CN114749381A

CN114749381A - AGV intelligent robot for sorting logistics sorting center

Info

Publication number: CN114749381A
Application number: CN202210305178.1A
Authority: CN
Inventors: 李梦杨; 陶发展; 付主木; 张雪莹
Original assignee: Luoyang Normal University
Current assignee: Luoyang Normal University
Priority date: 2022-03-25
Filing date: 2022-03-25
Publication date: 2022-07-15
Anticipated expiration: 2042-03-25
Also published as: CN114749381B

Abstract

The invention relates to the technical field of storage logistics and discloses an AGV intelligent robot for sorting of a logistics sorting center. According to the invention, the sliding frame is arranged on the tray, the movable plate is arranged in the sliding frame, the rolling ball capable of moving at a full angle is arranged on the movable partition plate, when the express box is placed on the tray and the express box is displaced, the sliding magnetic strip can move to one side of the displacement due to the action of gravity in the displacement process, and in the displacement process, the magnetic strip can contact with the bottom of the rolling ball above the rolling ball and then the upper side of the rolling ball moves in the opposite direction, so that the express box moves to the central position of the whole tray, the gravity of the displacement side is reduced, the phenomenon that the abrasion difference of wheels at two sides of the sorting robot is too large due to the overlarge gravity of the displacement side is prevented, and the vehicle body is made unstable.

Description

AGV intelligent robot for sorting logistics sorting center

Technical Field

The invention relates to the technical field of warehouse logistics, in particular to an AGV intelligent robot for logistics sorting center classification.

Background

Along with the rapid development of commodity circulation science and technology, the increase of express delivery number of packages leads to the work load of express delivery letter sorting also to increase, in order to reduce the cost of commodity circulation and the work efficiency of letter sorting, many commodity circulation companies can select the robot that has the letter sorting function to replace artifical manual work, working personnel's intensity of labour has been reduced to a great extent, and this kind of automatic guide transport vechicle (Automated Guided Vehicle, AGV), the device that possesses automatic guide, can travel along the guide route of regulation, and can transplant, AGV divide into flap type and conveyer belt two kinds, flap type automatic guide transport vechicle is carried the parcel through the drive and is fallen into corresponding compartment when turning over the board upset of parcel.

Present letter sorting robot is when the letter sorting express delivery, the manual work is placed when turning over the board, in order to guarantee speed, the position is indefinite when the express delivery is put in, the central point that is not necessarily turning over the board puts, and AGV needs the distance of operation indefinite, because the express delivery focus is not at the center of transport vechicle upper surface, consequently can lead to the wheel atress of transport vechicle bottom uneven, can lead to the impaired degree of friction of both sides wheel different under the long-term effect, finally can lead to the dolly automobile body unbalance, it is crooked easily.

Disclosure of Invention

Aiming at the defects of the existing sorting robot in the background technology in the using process, the invention provides the AGV intelligent robot for sorting the logistics sorting center, which has the advantages of reducing wheel wear, improving the balance of a trolley and reducing the skew degree, and solves the problem of inconsistent wheel wear caused by unbalanced express box placement in the background technology.

The invention provides the following technical scheme: the AGV intelligent robot comprises a sorting robot body, a tray is arranged above the sorting robot body, a rotating rod is movably arranged in the sorting robot body, a universal shaft is movably arranged in the middle of the upper surface of the rotating rod, the upper end of the universal shaft is fixedly arranged in the middle of the bottom surface of the tray, a contact device is fixedly arranged on the upper surface of the sorting robot body, a sliding frame with an upper opening is arranged in the side wall of the bottom of the tray, a moving plate is movably arranged in the sliding frame, a rolling ball is movably embedded in the moving plate, a limiting bottom plate is fixedly arranged on the bottom wall of the sliding frame, a sliding magnetic strip is slidably arranged on the upper surface of the limiting bottom plate, a compression spring is fixedly arranged on the lower surface of the moving plate, and the other end of the compression spring is fixedly arranged at the bottom of the sliding frame, the air flue has been seted up to the inside of letter sorting robot body, the other end of air flue communicates inside adjacent contact device, the inside slidable mounting of air flue has the removal touch panel, the side of sliding frame is provided with the second coil, second coil fixed mounting is in the inside of tray, the touch panel that resets is installed to the top side of movable plate, the other end of touch panel that resets is installed on the tray.

Preferably, the rolling balls are linearly and uniformly distributed along the length and the width of the bottom surface of the tray, two sides of each rolling ball penetrate through the movable plate, an included angle between the bottom of the express box and the horizontal plane of the top of each rolling ball when the express box is placed on the movable plate in an express way is a, the weight of the express box is m, the friction force between each rolling ball and the express box is F, the F is μmg plus cosa, the component force of the express box weight in the inclined direction is F, mg plus sina, the express box can be moved in the backward inclined direction by ensuring the friction force, F is greater than F, μ plus sina is greater than sina, and the limiting relation between the angle a and the friction coefficient μ is tan < μ.

Preferably, a control device is installed between the movable contact plate and the power supply of the trolley, the control device comprises air passages, the movable contact plate and contact pieces located in the middle of the air passages, the contact pieces are located on the upper side and the lower side of the air passages, the air passages are totally provided with four contact pieces, the four contact pieces are used for communicating adjacent contact devices, the two contact pieces are not in contact with each other and located in the centers of the air passages, and in the initial position, the movable contact plates on the two sides of each contact piece are not in contact with the contact pieces.

Preferably, the sliding magnetic strips are four in number and are respectively arranged below the rolling balls of the array.

Preferably, the contact devices are four in number and are respectively installed at four corners of the upper surface of the sorting robot body, each contact device comprises a flexible shell, adjacent flexible shells are mutually communicated through air passages, a top plate is fixedly installed at the top end inside the flexible shell, a supporting spring is fixedly installed at the bottom end of the top plate, the other end of the supporting spring is fixedly installed on a first coil, and the other end of the first coil is fixedly installed on the upper surface of the sorting robot body

Preferably, the movable touch panels on two sides of the first coil, the first lead and the first coil are a set of force supplementing devices, the force supplementing devices are provided with four groups, the four groups of force supplementing devices are respectively located at four corners of the upper surface of the sorting robot body, the magnetism of the first coil in the adjacent force supplementing devices towards the tray direction is different, the magnetic poles of the limiting bottom plate are distributed along the side direction of the sliding frame, and the magnetic poles of the limiting bottom plate are distributed on one side of the limiting bottom plate and are opposite to the magnetism between the two sets of force supplementing devices corresponding to the magnetic poles of the limiting bottom plate in position.

Preferably, a reset device is formed among the reset touch panel, the second coil and the moving panel, an electricity connection block is arranged at a position, corresponding to the position of the reset touch panel, on the moving panel, a lead on the second coil is connected to the electricity connection block and the reset touch panel, namely, on-off of current on the second coil is controlled by the electricity connection block and on-off of the moving panel, the reset device on one side of the tray controls current on the second coil on the other side opposite to the reset device, magnetic distribution at two ends of the second coil is the same as that of the sliding magnetic stripe, and magnetic pole distribution at two ends of the second coil is opposite to that of the sliding magnetic stripe.

Preferably, four force supplementing devices are connected with a power supply in the sorting robot body in parallel, four resetting devices are connected with the power supply in parallel, and the resetting devices are connected with the force supplementing devices in parallel.

The invention has the following beneficial effects:

1. according to the invention, the sliding frame is arranged on the tray, the movable plate is arranged in the sliding frame, the rolling ball capable of moving at a full angle is arranged on the movable partition plate, when the express box is placed on the tray and the express box is displaced, the sliding magnetic strip can move to one side of the displacement due to the action of gravity in the displacement process, and in the displacement process, the magnetic strip can contact with the bottom of the rolling ball above the rolling ball and then the upper side of the rolling ball moves in the opposite direction, so that the express box moves to the central position of the whole tray, the gravity of the displacement side is reduced, the phenomenon that the abrasion difference of wheels at two sides of the sorting robot is too large due to the overlarge gravity of the displacement side is prevented, and the vehicle body is made unstable.

2. The contact device is arranged at the bottom of the tray, power is supplemented for the movement of the sliding magnetic strip, the contact device can sink due to the fact that the gravity on one deviated side is larger, the gas in the flexible shell after sinking changes, the movable contact plate is in contact with the contact piece, the first coil is electrified to generate magnetic force, the force supplementing device is utilized to provide magnetic force for the movement of the sliding magnetic strip, and therefore the phenomenon that when the movable plate deviates due to the gravity, the distance between the movable plate and the limiting bottom plate is smaller and smaller from the side where the movement starts to the other side, the movement resistance of the movable strip is larger and larger at the moment, the magnetic attraction exists, the power is supplemented for the movement of the movable strip, and the function of supplementing movement energy is achieved.

Drawings

FIG. 1 is a schematic structural view of the present invention when an express item is placed;

FIG. 2 is a schematic diagram of an inclined structure of a tray for accommodating express items;

FIG. 3 is a schematic view of the top view distribution structure of the sliding magnetic stripe and the second coil of the present invention;

FIG. 4 is a schematic top view of the force compensating device of the present invention;

FIG. 5 is a schematic view of the force applied by the express delivery device pressing on the ball;

FIG. 6 is a schematic structural view of the express delivery system of the present invention moving to a central location;

FIG. 7 is a schematic view of the structure at A in FIG. 1 according to the present invention;

FIG. 8 is a schematic view of the structure of FIG. 2B according to the present invention.

In the figure: 1. a sorting robot body; 2. a tray; 3. a rotating rod; 4. a cardan shaft; 5. a contact arrangement; 51. a flexible housing; 52. a top plate; 53. a support spring; 54. a first coil; 6. a sliding frame; 7. moving the plate; 8. rolling a ball; 9. a restraining baseplate; 10. sliding the magnetic strip; 11. a compression spring; 12. an airway; 13. moving the touch panel; 14. a second coil; 15. and resetting the touch panel.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Referring to fig. 1-2, an AGV intelligent robot for sorting logistics sorting centers comprises a sorting robot body 1, a tray 2 is arranged above the sorting robot body 1, a rotating rod 3 is movably arranged inside the sorting robot body 1, a universal shaft 4 is movably arranged in the middle of the upper surface of the rotating rod 3, the upper end of the universal shaft 4 is fixedly arranged in the middle of the bottom surface of the tray 2, a contact device 5 is fixedly arranged on the upper surface of the sorting robot body 1, a sliding frame 6 with an upper opening is arranged inside the side wall of the bottom of the tray 2, a moving plate 7 is movably arranged inside the sliding frame 6, rolling balls 8 are movably embedded inside the moving plate 7, the rolling balls 8 are linearly and uniformly distributed along the length and width of the bottom surface of the tray 2, the two sides of the rolling balls 8 penetrate through the moving plate 7, a limiting bottom plate 9 is fixedly arranged on the bottom wall of the sliding frame 6, a sliding magnetic stripe 10 is slidably arranged on the upper surface of the limiting bottom plate 9, the side edge of the limiting bottom plate 9 is provided with a baffle plate for limiting the moving distance of the sliding magnetic strips 10 on the limiting bottom plate 9 and preventing the sliding magnetic strips 10 from moving out of the limiting bottom plate 9 to influence the downward movement of the follow-up moving plate 7, the sliding magnetic strips 10 are totally provided with four sliding magnetic strips 10 which are respectively arranged below the arrayed rolling balls 8, the lower surface of the moving plate 7 is fixedly provided with a compression spring 11, the other end of the compression spring 11 is fixedly arranged at the bottom of a sliding frame 6, the sorting robot body 1 is internally provided with an air passage 12, the other end of the air passage 12 is communicated with the inside of an adjacent contact device 5, a moving contact plate 13 is slidably arranged inside the air passage 12, the air passage 12 is totally provided with four air passages 12 which communicate the adjacent contact devices 5, the side edge of the sliding frame 6 is provided with a second coil 14, the second coil 14 is fixedly arranged inside the tray 2, and the side edge of the upper part of the moving plate 7 is provided with a reset contact plate 15, the other end of the reset touch panel 15 is mounted on the tray 2.

Referring to fig. 7, the number of the contact devices 5 is four, the four contact devices 5 are respectively installed at four corners of the upper surface of the sorting robot body 1, each contact device 5 includes a flexible casing 51, adjacent flexible casings 51 are communicated with each other through an air passage 12, a top plate 52 is fixedly installed at the top end inside the flexible casing 51, a supporting spring 53 is fixedly installed at the bottom end of the top plate 52, the other end of the supporting spring 53 is fixedly installed on a first coil 54, and the other side of the first coil 54 is fixedly installed on the upper surface of the sorting robot body 1.

Wherein, referring to fig. 4, the first coil 54, the wire and the moving contact plate 13 at two sides of the first coil 54 are a set of force compensation devices, the force compensation devices are provided with four sets, the four sets of force compensation devices are respectively located at four corners of the upper surface of the sorting robot body 1, and the magnetism of the first coil 54 in the adjacent force compensation devices towards the direction of the tray 2 is different, referring to fig. 3, the magnetic poles of the limiting bottom plate 9 are distributed along the side direction of the sliding frame 6, the magnetic pole distribution of the single-side limiting bottom plate 9 is opposite to the magnetism between the two sets of force compensation devices corresponding to the positions thereof, combining fig. 3, fig. 4 and fig. 1, it can be assumed that the force compensation device at the lower right corner of the sorting robot body 1 is the S pole, the rest magnetic pole distributions are N, S, N respectively judged according to the clockwise direction, and the magnetic poles, NS, SN and NS corresponding to the force compensation devices, therefore, once express is placed on the moving plate 7, referring to the orientation arrangement in fig. 1, in the first case, assuming that the express delivery placement position is deviated to the left end a lot, when viewed transversely, the tray 2 may be inclined, the inclined tray 2, under the effect of the express delivery gravity, may cause the flexible housing 51 to be squeezed, at this time, the gas inside the flexible housing 51 may move outwards from the air passages 12 on both sides, and then the moving contact plates 13 on both sides of the force compensating device may be caused to move outwards, at this time, the force compensating device on the left end may be powered on and have magnetism, and at the other side away from the inclination, the sliding magnetic stripe 10 may move upwards and downwards on the inclined sliding frame 6, after moving for a certain distance, since the sliding magnetic stripe 10 gradually approaches the force compensating device on the left end, at this time, since the magnetism of the two sets of force compensating devices on the left end is opposite to the magnetism of the two ends of the opposite sliding magnetic stripe 10, at this time, a force may be generated to the sliding magnetic stripe 10, thereby accelerating the speed of the sliding magnetic stripe 10 moving towards the left end, and because the rolling ball 8 is a rollable ball, at this time, when the sliding magnetic strip 10 moves leftwards, the rolling ball 8 is driven to rotate in the same direction, then the express box slides to the side away from the incline, the express box is gradually moved towards the middle part, so as to reduce the bearing capacity of the wheel at one side, in the second situation, if the deviation position faces towards the inner side of the longitudinal direction, at this time, because of the magnetic distribution of the force supplementing devices, two groups of force supplementing devices at the outer side in the longitudinal direction are electrified to generate magnetic force, and the magnetic force is different from the magnetic force at two ends of the sliding magnetic strip 10 at the inner side, when the sliding magnetic strip 10 at the outer side slides inwards, the moving process is similar to the first situation, the express box can also move outwards from the inner side of the tray 2, the express box is moved to the central position, so as far as possible to realize the effect of balancing the wheel bearing, in the third situation, when the express is placed, the left end is deviated, the inboard of tray 2 is partial to a little, remove according to the first condition earlier this moment, because gravity is more be used in the left end, the benefit power device of the left and right sides works earlier, when removing to being close to the middle part, about tray 2 this moment tend towards equilibrium gradually, and the inside and outside of tray 2 is because the position is unbalanced, tray 2 can incline to the inboard, then start adjusting position according to the second condition gradually again, make whole express delivery from about, four directions are as far as to be close to toward the central point of tray 2 outside and inside, avoid wheel unilateral atress too big with this, lead to wearing and tearing too big.

Wherein, a control device is installed between the movable contact plate 13 and the power supply of the trolley, the control device comprises an air passage 12, the movable contact plate 13 and contact sheets positioned in the middle of the air passage 12, the contact sheets are positioned at the upper side and the lower side of the air passage 12, the two contact sheets are not contacted with each other and positioned at the center of the air passage 12, when the initial position is reached, the movable contact plates 13 at the two sides of the contact sheets are not contacted with the contact sheets, referring to fig. 8, when no express is placed on the upper surface of the whole tray 2, at this time, because the tray 2 is not inclined, the gas in the contact device 5 can not flow into the air passage 12, therefore, the movable contact plates 13 can not be contacted with the contact sheets, once the express is placed on the tray 2, at this time, the movable contact plates 13 can be moved away from the inclined sides and contacted with the contact sheets, so that the first coils 54 at the inclined sides are electrified, and after the first coils 54 are electrified, magnetic force absorbed with the opposite side sliding magnetic strips 10 can be generated, can drive the motion of slip magnetic stripe 10 this moment, for the smooth power that provides of express delivery box, and in case the express delivery box removes toward the middle part, this moment, because the gravity of slope side alleviates, under the supporting power of cardan shaft 4 itself and the supporting spring 53 among four benefit power devices shares the effect, make the removal touch panel 13 moving range of unilateral limited, benefit power device outage this moment, the express delivery box is in the position of being close to center or center department, reduce bearing of unilateral wheel, avoid the wheel wearing and tearing inconsistent.

Referring to fig. 3 and 2, a reset device is formed among the reset touch plate 15, the second coil 14 and the moving plate 7, a power connection block is arranged at a position on the moving plate 7 corresponding to the position of the reset touch plate 15, a lead wire on the second coil 14 is connected to the power connection block and the reset touch plate 15, that is, the on-off of the current on the second coil 14 is controlled by the power connection block and the on-off of the moving plate 7, and the reset device at one side of the tray 2 controls the current on the second coil 14 at the other side opposite to the power connection block, the magnetic distribution at two ends of the second coil 14 is the same as that of the sliding magnetic stripe 10, and the magnetic pole distribution at two ends of the second coil 14 is opposite to that of the sliding magnetic stripe 10, when an express is placed on the tray 2, at this time, because the moving plate 7 is movable, the side edge is only controlled to be balanced, once the express is placed on the upper surface, the moving plate 7 is inclined on the basis of the original tray 2, when the inclined side is inclined, the downward pressing degree of the moving plate 7 at the inclined side is larger, at this time, the distance between the moving plate 7 and the limiting bottom plate 9 is gradually reduced from the inclined side to the inclined side, the inclined side moves downwards due to the action of gravity, the reset contact plate 15 at the side and the power connection block are in a disconnected state, so that the opposite second coil 14 has no suction force to the sliding magnetic strip 10 at the same side due to the power failure, the sliding magnetic strip 10 moves towards the inclined side, other areas continue to work due to the power failure, the sliding magnetic strips 10 at other parts do not move, when the position is eccentric, the reset device is completely powered on, because the position between the moving sliding magnetic strip 10 and the second coil 14 at the same side is too far away, and the moving magnetic strip cannot move under the action of gravity of the express delivery box, once the gravity above the sliding magnetic strip 10 disappears, the restriction of the movement of the sliding magnetic stripe 10 is removed, and at this time, the suction force of the second coil 14 attracts the sliding magnetic stripe 10, and the sliding magnetic stripe 10 is reset to provide a condition for the next use.

The four force supplementing devices are connected with a power supply in the sorting robot body 1 in parallel, the four reset devices are connected with the power supply in parallel, and the reset devices are connected with the force supplementing devices in parallel.

Referring to fig. 5, at this time, an included angle between the bottom of the express delivery box and the top horizontal plane of the rolling ball 8 when the express delivery is placed on the movable plate 7 is a, the weight of the express delivery is m, the friction force between the rolling ball 8 and the express delivery box is F, the F is μmg cosa, the component force of the express delivery weight in the inclined direction is F mg sina, in order to ensure that the friction force can move the express delivery box back to the inclined direction, the F is greater than F, and at this time, the μ cosa is greater than sina, the limited relation between the angle a and the friction coefficient μ is tan < μ, when the express delivery is set, the limited relation can be adjusted according to the friction coefficient of the surface of the rolling ball 8, the inclined range of the movable plate 7 is prevented from exceeding the range, and the express delivery cannot slide to the central position under the action of the rolling ball 8.

To sum up, the device is provided with only two circuits, the power supplies of the two circuits are both from the power supply of the sorting robot, the first circuit is a force supplementing device controlled by the contact device 5 and used for supplementing power for the sliding of the sliding magnetic strip 10 and preventing the gravity action from being too small, the sliding magnetic strip 10 cannot move continuously to the inclined side under the clamping action of the moving plate 7 and the limiting bottom plate 9, at the moment, the first coil 54 on the inclined side is electrified to generate magnetic force, the magnetic force can provide power for the sliding magnetic strip 10 to enable the sliding magnetic strip 10 to move continuously to the inclined side, meanwhile, the express box above the rolling ball 8 can move to the other side and gradually move to the central position away from the inclined side, and finally the whole balance of the tray 2 is kept, the other circuit is used for controlling the current on-off of the second coil 14, the circuit is connected with the first circuit in parallel, and the control condition of the circuit is whether the reset contact plate 15 on the inclined side is in contact with the electric connection block on the moving plate 7, when the contact, the second coil 14 outage to the slope side, the magnetic attraction on the second coil 14 disappears between the outage, and the binding force that can slide magnetic stripe 10 will disappear, and the magnetic stripe 10 that slides this moment can move down under the action of gravity, and after the express delivery was posted, resets and connects the contact block contact on touch panel 15 and the movable plate 7, and at this moment, four second coils 14 of side all are in the on-state, and the suction on the second coil 14 this moment can lead to sliding magnetic stripe 10 to resume to the original position.

The using method of the invention is as follows:

firstly, the express box is not placed on the upper surface of the tray 2, so that the upper surface of the movable plate 7 has no gravity effect, the reset contact plate 15 is in contact with the power receiving block on the movable plate 7, the sliding magnetic strip 10 is adsorbed by the suction force on the second coil 14, the sliding magnetic strip 10 is not moved, the contact device 5 has no gravity effect and no pressure effect, the first coil 54 is powered off, then the express box is placed on the upper surface of the movable plate 7, at the moment, the express box is placed in an unbalanced state, and the tray 2 only has the supporting effect of the universal shaft 4 due to the central position, so that the deviation can occur;

in the first situation, assuming that the express delivery placing position is deviated to the left end, when viewed from the transverse direction, the tray 2 may be inclined, the inclined tray 2 may cause the flexible housing 51 to be squeezed under the effect of the express delivery gravity, at this time, the gas inside the flexible housing 51 may move outwards from the air passages 12 at both sides, and then the movable contact plates 13 at both sides of the force supplementing device may move outwards, at this time, the force supplementing device at the left end may be powered on and have magnetism, and in this process, due to the inclination of the left end, the contact between the reset contact plate 15 at the left end and the power connection block on the movable plate 7 may be disconnected, the second coil 14 at the right end may be powered off, the sliding magnetic stripe 10 at the right end may disappear due to the suction effect at the right end, the sliding magnetic stripe 10 may move to the left end on the inclined sliding frame 6, after moving for a certain distance, due to the fact that the sliding magnetic stripe 10 is gradually close to the force supplementing device at the left end, at this time, the magnetism of the two sets of force supplementing devices at the left end, because the magnetism of the two ends of the opposite sliding magnetic strip 10 is opposite, a magnetic attraction force is generated on the sliding magnetic strip 10 at the moment, the moving speed of the sliding magnetic strip 10 towards the left end is accelerated, and because the rolling ball 8 is a rolling ball, the rolling ball 8 is driven to rotate in the same direction when the sliding magnetic strip 10 moves towards the left, then the express box slides towards one side away from the incline, and the express box is gradually moved towards the middle part, so that the bearing capacity of the wheels at one side is reduced;

In the second case, assuming that the deviation position is towards the inner side in the longitudinal direction, at this time, due to the magnetic distribution of the force compensation devices, the two groups of force compensation devices on the outer side in the longitudinal direction are electrified to generate magnetic force, the magnetic force is different from the magnetic force at the two ends of the sliding magnetic strip 10 on the inner side, and when the sliding magnetic strip 10 on the outer side slides inwards, the express box is also moved from the inner side to the outer side of the tray 2 to move the express box to the central position in the moving process similar to the first case;

the third condition, when the express delivery was placed, the erroneous tendency left end is many, the inboard of tray 2 is partial to a little, remove according to the first condition earlier this moment, because gravity is more be used in the left end, the benefit power device of the left and right sides works earlier, when removing to being close to the middle part, the left and right sides of tray 2 tends towards equilibrium gradually this moment, and the inside and outside of tray 2 is because the position is unbalanced, tray 2 can incline to the inboard, then begin adjusting position according to the second condition gradually, make whole express delivery from the left and right sides, four directions are close to toward the central point of tray 2 as far as possible inside and outside, and after the express delivery was delivered, this moment because disappearance of the gravity of express delivery itself, the binding power that removes to sliding magnetic stripe 10 on the magnetic stripe 7 disappears, sliding magnetic stripe 10 can be under the effect of 14 magnetic forces of second coil, remove back original position.

It should be noted that, in this document, relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims

1. The utility model provides a AGV intelligent robot for commodity circulation letter sorting center is categorised, includes letter sorting robot body (1), its characterized in that: the utility model discloses a sorting robot, including sorting robot body (1), top is provided with tray (2), the inside movable mounting of sorting robot body (1) has bull stick (3), the upper surface middle part movable mounting of bull stick (3) has cardan shaft (4), the upper end fixed mounting of cardan shaft (4) is at the bottom surface middle part of tray (2), the last fixed surface of sorting robot body (1) installs contact device (5), top open-ended sliding frame (6) has been seted up to the bottom lateral wall inside of tray (2), movable mounting has movable plate (7) inside sliding frame (6), movable plate (7) inside activity is inlayed and is had movable plate (8), the diapire fixed mounting of sliding frame spin (6) has restriction bottom plate (9), surface slidable mounting has slip magnetic stripe (10) on restriction bottom plate (9), and the lower fixed surface of movable plate (7) installs compression spring (11), the other end fixed mounting of compression spring (11) is in the bottom of sliding frame (6), air flue (12) have been seted up to the inside of letter sorting robot body (1), the other end of air flue (12) communicates inside adjacent contact device (5), the inside slidable mounting of air flue (12) has removal touch panel (13), the side of sliding frame (6) is provided with second coil (14), second coil (14) fixed mounting is in the inside of tray (2), reset touch panel (15) are installed to the top side of movable plate (7), the other end of reset touch panel (15) is installed on tray (2).

2. The AGV intelligent robot for sorting of the logistics sorting center of claim 1, wherein: the rolling balls (8) are linearly and uniformly distributed along the length and the width of the bottom surface of the tray (2), two sides of each rolling ball (8) penetrate through the moving plate (7), the included angle between the bottom of the express box and the horizontal plane of the top of the rolling ball (8) when express is placed on the moving plate (7) is a, the weight of express is m, the friction force between the rolling ball (8) and the express box is F, F is mu mg and cosa, the component force of the express weight in the inclined direction is F, mg is sina, in order to ensure that the friction force can move the express box in the direction opposite to the inclined direction, F is greater than F, mu cosa is greater than sina, and the limiting relation between the angle a and the friction coefficient mu is tan < mu.

3. The AGV intelligent robot for sorting of the logistics sorting center of claim 1, wherein: install controlling means between the power of removal touch panel (13) and dolly, controlling means includes air flue (12), removes touch panel (13) and is located the contact piece at air flue (12) middle part, the contact piece is located the upper and lower both sides of air flue (12), air flue (12) are equipped with four altogether, four air flue (12) are with adjacent contact device (5) intercommunication, two do not contact each other between the contact piece and be located air flue (12) center, during initial position, the removal touch panel (13) of contact piece both sides do not contact with the contact piece.

4. The AGV intelligent robot for sorting of the logistics sorting center of claim 1, wherein: the sliding magnetic strips (10) are provided with four pieces in total, and the four sliding magnetic strips (10) are respectively arranged below the rolling balls (8) of the array.

5. The AGV intelligent robot for sorting of the logistics sorting center of claim 1, wherein: contact device (5) are equipped with four altogether, four contact device (5) are installed respectively at four angles of the upper surface of letter sorting robot body (1), contact device (5) include flexible shell (51), communicate each other between adjacent flexible shell (51) through between air flue (12), the inside top fixed mounting of flexible shell (51) has roof (52), the bottom fixed mounting of roof (52) has supporting spring (53), the other end fixed mounting of supporting spring (53) is on first coil (54), the opposite side fixed mounting of first coil (54) is at the upper surface of letter sorting robot body (1).

6. The AGV intelligent robot for sorting of the logistics sorting center of claim 5, wherein: the sorting robot comprises a sorting robot body (1), a first coil (54), a lead and moving contact plates (13) on two sides of the first coil (54), wherein the moving contact plates (13) are a group of force supplementing devices, four groups of force supplementing devices are arranged on the four corners of the upper surface of the sorting robot body (1), the magnetism of the first coil (54) in the adjacent force supplementing devices towards the direction of a tray (2) is different, magnetic poles of a limiting bottom plate (9) are distributed along the side direction of a sliding frame (6), and the magnetic poles of the limiting bottom plate (9) on one side are distributed oppositely to the magnetism between the two groups of force supplementing devices corresponding to the positions of the limiting bottom plate.

7. The AGV intelligent robot for sorting of the logistics sorting center of claim 5, wherein: the reset device is characterized in that a reset device is formed among the reset touch panel (15), the second coil (14) and the moving plate (7), a power connection block is arranged at a position, corresponding to the position of the reset touch panel (15), on the moving plate (7), a wire on the second coil (14) is connected to the power connection block and the reset touch panel (15), namely the on-off of current on the second coil (14) is controlled by the power connection block and the moving plate (7), the current on the second coil (14) on the other opposite side is controlled by the reset device on one side of the tray (2), the magnetic distribution at two ends of the second coil (14) is the same as that of the sliding magnetic stripe (10), and the magnetic pole distribution at two ends of the second coil (14) is opposite to that of the sliding magnetic stripe (10).

8. The AGV intelligent robot for sorting of the logistics sorting center of claim 5, wherein: the four force supplementing devices are connected with a power supply in the sorting robot body (1) in parallel, the four reset devices are connected with the power supply in parallel, and the reset devices are connected with the force supplementing devices in parallel.