CN105479434B - The fresh-keeping transfer robot of intelligence - Google Patents
The fresh-keeping transfer robot of intelligence Download PDFInfo
- Publication number
- CN105479434B CN105479434B CN201610040386.8A CN201610040386A CN105479434B CN 105479434 B CN105479434 B CN 105479434B CN 201610040386 A CN201610040386 A CN 201610040386A CN 105479434 B CN105479434 B CN 105479434B
- Authority
- CN
- China
- Prior art keywords
- pedestal
- connect
- tumbler
- controller
- transfer robot
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Classifications
-
- 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
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F25—REFRIGERATION OR COOLING; COMBINED HEATING AND REFRIGERATION SYSTEMS; HEAT PUMP SYSTEMS; MANUFACTURE OR STORAGE OF ICE; LIQUEFACTION SOLIDIFICATION OF GASES
- F25D—REFRIGERATORS; COLD ROOMS; ICE-BOXES; COOLING OR FREEZING APPARATUS NOT OTHERWISE PROVIDED FOR
- F25D29/00—Arrangement or mounting of control or safety devices
- F25D29/003—Arrangement or mounting of control or safety devices for movable devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0054—Cooling means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/04—Viewing devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/06—Safety devices
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Physics & Mathematics (AREA)
- Thermal Sciences (AREA)
- General Engineering & Computer Science (AREA)
- Manipulator (AREA)
Abstract
The fresh-keeping transfer robot of intelligence, is related to a kind of transfer robot.Equipped with temperature sensor, refrigeration system, pedestal, wheel, power module, pedestal, universal wheel, tumbler, telescopic oil cylinder, drive module, axle, ultrasonic sensor, manipulator, mechanical arm, vision system, controller, driving motor；Temperature sensor output end is connect with controller input terminal, controller output end is connect with drive module input terminal, drive module output end is connect by driving motor with axle, axle is connect with wheel, refrigeration system is located above pedestal, and universal wheel is mounted on immediately below pedestal front, and mechanical arm is connect with pedestal, vision system is located above pedestal, and manipulator is hinged with mechanical arm end；Telescopic oil cylinder one end is connected with mechanical arm, and the other end is connected with manipulator；Ultrasonic sensor output end is connect with controller input terminal, and tumbler is located at the top of pedestal, and manipulator is connected with tumbler, and tumbler drives vision system rotation.
Description
Technical field
The present invention relates to a kind of transfer robots, are specifically related to a kind of fresh-keeping transfer robot of intelligence.
Background technology
Transfer robot is one kind of mobile robot, and in addition to being widely used in the fields such as industrial production, it is special to be usually used in
Or rugged environment, have a good application prospect.
It transports goods from the shelf in freezer, it is often artificial to carry.Object is not often considered during goods transportation
The fresh-keeping problem of product.In addition artificial to carry there are human body adaptation Low Temperature Problems, carry height problem；And it sometimes need to be in low temperature and room temperature
Frequently disengaging leads to problems such as human body be difficult to adapt under environment.
Chinese patent CN103465263A discloses a kind of Intelligent transfer robot, including pedestal, rear casing, mechanical arm, pendulum
Arm motion, flip-flop movement mechanism, vertical movement mechanism, horizontal mobile mechanism, rotational motion mechanism, on rotational motion mechanism
It is connected with the runing rest rotated by its drive, radio frequency reader and mechanical paw, radio frequency reader are installed on runing rest
Be electrically connected with PLC controller, mechanical paw include gripper seat, movable plate and drive movable plate driving device, the two of movable plate
Side setting is with teeth, and driving device is controlled by PLC controller, and on runing rest, and gripper seat passes through connecting rod and rotation
Holder connects, and is both provided with shaft positioned at the both sides of movable plate in gripper seat, be connected in shaft paw and on movable plate
The gear that is meshed of tooth.By adding radio frequency reader, the RFID tag on workpiece can be effectively identified, convenient for product
Classification, and it uses mechanical paw grabbing workpiece, it is at low cost.
Invention content
The purpose of the present invention is in view of the above shortcomings of the prior art, provide during can solving article carrying fresh-keeping to ask
A kind of fresh-keeping transfer robot of intelligence for the problems such as topic and human body are difficult to adapt to low temperature environment.
The present invention is equipped with temperature sensor, refrigeration system, pedestal, wheel, power module, pedestal, universal wheel, rotation dress
It sets, telescopic oil cylinder, drive module, axle, ultrasonic sensor, manipulator, mechanical arm, vision system, controller, drive electricity
Machine；
The output end of the temperature sensor and the input terminal of controller connect, and the output end and drive module of controller are defeated
Enter end connection, the output end of drive module is connect by driving motor with axle, and axle is connect with wheel, and refrigeration system is located at bottom
Seat top, wheel are set to pedestal both sides, and universal wheel is mounted on immediately below pedestal front, and mechanical arm is connect with pedestal, vision system
Be located above pedestal, manipulator is hinged with mechanical arm end, and one end of telescopic oil cylinder is connected with mechanical arm, telescopic oil cylinder it is another
End is connected with manipulator；The output end of ultrasonic sensor and the input terminal of controller connect, and tumbler is located at the top of pedestal,
Manipulator is connected with tumbler, and tumbler drives vision system rotation；Power module and refrigeration system, are stretched tumbler
The electrical connections such as contracting oil cylinder, drive module, ultrasonic sensor, vision system, controller.
The refrigeration system is equipped with refrigeration compressor, condenser and refrigerator-freezer, and refrigeration compressor is connect with condenser and refrigerator-freezer.
Video camera can be used in the vision system.
Accumulator, lithium battery, linear power supply or Switching Power Supply can be used in the power module.
The present invention is realized by temperature sensor and controller to the fresh-keeping of article, when the temperature of temperature sensor detection is low
When setting value, starting the refrigeration compressor of refrigeration system makes refrigerator-freezer cool down, and realizes fresh-keeping function.
The present invention is by designing Path Recognition, article identification and goods in the vision system solution transfer robot course of work
The problems such as frame number identifies.
In the present invention, by ultrasonic sensor and controller realization barrier is evaded, make transfer robot and
When avoidance.
The beneficial effects of the present invention are：
1, solve the problems, such as that article is fresh-keeping in transportational process；
Human body adapts to low temperature environment problem when 2, solving artificial carrying or frequently disengaging is led under low temperature and normal temperature environment
The problems such as causing human body to be difficult to adapt to；
3, it solves the when of manually transporting goods from shelf by designing telescopic oil cylinder to ask there may be human height is inadequate
Topic.
4, Path Recognition, article identification and the shelf in the transfer robot course of work are solved by design vision system
Number identification the problems such as.
5, transfer robot is made to realize timely avoidance problem by ultrasonic sensor.
Description of the drawings
Fig. 1 is the structural schematic diagram of the embodiment of the present invention.
Fig. 2 is the positive structure diagram according to a kind of optional Intelligent transfer robot of the embodiment of the present invention.
Specific implementation mode
Below in conjunction with the accompanying drawings 1 and 2 and specific embodiment the invention will be further described.
The embodiment of the present invention is equipped with temperature sensor 1, refrigeration system 2, pedestal 3, wheel 4, power module 5, pedestal 6, ten thousand
To wheel 7, tumbler 8, telescopic oil cylinder 9, drive module 10, axle 11, ultrasonic sensor 12, manipulator 13, mechanical arm 14,
Vision system 15, controller 16, driving motor 101.
The output end of the temperature sensor 1 is connect with the input terminal of controller 16, the output end of controller 16 and driving
10 input terminal of module connects, and the output end of drive module 10 is connect by driving motor 101 with axle 11, axle 11 and wheel 4
Connection, refrigeration system 2 are located at 3 top of pedestal, and wheel 4 is set to 3 both sides of pedestal, and universal wheel 7 is mounted on immediately below 3 front of pedestal,
Mechanical arm 14 is connect with pedestal 6, and vision system 15 is located at 6 top of pedestal, and manipulator 13 is hinged with 14 end of mechanical arm, and stretch oil
One end of cylinder 9 is connected with mechanical arm 14, and the other end of telescopic oil cylinder 9 is connected with manipulator 13；The output of ultrasonic sensor 12
End is connect with the input terminal of controller 16, and tumbler 8 is located at 6 top of pedestal, and manipulator 13 is connected with tumbler 8, rotates
Device 8 drives vision system 15 to rotate；Power module 5 and refrigeration system 2, tumbler 8, telescopic oil cylinder 9, drive module 10,
The electrical connections such as ultrasonic sensor 12, vision system 15, controller 16.
The refrigeration system 2 is equipped with refrigeration compressor, condenser and refrigerator-freezer, and refrigeration compressor connects with condenser and refrigerator-freezer
It connects.
Accumulator, lithium battery, linear power supply or Switching Power Supply can be used in the power module 5.
The present invention is realized by temperature sensor 1 and controller 16 to the fresh-keeping of article, when the temperature that temperature sensor 1 detects
When degree is less than setting value, starting the refrigeration compressor of refrigeration system 2 makes refrigerator-freezer cool down, and realizes fresh-keeping function.
The vision system 15 can be video camera.The vision system 15 is connected with tumbler 8, and tumbler 8 can
With rotation, and then vision system 15 is driven to rotate, obtains different location informations.
Barrier is evaded by ultrasonic sensor 12 and the realization of controller 16, utilizes ultrasonic wave high directivity, energy
Amount is easy to the features such as concentrating, and makes the timely avoiding obstacles of Intelligent transfer robot, realizes barrier avoiding function.
The present invention realizes fresh-keeping problem of the article in transportational process；Human body is difficult to adapt to low when solving artificial carrying
Warm environment, the problems such as human height is inadequate；Solves the Path Recognition in the transfer robot course of work, article identifies and timely
The problems such as avoidance, entire handling process are completed by transfer robot, realize carrying automation and intelligence.
Claims (4)
1. the fresh-keeping transfer robot of intelligence, it is characterised in that be equipped with temperature sensor, refrigeration system, pedestal, wheel, power supply mould
Block, universal wheel, tumbler, telescopic oil cylinder, drive module, axle, ultrasonic sensor, manipulator, mechanical arm, regards pedestal
Feel system, controller, driving motor；
The output end of the temperature sensor and the input terminal of controller connect, output end and the drive module input terminal of controller
Connection, the output end of drive module are connect by driving motor with axle, and axle is connect with wheel, and refrigeration system is located on pedestal
Side, wheel are set to pedestal both sides, and universal wheel is mounted on immediately below pedestal front, and mechanical arm is connect with pedestal, and vision system is located at
Above pedestal, manipulator is hinged with mechanical arm end, and one end of telescopic oil cylinder is connected with mechanical arm, the other end of telescopic oil cylinder and
Manipulator is connected；The output end of ultrasonic sensor and the input terminal of controller connect, and tumbler is located at the top of pedestal, machinery
Hand is connected with tumbler, and tumbler drives vision system rotation；Power module and refrigeration system, tumbler, flexible oil
Cylinder, drive module, ultrasonic sensor, vision system, controller electrical connection.
2. the fresh-keeping transfer robot of intelligence as described in claim 1, it is characterised in that the refrigeration system be equipped with refrigeration compressor,
Condenser and refrigerator-freezer, refrigeration compressor are connect with condenser and refrigerator-freezer.
3. the fresh-keeping transfer robot of intelligence as described in claim 1, it is characterised in that the vision system uses video camera.
4. the fresh-keeping transfer robot of intelligence as described in claim 1, it is characterised in that the power module is using accumulator, lithium electricity
Pond, linear power supply or Switching Power Supply.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610040386.8A CN105479434B (en) | 2016-01-21 | 2016-01-21 | The fresh-keeping transfer robot of intelligence |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610040386.8A CN105479434B (en) | 2016-01-21 | 2016-01-21 | The fresh-keeping transfer robot of intelligence |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105479434A CN105479434A (en) | 2016-04-13 |
| CN105479434B true CN105479434B (en) | 2018-07-27 |
Family
ID=55666886
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610040386.8A Expired - Fee Related CN105479434B (en) | 2016-01-21 | 2016-01-21 | The fresh-keeping transfer robot of intelligence |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105479434B (en) |
Families Citing this family (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105729457A (en) * | 2016-05-04 | 2016-07-06 | 成都贝森伟任科技有限责任公司 | Part capturing terminal |
| CN106113047A (en) * | 2016-08-12 | 2016-11-16 | 无锡百禾工业机器人有限公司 | One workshop goods carrying robot |
| CN107297757A (en) * | 2017-08-27 | 2017-10-27 | 刘哲 | A kind of mobile robot |
| CN108285042A (en) * | 2017-12-19 | 2018-07-17 | 昆明理工大学 | A kind of express delivery transfer robot based on machine vision |
| CN109571449A (en) * | 2019-01-08 | 2019-04-05 | 上海应用技术大学 | Transfer robot with protection with obstacle avoidance ability |
| CN110239869A (en) * | 2019-07-08 | 2019-09-17 | 桂林电子科技大学 | A kind of mobile both arms handling device and its application method based on binocular vision |
| CN111994186A (en) * | 2020-08-25 | 2020-11-27 | 上海海事大学 | Full-automatic express delivery is put in travelling bogie system for equipment |
| WO2022136572A2 (en) * | 2020-12-24 | 2022-06-30 | Robotise Ag | Service robot |
| CN113954986A (en) * | 2021-11-09 | 2022-01-21 | 昆明理工大学 | Tobacco leaf auxiliary material conveying trolley based on vision |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR100655011B1 (en) * | 2004-07-20 | 2006-12-06 | 엘지전자 주식회사 | Robot refrigerator and control method thereof |
| CN201101421Y (en) * | 2007-11-22 | 2008-08-20 | 协力国际贸易服务集团有限公司 | Miniature service robot |
| CN201350863Y (en) * | 2009-02-20 | 2009-11-25 | 叶军 | Ecological protection intelligent movable fast-food car |
| CN102640969A (en) * | 2012-03-31 | 2012-08-22 | 唐聪明 | Improved fresh keeping device for aquatic products |
| CN103465263B (en) * | 2013-09-16 | 2015-10-28 | 江苏尚诚精密模具科技有限公司 | A kind of Intelligent transfer robot |
| CN205466151U (en) * | 2016-01-21 | 2016-08-17 | 厦门大学 | Fresh -keeping transfer robot of intelligence |
-
2016
- 2016-01-21 CN CN201610040386.8A patent/CN105479434B/en not_active Expired - Fee Related
Also Published As
| Publication number | Publication date |
|---|---|
| CN105479434A (en) | 2016-04-13 |
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| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180727 Termination date: 20200121 |