CN108609333A - Intelligent storage robot - Google Patents
Intelligent storage robot Download PDFInfo
- Publication number
- CN108609333A CN108609333A CN201810323294.XA CN201810323294A CN108609333A CN 108609333 A CN108609333 A CN 108609333A CN 201810323294 A CN201810323294 A CN 201810323294A CN 108609333 A CN108609333 A CN 108609333A
- Authority
- CN
- China
- Prior art keywords
- jacking
- hoistable platform
- substrate
- leading screw
- rotary
- 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
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/0492—Storage devices mechanical with cars adapted to travel in storage aisles
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Warehouses Or Storage Devices (AREA)
Abstract
The invention discloses a kind of intelligent storage robot, including car body, jacking rotary unit and environment detection unit are provided on car body；Jacking rotary unit includes hoistable platform, and rotary-tray that can be controllably rotatable relative is provided on hoistable platform；Jacking rotary unit further includes the drive component of at least one set of driving hoistable platform lifting, drive component includes two sliding shoes being slidably arranged on substrate, jacking type face is provided on sliding shoe, two sliding shoes can be relative to substrate constant speed reverse slide, it is provided on hoistable platform with quantity such as sliding shoes with moving cell, is cam pair matching relationship between moving cell and jacking type face.The intelligent storage robot of the present invention realizes the lifting of rotary-tray by the cam pair cooperation in jacking type face and Cam Follower on sliding shoe, pass through the rotation for engaging realization rotary-tray of gear wheel and pinion gear, stabilized structure is reliably, it can be achieved that the carrying work of shelf, is suitable for large-scale promotion.
Description
Technical field
The present invention relates to intelligent storage fields, more particularly to a kind of intelligent storage robot.
Background technology
With the explosive increase of e-commerce, the storage sorting work amount of electric business is also significantly increased.Currently, many electric business
It has been equipped with storage robot in warehouse to realize the unmanned carrying of the automation in warehouse, to reduce cost of labor, has shortened storehouse
The storing articles outbound time improves storage sorting efficiency.
The solution of storage robot on the market is more at present, and structure is also complex, most of straight by leading screw
Tap into capable jacking, leading screw needs to bear the various power such as the power of toppling in the gravity of shelf, traveling process, structural soundness and can
It is relatively low by property.
Invention content
Goal of the invention：In order to overcome the deficiencies in the prior art, a kind of stabilized structure of present invention offer is reliable, can remove
The intelligent storage robot of transport rack.
Technical solution：To achieve the above object, intelligent storage robot of the invention includes car body, car body include substrate with
And the driving wheel and driven wheel of be installed on substrate；Jacking rotary unit and environment detection unit are provided on the car body；Institute
It includes hoistable platform to state jacking rotary unit, and rotary-tray that can be controllably rotatable relative is provided on the hoistable platform；
The jacking rotary unit further includes at least one set of drive component for driving the hoistable platform lifting, and the driving component includes
Two sliding shoes being slidably arranged on substrate are provided with climbing for jacking type face and the jacking type face of two sliding shoes on sliding shoe
Rise direction on the contrary, two sliding shoes can relative to the substrate constant speed reverse slide, be provided on the hoistable platform with
The Cam Follower of the quantity such as the sliding shoe closes between the Cam Follower and jacking type face for the cooperation of cam pair
System.
Further, the Cam Follower is mounted on by follower holder on the hoistable platform；Same driving group
Two sliding shoes that part includes are mounted on the both sides of follower holder, and the both sides of follower holder are equipped with to be slided with two respectively
Two Cam Followers that jacking type face on block coordinates at cam pair.
Further, two sliding shoes that same drive component includes are driven by same root leading screw, the leading screw
One end is left hand thread, and the other end is right-handed thread, is equipped on one of two sliding shoes left-handed on the cooperation leading screw
The left-handed feed screw nut that screw thread uses is equipped with right-handed thread on the cooperation leading screw on the other of two sliding shoes and uses
Dextrorotation feed screw nut, left-handed feed screw nut and dextrorotation feed screw nut are arranged in the gap between two sliding shoes；It is described
It leading screw be installed on substrate and can be driven by jacking motor relative to substrate rotating, the rotation of leading screw.
Further, the hoistable platform synchronizes driving by two groups of drive components, and two groups of drive components are symmetricly set on liter
The both sides of platform drop, and the leading screw of two groups of drive components is driven by same jacking motor, is pacified on the leading screw of each drive component
Equipped with driving gear, driving gear is installed on the jacking motor, is had between the driving gear and the driving gear
Drive connection.
Further, jacking type face includes rake and is arranged in the high-order positioning paddy at rake both ends and low level
Paddy is positioned, side of the high position positioning paddy far from the rake is provided with high-order limited shoulder, and low level positions paddy far from the inclination
The side in portion is provided with low level limited shoulder.
Further, gear wheel that can be rotatable relative is installed, the gear wheel is relative to institute on the hoistable platform
It states rotary-tray to fix, the gear wheel is driven by the rotary drive motor on the hoistable platform, and the rotation is driven
The pinion gear engaged with the gear wheel is installed on the output shaft of dynamic motor.
Further, guidance set is provided between the hoistable platform and the substrate, the guidance set includes peace
The guide post of guide pad and installation on the substrate on hoistable platform, between the guide pad and the guide post
To be slidably matched.
Further, there are two the driving wheels, two driving wheels are symmetrically distributed in the both sides in the middle part of the substrate, described
Driven wheel has four, and four driven wheels are symmetrically distributed in the corner location of the substrate.
Further, further include photomoduel, the photomoduel includes the first camera set up and to dividing into
The second camera set.
Advantageous effect：The intelligent storage robot of the present invention is convex by jacking type face on sliding shoe and Cam Follower
The lifting of rotary-tray is realized in wheel set cooperation, and by the rotation for engaging realization rotary-tray of gear wheel and pinion gear, structure is steady
Gu reliably, it can be achieved that the carrying work of shelf, is suitable for large-scale promotion.
Description of the drawings
Attached drawing 1 is the stereogram of intelligent storage robot；
Attached drawing 2 is the front view of intelligent storage robot；
Attached drawing 3 is the sectional view of intelligent storage robot；
Attached drawing 4 is the structure chart of drive component；
Attached drawing 5 is the structure chart of sliding shoe.
Specific implementation mode
The present invention is further described below in conjunction with the accompanying drawings.
Intelligent storage robot as illustrated in the accompanying drawings from 1 to 3, including car body 1, car body 1 is including substrate 11 and is mounted on substrate
Driving wheel 12 on 11 and driven wheel 13；Jacking rotary unit 2 and environment detection unit 5, battery 6 are provided on the car body 1
And control system (not shown).
Environment detection unit 5 is laser radar.Control system include control driving wheel 12 rotate mileage slave computer and
Detection data is fed back to host computer by the host computer for building figure navigation, laser radar, and host computer is built according to detection data
Figure navigation.
The jacking rotary unit 2 includes hoistable platform 21, and being provided on the hoistable platform 21 can be controllably with respect to it
The rotary-tray 22 of rotation；The jacking rotary unit 2 further includes at least one set of driving for driving the hoistable platform 21 to lift
Component, the driving component include two sliding shoes 23 being slidably arranged on substrate 11, and jacking type is provided on sliding shoe 23
The soaring direction in face 231 and the jacking type face 231 of two sliding shoes 23 it is opposite (on a horizontal direction, a sliding shoe
Jacking type face 231 on 23 is in rising trend, and the jacking type face 231 on another sliding shoe 23 is on a declining curve), described in two
Sliding shoe 23 can be provided on the hoistable platform 21 with moving cell 24, be servo-actuated relative to 11 constant speed reverse slide of the substrate
Unit 24 includes and the Cam Follower of the quantity such as the sliding shoe 23 241 Cam Follower 241 and jacking type face
It is cam pair matching relationship between 231.Using the sliding shoe 23 of two constant speed reverse slides respectively to two Cam Followers 241
Cooperation, during hoistable platform 21 rises or falls, the horizontal component that two Cam Followers 241 are subject to is equivalent reversed,
It cancels out each other, can effectively ensure that the even running of hoistable platform 21.
Described to include Cam Follower 241 with moving cell 24, the Cam Follower 241 passes through follower holder 242 and pacifies
On the hoistable platform 21；Two sliding shoes 23 that same drive component includes are mounted on the both sides of follower holder 242,
The both sides of follower holder 242 are equipped with two coordinated respectively at cam pair with the jacking type face 231 on two sliding shoes 23
Cam Follower 241.
As shown in Fig. 4, two sliding shoes 23 that same drive component includes are driven by same root leading screw 25, described
One end of leading screw 25 is left hand thread, and the other end is right-handed thread, is equipped with described in cooperation on one of two sliding shoes 23
The left-handed feed screw nut 26 that left hand thread uses on leading screw 25 is equipped with the cooperation silk on the other of two sliding shoes 23
The dextrorotation feed screw nut 27 that right-handed thread uses on thick stick 25, left-handed feed screw nut 26 are arranged at two with dextrorotation feed screw nut 27
In gap between sliding shoe 23；The leading screw 25 is installed on the substrate 11 and can be rotated relative to substrate 11, and leading screw 25 turns
It is dynamic to be driven by jacking motor 213.When leading screw 25 rotates, two sliding shoes 23 can move at the uniform velocity round about, and synchronism is good.
Two sliding shoes 23 that same drive component includes can be slided relative to same slide 215, be set on slide 215
Two sliding slots are equipped with, two sliding shoes 23 slide in two sliding slots respectively, it is preferable that 23 lower end linear array setting of sliding shoe
There is row's idler wheel 232, sliding can be made smooth in this way.
The hoistable platform 21 synchronizes driving by two groups of drive components, and two groups of drive components are symmetricly set on hoistable platform 21
Both sides, and the leading screw 25 of two groups of drive components is driven by same jacking motor 213, is pacified on the leading screw 25 of each drive component
Equipped with driving gear 211, driving gear 212, the driving gear 211 and the active are installed on the jacking motor 213
There is drive connection between gear 212, in the present embodiment, transition tooth is additionally provided between driving gear 212 and driving gear 211
Wheel 214.It can guarantee the motion synchronicity of two sets of drive components using this structure, reduce the upper unnecessary trouble of control.
As shown in Fig. 5, jacking type face 231 includes rake 231-1 and is arranged a high position at rake both ends
It positions paddy 231-2 and positions paddy 231-3 with low level, sides of the high position positioning paddy 231-2 far from the rake 231-1 is provided with height
The side of position limited shoulder 231-4, low level positioning paddy 231-3 far from the rake 231-1 is provided with low level limited shoulder 231-5.
High position positioning paddy 231-2 and the bottom end of low level positioning paddy 231-3 are the arc-shaped agreed with 241 outer diameter of Cam Follower, can
Increase bearing capacity.
Gear wheel 28 that can be rotatable relative is installed, the gear wheel 28 is relative to the rotation on the hoistable platform 21
The disk 22 that asks is fixed, and the gear wheel 28 is driven by the rotary drive motor 29 on the hoistable platform 21, the rotation
Turn that the pinion gear 210 engaged with the gear wheel 28 is installed on the output shaft of driving motor 29.
Guidance set 3 is provided between the hoistable platform 21 and the substrate 11, the guidance set 3 includes being mounted on
The guide post 32 of guide pad 31 and installation on the substrate on hoistable platform 21, the guide pad 31 and the guide post
It is to be slidably matched between 32.
There are two the driving wheels 12, and two driving wheels 12 are symmetrically distributed in the both sides at the middle part of the substrate 11, it is described from
Driving wheel 13 has four, and four driven wheels 13 are symmetrically distributed in the corner location of the substrate 11.
Further include photomoduel 4, the photomoduel 4 includes the first camera 41 set up and down-set the
Two cameras 42, first camera 41 are attached to ground for reading the Quick Response Code being attached on bottom shelf, second camera 42 for reading
On Quick Response Code.The first camera 41 is coordinated to be provided with annular light source 43, annular light source 43 and the concentric installation of first camera 41,
The Quick Response Code for being attached to bottom shelf is dull surface.The second camera 42 is coordinated to be provided with strip source 44, the strip source
There are two 44, strip source 44 is symmetrically installed on the substrate 11, and the polishing direction of strip source 44 is perpendicular to the second camera
42, this polishing mode can prevent from pasting that Quick Response Code on the ground is reflective influences to read effect (Quick Response Code of patch on the ground is
Bright face, be easy it is reflective).
The intelligent storage robot of the present invention is coordinated by the cam pair in jacking type face and Cam Follower on sliding shoe
The lifting for realizing rotary-tray, by the rotation for engaging realization rotary-tray of gear wheel and pinion gear, stabilized structure is reliable, can
It realizes the carrying work of shelf, is suitable for large-scale promotion.
The above is only a preferred embodiment of the present invention, it should be pointed out that：For the ordinary skill people of the art
For member, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications are also answered
It is considered as protection scope of the present invention.
Claims (9)
1. intelligent storage robot, it is characterised in that：Including car body (1), car body (1) include substrate (11) and be mounted on substrate
(11) driving wheel (12) on and driven wheel (13)；It is provided with jacking rotary unit (2) and environment detection list on the car body (1)
First (5)；The jacking rotary unit (2) includes hoistable platform (21), and being provided on the hoistable platform (21) can controllably phase
The rotary-tray (22) that it is rotated；The jacking rotary unit (2) further includes at least one set of driving hoistable platform (21)
The drive component of lifting, the driving component include two sliding shoes (23) being slidably arranged on substrate (11), sliding shoe
(23) the soaring direction in jacking type face (231) and the jacking type face (231) of two sliding shoes (23) is provided on the contrary, two institutes
Sliding shoe (23) is stated to be provided with and the cunning on the hoistable platform (21) relative to the substrate (11) constant speed reverse slide
The Cam Follower (241) of the quantity such as motion block (23) is between the Cam Follower (241) and jacking type face (231)
Cam pair matching relationship.
2. intelligent storage robot according to claim 1, it is characterised in that：The Cam Follower (241) by with
Dynamic device holder (242) is mounted on the hoistable platform (21)；Two sliding shoes (23) that same drive component includes are mounted on
The both sides of follower holder (242), the both sides of follower holder (242) be equipped with respectively with the jacking on two sliding shoes (23)
Two Cam Followers (241) that type face (231) coordinates at cam pair.
3. intelligent storage robot according to claim 2, it is characterised in that：Described in two that same drive component includes
Sliding shoe (23) is driven by same root leading screw (25), and one end of the leading screw (25) is left hand thread, and the other end is right-handed thread,
The left-handed feed screw nut for coordinating that left hand thread uses on the leading screw (25) is installed on one of two sliding shoes (23)
(26), the dextrorotation leading screw for coordinating that right-handed thread uses on the leading screw (25) is installed on the other of two sliding shoes (23)
Nut (27), left-handed feed screw nut (26) and dextrorotation feed screw nut (27) are arranged at the gap between two sliding shoes (23)
In；The leading screw (25) is mounted on substrate (11) and can be rotated relative to substrate (11), and the rotation of leading screw (25) is by jacking electricity
Machine (213) drives.
4. intelligent storage robot according to claim 3, it is characterised in that：The hoistable platform (21) is by two groups of drivings
Component synchronization drives, and two groups of drive components are symmetricly set on the both sides of hoistable platform (21), and the leading screw of two groups of drive components
(25) it is driven by same jacking motor (213), driving gear (211), institute is mounted on the leading screw (25) of each drive component
It states and driving gear (212) is installed on jacking motor (213), between the driving gear (211) and the driving gear (212)
With drive connection.
5. according to claim 1-4 any one of them intelligent storages robot, it is characterised in that：Jacking type face (231)
Including rake (231-1) and the high-order positioning paddy (231-2) at rake both ends and low level positioning paddy (231-3) are set,
Side of the high position positioning paddy (231-2) far from the rake (231-1) is provided with high-order limited shoulder (231-4), low level positioning
Side of the paddy (231-3) far from the rake (231-1) is provided with low level limited shoulder (231-5).
6. according to claim 1-4 any one of them intelligent storages robot, it is characterised in that：On the hoistable platform (21)
Gear wheel (28) that can be rotatable relative is installed, the gear wheel (28) is fixed relative to the rotary-tray (22), described
Gear wheel (28) is driven by the rotary drive motor (29) being mounted on the hoistable platform (21), the rotary drive motor
(29) pinion gear (210) engaged with the gear wheel (28) is installed on output shaft.
7. according to claim 1-4 any one of them intelligent storages robot, it is characterised in that：The hoistable platform (21) with
Guidance set (3) is provided between the substrate (11), the guidance set (3) includes being mounted on leading on hoistable platform (21)
To the guide post (32) of block (31) and installation on the substrate, it is between the guide pad (31) and the guide post (32)
It is slidably matched.
8. according to claim 1-4 any one of them intelligent storages robot, it is characterised in that：The driving wheel (12) has two
A, two driving wheels (12) are symmetrically distributed in the both sides in the middle part of the substrate (11), and the driven wheel (13) has four, four from
Driving wheel (13) is symmetrically distributed in the corner location of the substrate (11).
9. according to claim 1-4 any one of them intelligent storages robot, it is characterised in that：Further include photomoduel (4),
The photomoduel (4) includes the first camera (41) set up and down-set second camera (42).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810323294.XA CN108609333A (en) | 2018-04-12 | 2018-04-12 | Intelligent storage robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810323294.XA CN108609333A (en) | 2018-04-12 | 2018-04-12 | Intelligent storage robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108609333A true CN108609333A (en) | 2018-10-02 |
Family
ID=63659746
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810323294.XA Pending CN108609333A (en) | 2018-04-12 | 2018-04-12 | Intelligent storage robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108609333A (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109399503A (en) * | 2018-12-05 | 2019-03-01 | 杭州迦智科技有限公司 | A kind of lifting device and its automatic guide vehicle |
| CN109748207A (en) * | 2019-03-05 | 2019-05-14 | 北京以小科技有限公司 | The small automobile-used wedge-shaped lifting device of AGV, wedge-shaped lifter and AGV trolley |
| CN110498370A (en) * | 2019-08-26 | 2019-11-26 | 李朝阳 | Warehouse logistics transfer robot |
| CN110644745A (en) * | 2019-09-29 | 2020-01-03 | 广东博智林机器人有限公司 | Wood floor mounting robot |
| CN111717835A (en) * | 2019-03-22 | 2020-09-29 | 北京京东尚科信息技术有限公司 | Climbing mechanism and automatic guide transport vechicle |
| CN111924411A (en) * | 2019-08-26 | 2020-11-13 | 李朝阳 | Logistics goods shelf carrying method based on carrying robot and used for warehouse logistics |
| CN114670436A (en) * | 2022-04-02 | 2022-06-28 | 上海联泰科技股份有限公司 | Lifting device for 3D printer resin tank |
| CN115973642A (en) * | 2023-01-04 | 2023-04-18 | 深圳市昇茂科技有限公司 | Intelligent storage material automatic distribution equipment |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109399503A (en) * | 2018-12-05 | 2019-03-01 | 杭州迦智科技有限公司 | A kind of lifting device and its automatic guide vehicle |
| CN109748207A (en) * | 2019-03-05 | 2019-05-14 | 北京以小科技有限公司 | The small automobile-used wedge-shaped lifting device of AGV, wedge-shaped lifter and AGV trolley |
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| CN111924411A (en) * | 2019-08-26 | 2020-11-13 | 李朝阳 | Logistics goods shelf carrying method based on carrying robot and used for warehouse logistics |
| CN110644745A (en) * | 2019-09-29 | 2020-01-03 | 广东博智林机器人有限公司 | Wood floor mounting robot |
| CN114670436A (en) * | 2022-04-02 | 2022-06-28 | 上海联泰科技股份有限公司 | Lifting device for 3D printer resin tank |
| CN115973642A (en) * | 2023-01-04 | 2023-04-18 | 深圳市昇茂科技有限公司 | Intelligent storage material automatic distribution equipment |
| CN115973642B (en) * | 2023-01-04 | 2023-08-22 | 深圳市昇茂科技有限公司 | Intelligent warehouse material automatic distribution equipment |
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Application publication date: 20181002 |