Summary of the invention
The purpose of the present invention is contemplated to solve above-mentioned problems of the prior art, it is provided that a kind of intelligent three axles
Robot, its simple in construction, easy to use, take up room little, access efficiency is high, can be accurately positioned, one
To an automatic conveying goods, translational speed is high, and access efficiency is high, and can be managed goods and identify, and
Organic docking is realized with miscellaneous equipment.
For realizing the above-mentioned purpose of the present invention, the intelligent three-axis robot of the present invention includes: the fortune that can freely walk
Dynamic model block, walks automatically according to external command, has for moving to goods yard according to external command to access goods
The fork mechanism of the goods in Wei；The goods of access needed for reading and writing fork mechanism being arranged in motion module
The RFID read-write module of unique code；Be arranged in motion module for the movement of motion module is drawn
The guiding locating module led and position；Wherein, motion module runs under the guiding guiding locating module automatically
Behind appointed place, fork mechanism read according to described RFID read-write module its needed for access goods only
One yard moves to goods yard, goods place, in order to goods is carried out accessing operation.
Further, also include: by described motion module, RFID read-write module, guiding locating module and outer
The communication module that the information centre in portion connects, in order to the instruction coming from information centre is sent to described motion mould
Block, RFID read-write module and guiding locating module.
Further, also include: be arranged in described motion module and connected for providing the energy for it
Supply module；The automatic charging module being arranged in described motion module and be connected with supply module.
Wherein, described motion module includes: can the translation mechanism of walking in a horizontal state；Side by side arrangement is in translation mechanism two
A pair folding liftable mechanism of the vertically stretching motion of side；Wherein, described fork mechanism and a pair folding
Elevating mechanism connects respectively, and can relative translation mechanism move along three-dimensional to access goods.
Wherein, described folding liftable mechanism includes: be fixedly installed in the framework of the walked frame side of translation mechanism；
There is the first elevating mechanism of the first slide block being slidably connected with framework；Solid with the second slide block of the first elevating mechanism
The fixed fixed arm connected；There is the second elevating mechanism of the 3rd slide block being slidably connected with fixed arm；Wherein, institute
State that the Four-slider of fork mechanism and described second elevating mechanism is fixing to be connected.
Wherein, described first elevating mechanism includes: the first carriage；It is parallelly mounted to up and down on the first carriage
A pair first gears；The first Timing Belt being connected is engaged respectively with a pair first gears；It is installed on the first support
The first motor that arch and a pair first gears of driving rotate；Wherein, described first slide block is fixedly installed in institute
Stating in the part of close described framework side of the first Timing Belt, described second slide block is fixedly installed in described first
In the part of the close described fixed arm side of Timing Belt.
Wherein, the framework that the part in the face of described first elevating mechanism of described framework is arranged along its height extension is led
Rail, described first slide block moves up and down along framework guide rail；The lower end of described second slide block and described fixed arm is fixed
Wherein, described second elevating mechanism includes: the second carriage；It is parallelly mounted to up and down on the second carriage
A pair second gears；The second Timing Belt being connected is engaged respectively with a pair second gears；It is installed on the first support
The second motor that arch and a pair second gears of driving rotate；Wherein, described 3rd slide block is fixedly installed in institute
Stating in the part of close described fixed arm side of the second Timing Belt, described Four-slider is fixedly installed in described same
In the part of the close described fork mechanism side of step band.
Wherein, described fixed arm arranges the fixed arm guide rail extended along its short transverse, described 3rd slide block edge
Fixed arm guide rail moves up and down；Described fork mechanism is fixing with described Four-slider to be connected.
Wherein, described fork mechanism includes: its two ends are connected respectively with the pair of folding liftable mechanism respectively
Horizontal stand；It is placed on horizontal stand and the transport platform of transverse shifting along horizontal stand；It is arranged on transport platform
And there is the transporting structure along the goods shelf vertically moved transporting platform；Wherein, described goods shelf is along longitudinally moving
Dynamic to be directed at goods yard and the goods on goods yard being carried out accessing operation.
Compared with prior art, the intelligent three-axis robot of the present invention has the advantage that
1) the intelligent three-axis robot of the present invention, simple in construction, has the fork mechanism for accessing goods,
And fork mechanism is by a pair folding liftable mechanism supports of vertically stretching motion, thus take up room
Little, it is simple to storage, and by the unique code of goods goods can be carried out man-to-man accurately, access efficiently
Operation, it is achieved the fine-grained management of goods；
2) the intelligent three-axis robot of the present invention, motion module can be automatic according to the guiding guiding locating module
Running to appointed place, then fork mechanism moves to goods place goods according to the unique code of goods along three-dimensional
At Wei, and goods is carried out accessing operation, thus registration, the management to goods and identification can be participated in,
Intelligence degree is high, transports efficiency high；
3) the intelligent three-axis robot of the present invention, its folding liftable mechanism uses Timing Belt transmission, it is possible to achieve
Synchronize double elevating movement, thus travelling speed is high, efficiency high, and use Timing Belt transmission, transmit steadily,
Accurately, make goods access more efficient and rational；
4) fork mechanism of the present invention, its actuating device uses double-rack-and-pinion drive so that actuating device
During motor work, can make goods shelf respect thereto along longitudinally producing the movement of double distance, transmission more steadily,
Reliably, goods can be accurately positioned by the alignment pin used.
The present invention is described in detail below in conjunction with the accompanying drawings.
Detailed description of the invention
As shown in Figure 1, Figure 2 and Figure 3, the structural representation of the respectively intelligent three-axis robot of the present invention.
Wherein, the intelligent three-axis robot of the present invention includes: the motion module that can freely walk, and refers to according to outside
Order automatically walking, has for moving according to external command to goods yard so that the pallet fork machine of the goods accessed in goods yard
Structure 15；The unique code of the goods for reading and writing the required access of fork mechanism 15 being arranged in motion module
RFID read-write module, it is preferred that RFID read-write module is arranged on fork mechanism；It is arranged in motion module
For the guiding locating module that the movement of motion module is guided and positions；Wherein, motion module is being led
Drawing after automatically running to appointed place under the guiding of locating module, fork mechanism 15 is according to RFID read-write module
The unique code of the goods of its required access read moves to goods yard, goods place, in order to access goods
Operation.Preferably, guide locating module and can use las er-guidance positioner, it is also possible to use magnetic stripe to guide
Positioner, can use the structure of prior art owing to las er-guidance and magnetic stripe guide the device of location, therefore,
Its structure is not described at this, it is preferred that the present embodiment selects las er-guidance positioner.
Additionally, also include: by motion module, RFID read-write module, guiding locating module and the information of outside
The communication module that center (for external software platform) connects, in order to the instruction coming from information centre is sent to
Motion module, RFID read-write module and guiding locating module, it is preferred that this communication module uses wireless telecommunications
Mode；And be arranged in motion module and connected for providing the supply module of the energy, this confession for it
Electricity module uses accumulator 2；The automatic charging module being arranged in motion module and be connected with supply module.
Concrete, in the intelligent three-axis robot of the present invention, obtain from information centre in the way of wireless telecommunications
Close the related data in goods yard, operation goods place to be accessed, by extensive computation, goods yard is resolved to three-dimensional empty
Three-dimensional coordinate between, motion module, under the guiding of las er-guidance positioner, accurately arrives along instruction path
Appointed place.When motion module moves, it is that stable movement is quick, moves horizontally speed in the way of steering wheel driving
Degree is at least at 60 meters per minute.When motion module moves to specify position, its fork mechanism 15 is on goods yard
Goods carry out accessing operation.
Concrete, as shown in Figure 2 and Figure 3, the motion module of the present invention includes: can the translation machine of walking in a horizontal state
Structure, has walked frame 1 and is installed on the multiple road wheels below walked frame；Side by side arrangement is in translation mechanism
Walked frame 1 both sides and can a pair folding liftable mechanism of vertically stretching motion；Wherein, pallet fork
Mechanism 15 is connected respectively with a pair folding liftable mechanism, and can the walked frame of relative translation mechanism along three-dimensional side
To motion so that the goods accessed on corresponding goods yard.Additionally, also include the power packages for driving road wheel to walk
Part, Power Component can use motor-driven mode, owing to motor drives the mode of road wheel walking to be existing skill
Art, here, be not described this modular construction.
Wherein, the folding liftable mechanism of the present invention includes: be fixedly installed in walked frame 1 side of translation mechanism
Framework 2；There is the first elevating mechanism of the first slide block 5 being slidably connected with framework 2；With the first elevator
The second fixing fixed arm 9 connected of slide block 7 of structure；There is the 3rd slide block 10 being slidably connected with fixed arm 9
The second elevating mechanism；Wherein, fork mechanism 15 is fixing with the Four-slider 13 of the second elevating mechanism is connected.
Wherein, as shown in Figure 4, first elevating mechanism of the present invention includes: the first carriage 4；The most parallel
A pair first gears being installed on the first carriage 4；First be connected is engaged respectively together with a pair first gears
Step band 6；It is installed on the first carriage 4 top and drives the first motor 8 of a pair first gear rotations；Wherein,
First slide block 5 is fixedly installed in the part of close framework 3 side of the first Timing Belt 6, the second slide block 7
It is fixedly installed in the part of close fixed arm 9 side of the first Timing Belt 6.
Wherein, the leading in the face of the part of the first elevating mechanism is provided with the framework extended along its short transverse of framework 3
Rail, the first slide block 5 moves up and down along framework guide rail；Second slide block 7 is fixing with the lower end of fixed arm 9 to be connected.
When the first elevating mechanism is in original state, the first slide block 5 is positioned at the upper end of the first Timing Belt 6 side,
And the second slide block 7 is positioned at the lower end of the first Timing Belt 6 opposite side.When the first motor 8 works, drive a pair
When first gear rotates in the counterclockwise direction, first Timing Belt 6 is engaging a pair first gears of connection
Also corresponding sports under effect, during motion, drives the second slide block 7 to be vertically moved upwardly by, drives the first slide block 5
Vertically move down, i.e. make the first slide block 5 move down along the framework guide rail of setting in framework 3, and by
Slide with second in fixed arm 9 and 7 fixing be connected, therefore, fixed arm 9 under the drive of the second slide block 7 upward
Mobile, so that the second elevating mechanism being connected with fixed arm 9 is also moved upwardly by, and then make fork mechanism 15
It is moved upwardly by accordingly.
Wherein, as it is shown in figure 5, second elevating mechanism of the present invention includes: the second carriage 11；Put down up and down
A pair second gears that row is installed on the second carriage 11；Be connected is engaged respectively with a pair second gears
Two Timing Belts 12；It is installed on the first carriage 11 top and drives the second motor 14 of a pair second gear rotations；
Wherein, the 3rd slide block 10 is fixedly installed in the part of close fixed arm 9 side of the second Timing Belt 12, the
Four-slider 13 is fixedly installed in the part of close fork mechanism 15 side of the second Timing Belt 12.
Wherein, fixed arm 9 arranging the fixed arm guide rail extended along its short transverse, the 3rd slide block 10 is along solid
Arms guide rail moves up and down: fork mechanism 15 and Four-slider 13 are fixedly connected as one by dismountable mode
When the second elevating mechanism is in original state, the 3rd slide block 10 is positioned at the upper of the second Timing Belt 12 side
End, and Four-slider 13 is positioned at the lower end of the second Timing Belt 12 opposite side.When the second motor 14 works, drives
When dynamic a pair second gears rotate in the counterclockwise direction, the second Timing Belt 12 is engaging a pair of connection the
Also corresponding sports under the effect of two gears, during motion, drives Four-slider 13 to be vertically moved upwardly by, drives
Three slide blocks 10 vertically move down, i.e. make the 3rd slide block 10 along the fixed arm guide rail of setting on fixed arm 9
Moving down, and be connected owing to fork mechanism 15 is fixing with the 4th slip 13, therefore, fork mechanism 15 exists
It is moved upwardly by under the drive of the 4th slip 13.
Wherein, as it is shown in figure 5, the fork mechanism 15 of the present invention includes: its two ends respectively with a pair folding liter
Descending mechanism connect horizontal stand 1514, i.e. the two ends of horizontal stand 1514 respectively with a pair second elevating mechanisms
Four-slider 13 on second Timing Belt is connected to one by dismountable mode；It is placed in horizontal stand
The transport platform 1512 of the transverse shifting on 1514 and along horizontal stand；It is arranged on transport platform 1512 and has
Transporting structure 1507 along the goods shelf vertically moved transporting platform；Wherein, goods shelf move longitudinally with
Just it is directed at goods yard and the goods on goods yard is carried out accessing operation.
Wherein, the fork mechanism 15 of the present invention can use the three-dimensional that is capable of as shown in Figure 6 to move
The structure schematic diagram of fork mechanism 15 of the cover removing conveyer (Fig. 6 show) of fork mechanism.
Wherein, horizontal stand 16 under the effect of the second elevating mechanism vertically relative to walked frame 1 upwards
Or move down, in order to goods shelf 1506 is transported to the height at place, goods yard；And transport platform 1512 at horizontal stroke
Relative to walked frame 1 along the transverse shifting of horizontal stand 1514 under the driving of drive mechanism 1500, in order to by goods
Crotch 1506 is transported to the lateral position at the place, goods yard at above-mentioned height；Goods shelf 1506 is along the horizontal plane
Longitudinally reciprocal movement alignment are in the goods yard of above-mentioned lateral position, in order to the goods on goods yard is carried out by pallet fork
Accessing operation.And the packing box that goods shelf can be used on goods yard aligned with it matches, in order to packing box or packing box
The goods inside deposited carries out extract operation and by the goods handling in packing box or packing box at required goods yard, wherein,
This packing box can use the rotation packing box of prior art.
Concrete, as shown in Figure 6, the conveyer 1507 of the present invention, in addition to goods shelf, also includes:
It is installed on the base 1510 transported on platform 1512；Be placed between base 1510 and goods shelf 1506 and with
The actuating device that base 1510 is connected respectively with goods shelf 1506；Wherein, actuating device is used for driving goods shelf
1506 respect thereto 1510 are along longitudinally reciprocal movement.
Wherein, as in figure 2 it is shown, actuating device includes: motor 1503 and being installed on motor 1510 output shaft
Gear 1509；The first tooth bar 1508 being installed on goods shelf 1506；Be installed on base 1510
Two tooth bars 1511；Wherein, the first tooth bar 1508 parallel relative with the second tooth bar about 1511 and respectively with tooth
Wheel 1509 is simultaneously engaged connection.
Further, conveyer 1507 also includes: for guiding the motion of actuating device respect thereto 1510
First guider in direction with for guiding second leading of the direction of motion of the relative actuating device of goods shelf 1506
Wherein, the motor rack 1504 being secured to connect, and the first guider bag it are covered with outside motor 1503
Include the first guide rail 1513 being arranged on base 1510 and be arranged at bottom motor rack 1504 the first guide rail
Groove 1501；Second guider includes the second guide rail 1505 being arranged at bottom goods shelf 1506 and is arranged at
Second guide-track groove being used for being slidably matched with the second guide rail 1505 at motor rack 1504 top.Wherein, first lead
Rail 1513 is slidably matched with the first guide-track groove 1501, and the second guide rail 1505 is slidably matched with the second guide-track groove,
Further, the first guide rail 1513 and the second guide rail 1505 are respectively along above-mentioned longitudinal extension, the first tooth bar 1508
With the second tooth bar 1511 also along above-mentioned longitudinal extension.
Below in conjunction with Fig. 6, when describing transmission operation, the moving process of goods shelf.
When the motor is energized, output shaft is driven to rotate so that the gear being installed on output shaft also rotates with；
When gear rotates (as motor rotates forward) counterclockwise, due to gear and the engagement of the second tooth bar so that whole
Individual actuating device, goods shelf move longitudinally forward relative to base together, engage at gear and the second tooth bar and make
While with, gear and the first tooth bar also engage each other effect, and then goods shelf also travels forward relative to base,
When the most whole actuating device moves forward certain stroke on the second guide rail, goods shelf moves forward relative to base
Double stroke, thus improve transmission efficiency, save the time.And when motor turns clockwise (such as motor
Reversion) time, goods shelf is along above-mentioned rightabout rollback.
Wherein, goods shelf 1506 can be provided with the goods (or packing box) for transporting on which to carry out
Multiple alignment pins of location, goods or packing box are directly installed on goods shelf 1506；Or, at goods shelf 1506
On can also fixedly mount a LOAD CELLS (not shown), and be placed with on LOAD CELLS for
Goods putting thing or the fork plate of packing box temporarily, and the multiple location positioned for the goods that goods shelf is transported or packing box
Pin is placed in fork plate.Preferably, the goods shelf 1506 of the present invention uses hollow structure.
The fork mechanism of the present invention has simple in construction, take up room little advantage, and it can be to small size goods
Thing carries out man-to-man accurate transport, and its actuating device uses double-rack-and-pinion drive so that the electricity of actuating device
During machine work, goods shelf respect thereto edge can be made longitudinally to produce the movement of double distance, and stable drive, and
Goods can be accurately positioned again by the alignment pin used；Two elevating mechanisms all use toothed belt transmission, because of
This transmission is more steadily, reliably.
The intelligent three-axis robot of the present invention, the first elevating mechanism and the second elevating mechanism can rise simultaneously or
Decline, thus realize synchronizing double campaign-styled lifting, accurate flexibly fork mechanism liter can be down to goods institute
At the height in goods yard, and fork mechanism stretches out fork picking thing in the way of the motion of rack-and-pinion Double-stroke, from
And can rapidly and efficiently complete the accessing operation of goods.Additionally, the intelligent three-axis robot of the present invention is not performing
When the operation task of access material or translation mechanism are in walking states, two elevating mechanisms are in initial shape
State, thus volume is little, takes up room little, it is simple to deposit, the applicable intensive storage in goods yard, and in the process of walking,
Can walk in slype, when goods access site is higher, first, second elevating mechanism can be made same
Step rises, and can realize three dimensions accessing operation, and adaptability scope is wide, greatly reduces recruitment cost, alleviates
The labor intensity of operator.And after the intelligent three-axis robot of the present invention gets goods, goods can be shifted
To other accurate unmanned machine, it is achieved Dock With Precision Position.Read additionally, due to the robot of the present invention has RFID
Code function, therefore can realize unique code management, realize becoming more meticulous in handling of goods and materials goods, and robot is originally
Body carries software system, and its dispatching patcher is docked with whole factory automation system height, makes goods access more
Efficient and rational, if overload condition occurs in access goods, the robot of the present invention can be sent out the warning of protectiveness
Prompting, so that with more safe and reliable.
To sum up, the intelligent three-axis robot of the present invention, from information centre's (external software platform in the way of wireless telecommunications
Communication) obtain the related data in goods yard about operation goods place to be accessed shelf, by extensive computation,
Goods yard resolves to the three-dimensional coordinate on solid space, and motion module is under the guiding of guiding and positioning device, along referring to
Show to walk automatically in path and accurately arrive appointed place, and the goods read according to RFID read-write module is unique
Code, fork mechanism is elevated to the appointment position in goods yard, goods place by folding liftable mechanism, and pallet fork stretches out and is stored in
Or taking-up goods, perform next instruction after completing.The intelligent three-axis robot of the present invention, leading based on various
Draw technology (magnetic stripe, laser) realize the motion module of automatically walking and the most flexible folding liftable mechanism and
The fork mechanism of fork picking thing has been incorporated in together, by wireless communication mode and remote software platform communication, and
By its instruction instruction, can reach any goods yard (not limiting) of any shelf, it is achieved quickly goods is deposited
Take action, then by goods handling to any given position, it is possible to achieve three axle carrying Transport work of free routing
Can, it takes up room little, can walk at narrow, it is achieved the intensive storage of goods minimum unit, can left and right
Both sides access goods, access efficiency is high, automatic conveying goods one to one, and translational speed is high, and access efficiency is high,
And goods can be managed and identify, and realize organic docking with miscellaneous equipment.
Although the present invention has been described above with particularity, but the invention is not restricted to this, the technology people of the art
Member can modify according to the principle of the present invention, therefore, and the various amendments that all principles according to the present invention are carried out
All should be understood to fall into protection scope of the present invention.