阅读说明：本技术 移动机器人系统 (Mobile robot system ) 是由 王国明 于 2020-03-23 设计创作，主要内容包括：本发明公开了一种移动机器人系统,包括：运送装置和轨道装置；轨道装置由若干相互平行的第一轨道和若干相互平行的第二轨道交叉分布形成；轨道装置形成有若干由第一轨道和第二轨道围成的投放口；运送装置包括运送机构和用于放置货物并当运送装置到达指定投放口时将货物投入指定的投放口的投递机构；运送机构包括：支撑框架和双向驱动机构；投递机构连接至支撑框架的上方；双向驱动机构可选择性的与第一轨道或第二轨道配合以驱动支撑框架沿平行于第一轨道的第一方向或平行于第二轨道的第二方向运动。本发明提供的移动机器人系统占地面积小,坪效高,经济性好,设备简单可靠。(The invention discloses a mobile robot system, comprising: a conveyor and a track arrangement; the rail device is formed by a plurality of mutually parallel first rails and a plurality of mutually parallel second rails in a crossed distribution manner; the track device is provided with a plurality of throwing openings surrounded by the first track and the second track; the conveying device comprises a conveying mechanism and a delivery mechanism, wherein the delivery mechanism is used for placing the goods and throwing the goods into the appointed throwing port when the conveying device reaches the appointed throwing port; the conveying mechanism comprises: a support frame and a bi-directional drive mechanism; the delivery mechanism is connected to the upper part of the supporting frame; the bidirectional driving mechanism can be selectively matched with the first track or the second track to drive the supporting frame to move along a first direction parallel to the first track or a second direction parallel to the second track. The mobile robot system provided by the invention has the advantages of small floor area, high lawn efficiency, good economy and simple and reliable equipment.)

1. A mobile robotic system, comprising: a conveyor for transporting and delivering goods and a track means for supporting and guiding the conveyor;

the rail device is formed by a plurality of mutually parallel first rails and a plurality of mutually parallel second rails in a crossed distribution manner;

the track device is provided with a plurality of throwing openings which are surrounded by the first track and the second track and used for throwing goods;

the conveying device includes: a delivery mechanism for placing the goods and dropping the goods into the designated drop port when the delivery device arrives at the designated drop port;

the transport mechanism includes: the bidirectional driving mechanism is arranged in the supporting frame;

the delivery mechanism is connected to the upper part of the support frame;

the bidirectional driving mechanism can be selectively matched with the first rail or the second rail to drive the supporting frame to move along a first direction parallel to the first rail or a second direction parallel to the second rail.

2. The mobile robotic system as claimed in claim 1,

the bidirectional drive mechanism includes: the first roller group is matched with the first track to move along a first direction parallel to the first track, the first driving component is used for driving the first roller group, the second roller group is matched with the second track to move along a second direction parallel to the second track, the second driving component is used for driving the second roller group, and the switching component is used for switching the matching state of the first roller group and the first track and the matching state of the second roller group and the second track;

the first roller group and the second roller group are arranged below the supporting frame.

3. The mobile robotic system as claimed in claim 2,

the first rail and the second rail are provided with a plurality of guide grooves for limiting the first roller set and the second roller set.

4. The mobile robotic system as claimed in claim 1,

the delivery mechanism comprises: the automatic feeding device comprises a supporting shell, a driving roller rotatably arranged at one end of the supporting shell, a driven roller rotatably arranged at the other end of the supporting shell opposite to the end provided with the driving roller and parallel to the driving roller, a conveying belt sleeved on the driving roller and the driven roller, and a roller motor used for driving the driving roller.

5. The mobile robotic system as claimed in claim 4,

the support housing includes: the supporting device comprises two oppositely arranged supporting end parts and a supporting plate for supporting between the two supporting end parts to assist in supporting goods;

the driving roller and the driven roller are rotatably supported between the two supporting ends;

the supporting plate is positioned in a space enclosed by the conveying belt.

6. The mobile robotic system as claimed in claim 5,

the delivery mechanism comprises a plurality of the conveyor belts and a sensor for sensing goods;

the conveying belts are arranged at intervals along the direction of the rotating axis of the driving roller;

the sensor is arranged on the supporting plate and located between gaps formed by the adjacent conveying belts.

7. The mobile robotic system as claimed in claim 1,

the intervals of a plurality of first tracks are equal;

the intervals of a plurality of second tracks are equal.

8. The mobile robotic system as claimed in claim 7,

the first track is perpendicular to the second track.

9. The mobile robotic system as claimed in claim 8,

the pitch of the adjacent first tracks is equal to the pitch of the adjacent second tracks.

10. The mobile robotic system as claimed in claim 1,

the transport device further comprises a code scanner;

the scanner is used for scanning two-dimensional codes posted on the first track and the second track to position the conveying device;

the code scanner is arranged below the supporting frame.

Technical Field

The present invention relates to a mobile robot system.

Background

For the express delivery industry, packages or other goods need to be sorted after arriving at a logistics distribution center. Sorting is the operation of stacking packages in different categories according to the sequence of the variety and the sequence of entering and exiting the warehouse. Sorting is the preparatory work for perfecting and supporting delivery, and is the inevitable extension of different distribution enterprises for competing and improving the economic benefits of the distribution enterprises. Present logistics distribution center adopts modes such as manual sorting, large-scale conveyer belt letter sorting or steel platform adds letter sorting dolly letter sorting mostly, and above letter sorting mode has following defect:

1. the manual sorting mode occupies a large amount of human resources, the sorting efficiency is low, the time consumption is long, and meanwhile, the situation of sorting errors is easy to occur.

2. The equipment adopted by the large-scale conveying belt sorting and steel platform and sorting trolley sorting mode is large, so that the occupied area of the equipment is large. Meanwhile, the equipment cost is high, and the efficiency is low.

Disclosure of Invention

The invention provides a mobile robot system, which adopts the following technical scheme:

a mobile robotic system, comprising: a conveyor for transporting and delivering goods and a track means for supporting and guiding the conveyor;

the rail device is formed by a plurality of mutually parallel first rails and a plurality of mutually parallel second rails in a crossed distribution manner;

the track device is provided with a plurality of throwing openings which are surrounded by the first track and the second track and used for throwing goods;

the conveying device comprises: the delivery device is used for delivering the goods to the designated delivery port;

the conveying mechanism comprises: the bidirectional driving mechanism is arranged in the supporting frame;

the delivery mechanism is connected to the upper part of the supporting frame;

the bidirectional driving mechanism can be selectively matched with the first track or the second track to drive the supporting frame to move along a first direction parallel to the first track or a second direction parallel to the second track.

Further, the bidirectional drive mechanism includes: the first roller group is matched with the first track to move along a first direction parallel to the first track, the first driving component is used for driving the first roller group, the second roller group is matched with the second track to move along a second direction parallel to the second track, the second driving component is used for driving the second roller group, and the switching component is used for switching the matching state of the first roller group and the first track as well as the second roller group and the second track;

the first roller group and the second roller group are arranged below the supporting frame.

Furthermore, the first rail and the second rail are provided with a plurality of guide grooves for limiting the first roller set and the second roller set.

Further, the delivery mechanism comprises: the automatic transmission device comprises a support shell, a driving roller rotatably arranged at one end of the support shell, a driven roller rotatably arranged at the other end of the support shell opposite to the end provided with the driving roller and parallel to the driving roller, a conveying belt sleeved on the driving roller and the driven roller, and a roller motor used for driving the driving roller.

Further, the support housing includes: the supporting device comprises two oppositely arranged supporting end parts and a supporting plate for supporting between the two supporting end parts to assist in supporting goods;

the driving roller and the driven roller are rotatably supported between the two supporting ends;

the supporting plate is positioned in the space enclosed by the conveying belt.

Further, the delivery mechanism includes a plurality of conveyor belts and a sensor for sensing the goods;

the plurality of conveyer belts are arranged at intervals along the direction of the rotating axis of the driving roller;

the sensor sets up on the layer board and is located between the clearance that adjacent conveyer belt formed.

Further, the intervals of the plurality of first tracks are equal;

the intervals of the plurality of second tracks are equal.

Further, the first track is perpendicular to the second track.

Further, the pitch of the adjacent first tracks and the pitch of the adjacent second tracks are equal.

Further, the conveying device also comprises a code scanner;

the code scanner is used for scanning the two-dimensional codes attached to the first track and the second track so as to position the conveying device;

the code scanner is arranged below the supporting frame.

The mobile robot system has the advantages that the track device is formed by the crossed distribution of the plurality of parallel first tracks and the plurality of parallel second tracks, the plurality of first tracks and the plurality of second tracks surround a plurality of throwing openings, and a collecting bag or a collecting box can be arranged below each throwing opening to contain goods thrown from the throwing opening. The conveying device moves along the first track and the second track to convey the goods to any place of the track device, and the goods are put into the putting-in opening through the delivery mechanism. The mobile robot system has the advantages of small occupied area, high lawn efficiency, good economical efficiency and simple and reliable equipment.

The delivery mechanism of the mobile robot system is provided with the sensor for sensing the goods, so that the state and the position of the goods on the conveying belt can be sensed in real time, the goods can be moved to the middle of the conveying belt by driving the conveying belt when the goods are detected to be positioned at the edge of the conveying belt, the goods are prevented from falling off in the conveying process, and the package falling rate is reduced.

Drawings

FIG. 1 is a schematic diagram of a mobile robotic system of the present invention;

FIG. 2 is a schematic view of the interior of the transport mechanism of the present invention;

FIG. 3 is a schematic view of a first roller set and a first drive assembly of the transport mechanism of the present invention;

FIG. 4 is a schematic view of a second roller set and a second drive assembly of the transport mechanism of the present invention;

FIG. 5 is a schematic view of the switching assembly inside the transport mechanism of the present invention;

FIG. 6 is a schematic view of a delivery mechanism of the present invention.

The mobile robot system 100, the transport apparatus 10, the transport mechanism 30, the support frame 31, the bottom plate 311, the lifting plate 312, the housing 313, the guide post 314, the bidirectional driving mechanism 32, the first roller set 33, the first driving wheel 331, the first driven wheel 332, the first driving shaft 333, the first driving assembly 34, the first motor 341, the first reduction mechanism 342, the second roller set 35, the second driving wheel 351, the second driven wheel 352, the second driving shaft 353, the second driving assembly 36, the second motor 361, the second reduction mechanism 362, the switching assembly 37, the switching motor 372, the speed reducer 372, the turning wheel 373, the driven shaft 374, the driven bearing 375, the pulling plate 376, the kidney-shaped hole 377, the delivery mechanism 40, the support housing 41, the support end 47, the supporting plate 48, the driving roller 42, the driven roller 43, the conveying belt 44, the roller motor (not shown), the sensor 46, the reversing switch 49, the rail device 20, the charging device comprises a first rail 21, a second rail 22, a throwing opening 23, a guide groove 24 and a charging device 50.

Detailed Description

The invention is described in detail below with reference to the figures and the embodiments.

As shown in fig. 1 to 6, a mobile robot system 100 of the present invention is used for sorting or handling goods. The mobile robot system 100 includes: a carriage 10 and a track set 20. The vehicle 10 is used to transport and deliver goods and the track set 20 is used to support and guide the vehicle 10. Specifically, the rail device 20 is formed by a plurality of first rails 21 and a plurality of second rails 22 which are parallel to each other, wherein the first rails 21 and the second rails 22 are arranged to support the transportation device 10, the transportation device 10 runs along the first rails 21 and the second rails 22 to reach any position of the rail device 20, the rail device 20 is formed with a plurality of input ports 23 which are surrounded by the first rails 21 and the second rails 22 and used for inputting goods, the transportation device 10 transports the goods to a designated input port 23 and inputs the goods into the designated input port 23, and a collection bag or a collection box is arranged below each input port 23 in advance to contain the goods input from the input port 23. In the present invention, the first rail 21 and the second rail 22 are made of aluminum alloy. The delivery device 10 includes a delivery mechanism 30 and a delivery mechanism 40. The transport mechanism 30 is used to transport goods and the delivery mechanism 40 is used to place goods and deposit the goods into the designated deposit opening 23 when the transport device 10 reaches the designated deposit opening 23. The conveyance mechanism 30 includes a support frame 31 and a bidirectional drive mechanism 32 provided in the support frame 31. Delivery mechanisms 40 are attached to the top of support frame 31. The bidirectional driving mechanism 32 can selectively cooperate with the first rail 21 or the second rail 22 to drive the supporting frame 31 to move along a first direction parallel to the first rail 21 or a second direction parallel to the second rail 22. When the goods are sorted, the goods to be sorted are placed on the delivery mechanism 40, the delivery mechanism 30 delivers the goods to the designated putting-in opening 23, at this time, the delivery mechanism 40 starts to work, and the goods are moved to put the goods into the designated putting-in opening 23 to finish sorting the goods.

As a preferred embodiment, the bidirectional drive mechanism 32 includes: a first roller set 33, a first driving assembly 34, a second roller set 35, a second driving assembly 36 and a switching assembly 37.

Specifically, the first and second roller groups 33 and 35 are disposed below the support frame 31. The first roller set 33 is engaged with the first rail 21 to move in a first direction parallel to the first rail 21, and the first driving assembly 34 is used to drive the first roller set 33 to rotate in a forward direction or a reverse direction. The second roller set 35 cooperates with the second rail 22 to move in a second direction parallel to the second rail 22, and the second driving assembly 36 is used to drive the second roller set 35 to rotate in a forward direction or a reverse direction. The switching assembly 37 is used for switching the matching state of the first roller set 33 and the first rail 21 and the second roller set 35 and the second rail 22. It will be appreciated that movement of the carriage 10 on the track set 20 is dependent upon the engagement of the first and second roller sets 33, 35 with the first and second tracks 21, 22, respectively. When the first roller set 33 contacts the first rail 21 and the second roller set 35 is separated from the second rail 22, the first driving assembly 34 drives the first roller set 33 to rotate forward or backward so as to move the transportation device 10 along the direction parallel to the first rail 21, and similarly, when the second roller set 35 contacts the second rail 22 and the first roller set 33 is separated from the first rail 21, the second driving assembly 36 drives the second roller set 35 to rotate forward or backward so as to move the transportation device 10 along the direction parallel to the second rail 22. During the movement of the carriage 10, only one of the first and second roller groups 33 and 35 is in contact with the rail device 20. The switching assembly 37 functions to freely switch the contact and separation states of the first and second roller groups 33 and 35 with the rail device 20 according to the direction in which the carriage 10 is required to move.

In the present invention, the supporting frame 31 includes a bottom plate 311, a lifting plate 312 and a housing 313, the housing 313 is installed above the bottom plate 311, a plurality of guiding posts 314 are vertically disposed on the bottom plate 311, and the lifting plate 312 is slidably fitted over the guiding posts 314. The first roller set 33 includes two first driving wheels 331 and two first driven wheels 332, the two first driving wheels 331 are rotatably disposed on two sides of the bottom plate 311 through a first driving shaft 333, the two first driven wheels 332 are rotatably disposed on two sides of the bottom plate 311 through a bearing seat, the first driving assembly 34 includes a first motor 341 and a first speed reduction mechanism 342, and the first motor 341 and the first speed reduction mechanism 342 are both mounted on the bottom plate 311. The first motor 341 rotates the first driving shaft 333 through the first speed reduction mechanism 342, thereby driving the first driving pulley 331. The second roller group 35 includes two second driving wheels 351 and two second driven wheels 352, the two second driving wheels 351 are rotatably disposed at two sides of the bottom of the lifting plate 312 through a second driving shaft 353, the two second driven wheels 352 are rotatably disposed at two sides of the lifting plate 312 through a bearing seat, and the first driving shaft 333 is perpendicular to the second driving shaft 353. The second driving assembly 36 includes a second motor 361 and a second speed reducing mechanism 362, the second motor 361 and the second speed reducing mechanism 362 are mounted to the lifting plate 312, and the second motor 361 drives the second driving shaft 353 to rotate through the second speed reducing mechanism 362, so as to drive the second driving wheel 351. The switching assembly 37 includes a switching motor 371, a speed reducer 372, a rotary wheel 373, a follower shaft 374, a follower bearing 375, and a pull plate 376. The switching motor 371 and the speed reducer 372 are mounted to the base plate 311. A rotary wheel 373 is installed on an output shaft of the speed reducer 372, a follower shaft 374 is eccentrically installed to the rotary wheel 373, a follower bearing 375 is fitted around the outer circumference of the follower shaft 374, and a pulling plate 376 is fixed to the lifting plate 312 and is formed with a kidney-shaped hole 377. One end of the follower shaft 374 penetrates into the kidney-shaped hole 377, and the follower bearing 375 is located between the follower shaft 374 and the kidney-shaped hole 377. The switching motor 371 drives the turning wheel 373 to rotate after being decelerated by the speed reducer 372, so as to drive the follower shaft 374 to rotate, and the follower shaft 374 is matched with the kidney-shaped hole 377 through the follower bearing 375 to drive the lifting plate 312 to move up and down when the turning wheel 373 rotates. When the follower shaft 374 is rotated to the top, the elevating plate 312 is lifted to the highest position so that the second roller set 35 mounted thereon is separated from the second rail 22, and the first roller set 33 is in contact with the first rail 21. On the contrary, when the follower shaft 374 is rotated to the bottom end, the elevating plate 312 is lowered to the lowest position so that the second roller set 35 mounted thereon and the second rail 22 are brought into contact with each other, and at this time, the first roller set 33 and the first rail 21 are separated from each other.

In a preferred embodiment, the first rail 21 and the second rail 22 are provided with a plurality of guiding grooves 24 for limiting the position of the first roller set 33 and the second roller set 35.

Specifically, the outer sides of the first and second roller sets 33 and 35 are spaced apart from the inside of the guide groove 24, and the first and second roller sets 33 and 35 can freely roll within the guide groove 24 without being separated from the rail.

As a preferred embodiment, delivery mechanism 40 comprises: a support housing 41, a driving roller 42, a driven roller 43, a conveyor belt 44, and a roller motor.

Specifically, the delivery mechanism 40 is used to move and deposit the goods carried thereon into the deposit opening 23. in the present invention, the delivery mechanism 40 is transported by a conveyor belt 44. The driving roller 42 is rotatably disposed at one end of the support housing 41, the driven roller 43 is rotatably disposed at the other end of the support housing 41 opposite to the end where the driving roller 42 is disposed, and the driving roller 42 and the driven roller 43 are disposed in parallel. The conveyer belt 44 is sleeved on the driving roller 42 and the driven roller 43, the roller motor is disposed in the supporting housing 41 and is used for driving the driving roller 42, and the driving roller 42 drives the transmission belt and the driven roller 43 to rotate. When the conveying device reaches a designated place, the roller motor is started to drive the transmission belt to move, so that the goods on the conveying belt 44 are moved to the throwing opening 23.

As a preferred embodiment, the support housing 41 includes: two oppositely disposed support ends 47 and a pallet 48, wherein the pallet 48 is supported between the two support ends 47 to assist in supporting the cargo, which supports the cargo in cooperation with the conveyor belt 44. The driving roller 42 and the driven roller 43 are rotatably supported between two support ends 47. The pallet 48 is located in the space enclosed by the conveyor belt 44.

It will be appreciated that, assuming the load is fully supported by the belt 44, which may result in slack in the belt 44 over extended periods of time, with the pallet 48 disposed below the belt 44, after the load is placed on the belt 44, the belt 44 will sink until it contacts the pallet 48 and the belt 44 will not bear excessive pressure.

As a preferred embodiment, the delivery mechanism 40 includes a plurality of conveyor belts 44 and sensors 46. The plurality of conveyor belts 44 are disposed at intervals along the rotational axis direction of the driving roller 42. The sensors 46 are disposed on the pallet 48 between the gaps formed by adjacent belts 44. The sensor 46 is used to sense the load and thus determine whether there is a load on the conveyor belt 44.

Specifically, the conveyer belt 44 is a plurality of, a plurality of conveyer belts 44 interval sets up, with set up the sensor 46 that is used for responding to the goods between the conveyer belt 44, the sensor 46 can set up a plurality ofly, set up along the clearance interval that adjacent conveyer belt 44 formed, therefore, a plurality of sensors 46 mutually support, not only can judge whether have the goods on the conveyer belt 44, can also detect goods relative position, when detecting that the goods is located the edge of delivery mechanism 40, can be through driving conveyer belt 44 with the goods in the middle of, prevent that the goods from dropping at the in-process of transporting. In the present invention, the sensor 46 is a photoelectric sensor 46, and it is understood that the sensor 46 can be other types of detection devices.

In the present invention, trapezoidal grooves are formed on the driving roller 42 and the driven roller 43, and a surface of each of the conveyor belts 44, which is matched with the driving roller 42 and the driven roller 43, is provided with a limiting portion for matching with the trapezoidal groove, and when the conveyor belts 44 are sleeved on the driving roller 42 and the driven roller 43, the limiting portion on the conveyor belts is matched with the trapezoidal groove, so as to limit the movement of the conveyor belts 44 along the direction of the rotation axis of the driving roller 42. The limiting part is arranged in the middle of the conveying belt 44. The pallet 48 also has a plurality of grooves formed therein for receiving and guiding the conveyor belt 44. One of the two support ends 47 is provided with a reversing switch 49 for controlling the forward and reverse rotation of the drum motor.

As a preferred embodiment, the first tracks 21 are equally spaced. The second tracks 22 are equally spaced. The first track 21 is perpendicular to the second track 22. The pitch of the adjacent first tracks 21 is equal to the pitch of the adjacent second tracks 22. In this case, the input port 23 surrounded by the first rail 21 and the second rail 22 is square. It is understood that the arrangement of the first rail 21 and the second rail 22 may be adjusted according to the specific requirements of the mobile robot system 100.

As a preferred embodiment, the conveyor 10 further comprises a scanner. The scanner is used to scan a two-dimensional code posted on the first track 21 and the second track 22 to position the carriage 10. The scanner is disposed below the support frame 31.

It is understood that the conveyor 10 is intended to move to the designated slot 23 on the premise of recognizing that it is located at a specific position of the track device 20, and in the present invention, two-dimensional codes are posted on the lateral sides of the first track 21 and the second track 22, and a code scanner is provided under the support frame 31 of the conveyor 10, and when the code scanner scans the two-dimensional codes, it is possible to recognize that the conveyor 10 is currently located at the specific position of the track device 20 by recognizing the two-dimensional codes.

As a preferred embodiment, the mobile robot system 100 further includes a charging device 50, and the charging device 50 is fixed to the rail device 20 for charging the transfer device 10.

The foregoing illustrates and describes the principles, general features, and advantages of the present invention. It should be understood by those skilled in the art that the above embodiments do not limit the present invention in any way, and all technical solutions obtained by using equivalent alternatives or equivalent variations fall within the scope of the present invention.