CN106219124A - A kind of electric pole formula automated warehousing robot - Google Patents
A kind of electric pole formula automated warehousing robot Download PDFInfo
- Publication number
- CN106219124A CN106219124A CN201610833259.3A CN201610833259A CN106219124A CN 106219124 A CN106219124 A CN 106219124A CN 201610833259 A CN201610833259 A CN 201610833259A CN 106219124 A CN106219124 A CN 106219124A
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- China
- Prior art keywords
- vehicle frame
- described vehicle
- robot
- rotary
- module
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Classifications
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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
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
-
- 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
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/902—Devices for picking-up and depositing articles or materials provided with drive systems incorporating rotary and rectilinear movements
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to a kind of electric pole formula automated warehousing robot, comprising: vehicle frame, described bottom of frame is provided with universal wheel and driving wheel, described universal wheel is positioned at four corners of described bottom of frame, described driving wheel is positioned at the middle part of described vehicle frame and is positioned at both sides, driving motor it is provided with on described vehicle frame, described driving motor connects described driving wheel, the head of described vehicle frame is provided with obstacle module, described vehicle frame top is provided with rotary-tray module, described rotary-tray inside modules is provided with electric rotating machine, it is provided with electric pushrod on described vehicle frame, described electric pushrod is positioned at the bottom of described rotary-tray module, it is provided with perforate on described vehicle frame, the lower section being provided above photographic head and described perforate of described perforate is provided with lower photographic head.The operator scheme of " goods is to people " can be realized, simplify mechanism's design of robot simultaneously, increase machine human reriability, weight capacity, the speed of service, safety.
Description
Technical field
The present invention relates to robotics, specifically refer to electric pole formula automated warehousing robot.
Background technology
Tradition warehouse entry, outbound operation are usually " people's arrival ", are i.e. push dolly by warehouse employee and enter warehouse, by goods
Product are put into corresponding shelf, correspondence position successively.This process is not only the most, and human cost is high, and owing to workman is in storehouse
In storehouse movement so that potential safety hazard is big.When warehouse kinds of goods huge number (SKU quantity is big), operating process is complex,
Easily make mistakes.
For this single stepping of optimization warehouse-in, there is the trial of many automated warehouses at present, including automatization
Transfer robot (AGV), it is achieved the pattern of " goods is to people ", is i.e. entered storage area by robot, finds the shelf needed, and delivers to
Sorting work station completes operationies on incoming and outgoing inventory.And existing automated handling robot use motor and large-scale spiral shell cylinder, it is achieved lifting,
The action put down.The problem of this structure has:
During lifting, electric efficiency is low, limited ability；Structure is complicated, and manufacturing cost is high, and large-scale spiral shell cylinder easily weares and teares, reliability
Low.Lift, put down, turn during need to realize dolly and rotate and rotate Tong Bus with large-scale spiral shell cylinder, algorithm complexity, instability.Also
There is the large-scale spiral shell cylinder scheme of higher level: in spiral shell cylinder, add ball, reduce frictional force, improve electric efficiency, but the most greatly increase
Add manufacturing cost.
Summary of the invention
The main object of the present invention is to provide one, it is possible to achieve the operator scheme of " goods is to people ", simplifies robot simultaneously
Mechanism design, increase machine human reriability, weight capacity, the speed of service, safety.
The technical solution adopted for the present invention to solve the technical problems is:
The present invention provides a kind of electric pole formula automated warehousing robot, it is characterised in that including: vehicle frame, at the bottom of described vehicle frame
Portion is provided with universal wheel 101 and driving wheel 102, and described universal wheel 101 is positioned at four corners of described bottom of frame, described driving
Wheel 102 is positioned at the middle part of described vehicle frame and is positioned at both sides, and described vehicle frame is provided with driving motor 201, described driving motor 201
Connecting described driving wheel 102, the head of described vehicle frame is provided with obstacle module 104, and described vehicle frame top is provided with rotary-tray
Module 103, is provided with electric rotating machine 306 in described rotary-tray module 103, described vehicle frame is provided with electric pushrod 202, institute
State electric pushrod and be positioned at the bottom of described rotary-tray module 103, described vehicle frame is provided with perforate 203, described perforate 203
The lower section being provided above photographic head 303 and described perforate 203 is provided with lower photographic head 304, is provided with electricity in described vehicle frame
Source apparatus 204.
Preferably, the head of described vehicle frame is provided with emergency stop switch 105.
Preferably, described supply unit is automatic charging module.
Implement technical scheme, have the advantages that the transfer robot that the present invention provides utilizes shooting
The operation of " goods is to people " in head, Quick Response Code, automatic charging module, obstacle module Automatic Warehouse, improves warehouse basic operation
Efficiency.Use electric pushrod, simplify robot lifting, the action put down, and by motion and the lifting of shelf of robot, put down
Separate, simplify and control, improve reliability and speed.Use rotary-tray module, by rotary motion and the shelf of robot
Rotary motion separate, it is achieved in robot rotary course, keep shelf motionless relative to ground, or in robot original place
The when of motionless, drive shelf to rotate, simplify robot kinematics, improve efficiency and the reliability of Transport cargo rack.
Accompanying drawing explanation
The top view of the robot that Fig. 1 provides for the embodiment of the present invention；
The upward view of the robot that Fig. 2 provides for the embodiment of the present invention；
The side view of the robot that Fig. 3 provides for the embodiment of the present invention；
The realization of the object of the invention, functional characteristics and advantage will in conjunction with the embodiments, are described further referring to the drawings.
Detailed description of the invention
In order to make the purpose of the present invention, technical scheme and advantage clearer, below in conjunction with drawings and Examples, right
The present invention is further elaborated.Should be appreciated that specific embodiment described herein only in order to explain the present invention, and
It is not used in the restriction present invention.
The embodiment of the present invention provides a kind of electric pole formula automated warehousing robot, as shown in Figure 1, Figure 2 and Figure 3, including: car
Frame, described bottom of frame is provided with universal wheel 101 and driving wheel 102, and described universal wheel 101 is positioned at four of described bottom of frame
Corner, described driving wheel 102 is positioned at the middle part of described vehicle frame and is positioned at both sides, and described vehicle frame is provided with driving motor 201, institute
Stating driving motor 201 and connect described driving wheel 102, the head of described vehicle frame is provided with obstacle module 104, and described vehicle frame top sets
It is equipped with rotary-tray module 103, is provided with electric rotating machine 306 in described rotary-tray module 103, described vehicle frame is provided with electricity
Dynamic push rod 202, described electric pushrod is positioned at the bottom of described rotary-tray module 103, described vehicle frame is provided with perforate 203,
The lower section being provided above photographic head 303 and described perforate 203 of described perforate 203 is provided with lower photographic head 304, described car
Frame is provided with supply unit 204.
Described universal wheel is four, for load capacity, keeps robot balance, universal wheel is tied with spring shock absorption
Structure；Two driving wheels 102, by driving motor 201 to control, drive this robot to move in warehouse；Ring rotation pallet module
103 are risen or fallen by driven by motor, lift shelf and complete lifting, put down operation；Headstock installs obstacle module 104, containing swashing
Optical radar, ultrasonic radar, after there is obstacle in front, it is achieved jerk；At headstock, emergency stop switch 105 is installed, special to tackle
Situation, it is simple to artificial jerk, it is contemplated that most people is right-handed person, and this emergency stop switch is placed on the left of headstock by we, it is possible to
To be arranged on the right side of headstock；The automatic charging module of the tailstock, before making robot can move to automatic charging stake, it is achieved automatically
Charging, and then realize the full-automatic operation in warehouse.
Ring rotation pallet module 103 is supported, on electric pushrod 202 by three (being not limited to three) electric pushrods 202
Lower movement can lift or fall ring rotation pallet module, it is achieved lifts, puts down the action of shelf；Described ring rotation tray mold
The electric rotating machine 306 that block 103 is arranged by inside is rotated, such that it is able to drive the shelf lifted to complete clockwise or counterclockwise
Rotate；Two driving wheels are connected with two driving motors 201 respectively, by controller control two driving motors carry out synchronizing or
Asynchronous rotary can realize the advance of robot car, retreats and turn；After lifting shelf by electric pushrod, pass through controller
Control electric rotating machine and can realize the rotation of shelf machine-independent people dolly, be used in conjunction with realizing machine with two driving motors
Device people's dolly and either synchronously or asynchronously three kinds of rotary modes of shelf, i.e. robot rotate, shelf motionless (pattern one), robot
Motionless, shelf rotate (pattern two), and robot drives shelf to rotate (pattern three) together；Electric pushrod 202, driving motor 201
And electric rotating machine 306 powered by supply unit 204.In fig. 3 it can be seen that ring rotation pallet module 103 central openings, make
Upwards photographic head 303 can sweep the Quick Response Code of picking frame bottom surface, determines its position；Chassis 305 central authorities of vehicle frame arrange perforate
203, facilitate downward photographic head 304 to see ground two-dimensional code, determine robot car self-position.On three electric pushrods 202
Lower movement, can realize the annular lifting of pallet, decline, but not affect photographic head and sweep and take Quick Response Code.
Laying Quick Response Code in warehouse floor, transfer robot utilizes the photographic head installed, by reading these Quick Response Codes
Now position oneself, can realize automatically moving freely in warehouse.
Laying Quick Response Code at bottom shelf, transfer robot utilizes the photographic head installed, true by reading these Quick Response Codes
Know goods the position of frame, shelf can be confirmed with Automatic-searching, and accurately carry.
Utilize one or more electric pushrod of motor operation, it is achieved lift, put down the action of shelf.
Electric rotating machine is utilized to operate ring rotation pallet module, it is achieved shelf rotate independent of dolly.(i.e. shelf turn
Body function)
Utilize electric rotating machine operation ring rotation pallet module 103 to coordinate and drive motor 201 rotating speed, it is achieved trolley is revolved
Turn, but shelf keep constant motion.(i.e. dolly keeps lifting shelf the function turned round.)
Utilize and drive motor 201, it is achieved dolly carries the function that shelf rotate.
Utilize the obstacle module 104 of headstock, it is achieved run into the function of barrier jerk, it is ensured that the safety of operation.
Utilize the automatic charging module of parking stall, it is achieved the full-automation of transfer robot.
The foregoing is only presently preferred embodiments of the present invention, not in order to limit the present invention, all essences in the present invention
Any amendment, equivalent and the improvement etc. made within god and principle, should be included within the scope of the present invention.
Claims (3)
1. an electric pole formula automated warehousing robot, it is characterised in that including: vehicle frame, described bottom of frame is provided with universal
Wheel (101) and driving wheel (102), described universal wheel (101) is positioned at four corners of described bottom of frame, described driving wheel
(102) it is positioned at the middle part of described vehicle frame and is positioned at both sides, described vehicle frame is provided with driving motor (201), described driving motor
(201) connecting described driving wheel (102), the head of described vehicle frame is provided with obstacle module (104), and described vehicle frame top is provided with
Rotary-tray module (103), is provided with electric rotating machine (306) in described rotary-tray module (103), described vehicle frame is provided with
Electric pushrod (202), described electric pushrod is positioned at the bottom of described rotary-tray module (103), described vehicle frame is provided with out
Hole (203), the lower section being provided above photographic head (303) and described perforate (203) of described perforate (203) is provided with down to be taken the photograph
As head (304), described vehicle frame is provided with supply unit (204).
2. as claimed in claim 1 electric pole formula automated warehousing robot, it is characterised in that the head of described vehicle frame is provided with urgency
Guard's valve (105).
3. as claimed in claim 1 electric pole formula automated warehousing robot, it is characterised in that described supply unit is automatic charging
Module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610833259.3A CN106219124A (en) | 2016-09-20 | 2016-09-20 | A kind of electric pole formula automated warehousing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610833259.3A CN106219124A (en) | 2016-09-20 | 2016-09-20 | A kind of electric pole formula automated warehousing robot |
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| Publication Number | Publication Date |
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| CN106219124A true CN106219124A (en) | 2016-12-14 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610833259.3A Pending CN106219124A (en) | 2016-09-20 | 2016-09-20 | A kind of electric pole formula automated warehousing robot |
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| CN (1) | CN106219124A (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2017215202A1 (en) * | 2016-06-13 | 2017-12-21 | 锥能机器人（上海）有限公司 | Electric pole-type automated storage robot |
| CN109279244A (en) * | 2018-09-10 | 2019-01-29 | 安徽灵翔智能机器人技术有限公司 | It is a kind of can autonomous barcode scanning identification storage transfer robot |
| CN109422056A (en) * | 2017-08-30 | 2019-03-05 | 富鼎电子科技(嘉善)有限公司 | Store in a warehouse robot |
| CN110059926A (en) * | 2019-03-15 | 2019-07-26 | 北京旷视机器人技术有限公司 | Sort dispatching method, device, warehousing system and readable storage medium storing program for executing |
| CN110562653A (en) * | 2019-07-30 | 2019-12-13 | 国网浙江省电力有限公司嘉兴供电公司 | power transformation operation detection intelligent decision system and maintenance system based on ubiquitous power Internet of things |
| CN110562652A (en) * | 2019-07-30 | 2019-12-13 | 国网浙江省电力有限公司嘉兴供电公司 | electric power spare part intelligence warehouse based on thing networking |
| CN111591343A (en) * | 2020-04-10 | 2020-08-28 | 广州创显科教股份有限公司 | Based on quick blending device of goods for management of intelligence commodity circulation garden |
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| CN102633077A (en) * | 2012-04-15 | 2012-08-15 | 昆明新高原电子信息有限公司 | Carryable shelf warehousing system based on automatic carry trolley |
| CN202518714U (en) * | 2012-04-15 | 2012-11-07 | 昆明新高原电子信息有限公司 | Automatic handling trolley for carrying goods |
| KR20140046851A (en) * | 2012-10-11 | 2014-04-21 | 삼성테크윈 주식회사 | Moving robot |
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| CN206447087U (en) * | 2016-09-20 | 2017-08-29 | 刘哲 | A kind of electric pole formula automated warehousing robot |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2017215202A1 (en) * | 2016-06-13 | 2017-12-21 | 锥能机器人（上海）有限公司 | Electric pole-type automated storage robot |
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| CN109422056A (en) * | 2017-08-30 | 2019-03-05 | 富鼎电子科技(嘉善)有限公司 | Store in a warehouse robot |
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| CN109279244A (en) * | 2018-09-10 | 2019-01-29 | 安徽灵翔智能机器人技术有限公司 | It is a kind of can autonomous barcode scanning identification storage transfer robot |
| CN110059926A (en) * | 2019-03-15 | 2019-07-26 | 北京旷视机器人技术有限公司 | Sort dispatching method, device, warehousing system and readable storage medium storing program for executing |
| CN110059926B (en) * | 2019-03-15 | 2021-12-24 | 北京旷视机器人技术有限公司 | Sorting scheduling method and device, warehousing system and readable storage medium |
| CN110562653A (en) * | 2019-07-30 | 2019-12-13 | 国网浙江省电力有限公司嘉兴供电公司 | power transformation operation detection intelligent decision system and maintenance system based on ubiquitous power Internet of things |
| CN110562652A (en) * | 2019-07-30 | 2019-12-13 | 国网浙江省电力有限公司嘉兴供电公司 | electric power spare part intelligence warehouse based on thing networking |
| CN110562652B (en) * | 2019-07-30 | 2021-01-26 | 国网浙江省电力有限公司嘉兴供电公司 | Electric power spare part intelligence warehouse based on thing networking |
| CN111591343A (en) * | 2020-04-10 | 2020-08-28 | 广州创显科教股份有限公司 | Based on quick blending device of goods for management of intelligence commodity circulation garden |
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| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20161214 |
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| RJ01 | Rejection of invention patent application after publication |