CN111924411A - Logistics goods shelf carrying method based on carrying robot and used for warehouse logistics - Google Patents

Abstract

The invention discloses a logistics goods shelf carrying method based on a carrying robot for warehouse logistics, which comprises the following steps: controlling the jacking rotary assembly to perform jacking action so as to enable the tray to move to the highest position; the control bracket is switched from a storage state to an expansion state; controlling the jacking rotary assembly to execute descending action, so that the four leg parts of the goods shelf are respectively supported on the four support bodies of the bracket; and when the robot chassis needs to turn, the jacking rotating assembly is controlled to execute rotating action when the robot chassis is controlled to rotate in situ, so that the tray and the robot chassis rotate in the same speed and the opposite direction, and the goods shelf is kept stationary relative to the ground. According to the invention, the bracket is unfolded to enable the four support bodies to support the four legs of the goods shelf when the carrying robot carries the goods shelf, so that the four legs and the bottom of the goods shelf are supported when the carrying robot carries the goods shelf, and therefore, the goods shelf cannot shake or topple over when the carrying robot carries out acceleration and deceleration or sudden stop.

Description

Logistics goods shelf carrying method based on carrying robot and used for warehouse logistics

Technical Field

The invention relates to the technical field of warehouse logistics, in particular to a logistics goods shelf carrying method based on a carrying robot for warehouse logistics.

Background

At present in the storage logistics field, the transfer robot of application transport goods shelves uses extensively, and it can carry goods shelves to the regional merit of letter sorting and supply the sorting personnel to pick up goods, waits to sort personnel to pick up goods and removes the normal position back with goods shelves after accomplishing again. The existing transfer robot has a tray for supporting a goods shelf, the tray only depends on the tray to jack up the goods shelf, the area of the tray is small, the tray only can jack the central position of the bottom of the goods shelf, and the goods shelf is unstable and easy to shake in the process of transfer and even topples over dangers when the transfer robot is suddenly stopped.

Disclosure of Invention

The purpose of the invention is as follows: in order to overcome the defects in the prior art, the invention provides the logistics goods shelf conveying method based on the conveying robot, which can stably support the goods shelf in the conveying process so that the goods shelf cannot shake or topple over.

The technical scheme is as follows: to achieve the above object, the present invention provides a method for transporting a logistics rack based on a transporting robot for warehouse logistics, the logistics rack transporting robot comprising:

the robot chassis comprises a chassis base body, wherein two driving wheels are symmetrically arranged on the left side and the right side of the middle part of the chassis base body, and a plurality of driven wheels are respectively arranged on the front side and the rear side of the chassis base body;

a tray for holding a shelf;

the jacking rotating assembly is used for driving the tray to do lifting motion and rotating motion relative to the robot chassis; and

the bracket comprises four support bodies, and rollers are arranged below each support body; the bracket can be switched between a storage state and an expansion state; in the unfolding state, the four support bodies can respectively support the four legs of the goods shelf, and the whole bracket can rotate relative to the tray along with the tray.

The logistics goods shelf conveying method comprises the following steps:

controlling the jacking rotary assembly to execute jacking action to enable the tray to move to the highest position;

controlling the bracket to be switched from a storage state to a development state;

controlling the jacking rotary assembly to execute descending action, so that four leg parts of the goods shelf are respectively supported to the four support bodies of the bracket;

and controlling the robot chassis to move, and when the robot chassis needs to turn, controlling the robot chassis to rotate in situ, controlling the jacking rotating assembly to execute rotating action, so that the tray and the robot chassis rotate in the same speed and the opposite direction, and the goods shelf is kept stationary relative to the ground.

Has the advantages that: according to the logistics goods shelf carrying method based on the carrying robot for warehouse logistics, the four brackets are unfolded to enable the four brackets to support the four legs of the goods shelf when the carrying robot carries the goods shelf, so that the four legs and the bottom of the goods shelf are supported when the carrying robot carries the goods shelf, and therefore the goods shelf cannot shake or topple over when the carrying robot accelerates or decelerates or suddenly stops.

Drawings

FIG. 1 is a three-dimensional structure diagram of a logistics goods shelf carrying robot;

fig. 2 is a front view structural view of the logistics goods shelf transporting robot;

FIG. 3 is a block diagram of the bracket in an expanded state;

FIG. 4 is a block diagram of a connection assembly;

FIG. 5 is a top view of the logistics pallet handling robot including the pallet in a stowed state;

FIG. 6 is an external view of the jacking device;

FIG. 7 is an internal structural view of the jacking device;

fig. 8 is a state diagram of the logistics pallet transporting robot when transporting the pallet.

The names of the parts indicated by the reference numerals in the drawings are as follows:

1-a robot chassis; 11-chassis base; 12-a driving wheel; 13-a driven wheel; 2-a tray; 3-jacking a rotating assembly; 4-a bracket; 41-a support body; 42-a bracket base; 421-fixed gear; 43-a connecting assembly; 431-a first link; 432-a second link; 432-1-rack portion; 433 — a first gear; 434-a second gear; 435-a gearbox; 44-the drive unit; 441-slider; 442-a linear motion execution unit; 443-a drive rod; 45-a roller; 5-a jacking device; 51-a fixed seat; 52-first slider; 53-second slider; 54-third slider; 55-a return rectangular spring; 6-a guide; 7-sliding sleeve.

Detailed Description

The present invention will be further described with reference to the accompanying drawings.

The logistics goods shelf handling robot shown in fig. 1 and 2 comprises arobot chassis 1, atray 2, a jackingrotary assembly 3 and abracket 4.

Therobot chassis 1 comprises achassis base body 11, twodriving wheels 12 are symmetrically arranged on the left side and the right side of the middle part of thechassis base body 11, and two drivenwheels 13 are respectively arranged on the front side and the rear side of thechassis base body 11; thus, by controlling the rotation speed of the twodriving wheels 12, theentire robot chassis 1 can perform forward, backward, in-situ rotation, and other actions.

Thetray 2 is used for supporting a goods shelf; the jackingrotary assembly 3 is used for driving thetray 2 to do lifting motion and rotary motion relative to therobot chassis 1; in the present invention, the jackingrotary component 3 adopts the prior art, for example, the jacking rotary unit structure in chinese patent No. 201910137187.2 can be adopted.

Thebracket 4 comprises foursupport bodies 41, and aroller 45 is arranged below eachsupport body 41; thebracket 4 can be switched between a storage state and an expansion state; in the unfolded state, the fourholders 41 can hold the four legs of the shelf, respectively, and theentire bracket 4 can rotate with thetray 2 relative to thetray 2. In the storage state, as shown in fig. 5, the fourbrackets 41 are retracted to the side of thechassis base 11, so that the overall size of thecarrier 4 is small, and the overall size of the transfer robot is not significantly increased.

By adopting thebracket 4, the four supportingbodies 41 of thebracket 4 can support the four legs of the shelf, the lower ends of the supportingbodies 41 are provided with therollers 45 which are directly contacted with the ground, if the shelf is inclined, the legs of the shelf can be supported by the supportingbodies 41, and the supportingbodies 41 can effectively prevent the inclination trend of the shelf, thereby effectively preventing the shelf from shaking and even toppling over.

Specifically, as shown in fig. 3, thebracket 4 further includes abracket base 42, aconnecting assembly 43, and adriving unit 44. Thebracket base 42 is circumferentially fixed relative to thetray 2 in the overlooking direction and can translate relative to thebracket base 42 in the vertical direction, so that when thetray 2 does lifting motion, thebracket 4 is not affected, and when thetray 2 rotates, thebracket 4 can be driven to synchronously rotate; a connectingassembly 43 for connecting thebracket 4 and thebracket holder 42; one connectingassembly 43 is provided for eachsupport body 41; thebracket base 42 is provided with afixed gear 421 corresponding to eachconnecting assembly 43; thedriving unit 44 is used for driving the connectingassembly 43 to rotate relative to thebracket base 42, so that thebracket 4 can be integrally switched between a storage state and an expansion state;

as shown in fig. 4, the connectingassembly 43 includes afirst link 431, asecond link 432, afirst gear 433, asecond gear 434, and atransmission case 435.First link 431 is rotatably mounted with respect tobracket base 42; thesecond link 432 can move telescopically relative to thefirst link 431, and thesupport body 41 is fixed on the second link; thesecond link 432 has a rack portion 432-1 formed thereon; afirst gear 433 rotatably installed on thefirst link 431 and engaged with thefixed gear 421; asecond gear 434 is rotatably installed on thefirst link 431 and engaged with the rack portion 432-1; thegearbox 435 is used to establish a transmission relationship between thefirst gear 433 and thesecond gear 434, and it makes the rotation speed of thesecond gear 434 higher than that of thefirst gear 433, so that when thefirst gear 433 rotates a few turns, thesecond gear 434 can rotate a lot of turns to drive thesecond link 432 to extend a larger distance. With the above structure, when thefirst link 431 rotates relative to thebracket base 42, thefirst gear 433 rotates due to the engagement between thefirst gear 433 and thefixed gear 421, so that thesecond gear 434 is driven to rotate by driving thegear box 435, and thesecond link 432 extends relative to thefirst link 431 due to the engagement between thesecond gear 434 and the rack portion 432-1. In this way, by driving thefirst link 431 to rotate, thesecond link 432 can be extended and contracted at the same time.

Further, the four connectingassemblies 43 are divided into two groups, and the two connectingassemblies 43 in each group are driven by adriving unit 44 to rotate relative to thebracket base 42; thedriving unit 44 includes aslider 441, alinear motion actuator 442, and adriving rod 443; thesliding block 441 is installed in a sliding manner relative to thebracket base 42; thelinear motion actuator 442 is configured to drive thesliding block 441 to slide relative to thebracket base 42, and in this embodiment, thelinear motion actuator 442 is a lead screw; one end of thedriving rod 443 is hinged to thesliding block 441, and the other end is hinged to thefirst link 431. Thus, when the slidingblock 441 moves, the two connectingcomponents 43 connected with the sliding block rotate.

In a further embodiment, when thetray 2 is in the lowered position, therollers 45 of thecarriage 4 are disengaged from the ground; when thetray 2 is in the raised position, therollers 45 of thecarriage 4 are in contact with the ground. Thus, when thetray 2 is in a low position, that is, the transfer robot does not perform a transfer task, since theroller 45 is separated from the ground, the transfer robot only has thedriving wheel 12 and the drivenwheel 13 contacting with the ground, the number of the wheels contacting with the ground is small, and theroller 45 does not have the hidden trouble of making therobot chassis 1 overhead.

Specifically, thechassis base 11 is mounted with ajacking device 5, as shown in fig. 6 and fig. 7, thejacking device 5 includes afixing seat 51, a first slidingblock 52, a second slidingblock 53, and a third slidingblock 54, where thefixing seat 51 is fixedly disposed relative to thechassis base 11; the first slidingblock 52 is installed in a sliding manner relative to thefixed seat 51, the sliding direction is a vertical direction, a first inclined plane is formed at the lower end of the first sliding block, and thetray 2 can act on the upper end of the first sliding block; the second slidingblock 53 is installed in a sliding manner relative to thefixed seat 51, the sliding direction is a horizontal direction, a second inclined plane and a third inclined plane are respectively formed at two ends of the second sliding block, the second inclined plane is in contact with the first inclined plane, and the second sliding block and the first inclined plane can slide relatively; the third slidingblock 54 is installed in a sliding manner relative to the fixedseat 51, the sliding direction is a vertical direction, a fourth inclined surface is formed at the lower end of the third sliding block, the fourth inclined surface is in contact with the third inclined surface, and the third sliding block can slide relatively; the upper end of which can act on thecarrier 4. A returnrectangular spring 55 is arranged between the third slidingblock 54 and the fixedseat 51.

When thetray 4 is in the high position, there is a certain gap between the lower end of thetray 2 and the upper end of thefirst slide block 52, and there is also a certain gap between the upper end of thethird slide block 54 and the lower end of thetray 4, and thejacking device 5 does not affect the rotation motion of thetray 2 and thetray 4. When thetray 2 descends, thetray 2 moves a distance empty first, then thetray 2 contacts with the first slidingblock 52, the first slidingblock 52 descends, the third slidingblock 54 ascends due to the transmission function of the second slidingblock 53, the third slidingblock 54 moves a distance empty first, then contacts with thebracket 4 and jacks up the bracket.

Thetray 2 is fixed with theguide 6, thebracket seat 42 is formed with thesliding sleeve 7, thesliding sleeve 7 is in sliding fit with theguide 6, the sliding direction is the vertical direction, and therefore thetray 2 can be lifted without affecting thebracket 42, and thebracket 42 can be driven to rotate together when rotating.

A logistics goods shelf conveying method based on a conveying robot for warehouse logistics comprises the following steps A1-A4:

step A1, controlling the jackingrotary component 3 to execute jacking action, and enabling thetray 2 to move to the highest position;

step a2, controlling thebracket 4 to switch from the storage state to the expansion state;

step a3, controlling the jackingrotary assembly 3 to perform a descending action, so that four legs of the shelf are respectively supported on the foursupport bodies 41 of thebracket 4; after the step is completed, the states of the goods shelf and the transfer robot are as shown in the attached figure 8;

step A4, controlling therobot chassis 1 to move, and when therobot chassis 1 needs to turn, controlling therobot chassis 1 to rotate in situ, controlling the jacking rotatingassembly 3 to execute a rotating action, so that thetray 2 and therobot chassis 1 rotate in the same speed and opposite directions, and the goods shelf is kept stationary relative to the ground.

According to the logistics goods shelf carrying method based on the carrying robot for warehouse logistics, the bracket is arranged, the bracket is unfolded when the carrying robot carries the goods shelf, the four supporting bodies support the four legs of the goods shelf, and the four legs and the bottom of the goods shelf are supported when the goods shelf is carried, so that the goods shelf cannot shake or topple over when the carrying robot accelerates or decelerates or suddenly stops.

The above description is only of the preferred embodiments of the present invention, and it should be noted that: it will be apparent to those skilled in the art that various modifications and adaptations can be made without departing from the principles of the invention and these are intended to be within the scope of the invention.

Claims (1)

1. A transfer robot-based logistics rack transfer method for warehouse logistics, characterized in that the logistics rack transfer robot comprises:

the robot chassis comprises a chassis base body, wherein two driving wheels are symmetrically arranged on the left side and the right side of the middle part of the chassis base body, and a plurality of driven wheels are respectively arranged on the front side and the rear side of the chassis base body;

a tray for holding a shelf;

the jacking rotating assembly is used for driving the tray to do lifting motion and rotating motion relative to the robot chassis; and

the bracket comprises four support bodies, and rollers are arranged below each support body; the bracket can be switched between a storage state and an expansion state; in the unfolding state, the four support bodies can respectively support the four legs of the goods shelf, and the whole bracket can rotate relative to the tray along with the tray.

The logistics goods shelf conveying method comprises the following steps:

controlling the jacking rotary assembly to execute jacking action to enable the tray to move to the highest position;

controlling the bracket to be switched from a storage state to a development state;

controlling the jacking rotary assembly to execute descending action, so that four leg parts of the goods shelf are respectively supported to the four support bodies of the bracket;

and controlling the robot chassis to move, and when the robot chassis needs to turn, controlling the robot chassis to rotate in situ, controlling the jacking rotating assembly to execute rotating action, so that the tray and the robot chassis rotate in the same speed and the opposite direction, and the goods shelf is kept stationary relative to the ground.

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