CN105965470A - Mobile carrying robot used for animal carcass treatment - Google Patents
Mobile carrying robot used for animal carcass treatment Download PDFInfo
- Publication number
- CN105965470A CN105965470A CN201610522887.XA CN201610522887A CN105965470A CN 105965470 A CN105965470 A CN 105965470A CN 201610522887 A CN201610522887 A CN 201610522887A CN 105965470 A CN105965470 A CN 105965470A
- Authority
- CN
- China
- Prior art keywords
- spoil
- module
- transfer robot
- robot body
- fixed
- 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.)
- Pending
Links
- 239000010868 animal carcass Substances 0.000 title abstract 4
- 229910003460 diamond Inorganic materials 0.000 claims description 11
- 239000010432 diamond Substances 0.000 claims description 11
- 230000001360 synchronised effect Effects 0.000 claims description 10
- 238000004891 communication Methods 0.000 claims description 9
- 230000003028 elevating effect Effects 0.000 claims description 8
- 230000005611 electricity Effects 0.000 claims description 3
- 239000000203 mixture Substances 0.000 claims description 3
- 241000700605 Viruses Species 0.000 abstract description 4
- 239000011159 matrix material Substances 0.000 abstract 2
- 241000894006 Bacteria Species 0.000 abstract 1
- 230000032258 transport Effects 0.000 description 4
- 241001465754 Metazoa Species 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 230000000844 anti-bacterial effect Effects 0.000 description 2
- 208000035143 Bacterial infection Diseases 0.000 description 1
- 208000022362 bacterial infectious disease Diseases 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B09—DISPOSAL OF SOLID WASTE; RECLAMATION OF CONTAMINATED SOIL
- B09B—DISPOSAL OF SOLID WASTE NOT OTHERWISE PROVIDED FOR
- B09B5/00—Operations not covered by a single other subclass or by a single other group in this subclass
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- 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
-
- 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
-
- 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
- B25J19/021—Optical sensing devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/08—Programme-controlled manipulators characterised by modular constructions
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Environmental & Geological Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a mobile carrying robot used for animal carcass treatment. The robot comprises a driving module, a guide module, a robot body, a mobile loading unit, a master controller, a station recognition module and a power module. The mobile loading unit comprises a fork and an automatic lifting mechanism, the automatic lifting mechanism is fixed to the robot body, the fork is fixedly mounted on the top of the automatic lifting mechanism, and the guide module comprises a magnetic matrix navigation sensor arranged on the robot body; the station recognition module comprises a radio card reader fixed to the robot body, and the magnetic matrix navigation sensor and the radio card reader are electrically connected with the master controller; and the master controller controls the running condition of other units, the power module supplies power to all modules, animal carcasses are grabbed through the mobile loading unit, direct contact between people and the animal carcasses can be avoided, the probability that people are infected with bacteria and viruses is reduced, meanwhile, automatic work is achieved, manual cost is saved, and work efficiency is improved.
Description
Technical field
The present invention relates to a kind of mobile transfer robot, especially relate to a kind of shifting processed for spoil
Dynamic transfer robot, belongs to Intelligent logistics transport, spoil process field.
Background technology
Traditional spoil deposits, transport and processing procedure generally requires people and participates in, due to animal dead
After a period of time, corpse would generally carry a large amount of antibacterial and virus, once contacts with people, it may be possible to people infects
Upper antibacterial and virus, so, this move transfer robot in order to avoid in spoil transportation people with dynamic
The secondary contact of thing corpse；This moves transfer robot compared with existing logistics trolley, and compact conformation can
To realize the transport in small space.
Summary of the invention
It is an object of the invention to provide a kind of mobile transfer robot processed for spoil, it is to avoid animal
During corpse transports, people contacts with the secondary of spoil.
For reaching above-mentioned purpose, the technical solution used in the present invention is:
A kind of mobile transfer robot processed for spoil, including driving module, oriented module, machine
Device human body, transfer unit, master controller, station recognition module, power module, described transfer unit
Including pallet fork, automatic hoisting mechanism, automatic hoisting mechanism is fixed on robot body, at escalator
Structure top fixed installation pallet fork；Oriented module includes the magnetic navigation sensor being arranged on robot body, stands
Point identification module includes the radio-frequency card reader being fixed on robot body, magnetic navigation sensor and radio frequency Card Reader
Device electrically connects with master controller respectively.The ruuning situation of other each unit of main controller controls, power module is given
Each module is powered, and transfer unit is used for capturing spoil, and magnetic navigation sensor identification ground is laid in advance
Magnetic conductance course line and recognition result is fed back master controller, radio-frequency card reader read be preset in ground radio frequency know
And recognition result Ka not feed back to master controller, master controller controls to drive module according to the information received
Run, it is achieved the movement of transfer robot and work.By transfer unit picks spoil, can avoid
People directly contacts with spoil, reduces the probability of people's bacterial infection and virus, is simultaneously achieved automatic chemical industry
Make, saved human cost, improve work efficiency.
As a kind of preferred version of the mobile transfer robot processed for spoil of the present invention,
Described pallet fork is U-shaped fork, including the lower plunger being sequentially connected with, rear pin and upper plunger, lower plunger, after
Pin and the U-shaped structure of upper plunger connect, and U-shape structure open horizontal is arranged, and U-shape structure is by animal corpse
Body has plugged in loading, upper pin and rear pin can play good fixation to spoil, prevent due to
Spoil is not in the center of lower plunger and drops.
As a kind of preferred version of the mobile transfer robot processed for spoil of the present invention,
Described automatic hoisting mechanism includes that elevating mechanism mounting seat, elevating mechanism support platform, lifting linking member, screw mandrel,
Lifting linking member is made up of four support bars, and four support bars are formed diamond structure, screw mandrel level by rotating shaft connection
It is connected on diamond structure, is adjusted the height of diamond structure by regulation screw mandrel length between diamond structure
Degree.Realized the altitude mixture control of automatic hoisting mechanism by diamond structure, structural stability is high, and bearing capacity is strong.
Further, screw mandrel connects with lead screw motor, drives screw mandrel to rotate by the forward and reverse of lead screw motor,
And then the height adjustment of regulation automatic hoisting mechanism.
As a kind of preferred version of the mobile transfer robot processed for spoil of the present invention,
Also including the pivoting support being fixed on robot body, described automatic hoisting mechanism is fixed on pivoting support
On, realize automatic hoisting mechanism and the rotation in the horizontal direction of upper Each part thereof by pivoting support, make
It is more flexible that this moves transfer robot work.
As a kind of preferred version of the mobile transfer robot processed for spoil of the present invention,
Be additionally provided with fixed dam on described slew gear, fixed dam be vertically arranged and can vertically on move down
Dynamic, during fixed dam collapsed state, its upper edge is less than pallet fork lower edge, when the state of use, and fixed dam
Move up, the spoil on pallet fork is formed and surrounds.
As a kind of preferred version of the mobile transfer robot processed for spoil of the present invention,
Described fixed dam is connected with synchronous pulley, and synchronous pulley and a motor connect, by the rotating forward of motor with
Reversion drives the forward and reverse of synchronous pulley, and then drives fixed dam to move up and down.
As a kind of preferred version of the mobile transfer robot processed for spoil of the present invention,
Described driving module includes driving motor, brake system, differential system, driving wheel to form, driving motor,
Brake system, differential system and master controller electrical connection, entered driving wheel by differential system and brake system
Row accurately adjusts, it is achieved independently positions and runs.
As a kind of preferred version of the mobile transfer robot processed for spoil of the present invention,
Also including wireless communication module, master controller is by wireless communication module and host computer communication.
As a kind of preferred version of the mobile transfer robot processed for spoil of the present invention,
Also including IR evading obstacle sensors, IR evading obstacle sensors is fixed on robot body, and and master controller
Electrical connection, it is to avoid robot body with other people or generating function fault time equipment collides.
Accompanying drawing explanation
Fig. 1 is that the present invention moves transfer robot schematic perspective view.
Fig. 2 is the front view that the present invention moves transfer robot；
Fig. 3 is the structural representation of automatic hoisting mechanism of the present invention.
Wherein:
1, magnetic navigation sensor 2, drive module 3, robot body 4, display and
Guidance panel 5, automatic hoisting mechanism 51, elevating mechanism mounting seat 52, elevating mechanism support
Platform 53, lifting linking member 54, nut 55, screw mandrel 6, U-shaped fork 7, power module
8, fixed dam 9, synchronous pulley 10, wireless communication module 11, IR evading obstacle sensors
12, pivoting support 13, turning motor 14, radio-frequency card reader 15, master controller
Detailed description of the invention
With detailed description of the invention, the present invention is described in further detail below in conjunction with the accompanying drawings.
Embodiment 1
As Figure 1-3, a kind of for spoil process mobile transfer robot, including drive module,
Oriented module, robot body, transfer unit, master controller, station recognition module, power module.
Being fixedly installed pivoting support 12 on robot body, automatic hoisting mechanism 5 is fixed on pivoting support
On 12, pivoting support 12 is connected with turning motor 13, realizes automatic hoisting mechanism by pivoting support 12
5 and the rotation in the horizontal direction of upper Each part, make this move transfer robot work more flexible.
Transfer unit includes pallet fork, automatic hoisting mechanism 5, and automatic hoisting mechanism 5 includes that elevating mechanism is installed
Seat 51, elevating mechanism support platform 52, lifting linking member 53, nut 54, screw mandrel 55, lifting linking member 53 by
Four support bar compositions, four support bars are formed diamond structure by rotating shaft connection, and screw mandrel 55 is connected horizontally on
On diamond structure, its one end is connected with the nut thread being fixed on diamond structure, its other end and screw mandrel electricity
Machine connects, and drives screw mandrel to rotate by the forward and reverse of lead screw motor, and then regulation automatic hoisting mechanism
Height adjustment.
Pallet fork is U-shaped fork 6, including the lower plunger being sequentially connected with, rear pin and upper plunger, lower plunger, after
Pin and the U-shaped structure of upper plunger connect, and U-shape structure open horizontal is arranged.
Being additionally provided with fixed dam 8 on slew gear 12, fixed dam 8 is vertically arranged and can be vertically
Moving up and down, fixed dam 8 is connected with synchronous pulley 9, and synchronous pulley 9 is connected with a motor, by electricity
The forward and reverse of machine drive the forward and reverse of synchronous pulley, and then drive fixed dam 8 to move up and down.
During fixed dam collapsed state, its upper edge is less than pallet fork lower edge, and when the state of use, fixed dam is upwards
Mobile, the spoil on pallet fork is formed and surrounds, prevent spoil from tilting to drop during transporting.
Module 2 is driven to include driving motor, brake system, differential system, driving wheel to form, driving motor,
Brake system, differential system and master controller electrical connection, entered driving wheel by differential system and brake system
Row accurately adjusts, it is achieved independently positions and runs.
Robot body 3 is additionally provided with magnetic navigation sensor 1, wireless communication module 10, infrared obstacle avoidance biography
Sensor 11, radio-frequency card reader 14, be equipped with magnetic navigation line and radio-frequency identification card the most in advance, pass through magnetic
The magnetic conductance course line on navigation sensor identification ground is also run before magnetic navigation alignment, when running to turning position or
Other site locations of person, radio-frequency card reader 14 identifies, reads the information of radio-frequency identification card, and identification tied
Fruit feedback master controller 15, master controller 15 controls to drive the operation of module according to the information received, it is achieved
The movement of transfer robot and work, master controller is connected by wireless communication module 10 with host computer, it is achieved
The transmission of information.
Robot body 3 is additionally provided with IR evading obstacle sensors 11, IR evading obstacle sensors 11 and master control
Device processed electrically connects, it is to avoid robot body with other people or generating function fault time equipment collides.
Display and guidance panel 4 are used for showing robot information and debugging for robot；Use self-charging electric source mould
Block 7 is powered for each operational module of robot.
The present invention mainly can realize all-around mobile on the premise of not changing robot body, so helps
Movement in small space to be realized.
Although in description being illustrated embodiments of the present invention, but these embodiments are intended only as
Prompting, should not limit protection scope of the present invention.Carry out various province without departing from the spirit and scope of the present invention
Slightly, replace and change should be included in protection scope of the present invention.
Claims (9)
1. the mobile transfer robot processed for spoil, it is characterised in that: include driving module, leading
To module, robot body, transfer unit, master controller, station recognition module, power module, institute
The transfer unit stated includes pallet fork, automatic hoisting mechanism, and automatic hoisting mechanism is fixed on robot body,
Pallet fork is fixedly mounted at automatic hoisting mechanism top；Oriented module includes the magnetic being arranged on robot body
Navigation sensor, station recognition module includes the radio-frequency card reader being fixed on robot body, magnetic navigation
Sensor and radio-frequency card reader electrically connect with master controller respectively.
The mobile transfer robot processed for spoil the most according to claim 1, it is characterised in that:
Described pallet fork is U-shaped fork, including the lower plunger being sequentially connected with, rear pin and upper plunger, lower plunger,
Rear pin and the U-shaped structure of upper plunger connect, and U-shape structure open horizontal is arranged.
The mobile transfer robot processed for spoil the most according to claim 1 and 2, its feature exists
In: described automatic hoisting mechanism include elevating mechanism mounting seat, elevating mechanism support platform, lifting linking member,
Screw mandrel, lifting linking member is made up of four support bars, and four support bars are formed diamond structure by rotating shaft connection,
Screw mandrel is connected horizontally on diamond structure, adjusts rhombus by regulation screw mandrel length between diamond structure
The height of structure.
The mobile transfer robot processed for spoil the most according to claim 3, it is characterised in that:
Also including the pivoting support being fixed on robot body, described automatic hoisting mechanism is fixed on revolution
Hold.
The mobile transfer robot processed for spoil the most according to claim 4, it is characterised in that:
Being additionally provided with fixed dam on described slew gear, fixed dam is vertically arranged and can be the most upper and lower
Mobile, during fixed dam collapsed state, its upper edge is less than pallet fork lower edge, when the state of use, fixing
Baffle plate moves up, and forms the spoil on pallet fork and surrounds.
The mobile transfer robot processed for spoil the most according to claim 5, it is characterised in that:
Described fixed dam is connected with synchronous pulley, and synchronous pulley and a motor connect, by the rotating forward of motor
With reversion drive synchronous pulley forward and reverse, and then drive fixed dam move up and down.
The mobile transfer robot processed for spoil the most according to claim 1, it is characterised in that:
Described driving module includes driving motor, brake system, differential system, driving wheel composition, drives electricity
Machine, brake system, differential system and master controller electrical connection.
The mobile transfer robot processed for spoil the most according to claim 7, it is characterised in that:
Also including wireless communication module, master controller is by wireless communication module and host computer communication.
The mobile transfer robot processed for spoil the most according to claim 8, it is characterised in that:
Also including IR evading obstacle sensors, IR evading obstacle sensors is fixed on robot body, and and main control
Device electrically connects.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610522887.XA CN105965470A (en) | 2016-07-04 | 2016-07-04 | Mobile carrying robot used for animal carcass treatment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610522887.XA CN105965470A (en) | 2016-07-04 | 2016-07-04 | Mobile carrying robot used for animal carcass treatment |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105965470A true CN105965470A (en) | 2016-09-28 |
Family
ID=56955018
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610522887.XA Pending CN105965470A (en) | 2016-07-04 | 2016-07-04 | Mobile carrying robot used for animal carcass treatment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105965470A (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108115697A (en) * | 2016-11-28 | 2018-06-05 | 深圳市阿童木文化传播有限公司 | The control method of service robot and service robot |
| CN108403370A (en) * | 2018-04-11 | 2018-08-17 | 广东铱鸣智能医疗科技有限公司 | A kind of novel intelligent nursing robot |
| CN108860337A (en) * | 2018-06-03 | 2018-11-23 | 泉州摩科索达科技有限公司 | A kind of shopping cart recycling machine people |
| CN108942877A (en) * | 2018-10-08 | 2018-12-07 | 珠海格力智能装备有限公司 | Movable pedestal locking device, locking means and industrial robot |
| CN109599024A (en) * | 2019-01-29 | 2019-04-09 | 山东栋梁科技设备有限公司 | A kind of Table top type mobile robot |
| CN111347955A (en) * | 2018-12-20 | 2020-06-30 | 非凡智能机器人有限公司 | Intelligent remains cremation receiving and transporting robot |
| CN112455318A (en) * | 2019-09-09 | 2021-03-09 | 牧原食品股份有限公司 | Pig clamping device |
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| CN205928613U (en) * | 2016-07-04 | 2017-02-08 | 杭州国辰机器人科技有限公司 | A remove transfer robot for animal corpse treatment |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108115697A (en) * | 2016-11-28 | 2018-06-05 | 深圳市阿童木文化传播有限公司 | The control method of service robot and service robot |
| CN108403370A (en) * | 2018-04-11 | 2018-08-17 | 广东铱鸣智能医疗科技有限公司 | A kind of novel intelligent nursing robot |
| CN108860337A (en) * | 2018-06-03 | 2018-11-23 | 泉州摩科索达科技有限公司 | A kind of shopping cart recycling machine people |
| CN108942877A (en) * | 2018-10-08 | 2018-12-07 | 珠海格力智能装备有限公司 | Movable pedestal locking device, locking means and industrial robot |
| CN111347955A (en) * | 2018-12-20 | 2020-06-30 | 非凡智能机器人有限公司 | Intelligent remains cremation receiving and transporting robot |
| CN109599024A (en) * | 2019-01-29 | 2019-04-09 | 山东栋梁科技设备有限公司 | A kind of Table top type mobile robot |
| CN112455318A (en) * | 2019-09-09 | 2021-03-09 | 牧原食品股份有限公司 | Pig clamping device |
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