CN108751046A - Storage transfer robot and its wireless automatic recharging method - Google Patents
Storage transfer robot and its wireless automatic recharging method Download PDFInfo
- Publication number
- CN108751046A CN108751046A CN201810312942.1A CN201810312942A CN108751046A CN 108751046 A CN108751046 A CN 108751046A CN 201810312942 A CN201810312942 A CN 201810312942A CN 108751046 A CN108751046 A CN 108751046A
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- Prior art keywords
- transfer robot
- charging
- receiver
- storage
- storage transfer
- 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.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/065—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks non-masted
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/063—Automatically guided
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/07504—Accessories, e.g. for towing, charging, locking
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/0755—Position control; Position detectors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/07559—Stabilizing means
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J50/00—Circuit arrangements or systems for wireless supply or distribution of electric power
- H02J50/20—Circuit arrangements or systems for wireless supply or distribution of electric power using microwaves or radio frequency waves
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/0042—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries characterised by the mechanical construction
Abstract
The present invention provides storage transfer robot and its wireless automatic recharging method, and this method is to be inserted into provide charge power supply at any time with the matched wireless charging receiver of wireless charging transmitter for storage transfer robot；Side working edge charging need not focus on line at charging pile and charge, and wireless recharging technology realizes that the transfer robot that effectively helps to store in a warehouse breaks away from the limitation of working time, improves the conevying efficiency of logistics shipping；The storage transfer robot can obtain surrounding enviroment information by perception and make real-time continuous dynamic decision, and Path selection and control can be carried out during advancing.
Description
Technical field
Automatic technology more particularly to a kind of storage transfer robot are carried the present invention relates to storage and its are wirelessly filled automatically
Method for electrically.
Background technology
With global industry 4.0, and the arriving of intelligent Technology Times, the intellectualization of factories has become irreversible development and becomes
Gesture.Meanwhile the rise of human cost, enterprise have also started industrial automation equipment for the great demand of the various energy, resource
The development spring tide of industry.With the continuous research and development of robot product, automated manufacturing will substitute manually at leisure, this is not only
The growth requirement of entire industry.All trades and professions are continued to develop towards automation, intelligentized direction.In recent years, with internet
With flourishing for e-commerce, electronic logistics industry development is very rapid.In order to make transport, carrying become more efficiently, soon
Speed, more and more automation equipments are applied in logistics field.
In traditional logistics work pattern, manpower transport is time-consuming longer, and person works' intensity is larger, while personnel point effect
Rate is relatively low, error rate is relatively high, cannot meet the more categories of electronic logistics operation, the feature of small batch.In addition, emerging labor
Power generally loses interest in dull, arduous screening operation, in addition the intensification of China human mortality aging degree, labor cost
It is continuously improved so that the intelligentized logistics equipment of logistics company active demand improves E-business logistics using automatic technology
Point, carry link ability.
There is transfer robot that can realize the function of automatic transporting in the prior art, such as Multi-freedom-degreemanipulator manipulator, automatic transporting
Trolley, unmanned fork truck etc., and select Multi-freedom-degreemanipulator manipulator and unmanned fork truck occupancy volume big in storage, and its
Movement speed is slow, working efficiency is relatively low, and automatic transporting trolley is in warehouse logistics with small and exquisite, light, flexibility is strong, adapts to energy
The features such as power is strong.However, automatic transporting trolley is due to small, and move flexible and convenient, often uses and installed on motor-driven carrier
Switching mechanism realizes that this just brings a problem, trolley wants small and exquisite, light, then accumulator also must be small and exquisite and light, small
The battery capacity of skilful light accumulator can be restricted, and the cruising ability and trolley automatic charging problem of accumulator are to remove automatically
Transport trolley urgent problem to be solved.
Invention content
To solve the above-mentioned problems, the present invention provides storage transfer robot, and insertion is matched with wireless charging transmitter
Wireless charging receiver be storage transfer robot charge power supply is provided at any time；Side working edge charging, need not focus on and fill
Line charges at electric stake, and wireless recharging technology realizes that the transfer robot that effectively helps to store in a warehouse breaks away from the limit of working time
System improves the conevying efficiency of logistics shipping；The storage transfer robot can obtain surrounding enviroment information by perception and make reality
When continuous dynamic decision, Path selection and control can be carried out during advancing；The use of the storage transfer robot has
Conducive to the cost of logistics sorting transport is reduced, the input of personnel is reduced, improves logistics management, cargo is reduced and carries the general of damage
Rate can be improved the torpedo efficiency of modern logistics, promote the development of logistic industry.In addition, the storage conveying robot can be additionally used in it
His field, including material process field, the hotel fields Ban Huo, military affairs and hazardous area field.
The technical solution adopted by the present invention to solve the technical problems is：Storage transfer robot, takes embedded design,
Including chassis, shell, lifting mechanism, carrying sensor and power supply, lifting mechanism is equipped with support for placing handled thing
Frame；Transfer robot chassis includes main framing and bottom plate, is used to support robot overall structure, and bottom plate selects steel plate to be made；It is main
Skeleton is arranged inside the housing, and main framing is made of upper layer and lower layer, and enclosure is additionally provided with obstacle avoidance apparatus, driving device, navigation
Locating module, control unit, communication unit, lifting mechanism, charging receiver interface；Control unit, obstacle avoidance apparatus and power supply are put
The second layer in main framing is set, driving device, navigation positioning module and charging receiver interface are placed on the first layer of main framing,
Charging receiver slot mouth is offered on shell with the matched position of charge inside receiver interface, master switch is additionally provided on shell
And emergency stop switch.
Preferably, charging receiver interface selects one kind of tri- kinds of interfaces of Lightning, Micro-USB, Type-C.
Preferably, further include charging receiver and charging transmitter, the receiver that charges is inserted into the reception of the charging on shell
It is connected at tank mouth and with charging receiver；Charging transmitter is connected on socket；The charging transmitter converts electric energy to
Electromagnetic wave, charging receiver includes electromagnetic wave receiver and rectifier, and charging receiver includes shell, electromagnetic wave receiver, whole
Device, circuit board, battery core and manual switch are flowed, electromagnetic wave receiver receives the electromagnetic wave of charging transmitter transmitting and turns electromagnetic wave
Change electric current into, rectifier will provide electric energy after the current rectification for storage transfer robot.
Preferably, driving device use two-wheel drive mode six wheel constructions, including four driven wheels, two driving wheels,
Driver and two driving motors, driven wheel select universal wheel, and four driven wheels and two driving wheels are installed on chassis；Two
A driving wheel is symmetrically placed in the both sides of center chassis, and two driving wheels are connected with two driving motors respectively, dynamic for providing
Power；Driving motor uses the brshless DC motor with reduction box；Driven wheel can be driven by driving motor and do omni-directional movement.
Preferably, further include encoder, encoder is fixed by the bracket under two direct current generators, with transfer robot vehicle
The rotation of wheel and rotate, the number of turns for recording transfer robot vehicle wheel rotation, and feed back to microcontroller.
Preferably, it is additionally provided with damping spring, damping spring is placed among chassis of vehicle body structural chassis, both ends and direct current generator
It is in contact, when encountering Uneven road, one driving wheel of transfer robot is forced to lift or be recessed, due to middle springs
Tension, make chassis of vehicle body held stationary, to play cushioning effect.
Preferably, the second layer of main framing is equipped with navigation positioning module and safe obstacle avoidance module, navigation positioning module packet
Include gray scale tracking sensor, Quick Response Code code reader and infrared sensor；Gray scale tracking sensor is used for ground hunting, as storage
The precision of robot travelling route can be improved in Transport Robot Control System for Punch redundant system；Quick Response Code code reader is installed in bottom
The forward position of disk center facilitates robot localization for reading the Quick Response Code terrestrial reference containing 2 D code information；Wherein it is placed in bottom
The infrared sensor at the disk second layer all around four sides is as the protective device for preventing robot from colliding.
Another object of the present invention is to provide a kind of wireless automatic recharging methods of storage transfer robot, solve storage and remove
The problem of transporting robot automatic charging.
A kind of wireless automatic recharging method of storage transfer robot, specifically includes following steps：
S01：Storage robot master switch is opened, charging receiver, and the transmitter that will charge will be inserted on storage transfer robot
It is connected to socket；
S02：Storage transfer robot monitors electricity surplus automatically, when monitoring that storage transfer robot electricity is less than 20%, control
Unit sends out instruction, and charging receiver is opened, and the electromagnetic wave receiver for the receiver that charges after unlatching receives charging transmitter transmitting
Electromagnetic wave and electromagnetic wave is converted into electric current, rectifier will provide electric energy after the current rectification for storage transfer robot；
S03：When transfer robot of storing in a warehouse monitors that electricity reaches 100%, control unit sends out instruction, and charging receiver is closed；
S04：Storage transfer robot continues to monitor electricity surplus, until when monitoring that storage transfer robot electricity is less than 20%,
S02 and S03 steps are repeated, are so recycled；
S05：When stopping using, the manual switch of first charge closing receiver turns off storage robot master switch, machine of storing in a warehouse
People is stopped, the receiver that charges also is stopped；Or storage robot emergency stop switch, storehouse are in case of emergency pressed in time
Storage periods of robot operation stop, charging receiver are also stopped.
Beneficial effects of the present invention：
1）Charging receiver slot mouth is offered on the storage transfer robot shell of the present invention, and charging receiver side work can be inserted
Make side charging, line at charging pile need not be focused on and charged, the realization of wireless recharging technology effectively helps carrying of storing in a warehouse
Robot breaks away from the limitation of working time, improves the conevying efficiency of logistics shipping.
2）The storage transfer robot of the present invention obtains surrounding enviroment information and makes real-time continuous dynamic to determine by perceiving
Plan can carry out Path selection and control during advancing.
3）The use of present invention storage transfer robot advantageously reduces the cost of logistics sorting transport, reduces the throwing of personnel
Enter, improve logistics management, reduces the probability that cargo carries damage, the torpedo efficiency of modern logistics can be improved, promote logistic industry
Development.In addition, the storage conveying robot can be additionally used in other field, including material process field, the hotel fields Ban Huo, military affairs
And hazardous area field.
4）Since warehouse logistics transfer robot is used primarily in the transport operation of logistics distribution center, using steel plate as
Bottom plate, the intensity of effective braced chassis structure and the rigidity for improving robot；Shell is similar to skin, for protecting in robot
Portion's component, robot lifting mechanism is executed for robot carries lifting action, and the sensor entrained by robot ensures machine
People reliably travels.
5) the wireless automatic recharging method of storage transfer robot of the invention realizes storage transfer robot and monitors automatically
The recharging of electric surplus, automatic charging and wireless charging receiver solves needs and concentrates on storage transfer robot
The problem of using charging wire wired charging is fixed at charging pile or charging zone, need not be stopped in charging process, and in work
The electricity consumption of automatic monitoring storage transfer robot automatically turns on and stops charging during making.In addition storage transfer robot connects
Charging receiver and charging transmitter cooperation are connect, real time charging provides for storage transfer robot and do not power off guarantee, realizes storage
Transfer robot constantly electricity work.
Description of the drawings
Fig. 1 is the storage transfer robot external structure schematic diagram of the present invention.
Fig. 2 is storage transfer robot internal structure schematic diagram.
Fig. 3 is the sensor placement schematic diagram of storage transfer robot.
In figure, 1, master switch, 2, emergency stop switch, 3, bracket, 4, lifting mechanism, 5, shell, 6, infrared sensor, 7, fill
Electric receiver notch, 8, driving wheel, 9, universal wheel, 10, charging receiver interface, 11, power supply, 12, driver, 13, safety keeps away
Barrier module, 14, navigation positioning module, 15, control unit, 16, communication unit, 17, driving motor, 18, gray scale tracking sensor,
19, Quick Response Code code reader, 20, the first layer of main framing, 21, the second layer of main framing, 22, chassis, 23, damping spring.
Specific implementation mode
The invention will be further described in the following with reference to the drawings and specific embodiments.
Embodiment one,
Please referring to Fig. 1, Fig. 2 and Fig. 3, the storage transfer robot of this specific embodiment takes embedded design, including chassis,
Shell, lifting mechanism, carrying sensor and power supply, lifting mechanism is equipped with bracket for placing handled thing；Carrying implement
Device people chassis includes main framing and bottom plate, is used to support robot overall structure, and bottom plate selects steel plate to be made；Main framing setting exists
Enclosure, main framing are made of upper layer and lower layer, and enclosure is additionally provided with obstacle avoidance apparatus, driving device, navigation positioning module, control
Unit processed, communication unit, lifting mechanism, charging receiver interface；Control unit, obstacle avoidance apparatus and power supply are placed on main framing
The second layer, driving device, navigation positioning module and charging receiver interface are placed on the first layer of main framing, on shell with inside
The matched position of charging receiver interface offers charging receiver slot mouth, and master switch and emergency stop switch are additionally provided on shell.
In one more preferably embodiment, charging receiver interface selects tri- kinds of Lightning, Micro-USB, Type-C to connect
One kind of mouth.
Further include charging receiver and charging transmitter in one more preferably embodiment, charging receiver is inserted into shell
On charging receiver slot mouth at and with charging receiver be connected；Charging transmitter is connected on socket；The charging transmitter
Electromagnetic wave is converted electric energy to, charging receiver includes electromagnetic wave receiver and rectifier, and charging receiver includes shell, electromagnetism
Wave receiver, rectifier, circuit board, battery core and manual switch, electromagnetic wave receiver receive the electromagnetic wave of charging transmitter transmitting
And electromagnetic wave is converted into electric current, rectifier will provide electric energy after the current rectification for storage transfer robot.
In one more preferably embodiment, driving device use two-wheel drive mode six wheel constructions, including four driven wheels,
Two driving wheels, driver and two driving motors, driven wheel select universal wheel, and four driven wheels and two driving wheels are respectively mounted
On chassis；Two driving wheels are symmetrically placed in the both sides of center chassis, and two driving wheels are connected with two driving motors respectively,
It is used to provide power；Driving motor uses the brshless DC motor with reduction box；Driven wheel can be driven by driving motor and do entirely
Direction moves.
Further include encoder in one more preferably embodiment, encoder is fixed by the bracket under two direct current generators, with
The rotation of transfer robot wheel and rotate, the number of turns for recording transfer robot vehicle wheel rotation, and feed back to microcontroller
Device.
In one more preferably embodiment, it is additionally provided with damping spring, damping spring is placed among chassis of vehicle body structural chassis, and two
End is in contact with direct current generator, when encountering Uneven road, one driving wheel of transfer robot is forced to lift or be recessed,
Due to the tension of middle springs, make chassis of vehicle body held stationary, to play cushioning effect.
In one more preferably embodiment, the second layer of main framing is equipped with navigation positioning module and safe obstacle avoidance module, leads
The locating module that navigates includes gray scale tracking sensor, Quick Response Code code reader and infrared sensor；Gray scale tracking sensor is used for ground
The precision of robot travelling route can be improved as storage Transport Robot Control System for Punch redundant system in hunting；Quick Response Code reading code
Device is installed in the forward position of center chassis, for reading the Quick Response Code terrestrial reference containing 2 D code information, facilitates robot fixed
Position；The infrared sensor at the chassis second layer all around four sides is wherein placed in as preventing the protection dress that robot collides
It sets.
Embodiment two,
A kind of storage transfer robot to embodiment one carries out wireless automatic recharging method, specifically includes following steps：
S01：Storage robot master switch is opened, charging receiver, and the transmitter that will charge will be inserted on storage transfer robot
It is connected to socket；
S02：Storage transfer robot monitors electricity surplus automatically, when monitoring that storage transfer robot electricity is less than 20%, control
Unit sends out instruction, and charging receiver is opened, and the electromagnetic wave receiver for the receiver that charges after unlatching receives charging transmitter transmitting
Electromagnetic wave and electromagnetic wave is converted into electric current, rectifier will provide electric energy after the current rectification for storage transfer robot；
S03：When transfer robot of storing in a warehouse monitors that electricity reaches 100%, control unit sends out instruction, and charging receiver is closed；
S04：Storage transfer robot continues to monitor electricity surplus, until when monitoring that storage transfer robot electricity is less than 20%,
S02 and S03 steps are repeated, are so recycled；
S05：When stopping using, the manual switch of first charge closing receiver turns off storage robot master switch, machine of storing in a warehouse
People is stopped, the receiver that charges also is stopped；Or storage robot emergency stop switch, storehouse are in case of emergency pressed in time
Storage periods of robot operation stop, charging receiver are also stopped.
Illustrative description is carried out to the present invention above in conjunction with attached drawing, it is clear that realization of the invention is not by aforesaid way
Limitation, as long as use technical solution of the present invention progress various improvement, or it is not improved say the present invention design and technology
Scheme is applied to other occasions, is within the scope of the invention.
Claims (8)
1. transfer robot of storing in a warehouse, which is characterized in that take embedded design, including chassis, shell, lifting mechanism, carrying
Sensor and power supply, lifting mechanism are equipped with the bracket for placing handled thing；Transfer robot chassis include main framing and
Bottom plate, is used to support robot overall structure, and bottom plate selects steel plate to be made；Main framing is arranged inside the housing, and main framing is by upper
Lower two layers of composition, enclosure are additionally provided with obstacle avoidance apparatus, driving device, navigation positioning module, control unit, communication unit, act
Rise mechanism, charging receiver interface；Control unit, obstacle avoidance apparatus, lifting mechanism and power supply are placed on the second layer of main framing, drive
Dynamic device, navigation positioning module and charging receiver interface are placed on the first layer of main framing, are received with charge inside on shell
The matched position of device interface offers charging receiver slot mouth, and master switch and emergency stop switch are additionally provided on shell.
2. storage transfer robot according to claim 1, which is characterized in that charging receiver interface is selected
One kind of tri- kinds of interfaces of Lightning, Micro-USB, Type-C.
3. storage transfer robot according to claim 1 or 2, which is characterized in that further include charging receiver and charging
Transmitter is connected at the charging receiver slot mouth that is inserted on shell of charging receiver and with charging receiver；Charge transmitter
It is connected on socket；The charging transmitter converts electric energy to electromagnetic wave, and charging receiver includes electromagnetic wave receiver and whole
Device is flowed, charging receiver includes shell, electromagnetic wave receiver, rectifier, circuit board, battery core and manual switch, and electromagnetic wave receives
Device receives the electromagnetic wave of charging transmitter transmitting and electromagnetic wave is converted into electric current, and rectifier will be removed after the current rectification for storage
It transports robot and electric energy is provided.
4. storage transfer robot according to claim 1, which is characterized in that driving device is using two-wheel drive mode
Six wheel constructions, including four driven wheels, two driving wheels, driver and two driving motors, driven wheel selection universal wheel, four
Driven wheel and two driving wheels are installed on chassis；Two driving wheels are symmetrically placed in the both sides of center chassis, two driving wheels
It is connected respectively with two driving motors, is used to provide power；Driving motor uses the brshless DC motor with reduction box；It is driven
Wheel can be driven by driving motor and do omni-directional movement.
5. storage transfer robot according to claim 1, which is characterized in that further include encoder, encoder passes through branch
Frame is fixed under two direct current generators, is rotated with the rotation of transfer robot wheel, for recording transfer robot wheel
The number of turns of rotation, and feed back to microcontroller.
6. storage transfer robot according to claim 1, which is characterized in that be additionally provided with damping spring, damping spring is set
Among chassis of vehicle body structural chassis, both ends are in contact with direct current generator.
7. storage transfer robot according to claim 1, which is characterized in that it is fixed that the second layer of main framing is equipped with navigation
Position module and safe obstacle avoidance module, navigation positioning module includes gray scale tracking sensor, Quick Response Code code reader and infrared sensor；
Gray scale tracking sensor is used for ground hunting；Quick Response Code code reader is installed in the forward position of center chassis, contains for reading
There is the Quick Response Code terrestrial reference of 2 D code information；The infrared sensor at the chassis second layer all around four sides is wherein placed in as preventing machine
The protective device that device people collides.
8. the storage transfer robot described in pair claim 3 carries out wireless automatic recharging method, which is characterized in that specifically include
Following steps：
S01：Storage robot master switch is opened, charging receiver, and the transmitter that will charge will be inserted on storage transfer robot
It is connected to socket, opens the manual switch of charging receiver；
S02：Storage transfer robot monitors electricity surplus automatically, when monitoring that storage transfer robot electricity is less than 20%, control
Unit sends out instruction, and charging receiver is opened, and the electromagnetic wave receiver for the receiver that charges after unlatching receives charging transmitter transmitting
Electromagnetic wave and electromagnetic wave is converted into electric current, rectifier will provide electric energy after the current rectification for storage transfer robot；
S03：When transfer robot of storing in a warehouse monitors that electricity reaches 100%, control unit sends out instruction, and charging receiver is closed；
S04：Storage transfer robot continues to monitor electricity surplus, until when monitoring that storage transfer robot electricity is less than 20%,
S02 and S03 steps are repeated, are so recycled；
S05：When stopping using, the manual switch of first charge closing receiver turns off storage robot master switch, machine of storing in a warehouse
People is stopped, the receiver that charges also is stopped；Or storage robot emergency stop switch, storehouse are in case of emergency pressed in time
Storage periods of robot operation stop, charging receiver are also stopped.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810312942.1A CN108751046A (en) | 2018-04-10 | 2018-04-10 | Storage transfer robot and its wireless automatic recharging method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810312942.1A CN108751046A (en) | 2018-04-10 | 2018-04-10 | Storage transfer robot and its wireless automatic recharging method |
Publications (1)
| Publication Number | Publication Date |
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| CN108751046A true CN108751046A (en) | 2018-11-06 |
Family
ID=63981465
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810312942.1A Withdrawn CN108751046A (en) | 2018-04-10 | 2018-04-10 | Storage transfer robot and its wireless automatic recharging method |
Country Status (1)
| Country | Link |
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| CN (1) | CN108751046A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111864917A (en) * | 2020-06-29 | 2020-10-30 | 国网山东省电力公司淄博供电公司 | Wireless charging device and method for intelligent inspection robot of transformer substation |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN206489449U (en) * | 2016-10-14 | 2017-09-12 | 深圳力子机器人有限公司 | AGV is carried in a kind of logistics with automatic charging stake |
| CN107390694A (en) * | 2017-08-01 | 2017-11-24 | 安徽福的信息技术服务有限公司 | A kind of AGV based on docking power supply dispatches system |
-
2018
- 2018-04-10 CN CN201810312942.1A patent/CN108751046A/en not_active Withdrawn
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN206489449U (en) * | 2016-10-14 | 2017-09-12 | 深圳力子机器人有限公司 | AGV is carried in a kind of logistics with automatic charging stake |
| CN107390694A (en) * | 2017-08-01 | 2017-11-24 | 安徽福的信息技术服务有限公司 | A kind of AGV based on docking power supply dispatches system |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111864917A (en) * | 2020-06-29 | 2020-10-30 | 国网山东省电力公司淄博供电公司 | Wireless charging device and method for intelligent inspection robot of transformer substation |
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Application publication date: 20181106 |