CN108107889A - A kind of high efficiency logistics trolley for carrying sorting equipment - Google Patents
A kind of high efficiency logistics trolley for carrying sorting equipment Download PDFInfo
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- CN108107889A CN108107889A CN201711282372.8A CN201711282372A CN108107889A CN 108107889 A CN108107889 A CN 108107889A CN 201711282372 A CN201711282372 A CN 201711282372A CN 108107889 A CN108107889 A CN 108107889A
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- steering engine
- chassis
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- 230000007246 mechanism Effects 0.000 claims abstract description 16
- 238000005183 dynamical system Methods 0.000 claims abstract description 12
- NIXOWILDQLNWCW-UHFFFAOYSA-N acrylic acid group Chemical group C(C=C)(=O)O NIXOWILDQLNWCW-UHFFFAOYSA-N 0.000 claims description 31
- 230000000087 stabilizing effect Effects 0.000 claims description 22
- 239000000463 material Substances 0.000 claims description 14
- 229920000049 Carbon (fiber) Polymers 0.000 claims description 12
- 239000004917 carbon fiber Substances 0.000 claims description 12
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 claims description 12
- HBBGRARXTFLTSG-UHFFFAOYSA-N Lithium ion Chemical compound [Li+] HBBGRARXTFLTSG-UHFFFAOYSA-N 0.000 claims description 7
- 229910001416 lithium ion Inorganic materials 0.000 claims description 7
- 210000000078 claw Anatomy 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 5
- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 description 3
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 description 3
- 229910052799 carbon Inorganic materials 0.000 description 3
- 229910052802 copper Inorganic materials 0.000 description 3
- 239000010949 copper Substances 0.000 description 3
- 230000005611 electricity Effects 0.000 description 3
- 239000000835 fiber Substances 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 230000006978 adaptation Effects 0.000 description 2
- 230000008901 benefit Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 241000736199 Paeonia Species 0.000 description 1
- 235000006484 Paeonia officinalis Nutrition 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000007599 discharging Methods 0.000 description 1
- 230000002708 enhancing effect Effects 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012946 outsourcing Methods 0.000 description 1
- 239000002994 raw material Substances 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/02—Measures preceding sorting, e.g. arranging articles in a stream orientating
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- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Electromagnetism (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Handcart (AREA)
- Toys (AREA)
Abstract
A kind of high efficiency logistics trolley for carrying sorting equipment, including dynamical system, tracking system, obstacle avoidance module, grasping mechanism, sorting system, power supply module and control module, the tracking system and dynamical system are all mounted on the bottom of dolly chassis, the obstacle avoidance module is mounted on the front end of dolly chassis, the grasping mechanism is arranged on the right side of dolly chassis, the sorting system is arranged on the left side of dolly chassis, and the power supply module is arranged on control module on the middle part of dolly chassis；The tracking system includes eight gray-scale sensors and for anti-tampering chassis headlamp, matches somebody with somebody that there are one chassis headlamps on each gray-scale sensor.The present invention provides a kind of high efficiency logistics trolleys for carrying sorting equipment, it can realize efficient, cheap short distance logistics transportation, and the functions such as Intelligent tracking, automatic obstacle-avoiding, gripper crawl and automatic sorting are integrated with, substantially increase the efficiency and adaptability of logistics trolley.
Description
Technical field
It is small more particularly, to a kind of high efficiency logistics for carrying sorting equipment the present invention relates to logistics trolley technical field
Vehicle.
Background technology
With the change of modern enterprise production structure adjustment and the variation of market external condition, with reduce the cost of raw material and
It is less and less to reduce the space of product cost to carry out product technology exploitation, this causes them that sight steering is had " the 3rd profit
Come in the logistics links of profit source ".And the logistics service of traditional autarkic no matter from economic benefit or systematization,
All can not be compared with the Third-party Logistics Enterprise of specialty on degree of specialization, this causes more and more enterprises to optimize enterprise
Resource distribution and enhancing market competition advantage, will not belong to the logistics business outsourcing of enterprise core competence scope, promote China
The road that third-party logistics (ThirdPartyLogistics) is in high speed development leads to.
With traditional manpower compared with semi-automatic logistics management mode, logistics trolley can provide efficiently, cheap logistics scheme,
Logistics timeliness is substantially reduced, reduces human cost, improves the competitiveness of third-party logistics.And existing Intelligent logistics are small
Vehicle is generally only capable of realizing the carrying of single material, without automatic charge, sorting, discharging function, and need multiple auxiliary devices
Work could be completed by coordinating simultaneously, and cost is higher and system is complex.
The content of the invention
In order to overcome existing logistics trolley, there are the defects of less efficient, integrated level is low, corollary equipment is complicated, the present invention carries
A kind of high efficiency logistics trolley for carrying sorting equipment has been supplied, can realize efficient, cheap short distance logistics transportation, and it is integrated
The functions such as Intelligent tracking, automatic obstacle-avoiding, gripper crawl and automatic sorting, substantially increase efficiency and the adaptation of logistics trolley
Property.
The technical solution adopted by the present invention to solve the technical problems is：
A kind of high efficiency logistics trolley for carrying sorting equipment, including dynamical system, tracking system, obstacle avoidance module, crawl
Mechanism, sorting system, power supply module and control module, the tracking system and dynamical system are all mounted on the bottom of dolly chassis
Portion, the obstacle avoidance module are mounted on the front end of dolly chassis, and the grasping mechanism is arranged on the right side of dolly chassis, described
Sorting system is arranged on the left side of dolly chassis, and the power supply module is arranged on control module on the middle part of dolly chassis；
The tracking system includes eight gray-scale sensors and for anti-tampering chassis headlamp, and each gray scale passes
Chassis headlamp there are one matching somebody with somebody on sensor；Before wherein four gray-scale sensors are arranged side by side in dolly chassis as hunting sensor
It holds on bottom；Four additional gray-scale sensor is as being arranged in dolly chassis bottom left in column before and after alignment sensor；
The grasping mechanism includes mechanical arm module, flip module and handling module；The mechanical arm module includes
Two steering engine stents, two level-one arm steering engines, two level-one mechanical arms, two two level arm steering engines and two secondary mechanical arms, institute
It states two level-one arm steering engines to be mounted on by two steering engine stents on the front and rear sides of dolly chassis respectively, described two first-level machines
The lower end of tool arm is separately mounted on the steering wheel of corresponding level-one arm steering engine output shaft, and described two two level arm steering engines are installed respectively
On the upper end of corresponding level-one mechanical arm, the left end of two secondary mechanical arms is separately mounted to corresponding two level arm steering engine output
On the steering wheel of axis；
The flip module includes two overturning steering engines and a carbon fiber bar, and described two overturning steering engines are separately mounted to
On the right end of corresponding secondary mechanical arm, and the steering wheel of its output shaft by carbon fiber bar cramp gripping member respectively with the carbon fiber bar
Rear and front end connection；
The handling module includes gripper steering engine, linkage pawl arm and flexible jig, and an arc claw corresponds to a connection
Pawl arm, the gripper steering engine are fixed on carbon fiber bar, and the steering wheel of the gripper steering engine output shaft passes through the pawl arm that links
It is connected with flexible jig, there are three the handling module settings and left and right is equidistantly spaced from side by side in a row；
The sorting system includes acrylic lower plate, acrylic upper plate, stepper motor, a belt wheel, three idle pulleys, skins
Band, sliding block and material box, the acrylic upper plate are located at the top of acrylic lower plate and are connected between the two by insulated column, institute
Acrylic lower plate is stated equipped with rectangle closed orbit, with being set on acrylic lower plate opposite position on the acrylic upper plate
There is rectangle slot, the material box is located at the top of the acrylic upper plate, and each material box corresponds to a sliding block and its bottom
Portion is fixedly connected with a slide block by short axle through rectangle slot, and the short axle forms sliding pair with the rectangle slot；
The stepper motor is mounted in acrylic lower plate, and one belt wheel, three idle pulleys are respectively positioned on described sub- gram
Between power upper plate and acrylic lower plate, and a belt wheel and three idle pulleys are arranged in four angles of rectangle closed orbit
Place, the output shaft of the stepper motor are connected with belt wheel, and the belt wheel is connected by belt with idle pulley, and the sliding block is fixed on skin
Sliding pair is formed on the outside of band and with rectangle closed orbit.
Further, the dynamical system takes turns front-wheel and four rubber trailing wheels including six direct current generators, two good fortune, each
Direct current generator is mounted on by motor cabinet on dolly chassis bottom respectively, and four rubber trailing wheels are in one line to be arranged in dolly chassis
On the rear side of bottom, two good fortune are separately mounted to take turns front-wheel and four rubber trailing wheels on the output shaft of corresponding direct current generator.
Further, the obstacle avoidance module includes far-infrared sensor and L bracket, and the far-infrared sensor passes through institute
L bracket is stated on dolly chassis front end.
Further, the control module includes stm32f103 microcontrollers, DC motor driver and driving stepper motor
Device, the stm32f103 microcontrollers are connected respectively with DC motor driver and stepper motor driver, and the direct current generator drives
Dynamic device is connected with six direct current generators, and the stepper motor driver is connected with the stepper motor.
Further, the power supply module includes eight 18650 lithium ion batteries of section, 5V Voltage stabilizing modules and LTC3780 voltage stabilizings
Module, eight section, 18650 lithium ion batteries are electrically connected respectively with the 5V Voltage stabilizing modules and LTC3780 Voltage stabilizing modules, described
5V Voltage stabilizing modules and the stm32f103 monolithics mechatronics, the LTC3780 Voltage stabilizing modules respectively with gray-scale sensor, remote
Infrared sensor, DC motor driver, stepper motor driver, level-one arm steering engine, two level arm steering engine, overturning steering engine are electrically connected
It connects.
Beneficial effects of the present invention are mainly manifested in：It can realize efficient, cheap short distance logistics transportation, and be integrated with
The functions such as Intelligent tracking, automatic obstacle-avoiding, gripper crawl and automatic sorting, substantially increase efficiency and the adaptation of logistics trolley
Property.
Description of the drawings
Fig. 1 is the structure diagram of the present invention.
Fig. 2 is the tracking system schematic of the present invention.
Fig. 3 is the structure diagram of grasping mechanism.
Fig. 4 is the structure diagram of sorting system.
Fig. 5 is power supply module and control module schematic diagram.
Fig. 6 is obstacle avoidance module schematic diagram.
Specific embodiment
The invention will be further described below in conjunction with the accompanying drawings.
With reference to Fig. 1~Fig. 6, a kind of high efficiency logistics trolley for carrying sorting equipment, including dynamical system 1, tracking system,
Obstacle avoidance module 3, grasping mechanism 4, sorting system 5, power supply module 6 and control module 7, the tracking system and dynamical system 1 are all
Mounted on the bottom of dolly chassis, the obstacle avoidance module 3 is mounted on the front end of dolly chassis, and the grasping mechanism 4 is arranged on
On the right side of dolly chassis, the sorting system 5 is arranged on the left side of dolly chassis, the power supply module 6 and control module 7
It is arranged on the middle part of dolly chassis；
The tracking system includes eight gray-scale sensors 12 and for anti-tampering chassis headlamp 13, each ash
Chassis headlamp 13 there are one matching somebody with somebody is spent on sensor 12；Wherein four gray-scale sensors are arranged side by side in small as hunting sensor
In chassis front bottom end；Four additional gray-scale sensor as before and after alignment sensor in column be arranged in dolly chassis bottom
On left side；
The grasping mechanism 4 includes mechanical arm module, flip module and handling module；The mechanical arm module includes
Two 16, two, steering engine stent, 21, two two level arm steering engines 18 of the level-one mechanical arm of level-one arm steering engine 17, two and two two level machines
Tool arm 22, described two level-one arm steering engines 17 are mounted on the front and rear sides of dolly chassis respectively by two steering engine stents 16,
The lower end of described two level-one mechanical arms 21 is separately mounted on the steering wheel of corresponding 17 output shaft of level-one arm steering engine, described two
Two level arm steering engine 18 is separately mounted on the upper end of corresponding level-one mechanical arm 21, and the left end of two secondary mechanical arms 22 is pacified respectively
On the steering wheel of corresponding 18 output shaft of two level arm steering engine；
The flip module includes two overturning steering engines 19 and a carbon fiber bar 23, and described two overturning steering engines 19 are distinguished
On the right end of corresponding secondary mechanical arm 22, and the steering wheel of its output shaft by carbon fiber bar cramp gripping member 24 respectively with institute
State the rear and front end connection of carbon fiber bar 23；
The handling module includes gripper steering engine 20, linkage pawl arm 25 and flexible jig 26, and an arc claw corresponds to
One linkage pawl arm 25, the gripper steering engine 20 is fixed on carbon fiber bar 23, the rudder of 20 output shaft of gripper steering engine
Disk is connected by the pawl arm 25 that links with flexible jig 26, and there are three the handling module settings and left and right arranges at equal intervals side by side in one
Arrangement；
The sorting system 5 includes acrylic lower plate 27, acrylic upper plate 29, the belt wheel 31, three of stepper motor 30, one
Idle pulley 32, belt 33, sliding block 34 and material box 35, the acrylic upper plate 29 be located at the top of acrylic lower plate 27 and the two it
Between connected by insulated column 28, the acrylic lower plate 27 is equipped with rectangle closed orbit, on the acrylic upper plate 29
Rectangle slot is equipped with 27 opposite position of acrylic lower plate, the material box 35 is located at the upper of the acrylic upper plate 29
Side, each material box 35 corresponds to a sliding block 34 and its bottom is fixedly connected by short axle through rectangle slot with sliding block 34,
The short axle forms sliding pair with the rectangle slot；
The stepper motor 30 is mounted in acrylic lower plate 27, and one 31, three idle pulleys 32 of belt wheel are respectively positioned on
Between the acrylic upper plate 29 and acrylic lower plate 27, and a belt wheel and three idle pulleys are arranged in rectangle and are closed rail
At four angles in road, the output shaft of the stepper motor 30 is connected with belt wheel 31, and the belt wheel 31 passes through belt 33 and idle pulley 32
Connection, the sliding block 34 are fixed on the outside of belt 33 and form sliding pair with rectangle closed orbit.
Further, the dynamical system 1 takes turns front-wheel 9 and four rubber trailing wheels including six direct current generators, 8, two good fortune
10, each direct current generator 8 is mounted on by motor cabinet 11 on dolly chassis bottom respectively, four 10 cloth in one line of rubber trailing wheel
It puts on the rear side of dolly chassis bottom, two good fortune are separately mounted to corresponding direct current to take turns front-wheel 9 and four rubber trailing wheels 10
On the output shaft of motor 8.
Further, the obstacle avoidance module 3 includes far-infrared sensor 15 and L bracket 14, the far-infrared sensor
15 are mounted on by the L bracket 14 on dolly chassis front end.
Further, the control module 7 includes stm32f103 microcontrollers 37, DC motor driver 38 and stepping electricity
Machine driver 39, the stm32f103 microcontrollers 37 are connected respectively with DC motor driver 38 and stepper motor driver 39,
The DC motor driver 38 is connected with six direct current generators 8, the stepper motor driver 39 and stepping electricity
Machine 30 connects.
Further, the power supply module 6 includes eight 18650 lithium ion batteries 34 of section, 5V Voltage stabilizing modules 35 and LTC3780
Voltage stabilizing module 36, it is described eight section 18650 lithium ion batteries 34 respectively with the 5V Voltage stabilizing modules 35 and LTC3780 Voltage stabilizing modules 36
Electrical connection, the 5V Voltage stabilizing modules 35 are electrically connected with the stm32f103 microcontrollers 37, and the LTC3780 Voltage stabilizing modules 36 divide
Not with gray-scale sensor 12, far-infrared sensor 15, DC motor driver 38, stepper motor driver 39, level-one arm steering engine
17th, two level arm steering engine 18, overturning steering engine 19 are electrically connected.
As shown in Figure 1, four rubber trailing wheels 10 are in one line, two good fortune are used as front-wheel to take turns 9, form six wheel drive systems
System provides stable power, realization flexibly turns to.In vehicle operation, by tracking system, 3 feedback signal of obstacle avoidance module to control
Module 7, control module 7 handle signal control dynamical system 1, grasping mechanism 4, sorting system 5 and complete work.
As shown in Fig. 2, the tracking system includes：Independent 8 road gray-scale sensors 12, chassis headlamp 13 and fixed copper
Column.Wherein 4 road gray-scale sensors are fixed on Chinese herbaceous peony end front-wheel axis as hunting sensor by copper post；Another 4 tunnel gray scale sensing
Device is fixed on by copper post on the right side of vehicle as alignment sensor.Gray-scale sensor 12 is provided with the chassis headlamp 13 for preventing dry.
As shown in figure 3, level-one arm steering engine 17 is fixed on cart base plate by steering engine stent 16, level-one is filled on level-one arm steering engine 17
Mechanical arm 21,21 top of level-one mechanical arm connect secondary mechanical arm 22 by two level arm steering engine 18, and secondary mechanical arm 22 is by turning over
Machine 19 of coming about connects carbon fibre joint element for bar 24 and carbon fibre bar 23, and three distich pawl arms 25, the installation of pawl head are fixed on carbon fibre bar 23
Flexible jig 26.The coordinated signals of two-stage mechanical arm and switching mechanism can realize moving freely and overturning for object block.Pass through adjusting
25 aperture of machine linkage pawl arm is closed 26 angle of dynamics and flexible jig, and flexible jig can be made to be contacted closely with object block.
As shown in figure 4, material box 35 is installed on 34 top of sliding block.By controlling 30 rotation angle of stepper motor, control is fixed
35 position of sliding block 34 and material box on belt 33, by its coordinated signals with grasping mechanism 4, can realize object block on demand
Discharge, that is, complete automatic sorting.
As shown in figure 5, the power supply module includes：Eight 18650 lithium ion batteries 34 of section, 5V Voltage stabilizing modules 35, LTC3780
Voltage stabilizing module 36.Wherein 5V Voltage stabilizing modules power supply microcontroller, LTC3780 Voltage stabilizing modules powered sensor, motor driving, stepping electricity
Machine driving, steering engine.
Stm32f103 microcontrollers 37 are fed back according to signal, are controlled by DC motor driver 38, stepper motor driver 39
Vehicle processed.
As shown in fig. 6, the obstacle avoidance module is located at trolley front end, far-infrared sensor 14 is embedded in L bracket 15.
The operation principle of the present invention is as follows：
The first step：It adjusts to proper states
According to captured object is block-shaped and quality characteristic, adjusts 25 aperture of gripper pawl body, be closed dynamics and flexible jig
26 angles make flexible jig be contacted closely with object block..Level-one mechanical arm 21, secondary mechanical arm 22 are adjusted to initial position.Root
Moving of car speed and manipulator motion speed are set according to operating mode.
3rd step：Start control
Control switch is opened, trolley is started to work by blas.
By No. six direct current generators 8 two good fortune is driven to take turns 9, four rubber trailing wheels 10 of front-wheel first, vehicle starts to advance.
3rd step：Automatic tracking and avoidance
Trolley searching system be closed-loop control, 12 feedback signal of gray-scale sensor of front side four, stm32f103 microcontrollers
The adjustment such as 37 can keep straight on according to the different feedback signal of gray-scale sensor 12, trolley, and left and right is small to turn, and left and right is turned greatly, with true
Trolley is protected steadily to walk on the prescribed route
4th step：Grasping body and placement
First by four 12 feedback signals of gray-scale sensor on the right side of vehicle, stm32f103 microcontrollers 37 are according to gray-scale sensor
In place whether 12 different feedback signals anticipation trolleies.It stops after detecting in place after a series of decelerations.Trolley into
Enter material seized condition, stm32f103 microcontrollers 37 are realized crawl according to default steering engine action control multichannel steering engine and placed
Function.
5th step：Sorting
Sorting equipment control program is mainly that stm32f103 microcontrollers 37 control stepper motor 30, drives material box 35
Movement, and coordinate the action of grasping mechanism 4.
The present invention can efficiently realize the crawl of article as a result, carry, automatic sorting, the functions such as stacking, and can root
According to body form, size is adjusted, and modular design can be such that it more easily controls.
Above-mentioned specific embodiment is used for illustrating the present invention rather than limiting the invention, the present invention's
In spirit and scope of the claims, to any modifications and changes that the present invention makes, protection model of the invention is both fallen within
It encloses.
Claims (5)
1. a kind of high efficiency logistics trolley for carrying sorting equipment, it is characterised in that：Including dynamical system, tracking system, avoidance
Module, grasping mechanism, sorting system, power supply module and control module, the tracking system and dynamical system are all mounted on trolley
The bottom on chassis, the obstacle avoidance module are mounted on the front end of dolly chassis, and the grasping mechanism is arranged on the right side of dolly chassis
On side, the sorting system is arranged on the left side of dolly chassis, and the power supply module is arranged on dolly chassis with control module
Middle part on；
The tracking system includes eight gray-scale sensors and for anti-tampering chassis headlamp, each gray-scale sensor
The upper chassis headlamp with there are one；Wherein four gray-scale sensors are arranged side by side in dolly chassis front end bottom as hunting sensor
In portion；Four additional gray-scale sensor is as being arranged in dolly chassis bottom left in column before and after alignment sensor；
The grasping mechanism includes mechanical arm module, flip module and handling module；The mechanical arm module includes two
Steering engine stent, two level-one arm steering engines, two level-one mechanical arms, two two level arm steering engines and two secondary mechanical arms, described two
A level-one arm steering engine is mounted on the front and rear sides of dolly chassis respectively by two steering engine stents, described two level-one mechanical arms
Lower end be separately mounted on the steering wheel of corresponding level-one arm steering engine output shaft, described two two level arm steering engines are separately mounted to phase
On the upper end for the level-one mechanical arm answered, the left end of two secondary mechanical arms is separately mounted to corresponding two level arm steering engine output shaft
On steering wheel；
The flip module includes two overturning steering engines and a carbon fiber bar, and described two overturning steering engines are separately mounted to accordingly
Secondary mechanical arm right end on, and the steering wheel of its output shaft by carbon fiber bar cramp gripping member respectively with before the carbon fiber bar
Both ends connect afterwards；
The handling module includes gripper steering engine, linkage pawl arm and flexible jig, and an arc claw corresponds to a linkage pawl
Arm, the gripper steering engine are fixed on carbon fiber bar, the steering wheel of the gripper steering engine output shaft by link pawl arm with can
Fixture connection is adjusted, there are three the handling module settings and left and right is equidistantly spaced from side by side in a row；
The sorting system includes acrylic lower plate, acrylic upper plate, stepper motor, a belt wheel, three idle pulleys, belt, cunnings
Block and material box, the acrylic upper plate are located at the top of acrylic lower plate and are connected between the two by insulated column, the Asia
Gram force lower plate is equipped with rectangle closed orbit, is grown on the acrylic upper plate with being equipped on acrylic lower plate opposite position
Square slot, the material box are located at the top of the acrylic upper plate, and each material box corresponds to a sliding block and its bottom leads to
It crosses short axle to be fixedly connected with a slide block through rectangle slot, the short axle forms sliding pair with the rectangle slot；
The stepper motor is mounted in acrylic lower plate, and one belt wheel, three idle pulleys are respectively positioned on the acrylic
Between plate and acrylic lower plate, and a belt wheel and three idle pulleys are arranged at four angles of rectangle closed orbit, institute
The output shaft for stating stepper motor is connected with belt wheel, and the belt wheel is connected by belt with idle pulley, and the sliding block is fixed on belt
Sliding pair is formed on outside and with rectangle closed orbit.
2. a kind of high efficiency logistics trolley for carrying sorting equipment as described in claim 1, it is characterised in that：The dynamical system
System includes six direct current generators, two good fortune to take turns front-wheel and four rubber trailing wheels, and each direct current generator is pacified respectively by motor cabinet
On dolly chassis bottom, four rubber trailing wheels are in one line to be arranged on the rear side of dolly chassis bottom, and two good fortune are taken turns
Front-wheel and four rubber trailing wheels are separately mounted on the output shaft of corresponding direct current generator.
3. a kind of high efficiency logistics trolley for carrying sorting equipment as claimed in claim 2, it is characterised in that：The avoidance mould
Block includes far-infrared sensor and L bracket, and the far-infrared sensor is mounted on dolly chassis front end by the L bracket
On.
4. a kind of high efficiency logistics trolley for carrying sorting equipment as claimed in claim 3, it is characterised in that：The control mould
Block includes stm32f103 microcontrollers, DC motor driver and stepper motor driver, the stm32f103 microcontrollers difference
It is connected with DC motor driver and stepper motor driver, the DC motor driver connects with six direct current generators
It connects, the stepper motor driver is connected with the stepper motor.
5. a kind of high efficiency logistics trolley for carrying sorting equipment as claimed in claim 4, it is characterised in that：The power supply mould
Block includes eight 18650 lithium ion batteries of section, 5V Voltage stabilizing modules and LTC3780 Voltage stabilizing modules, eight section, 18650 lithium ion batteries
It is electrically connected respectively with the 5V Voltage stabilizing modules and LTC3780 Voltage stabilizing modules, the 5V Voltage stabilizing modules and the stm32f103 monolithics
Mechatronics, the LTC3780 Voltage stabilizing modules respectively with gray-scale sensor, far-infrared sensor, DC motor driver, stepping
Motor driver, level-one arm steering engine, two level arm steering engine, overturning steering engine electrical connection.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711282372.8A CN108107889B (en) | 2017-12-07 | 2017-12-07 | From high efficiency commodity circulation dolly of taking sorting device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711282372.8A CN108107889B (en) | 2017-12-07 | 2017-12-07 | From high efficiency commodity circulation dolly of taking sorting device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108107889A true CN108107889A (en) | 2018-06-01 |
| CN108107889B CN108107889B (en) | 2023-10-13 |
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ID=62209329
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711282372.8A Active CN108107889B (en) | 2017-12-07 | 2017-12-07 | From high efficiency commodity circulation dolly of taking sorting device |
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| Country | Link |
|---|---|
| CN (1) | CN108107889B (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109533965A (en) * | 2018-12-29 | 2019-03-29 | 浙江理工大学 | The logistics trolley of included barcode scanning sorting function |
| CN109940575A (en) * | 2019-03-20 | 2019-06-28 | 浙江海洋大学 | Logistics sorting vehicle with automatic clamping telescopic goods frame and control method thereof |
| CN110127256A (en) * | 2019-03-29 | 2019-08-16 | 杭州师范大学钱江学院 | It is a kind of based on the logistics trolley pneumatically grabbed and its transportation resources |
| CN110282419A (en) * | 2019-06-24 | 2019-09-27 | 吉林师范大学 | A kind of small-sized machine arm goods sorting Intelligent logistics vehicle |
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