rack, and the output shaft of the motor passes through the placement rack and is fixed to the rotating roller. The rotating roller passes through the top of the placement rack. When the package moves to the top of the placement rack, it can be moved to the center area of ​​the top of the placement rack by the conveying action of the rotating roller, which makes it convenient for the collaborative robot to grasp the package.

[0014] Compared with the prior art, this utility model provides a logistics sorting device based on collaborative robots, which has the following beneficial effects:

[0015] 1. This collaborative robot-based logistics sorting device, through the setting of adjustment and driven devices, when the package moves to the top of the placement rack, the package pushes the contact block downward, which controls the rack to move upward and mesh with the gear, thereby controlling the two sets of push plates to move closer to each other to push and correct the package, avoiding the package being skewed and affecting normal grasping.

[0016] 2. In this collaborative robot-based logistics sorting device, after the package is conveyed to the center of the placement rack by the rollers, the contact block is no longer contacted. Under the action of the connecting spring, the contact block moves upward. The contact block pulls the top rod to reset through the connecting rod. The top rod can then push the connecting frame downward through the inclined surface of the contact block. The connecting frame can then control the rack to move downward and disengage from the gear. The rack can then reset under the action of the reset spring. The rack controls the push plate to reset through the horizontal plate and the support rod, without affecting the normal gripping of the package by the collaborative robot. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the overall front view of the present invention;

[0018] Figure 2 This is a schematic diagram of the placement rack structure of this utility model;

[0019] Figure 3 This is a top view of the cross-sectional structure of the placement rack of this utility model;

[0020] Figure 4 This is a schematic diagram of the connection structure between the adjusting device and the driven device of this utility model;

[0021] Figure 5 This utility model Figure 4 Schematic diagram of the enlarged structure of A in the middle;

[0022] Figure 6 This utility model Figure 4 Schematic diagram of the enlarged structure of B;

[0023] Figure 7 This is a schematic diagram of the connection structure between the contact block and the connecting spring of this utility model.

[0024] In the diagram: 1. Conveyor belt; 2. Sorting and warehousing belt; 3. Adjustment device; 31. Push plate; 32. Rack; 33. Support rod; 34. Gear; 35. Horizontal plate; 36. Connecting frame; 37. Return spring; 38. Support spring; 39. Fixing plate; 310. Spiral spring; 4. Driven device; 41. Contact block; 42. Connecting spring; 43. Connecting rod; 44. Top rod; 45. Inclined block; 5. Collaborative robot; 6. Scanning and warehousing device; 7. Placement rack; 8. Motor; 9. Rotary roller. Detailed Implementation

[0025] like Figures 1-7 As shown, this utility model provides a technical solution: a logistics sorting device based on a collaborative robot, including a conveyor belt 1, a sorting and warehousing belt 2, a collaborative robot 5, a scanning and warehousing device 6, and a placement rack 7. The placement rack 7 is equipped with a pushing device consisting of a motor 8 and a rotating roller 9. The placement rack 7 is also equipped with an adjustment device 3 for adjusting packages and a driven device 4 for controlling the adjustment device 3. The adjustment device 3 includes: a push plate 31, a rack 32, a support rod 33, a gear 34, a cross plate 35, a connecting frame 36, a return spring 37, a support spring 38, a fixing plate 39, and a spiral spring 310.

[0026] Push plate 31 passes through the top of placement rack 7 and is slidably connected to placement rack 7. A support rod 33 is hinged to the side of push plate 31 near rack 32. The end of support rod 33 away from push plate 31 is hinged to horizontal plate 35. Horizontal plate 35 is slidably connected to the side of rack 32 near push plate 31. Rack 32 passes through connecting frame 36 and is slidably connected to connecting frame 36. A return spring 37 is fixed to the end of rack 32 away from horizontal plate 35. The end of return spring 37 away from rack 32 is fixed to the inside of connecting frame 36. Connecting frame 36 is slidably mounted on the inner wall of placement rack 7. A support spring 38 is fixed to the bottom of connecting frame 36. The end of support spring 38 away from connecting frame 36 is fixed to the top of fixing plate 39. Fixing plate 39 is fixed to the inner wall of placement rack 7. Gear 34 is rotatably mounted on the inner wall of placement rack 7. A circular hole is opened in the center of gear 34. A spiral spring 310 is fixed inside the circular hole in the center of gear 34. The end of the spring 310 away from the gear 34 is fixed to the output shaft of the motor 8. When the connecting frame 36 drives the rack 32 to move upward, the rack 32 meshes with the gear 34. Even if it cannot mesh with the gear 34 immediately, when the rack 32 and the gear 34 come into contact, the spiral spring 310 can provide a certain buffer for the gear 34, so that when the gear 34 is stopped by contact, the output shaft of the motor 8 can still continue to rotate. When the gear 34 swings under the action of the spiral spring 310, it can mesh with the rack 32. The output shaft of the motor 8 drives the gear 34 to rotate through the spiral spring 310, thereby controlling the rack 32 to move closer to the push plate 31. The rack 32 moves together with the horizontal plate 35. The horizontal plate 35 can then push the push plate 31 to move closer to the center of the placement rack 7 through the support rod 33. The push plate 31 can then correct the package at the top of the placement rack 7 to prevent the package from being crooked and affecting normal gripping.

[0027] The driven device 4 includes an abutment block 41, which passes through the top of the placement rack 7 and is slidably connected to it. A connecting spring 42 is fixed on the inner wall of the placement rack 7. The end of the connecting spring 42 away from the placement rack 7 is fixed to the abutment block 41. A connecting rod 43 is hinged to the side of the abutment block 41 away from the push plate 31. The end of the connecting rod 43 away from the abutment block 41 is hinged to a top rod 44. The top of the top rod 44 is slidably mounted on the top of the placement rack 7. An inclined block 45 is fixed to the top of the connecting frame 36. When the package is conveyed to the top of the placement rack 7 via the conveyor belt 1, the package abuts against the inclined surface of the abutment block 41, pushing the abutment block 41 downward. The abutment block 41 can then pass through... Link 43 pushes top rod 44 to move away from push plate 31. Top rod 44 no longer abuts against inclined block 45. At this time, connecting frame 36 can move upward with rack 32 under the action of support spring 38. After the package is conveyed to the center position of placement frame 7 by roller 9, the abutting block 41 is no longer abutted. Under the action of connecting spring 42, abutting block 41 moves upward. Abutting block 41 pulls top rod 44 to reset through link 43. Top rod 44 can then push connecting frame 36 downward through the inclined surface of abutting inclined block 45. Connecting frame 36 can then control rack 32 to move downward and disengage from gear 34, without affecting the normal grasping of package by collaborative robot 5.

[0028] Motor 8 is fixed to the front of the placement rack 7. The output shaft of motor 8 passes through the placement rack 7 and is fixed to the rotating roller 9. The rotating roller 9 passes through the top of the placement rack 7. When the package moves to the top of the placement rack 7, it can be moved to the center area of ​​the top of the placement rack 7 by the conveying action of the rotating roller 9, so that the collaborative robot 5 can grab the package.

[0029] In this utility model, during use, the package is transported by the conveyor belt 1 and put into storage by the scanning and storage device 6. The scanning and storage device 6 is mainly composed of a bracket and a barcode scanner, and the barcode scanner is used to scan for storage.

[0030] As the package continues to move, once it reaches the top of the placement rack 7, it abuts against the inclined surface of the contact block 41, pushing the contact block 41 downwards. The contact block 41 then pushes the top rod 44 away from the push plate 31 via the connecting rod 43. The top rod 44 no longer abuts against the inclined block 45. At this point, the connecting frame 36, under the action of the support spring 38, moves the rack 32 upwards, meshing with the gear 34. Even if it cannot immediately mesh with the gear 34, when the rack 32 abuts against the gear 34, the spiral spring 310 provides a certain amount of support to the gear 34. The buffer allows the output shaft of the motor 8 to continue rotating even when the gear 34 is stopped by the contact. When the gear 34 swings under the action of the spiral spring 310, it can mesh with the rack 32. The output shaft of the motor 8 drives the gear 34 to rotate through the spiral spring 310, thereby controlling the rack 32 to move closer to the push plate 31. The rack 32 moves together with the horizontal plate 35, and the horizontal plate 35 can push the push plate 31 to move closer to the center of the placement rack 7 through the support rod 33. The push plate 31 can then correct the package at the top of the placement rack 7, preventing the package from being crooked and affecting normal gripping.

[0031] After the package is conveyed to the center of the placement rack 7 by the roller 9, the contact block 41 is no longer contacted. Under the action of the connecting spring 42, the contact block 41 moves upward. The contact block 41 pulls the top rod 44 to reset through the connecting rod 43. The top rod 44 can then push the connecting frame 36 to move downward through the inclined surface of the contact block 45. The connecting frame 36 can then control the rack 32 to move downward and disengage from the gear 34. The rack 32 can then reset under the action of the reset spring 37. The rack 32 controls the push plate 31 to reset through the horizontal plate 35 and the support rod 33, without affecting the normal gripping of the package by the collaborative robot 5. At this time, the collaborative robot 5 grips the package and places it on the sorting and warehousing belt 2, completing the operation.

[0032] The present invention has been described in detail above. However, modifications or improvements can be made to it, which will be obvious to those skilled in the art. Therefore, any modifications or improvements that do not depart from the spirit of the present invention are within the protection scope of the present invention.

Claims

1. A logistics sorting device based on a collaborative robot, comprising a conveyor belt (1), a sorting and warehousing belt (2), a collaborative robot (5), a scanning and warehousing device (6), and a placement rack (7), characterized in that: The placement rack (7) is provided with a pushing device consisting of a motor (8) and a rotating roller (9). The placement rack (7) is provided with an adjustment device (3) for adjusting the package and a driven device (4) for controlling the adjustment device (3). The adjustment device (3) includes: Push plate (31) is used to push the package to prevent it from tilting. A rack (32) is used to control the movement of the push plate (31) via a support rod (33); Gear (34) is used to drive rack (32) to move.

2. The logistics sorting device based on a collaborative robot according to claim 1, characterized in that: The push plate (31) passes through the top of the placement frame (7) and is slidably connected to the placement frame (7). A support rod (33) is hinged to the side of the push plate (31) near the rack (32). The end of the support rod (33) away from the push plate (31) is hinged to the horizontal plate (35). The horizontal plate (35) is slidably connected to the side of the rack (32) near the push plate (31). The rack (32) passes through the connecting frame (36) and is slidably connected to the connecting frame (36). A return spring (37) is fixed to the end of the rack (32) away from the horizontal plate (35). The end of the return spring (37) away from the rack (32) is fixed to the inside of the connecting frame (36).

3. A logistics sorting device based on a collaborative robot according to claim 2, characterized in that: The connecting frame (36) is slidably mounted on the inner wall of the placement frame (7). A support spring (38) is fixed at the bottom of the connecting frame (36). The end of the support spring (38) away from the connecting frame (36) is fixed to the top of the fixing plate (39). The fixing plate (39) is fixed on the inner wall of the placement frame (7). The gear (34) is rotatably mounted on the inner wall of the placement frame (7). A circular hole is opened in the center of the gear (34). A spiral spring (310) is fixed inside the circular hole in the center of the gear (34). The end of the spiral spring (310) away from the gear (34) is fixed to the output shaft of the motor (8).

4. A logistics sorting device based on a collaborative robot according to claim 2, characterized in that: The driven device (4) includes an abutment block (41), which passes through the top of the placement rack (7) and is slidably connected to the placement rack (7). A connecting spring (42) is fixed on the inner wall of the placement rack (7), and the end of the connecting spring (42) away from the placement rack (7) is fixed to the abutment block (41).

5. A logistics sorting device based on a collaborative robot according to claim 4, characterized in that: The abutment block (41) is hinged to a connecting rod (43) on the side away from the push plate (31). The end of the connecting rod (43) away from the abutment block (41) is hinged to a top rod (44). The top of the top rod (44) is slidably mounted on the top of the placement frame (7). The top of the connecting frame (36) is fixed with an inclined block (45).

6. A logistics sorting device based on a collaborative robot according to claim 1, characterized in that: The motor (8) is fixed to the front of the placement frame (7), and the output shaft of the motor (8) passes through the placement frame (7) and is fixed to the rotating roller (9). The rotating roller (9) passes through the top of the placement frame (7).

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