CN110002157A - Goods transportation method and device based on robot - Google Patents
Goods transportation method and device based on robot Download PDFInfo
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- CN110002157A CN110002157A CN201810012381.3A CN201810012381A CN110002157A CN 110002157 A CN110002157 A CN 110002157A CN 201810012381 A CN201810012381 A CN 201810012381A CN 110002157 A CN110002157 A CN 110002157A
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- goods
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- information
- supporting plate
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
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- Mechanical Engineering (AREA)
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Abstract
The embodiment of the application provides a goods transportation method and device based on a robot, wherein the robot comprises: a plurality of storage tiers which are adjacent in sequence in a vertical direction, a linkage mechanism which connects the plurality of storage tiers, the method comprising: the robot obtains the goods address in the storage layer at the top, moves to the goods address and outputs the goods in the storage layer at the top; the robot pushes the remaining goods upwards in sequence through the linkage mechanism. In the embodiment of the present application, the transfer robot may acquire a plurality of goods at the work station and transfer each of the goods to the corresponding accumulation point. The goods are not required to be returned to the work station to obtain the next goods when being carried, so that the time for the carrying robot to return to the work station is reduced, the cost is saved, and the sorting efficiency is improved.
Description
Technical field
This application involves automatic control technology fields, more particularly to a kind of kinds of goods transportation resources and one based on robot
Kinds of goods transport device of the kind based on robot.
Background technique
At present in delivery industry, the sorting task of package is increasingly completed by automation, AGV (Automated
Guided Vehicle, Intelligent navigation robot) play the role of substituting manual sorting in terms of packages.
But the AGV Intelligent navigation robot used in express delivery storehouse at present is short, express delivery collection, which is decorateeed, to be ridden in
Steel platform hereinafter, the laying of steel platform substantially increase automated sorting system in cabin build cost, and steel platform is not easy to move
It plants, the decline of steel platform utilization rate is caused in depot expansion or resettlement, brings greater loss economically.
On the other hand, existing AGV Intelligent navigation robot can only once transport a package, transport is wrapped up next time when just
Need to decorate from collection and return to work station and be lined up dock again, for big warehouse, AGV Intelligent navigation robot decorate in collection and
The time run back and forth between work station occupies the most working time, not only bad for the promotion of sorting efficiency, and
A kind of waste to the energy.
Summary of the invention
In view of the above problems, it proposes the embodiment of the present application and overcomes the above problem or at least partly in order to provide one kind
A kind of kinds of goods transportation resources based on robot to solve the above problems and a kind of corresponding kinds of goods transport dress based on robot
It sets.
To solve the above-mentioned problems, the embodiment of the present application discloses a kind of kinds of goods transportation resources based on robot, described
Robot includes: to connect the linkage mechanism of the multiple accumulation layer, the side in vertical direction successively adjacent multiple accumulation layers
Method includes:
After the robot obtains the kinds of goods address being located in the accumulation layer at top, it is moved to the kinds of goods address, and will
Kinds of goods output in the accumulation layer at top；
The robot is successively up pushed remaining kinds of goods by the linkage mechanism.
Preferably, after the robot obtains the kinds of goods address being located in the accumulation layer at top, with being moved to the kinds of goods
Location, and will be before the kinds of goods output in the accumulation layer that top is located at, further includes:
The robot obtains multiple kinds of goods and is separately stored in the multiple accumulation layer.
Preferably, the linkage mechanism is hoisting mechanism；
The hoisting mechanism includes: transmission component, the outside chain assemblies and inside chain that connect with the transmission component
Component, and connect with the outside chain assemblies and the inside chain assemblies and spaced multiple supporting plates；It is described more
A supporting plate forms the multiple storage layer.
Preferably, the robot obtains multiple kinds of goods and the step being separately stored in the multiple accumulation layer includes:
The robot obtains the kinds of goods for being input to the supporting plate positioned at top；
After obtaining a kinds of goods, the robot controls the outside chain assemblies and the inside chain assemblies drive
Supporting plate positioned at bottom is moved to top, and remaining supporting plate is successively moved down.
Preferably, it is described by be located at top accumulation layer in kinds of goods export the step of include:
The robot controls the outside chain assemblies and the inside chain assemblies drive the supporting plate for being located at top to move
It moves to bottom, kinds of goods are exported with the movement of supporting plate.
Preferably, the robot by the linkage mechanism by remaining kinds of goods successively up push the step of include:
The robot controls the outside chain assemblies and the inside chain assemblies, will be multiple where remaining kinds of goods
Supporting plate moves up.
Preferably, further includes:
After the completion of the kinds of goods in each accumulation layer all transport, the robot is moved to work station and obtains kinds of goods.
Preferably, further includes:
When moving, the robot detects obstacle information；
The robot carries out avoidance processing according to the obstacle information.
Preferably, the robot is moved to the step of kinds of goods address and includes:
The robot obtains the navigation information for being directed to kinds of goods address；
The robot is moved to the kinds of goods address according to the navigation information.
Preferably, the navigation information includes: multiple navigation coordinate information for the kinds of goods address；The robot
The step of being moved to the kinds of goods address according to the navigation information include:
The robot is from the multiple navigation coordinate information, and the coordinate information for selecting next needs to reach is as mesh
Mark coordinate information；
The robot determines changing coordinates information and current course information；
The robot is according to the changing coordinates information and current course information, the position of Xiang Suoshu coordinates of targets information
It is mobile；
Behind the position for being moved to coordinates of targets information, the robot returns described from the multiple navigation coordinate information
In, it selects next to need the step of coordinate information that reaches is as coordinates of targets information.
Preferably, the robot further include: displacement mechanism, the robot are mobile by institute's displacement mechanism.
The embodiment of the present application also discloses a kind of kinds of goods transport device based on robot, and the robot includes: to hang down
Histogram connects the linkage mechanism of the multiple accumulation layer to successively adjacent multiple accumulation layers, and described device includes:
Positioned at the kinds of goods transportation module of the robot, after obtaining the kinds of goods address being located in the accumulation layer at top,
It is moved to the kinds of goods address, and the kinds of goods in the accumulation layer for being located at top are exported；
Positioned at the loop module of the robot, for remaining kinds of goods successively up to be pushed away by the linkage mechanism
It send.
Preferably, further includes:
Kinds of goods positioned at the robot obtain module, for obtaining multiple kinds of goods and being separately stored in the multiple storage
In layer.
Preferably, the linkage mechanism is hoisting mechanism；
The hoisting mechanism includes: transmission component, the outside chain assemblies and inside chain that connect with the transmission component
Component, and connect with the outside chain assemblies and the inside chain assemblies and spaced multiple supporting plates；It is described more
A supporting plate forms the multiple storage layer.
Preferably, the kinds of goods acquisition module includes:
Top kinds of goods acquisition submodule, for obtaining the kinds of goods for being input to the supporting plate positioned at top；
Supporting plate moves down submodule, for controlling the outside chain assemblies and the interior side chain after obtaining a kinds of goods
Bar assembly drives the supporting plate for being located at bottom to be moved to top, and remaining supporting plate is successively moved down.
Preferably, the kinds of goods transportation module includes:
Supporting plate resets submodule, drives for controlling the outside chain assemblies and the inside chain assemblies and is located at top
Supporting plate be moved to bottom, kinds of goods are exported with the movement of supporting plate.
Preferably, the loop module includes:
Supporting plate moves up submodule, for controlling the outside chain assemblies and the inside chain assemblies, by remaining kinds of goods
Multiple supporting plates at place move up.
Preferably, further includes:
Positioned at the work station mobile module of the robot, for after the completion of the kinds of goods in each accumulation layer all transport,
It is moved to work station and obtains kinds of goods.
Preferably, further includes:
Positioned at the obstacle information detection module of the robot, for when moving, detecting obstacle information；
Positioned at the obstacle avoidance module of the robot, for carrying out avoidance processing according to the obstacle information.
Preferably, the kinds of goods transportation module further include:
Navigation information acquisition submodule, for obtaining the navigation information for being directed to kinds of goods address；
Kinds of goods address mobile submodule, for being moved to the kinds of goods address according to the navigation information.
Preferably, the navigation information includes: multiple navigation coordinate information for the kinds of goods address；The kinds of goods
Location mobile submodule includes:
Coordinates of targets information selecting section is used for from the multiple navigation coordinate information, and selection is next to be needed to reach
Coordinate information as coordinates of targets information；
Gird Course determination unit, for determining changing coordinates information and current course information；
Coordinate mobile unit, for according to the changing coordinates information and current course information, Xiang Suoshu coordinates of targets letter
The position of breath is mobile；
Return unit, it is described from the multiple navigation coordinate for returning behind the position for being moved to coordinates of targets information
In information, select next to need the step of coordinate information that reaches is as coordinates of targets information.
Preferably, the robot further include: displacement mechanism, the robot are mobile by institute's displacement mechanism.
The embodiment of the present application includes the following advantages:
In the embodiment of the present application, transfer robot can obtain multiple kinds of goods in work station, and each kinds of goods are carried
It is decorateeed to corresponding collection.Need not one kinds of goods of every carrying be returned to work station and obtain next kinds of goods, to reduce carrying implement
Device people returns to the time of work station, saves cost and improves sorting efficiency.
On the other hand, transfer robot can export kinds of goods from the accumulation layer at top, increase the height of break bulk point.Cause
Collection can be decorateeed and is placed on ground by this, to save the laying of steel platform.
Detailed description of the invention
Fig. 1 is a kind of step flow chart of kinds of goods transportation resources embodiment 1 based on robot of the application；
Fig. 2 is a kind of step flow chart of kinds of goods transportation resources embodiment 2 based on robot of the application；
Fig. 3 is the structure chart of robot in the embodiment of the present application；
Fig. 4 is the structure chart of hoisting mechanism in the embodiment of the present application；
Fig. 5 is the partial enlarged view of hoisting mechanism in the embodiment of the present application；
Fig. 6 is the partial enlarged view of hoisting mechanism in the embodiment of the present application；
Fig. 7 is the left view of hoisting mechanism in the embodiment of the present application；
Fig. 8 is the right view of hoisting mechanism in the embodiment of the present application；
Fig. 9 is a kind of structural block diagram of kinds of goods transport device embodiment based on robot of the application.
Specific embodiment
In order to make the above objects, features, and advantages of the present application more apparent, with reference to the accompanying drawing and it is specific real
Applying mode, the present application will be further described in detail.
Referring to Fig.1, a kind of step process of kinds of goods transportation resources embodiment 1 based on robot of the application is shown
Figure, wherein the robot includes: to connect the linkage of the multiple accumulation layer in vertical direction successively adjacent multiple accumulation layers
Mechanism, the method can specifically include following steps:
Step 101, after the robot obtains the kinds of goods address being located in the accumulation layer at top, with being moved to the kinds of goods
Location, and the kinds of goods in the accumulation layer for being located at top are exported；
In the embodiment of the present application, robot interior is provided with multiple accumulation layers, each accumulation layer and connection in vertical direction
The connection of motivation structure, linkage mechanism can drive the lower movement in vertical direction of each accumulation layer.Wherein, multiple accumulation layers are vertical
The projection in direction is adjacent；The projection in the horizontal direction of multiple accumulation layers can be coincidence, be also possible to not to be overlapped.
In the case where the projection in the horizontal direction of multiple accumulation layers is overlapped, linkage mechanism drives each accumulation layer vertical
When direction is mobile, each accumulation layer will not be moved in the horizontal direction.
In the case where the projection in the horizontal direction of multiple accumulation layers is not overlapped, linkage mechanism drives each accumulation layer hanging down
To when movement, each accumulation layer can move in the horizontal direction histogram, i.e., linkage mechanism can inclined drive accumulation layer movement.
Wireless communication device has can be set in robot, and in warehouse in logistics scene, robot fills by wireless communication
It sets and console communication.Console can notify robot that work station is gone to obtain kinds of goods.In work station, kinds of goods can be by work
Make personnel to put into manually in each accumulation layer of robot, kinds of goods can also be input to each of robot by transmission device and deposited
In reservoir.
In the embodiment of the present application, before putting kinds of goods into robot, staff can scan goods by barcode scanning gun
Inventory information on product.The inventory information that barcode scanning gun scans is uploaded to console, therefore console is known that machine
The sequence of which kinds of goods and the storage of these kinds of goods is stored in people.
Console can determine which kinds of goods in the accumulation layer for being stored in top be, and by the kinds of goods address of the kinds of goods
It is sent to robot.
In the embodiment of the present application, robot can be with independent navigation to kinds of goods address.After being moved to kinds of goods address, machine
The kinds of goods that people will be located at the accumulation layer at top export.
Robot can export kinds of goods in such a way that side pushes away from the accumulation layer at top.
Step 102, the robot is successively up pushed remaining kinds of goods by the linkage mechanism.
After robot exports a kinds of goods, robot is successively past by the accumulation layer for placing remaining kinds of goods by linkage mechanism
Upper push, the accumulation layer under the accumulation layer at original top are moved into top.Robot will be located at depositing for top layer again
The kinds of goods of reservoir transport corresponding target position, until completing all kinds of goods all transports completion.
In the embodiment of the present application, transfer robot can obtain multiple kinds of goods in work station, and each kinds of goods are carried
It is decorateeed to corresponding collection.Need not one kinds of goods of every carrying be returned to work station and obtain next kinds of goods, to reduce carrying implement
Device people returns to the time of work station, saves cost and improves sorting efficiency.
On the other hand, transfer robot can export kinds of goods from the accumulation layer at top, increase the height of break bulk point.Cause
Collection can be decorateeed and is placed on ground by this, to save the laying of steel platform.
Referring to Fig. 2, a kind of step process of kinds of goods transportation resources embodiment 2 based on robot of the application is shown
Figure, wherein the robot includes: to connect the linkage of the multiple accumulation layer in vertical direction successively adjacent multiple accumulation layers
Mechanism, the method can specifically include following steps:
Step 201, the robot obtains multiple kinds of goods and is separately stored in the multiple accumulation layer；
In the embodiment of the present application, the linkage mechanism is hoisting mechanism；Machine in the embodiment of the present application is shown referring to Fig. 3
The structure chart of device people.
Robot may include: displacement mechanism 30, the shell 31 being set to above institute's displacement mechanism, be located at the shell
Hoisting mechanism 32 in 31.
The robot is moved by institute's displacement mechanism 30.Specifically, displacement mechanism 30 may include: several
Wheel and the servo motor for driving several wheels, drive vehicle wheel rotation by servo motor.
It is the structure chart of hoisting mechanism in shown the embodiment of the present application referring to Fig. 4.The hoisting mechanism 32 may include:
Transmission component 321, the outside chain assemblies 322 and inside chain assemblies 323 being connect with the transmission component 321, and with institute
State outside chain assemblies 322 and the inside chain assemblies 323 connection and spaced multiple supporting plates 324；The multiple support
Plate 324 forms multiple storage layer；
In the embodiment of the present application, kinds of goods are stored on each supporting plate 324.The outside chain assemblies 322 and institute
Inside chain assemblies 323 are stated, drive the multiple supporting plate 324 mobile to drive kinds of goods to move up and down in vertical direction.
When outside chain assemblies 322 and inside chain assemblies 323 drive some supporting plate 324 to move up, and it is moved to outer
Behind the top of side chain bar assembly 322 and inside chain assemblies 323, which is simultaneously driven to outside chain group
323 bottom of part 322 and inside chain assemblies, and remaining supporting plate 324 then successively up moves.
When outside chain assemblies 322 and inside chain assemblies 323 drive some supporting plate 324 to move down, and it is moved to outer
Behind the bottom of side chain bar assembly 322 and inside chain assemblies 323, which is simultaneously driven to outside chain group
323 top of part 322 and inside chain assemblies, and remaining supporting plate 324 can successively move down.
In the embodiment of the present application, the step 201 may include following sub-step:
Sub-step S11, the robot obtain the kinds of goods for being input to the supporting plate positioned at top；
In the embodiment of the present application, the upper end of robot shell one side wall has an opening, the bottom end of opening and elevator
The top of structure is corresponding.Kinds of goods can enter the supporting plate at top from the opening, or defeated by the opening positioned at the kinds of goods of top bracket
Out.
Kinds of goods can be put into the supporting plate at top by warehouseman, be also possible to be input to the support at top by transmitting device
Plate.
Sub-step S12, after obtaining a kinds of goods, the robot controls the outside chain assemblies and the interior side chain
Bar assembly drives the supporting plate for being located at bottom to be moved to top, and remaining supporting plate is successively moved down.
After robot obtains a kinds of goods, outside chain assemblies and inside chain assemblies can will be located at the supporting plate of bottom
It is moved to top, and remaining supporting plate can then be moved down with outside chain assemblies and inside chain assemblies, so that from bottom
The supporting plate for being moved to top can receive next kinds of goods.
Step 202, the robot obtains the kinds of goods address being located in the accumulation layer at top；
In the embodiment of the present application, robot can will be located in top storage layer with console communication by console
The kinds of goods address of kinds of goods is sent to robot.
Step 203, the robot is moved to the kinds of goods address, and the kinds of goods in the accumulation layer for being located at top are defeated
Out；
In the embodiment of the present application, it may include following sub-step that the robot, which is moved to the step of kinds of goods address:
Sub-step S31, the robot obtain the navigation information for being directed to kinds of goods address；
In the embodiment of the present application, robot can receive the navigation information for kinds of goods address of console transmission.
Sub-step S32, the robot are moved to the kinds of goods address according to the navigation information.
In the embodiment of the present application, the navigation information may include: multiple navigation coordinates for the kinds of goods address
Information；
Console can carry out path planning according to traffic condition current in kinds of goods address and warehouse, so that it is determined that one
Guidance path.Guidance path is split as multiple navigation coordinate information by console, is then sent to these navigation coordinate information
Robot, robot navigate to kinds of goods address according to these navigation coordinate information independences.
The sub-step S32 may further include following sub-step:
Sub-step S321, the robot select next seat for needing to reach from the multiple navigation coordinate information
Information is marked as coordinates of targets information；
In the embodiment of the present application, console can determine in multiple navigation coordinate information, each navigation coordinate information
Navigation order, robot successively reach the i.e. reachable kinds of goods address in position of each navigation coordinate information according to navigation order.
The coordinate information that robot can select next needs to reach according to navigation order is as coordinates of targets information.
Sub-step S322, the robot determine changing coordinates information and current course information；
Positioning device and gyroscope has can be set in robot.Current coordinate information is determined by positioning device, is passed through
Gyroscope determines current course information.
Sub-step S323, the robot are sat according to the changing coordinates information and current course information, Xiang Suoshu target
The position for marking information is mobile；
Robot can adjust the position boat for leading to coordinates of targets information according to changing coordinates information and current course information
To reach the position of coordinates of targets information.
Sub-step S324, behind the position for being moved to coordinates of targets information, the robot returns described from the multiple
In navigation coordinate information, select next to need the step of coordinate information that reaches is as coordinates of targets information.
Behind the position for reaching a navigation coordinate information, next coordinates of targets information for needing to reach is determined again,
Until reaching the position of kinds of goods address.
In the embodiment of the present application, the method can also include:
When moving, the robot detects obstacle information；The robot is kept away according to the obstacle information
Barrier processing.
Obstacle avoidance apparatus has can be set in robot, detects the barrier in the direction of advance of robot by obstacle avoidance apparatus
Information, obstacle information may include: whether by barrier, obstacle distance robot distance.Robot can according to away from
From pre-decelerating and stop, to avoid colliding with barrier.After barrier disappears, robot is moved on.
In the embodiment of the present application, the step of kinds of goods by the accumulation layer for being located at top export can be with are as follows:
The robot controls the outside chain assemblies and the inside chain assemblies drive the supporting plate for being located at top to move
It moves to bottom, kinds of goods are exported with the movement of supporting plate.
Specifically, kinds of goods are exported with the transverse shifting of supporting plate from the supporting plate at top, so that the break bulk point of robot
It is higher.
Step 204, the robot is successively up pushed remaining kinds of goods by the linkage mechanism.
In the embodiment of the present application, the robot is successively up pushed remaining kinds of goods by the linkage mechanism
Step can be with are as follows:
The robot controls the outside chain assemblies and the inside chain assemblies, will be multiple where remaining kinds of goods
Supporting plate moves up.
Step 205, after the completion of the kinds of goods in each accumulation layer all transport, the robot is moved to work station and obtains goods
Product.
Robot comes back to work station acquisition kinds of goods and is carried after carrying the upper multiple kinds of goods once obtained.
In the embodiment of the present application, transfer robot can obtain multiple kinds of goods in work station, and each kinds of goods are carried
It is decorateeed to corresponding collection.Need not one kinds of goods of every carrying be returned to work station and obtain next kinds of goods, to reduce carrying implement
Device people returns to the time of work station, saves cost and improves sorting efficiency.
In order to make those skilled in the art can better understand that the embodiment of the present application, below to the machine of the embodiment of the present application
The hoisting mechanism of device people is described in detail.
It show the partial enlarged view of hoisting mechanism in the embodiment of the present application referring to figure 5 and figure 6.
It is fixed at the first duplex chain wheel 32101, the second duplex chain wheel, the third duplex chain wheel of 31 lower end of shell
32103, the 4th duplex chain wheel 32104, the first simple chainwheel 32105 and the second simple chainwheel 32106；It is fixed at the shell
The 5th duplex chain wheel 32107, the 6th duplex chain wheel 32108, third simple chainwheel 32109 and the 4th simple chainwheel of 11 upper end of body
32110；
It is illustrated in figure 7 the left view of hoisting mechanism in the embodiment of the present application.If Fig. 8 is elevator in the embodiment of the present application
The right view of structure.
First duplex chain wheel 32101, the third duplex chain wheel 32103, the 5th duplex chain wheel 32107, with
The third simple chainwheel 32109 is located at four apex angles in the first rectangular vertical face；
First simple chainwheel 32105 is located at first rectangular vertical face and close to first duplex chain wheel
32101 settings；
Second duplex chain wheel 32102, the 4th duplex chain wheel 32104, the 6th duplex chain wheel 32108, with
4th simple chainwheel 32110 is located at four apex angles in the second rectangular vertical face；
Second simple chainwheel 32106 is located at second rectangular vertical face and close to second duplex chain wheel
32102 settings.
In embodiments of the present invention, the outside chain assemblies 322 include: the first outside chain 3221 and the second outside
Chain 3222；The inside chain assemblies 323 include: the first inside chain 3231 and the second inside chain 3232；
As shown in fig. 7, first outside chain 3221 around the first duplex chain wheel 32101 outside sprocket wheel, described the
The outside sprocket wheel and the third simple chainwheel of the outside sprocket wheel of three duplex chain wheels 32103, the 5th duplex chain wheel 32107
32109 are arranged in rectangle；
First inside chain 3231 is double around the inner sprocket of first duplex chain wheel 32101, the third
The inner sprocket of the inner sprocket of sprocket wheel 32103, the 5th duplex chain wheel 32107, and pass through first simple chainwheel
L-shaped setting after 32105.
Second outside as shown in Figure 8 chain 3222 surrounds the outside sprocket wheel of the second duplex chain wheel 32102, the described 4th
The outside sprocket wheel and the 4th simple chainwheel of the outside sprocket wheel of duplex chain wheel 32104, the 6th duplex chain wheel 32108
32110 are arranged in rectangle；
Inner sprocket, described fourth double of second inside chain 3232 around second duplex chain wheel 32102
The inner sprocket of the inner sprocket of sprocket wheel 32104, the 6th duplex chain wheel 32108, and pass through second simple chainwheel
L-shaped setting after 32106.
In this hair embodiment, the transmission component 321 can also include:
The first transmission shaft 32111 for being connect with first duplex chain wheel 32101 and second duplex chain wheel 32102,
The second driving shaft 32112 that is connect with the third duplex chain wheel 32103 and the 4th duplex chain wheel 32104, with described the
The third transmission shaft 32113 and first single-row chain of five duplex chain wheels 32107 and the 6th duplex chain wheel 32108 connection
4th transmission shaft (not shown) of 32105 connection of wheel, the 5th transmission shaft being connect with second simple chainwheel 32106
(not shown), the 6th transmission shaft (not shown) being connect with the third simple chainwheel 32109 and the 4th list
The 7th transmission shaft (not shown) that row chain wheel 32110 connects.
First transmission shaft 32111 is fixed in the shell, the first duplex chain wheel 32101 and the second duplex chain wheel 32102 difference
It is set to 32111 both ends of the first transmission shaft.
Second driving shaft 32112 is fixed in the shell, third duplex chain wheel 32103 and the 4th duplex chain wheel 32104 difference
It is set to 32112 both ends of second driving shaft.
Third transmission shaft 32113 is fixed in the shell, the 5th duplex chain wheel 32107 and the 6th duplex chain wheel 32108 difference
It is set to 32113 both ends of third transmission shaft.
4th transmission shaft is fixed on the shell, and the first simple chainwheel 32105 is fixed on one end of the 4th transmission shaft, and the 4th passes
Moving axis length is shorter, will not influence the movement of supporting plate.
5th transmission shaft is fixed on the shell, and the second simple chainwheel 32106 is fixed on one end of the 5th transmission shaft, and the 5th passes
Moving axis length is shorter, will not influence the movement of supporting plate.
6th transmission shaft is fixed on the shell, and third simple chainwheel 32109 is fixed on one end of the 6th transmission shaft, and the 6th passes
Moving axis length is shorter, will not influence the movement of supporting plate.
7th transmission shaft is fixed on the shell, and the 4th simple chainwheel 32110 is fixed on one end of the 7th transmission shaft, and the 7th passes
Moving axis length is shorter, will not influence the movement of supporting plate.
In embodiments of the present invention, four angles of the supporting plate 324 have connector 3241；
Four connectors 3241 of the supporting plate respectively with first outside chain 3221, the second outside chain 3222,
First inside chain 3231 and the connection of the second inside chain 3232.
In embodiments of the present invention, shown transfer robot can also include: first with the 5th simple chainwheel 3251
Servo motor 325；
One end of first transmission shaft 32111 also has the 6th simple chainwheel 32114；
5th list of the 6th simple chainwheel 12114 of first transmission shaft 32111 and the first servo motor 325
Row chain wheel 3251 is connected by third chain 326.
When first servo motor 325 drives the 5th simple chainwheel 3251 to rotate clockwise, 3251 band of the 5th simple chainwheel
Dynamic 6th simple chainwheel 32114 rotates clockwise, so that the first transmission shaft 32111 be driven to rotate clockwise；First transmission shaft
32111 the first duplex chain wheels 32101 of drive and the second duplex chain wheel 32102 rotate clockwise, to drive the first outside chain
3221, the second outside chain 3222, the first inside chain 3231 and the second inside chain 3232 rotate clockwise.During this,
Supporting plate 324 moves down.
When first servo motor 325 drives the 5th simple chainwheel 3251 to rotate counterclockwise, 3251 band of the 5th simple chainwheel
Dynamic 6th simple chainwheel 32114 rotates counterclockwise, so that the first transmission shaft 32111 be driven to rotate counterclockwise；First transmission shaft
32111 the first duplex chain wheels 32101 of drive and the second duplex chain wheel 32102 rotate counterclockwise, to drive the first outside chain
3221, the second outside chain 3222, the first inside chain 3231 and the second inside chain 3232 rotate counterclockwise.During this,
Supporting plate 324 moves up.
In order to make those skilled in the art can better understand that the embodiment of the present application, below by an example to this Shen
Please embodiment be illustrated:
Console transmitting order to lower levels drives the self-navigation of AGV robot to work station.
In work station, barcode scanning gun is successively used to scan 5 kinds of goods by staff, and by the top of AGV robot shells
Entrance be put into kinds of goods, console is according to the sequence and destination address of kinds of goods under the journal of kinds of goods barcode scanning at this time.
When AGV robot interior kinds of goods are less than 5, AGV robot is parked in work station waiting and puts 5 kinds of goods of foot；Work as control
When platform processed detects that AGV robot interior has been put into 5 kinds of goods, just transmitting order to lower levels drives the self-navigation of AGV robot to last
Scan the kinds of goods address of kinds of goods (kinds of goods for being located at top bracket).
AGV robot panel has start button, and AGV robot can be driven to start by way of manually pressing；It is false
If staff, can be with only toward when being put into less than 5 kinds of goods inside AGV Intelligent navigation robot and just needing the dispatching of AGV robot
AGV robot is driven to start to transport by the start button.
When AGV robot interior kinds of goods are less than 5 and open dis-tribution model, AGV robot sends start command to control
Platform processed；Console determines the kinds of goods address of AGV robot according to AGV robot last time scanning inventory information, then issues
Order drives AGV robot navigation to kinds of goods address.
Console carries out path planning according to destination address and current traffic condition, if entire path is then splitted into responsibility
Column navigation coordinate is handed down to AGV robot.The navigation coordinate for kinds of goods address that AGV robot is issued according to console, from
Master navigates to kinds of goods address.
In independent navigation, robot can be carried out by positioning device (such as laser radar, magnetic stripe, two dimensional code device)
Positioning.Hereinafter, being illustrated introduction in a manner of the independent navigation of two dimensional code combination gyroscope: camera arranged at AGV robot bottom, and road
Laying two dimensional code can be spaced on face, each two dimensional code binds coordinate information.AGV robot bottom camera is by scanning the two-dimensional code
Itself coordinate information and course information can be recognized.Between two two dimensional codes, pass through AGV robot interior gyroscope
It carries out course angle calibration to calculate, to accurately calculate AGV robot location coordinate information at any one time.
Robot interior is arranged by obstacle avoidance apparatus, and when encountering barrier on route of being expert at, robot pre-decelerating simultaneously stops
Avoidance is again started up after waiting barriers to disappear.Started by included control motor control displacement mechanism from static realization, and needed
Slow down in time when slowing down, avoids collision.
When AGV robot reaches the kinds of goods address of last scanning kinds of goods, pass through moving horizontally top for top bracket
In the collecting barrelling of the kinds of goods investment kinds of goods address of supporting plate, realize that (height of top layer supporting plate should be omited than packaging barrel rim with collecting barrelling side
High about 10CM, it is ensured that kinds of goods can be called in correctly in collecting barrelling) edge seamless interfacing, complete the sorting transportational process an of kinds of goods.
After the sorting transport for completing the kinds of goods of top bracket, AGV robot interior hoisting mechanism starts to start, will be remaining
Kinds of goods successively up push.
According to the kinds of goods address of the kinds of goods of current car top supporting plate, transmitting order to lower levels driving AGV robot is gone to console
The kinds of goods address simultaneously exports kinds of goods.
After the sorting transport for completing all kinds of goods, console transmitting order to lower levels drives the self-navigation of AGV robot to work
It stands and carries out the sorting transport of next round kinds of goods.By this scheduling mode, AGV robot can be saved and decorateeed in work station sum aggregate
Between round-trip time, greatly improve sorting efficiency.
It should be noted that for simple description, therefore, it is stated as a series of action groups for embodiment of the method
It closes, but those skilled in the art should understand that, the embodiment of the present application is not limited by the described action sequence, because according to
According to the embodiment of the present application, some steps may be performed in other sequences or simultaneously.Secondly, those skilled in the art also should
Know, the embodiments described in the specification are all preferred embodiments, and related movement not necessarily the application is implemented
Necessary to example.
Referring to Fig. 9, a kind of structural block diagram of kinds of goods transport device embodiment based on robot of the application, institute are shown
Stating robot includes: to connect the linkage mechanism of the multiple accumulation layer in vertical direction successively adjacent multiple accumulation layers, described
Device can specifically include following module:
Positioned at the kinds of goods transportation module 901 of the robot, for obtaining the kinds of goods address being located in the accumulation layer at top
Afterwards, it is moved to the kinds of goods address, and the kinds of goods in the accumulation layer for being located at top are exported；
Positioned at the loop module 902 of the robot, for by the linkage mechanism by remaining kinds of goods successively up
Push.
In the embodiment of the present application, the device can also include: the kinds of goods acquisition module positioned at the robot, use
In the multiple kinds of goods of acquisition and it is separately stored in the multiple accumulation layer.
In the embodiment of the present application, the linkage mechanism is hoisting mechanism；
The hoisting mechanism includes: transmission component, the outside chain assemblies and inside chain that connect with the transmission component
Component, and connect with the outside chain assemblies and the inside chain assemblies and spaced multiple supporting plates；It is described more
A supporting plate forms the multiple storage layer.
In the embodiment of the present application, the kinds of goods acquisition module may include:
Top kinds of goods acquisition submodule, for obtaining the kinds of goods for being input to the supporting plate positioned at top；
Supporting plate moves down submodule, for controlling the outside chain assemblies and the interior side chain after obtaining a kinds of goods
Bar assembly drives the supporting plate for being located at bottom to be moved to top, and remaining supporting plate is successively moved down.
In the embodiment of the present application, the kinds of goods transportation module 901 may include:
Supporting plate resets submodule, drives for controlling the outside chain assemblies and the inside chain assemblies and is located at top
Supporting plate be moved to bottom, kinds of goods are exported with the movement of supporting plate.
In the embodiment of the present application, the loop module 902 may include:
Supporting plate moves up submodule, for controlling the outside chain assemblies and the inside chain assemblies, by remaining kinds of goods
Multiple supporting plates at place move up.
In the embodiment of the present application, the device can also include:
Positioned at the work station mobile module of the robot, for after the completion of the kinds of goods in each accumulation layer all transport,
It is moved to work station and obtains kinds of goods.
In the embodiment of the present application, the device can also include:
Positioned at the obstacle information detection module of the robot, for when moving, detecting obstacle information；
Positioned at the obstacle avoidance module of the robot, for carrying out avoidance processing according to the obstacle information.
In the embodiment of the present application, the kinds of goods transportation module 901 may include:
Navigation information acquisition submodule, for obtaining the navigation information for being directed to kinds of goods address；
Kinds of goods address mobile submodule, for being moved to the kinds of goods address according to the navigation information.
In the embodiment of the present application, the navigation information includes: multiple navigation coordinate information for the kinds of goods address；
Kinds of goods address mobile submodule may include:
Coordinates of targets information selecting section is used for from the multiple navigation coordinate information, and selection is next to be needed to reach
Coordinate information as coordinates of targets information；
Gird Course determination unit, for determining changing coordinates information and current course information；
Coordinate mobile unit, for according to the changing coordinates information and current course information, Xiang Suoshu coordinates of targets letter
The position of breath is mobile；
Return unit, it is described from the multiple navigation coordinate for returning behind the position for being moved to coordinates of targets information
In information, select next to need the step of coordinate information that reaches is as coordinates of targets information.
In the embodiment of the present application, the robot further include: displacement mechanism, the robot pass through institute's displacement mechanism
It is mobile.
For device embodiment, since it is basically similar to the method embodiment, related so being described relatively simple
Place illustrates referring to the part of embodiment of the method.
All the embodiments in this specification are described in a progressive manner, the highlights of each of the examples are with
The difference of other embodiments, the same or similar parts between the embodiments can be referred to each other.
It should be understood by those skilled in the art that, the embodiments of the present application may be provided as method, apparatus or calculating
Machine program product.Therefore, the embodiment of the present application can be used complete hardware embodiment, complete software embodiment or combine software and
The form of the embodiment of hardware aspect.Moreover, the embodiment of the present application can be used one or more wherein include computer can
With in the computer-usable storage medium (including but not limited to magnetic disk storage, CD-ROM, optical memory etc.) of program code
The form of the computer program product of implementation.
The embodiment of the present application is referring to according to the method for the embodiment of the present application, terminal device (system) and computer program
The flowchart and/or the block diagram of product describes.It should be understood that flowchart and/or the block diagram can be realized by computer program instructions
In each flow and/or block and flowchart and/or the block diagram in process and/or box combination.It can provide these
Computer program instructions are set to general purpose computer, special purpose computer, Embedded Processor or other programmable data processing terminals
Standby processor is to generate a machine, so that being held by the processor of computer or other programmable data processing terminal devices
Capable instruction generates for realizing in one or more flows of the flowchart and/or one or more blocks of the block diagram
The device of specified function.
These computer program instructions, which may also be stored in, is able to guide computer or other programmable data processing terminal devices
In computer-readable memory operate in a specific manner, so that instruction stored in the computer readable memory generates packet
The manufacture of command device is included, which realizes in one side of one or more flows of the flowchart and/or block diagram
The function of being specified in frame or multiple boxes.
These computer program instructions can also be loaded into computer or other programmable data processing terminal devices, so that
Series of operation steps are executed on computer or other programmable terminal equipments to generate computer implemented processing, thus
The instruction executed on computer or other programmable terminal equipments is provided for realizing in one or more flows of the flowchart
And/or in one or more blocks of the block diagram specify function the step of.
Although preferred embodiments of the embodiments of the present application have been described, once a person skilled in the art knows bases
This creative concept, then additional changes and modifications can be made to these embodiments.So the following claims are intended to be interpreted as
Including preferred embodiment and all change and modification within the scope of the embodiments of the present application.
Finally, it is to be noted that, herein, relational terms such as first and second and the like be used merely to by
One entity or operation are distinguished with another entity or operation, without necessarily requiring or implying these entities or operation
Between there are any actual relationship or orders.Moreover, the terms "include", "comprise" or its any other variant meaning
Covering non-exclusive inclusion, so that process, method, article or terminal device including a series of elements not only wrap
Those elements are included, but also including other elements that are not explicitly listed, or further includes for this process, method, article
Or the element that terminal device is intrinsic.In the absence of more restrictions, being wanted by what sentence "including a ..." limited
Element, it is not excluded that there is also other identical elements in process, method, article or the terminal device for including the element.
Above to a kind of kinds of goods transportation resources based on robot provided herein and a kind of goods based on robot
Product transport device, is described in detail, and specific case used herein carries out the principle and embodiment of the application
It illustrates, the description of the example is only used to help understand the method for the present application and its core ideas；Meanwhile for this field
Those skilled in the art, according to the thought of the application, there will be changes in the specific implementation manner and application range, to sum up
Described, the contents of this specification should not be construed as limiting the present application.
Claims (22)
1. a kind of kinds of goods transportation resources based on robot, which is characterized in that the robot includes: in vertical direction successively phase
Adjacent multiple accumulation layers, connect the linkage mechanism of the multiple accumulation layer, which comprises
After the robot obtains the kinds of goods address being located in the accumulation layer at top, it is moved to the kinds of goods address, and will be located at
Kinds of goods output in the accumulation layer at top；
The robot is successively up pushed remaining kinds of goods by the linkage mechanism.
2. the method according to claim 1, wherein the robot obtains the goods being located in the accumulation layer at top
Behind product address, it is moved to the kinds of goods address, and will be before the kinds of goods output in the accumulation layer that top is located at, further includes:
The robot obtains multiple kinds of goods and is separately stored in the multiple accumulation layer.
3. according to the method described in claim 2, it is characterized in that, the linkage mechanism is hoisting mechanism；
The hoisting mechanism includes: transmission component, the outside chain assemblies and inside chain assemblies that connect with the transmission component,
And it is connect with the outside chain assemblies and the inside chain assemblies and spaced multiple supporting plates；The multiple supporting plate
Form the multiple storage layer.
4. according to the method described in claim 3, it is characterized in that, the robot obtains multiple kinds of goods and is separately stored in institute
The step stated in multiple accumulation layers includes:
The robot obtains the kinds of goods for being input to the supporting plate positioned at top；
After obtaining a kinds of goods, the robot controls the outside chain assemblies and inside chain assemblies drive is located at
The supporting plate of bottom is moved to top, and remaining supporting plate is successively moved down.
5. according to the method described in claim 3, it is characterized in that, what the kinds of goods by the accumulation layer for being located at top exported
Step includes:
The robot controls the outside chain assemblies and the inside chain assemblies drive the supporting plate for being located at top to be moved to
Bottom, kinds of goods are exported with the movement of supporting plate.
6. according to the method described in claim 3, it is characterized in that, the robot passes through the linkage mechanism for remaining goods
Product successively up push the step of include:
The robot controls the outside chain assemblies and the inside chain assemblies, by multiple supporting plates where remaining kinds of goods
It moves up.
7. the method according to claim 1, wherein further include:
After the completion of the kinds of goods in each accumulation layer all transport, the robot is moved to work station and obtains kinds of goods.
8. the method according to claim 1, wherein further include:
When moving, the robot detects obstacle information；
The robot carries out avoidance processing according to the obstacle information.
9. the method according to claim 1, wherein the robot is moved to the step of kinds of goods address packet
It includes:
The robot obtains the navigation information for being directed to kinds of goods address；
The robot is moved to the kinds of goods address according to the navigation information.
10. according to the method described in claim 9, it is characterized in that, the navigation information includes: for the kinds of goods address
Multiple navigation coordinate information；The step of robot is moved to the kinds of goods address according to the navigation information include:
The robot selects next coordinate information for needing to reach to sit as target from the multiple navigation coordinate information
Mark information；
The robot determines changing coordinates information and current course information；
The robot is moved according to the changing coordinates information and current course information, the position of Xiang Suoshu coordinates of targets information
It is dynamic；
Behind the position for being moved to coordinates of targets information, the robot return is described from the multiple navigation coordinate information,
The step of coordinate information for selecting next needs to reach is as coordinates of targets information.
11. the method according to claim 1, wherein the robot further include: displacement mechanism, the machine
People is mobile by institute's displacement mechanism.
12. a kind of kinds of goods transport device based on robot, which is characterized in that the robot include: vertical direction successively
Adjacent multiple accumulation layers, connect the linkage mechanism of the multiple accumulation layer, and described device includes:
It is mobile after obtaining the kinds of goods address being located in the accumulation layer at top positioned at the kinds of goods transportation module of the robot
The extremely kinds of goods address, and the kinds of goods in the accumulation layer for being located at top are exported；
Positioned at the loop module of the robot, for remaining kinds of goods successively up to be pushed by the linkage mechanism.
13. device according to claim 12, which is characterized in that further include:
Kinds of goods positioned at the robot obtain module, for obtaining multiple kinds of goods and being separately stored in the multiple accumulation layer
In.
14. device according to claim 13, which is characterized in that the linkage mechanism is hoisting mechanism；
The hoisting mechanism includes: transmission component, the outside chain assemblies and inside chain assemblies that connect with the transmission component,
And it is connect with the outside chain assemblies and the inside chain assemblies and spaced multiple supporting plates；The multiple supporting plate
Form the multiple storage layer.
15. device according to claim 14, which is characterized in that the kinds of goods obtain module and include:
Top kinds of goods acquisition submodule, for obtaining the kinds of goods for being input to the supporting plate positioned at top；
Supporting plate moves down submodule, for controlling the outside chain assemblies and the inside chain group after obtaining a kinds of goods
Part drives the supporting plate for being located at bottom to be moved to top, and remaining supporting plate is successively moved down.
16. device according to claim 14, which is characterized in that the kinds of goods transportation module includes:
Supporting plate resets submodule, is located at the support at top for controlling the outside chain assemblies and inside chain assemblies drive
Plate is moved to bottom, and kinds of goods are exported with the movement of supporting plate.
17. device according to claim 14, which is characterized in that the loop module includes:
Supporting plate moves up submodule, will be where remaining kinds of goods for controlling the outside chain assemblies and the inside chain assemblies
Multiple supporting plates move up.
18. device according to claim 12, which is characterized in that further include:
Positioned at the work station mobile module of the robot, for moving after the completion of the kinds of goods in each accumulation layer all transport
Kinds of goods are obtained to work station.
19. device according to claim 12, which is characterized in that further include:
Positioned at the obstacle information detection module of the robot, for when moving, detecting obstacle information；
Positioned at the obstacle avoidance module of the robot, for carrying out avoidance processing according to the obstacle information.
20. device according to claim 12, which is characterized in that the kinds of goods transportation module further include:
Navigation information acquisition submodule, for obtaining the navigation information for being directed to kinds of goods address；
Kinds of goods address mobile submodule, for being moved to the kinds of goods address according to the navigation information.
21. device according to claim 20, which is characterized in that the navigation information includes: for the kinds of goods address
Multiple navigation coordinate information；Kinds of goods address mobile submodule includes:
Coordinates of targets information selecting section, for from the multiple navigation coordinate information, selecting next seat for needing to reach
Information is marked as coordinates of targets information；
Gird Course determination unit, for determining changing coordinates information and current course information；
Coordinate mobile unit is used for according to the changing coordinates information and current course information, Xiang Suoshu coordinates of targets information
Position is mobile；
Return unit, it is described from the multiple navigation coordinate information for returning behind the position for being moved to coordinates of targets information
In, it selects next to need the step of coordinate information that reaches is as coordinates of targets information.
22. device according to claim 12, which is characterized in that the robot further include: displacement mechanism, the machine
People is mobile by institute's displacement mechanism.
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|---|---|---|---|
| CN201810012381.3A CN110002157A (en) | 2018-01-05 | 2018-01-05 | Goods transportation method and device based on robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810012381.3A CN110002157A (en) | 2018-01-05 | 2018-01-05 | Goods transportation method and device based on robot |
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Application publication date: 20190712 |