CN109279244A - It is a kind of can autonomous barcode scanning identification storage transfer robot - Google Patents
It is a kind of can autonomous barcode scanning identification storage transfer robot Download PDFInfo
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- CN109279244A CN109279244A CN201811051873.XA CN201811051873A CN109279244A CN 109279244 A CN109279244 A CN 109279244A CN 201811051873 A CN201811051873 A CN 201811051873A CN 109279244 A CN109279244 A CN 109279244A
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- Prior art keywords
- chassis
- transfer robot
- bearing chassis
- robot
- storage transfer
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Classifications
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- 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)
- Manipulator (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses it is a kind of can autonomous barcode scanning identification storage transfer robot, including carrying shell, bearing chassis and lifting mechanism, the lower thread for carrying shell is connected with bearing chassis, the lower part of the bearing chassis is fixedly installed with six wheel drive unit of chassis, the top for carrying shell is also axially connected with lifting mechanism, the top of the lifting mechanism is fixedly installed with lift stand, emergency stop switch is additionally provided on the upper surface for carrying shell, by inertial navigation, two dimensional code, the navigation mode that gray scale combines uses in logistic storage environment for robot, robot is in working space, it can be realized straight line walking, the function of pivot turn, narrow channel Transport cargo rack can be passed through simultaneously, complete carrying task, robot receives environmental information using sensor and allows the robot to later in conjunction with motion control arithmetic simultaneously Target position accurately is moved to, the all-around mobile of storage transfer robot may be implemented.
Description
Technical field
The present invention relates to storage transfer robot field, specially it is a kind of can autonomous barcode scanning identification storage conveying robot
People.
Background technique
In recent years, flourishing with internet and e-commerce, electronic logistics industry development is very rapid.In order to make
Transport, carrying become more efficiently, quickly, and more and more automation equipments are applied in logistics field, in traditional logistics operation
In mode, manpower transport is taken a long time, and person works' intensity is larger, while personnel point are relatively inefficient, error rate is opposite
It is higher, it is not able to satisfy the more categories of electronic logistics operation, the feature of small batch.In addition, emerging labour is to dull, arduous screening
Work is generally lost interest in, in addition the intensification of China human mortality aging degree, labor cost is continuously improved, so that logistics company
The intelligentized logistics equipment of urgent need, using automatic technology, the ability for improving E-business logistics point, carrying link.
For example, patent name is that locating clip need not be arranged in defined position in one kind application No. is 201480084345.8
Tool can be easy to carry out the patent of invention of the mechanical arm of the positioning of workpiece:
It uses defined dimension information and scheduled stop position information based on workpiece, and limiting member is made to be located at workpiece
Stop position contained in defined restriction site, so that workpiece mobile member is acted on workpiece and the shape that moves horizontally with workpiece
Formula keeps workpiece mobile member mobile towards restriction site, so that workpiece is connected to limiting member, workpiece is located at stop position whereby.
But it is existing can the storage transfer robot of autonomous barcode scanning identification have the following deficiencies:
(1) current storage transfer robot is by way of the phenomenon that coil of energization and guide wire generate electromagnetic induction
It realizes guiding, although using technology maturation, cost is relatively low, guide wire is hidden, not cracky, long-term can preferably keep magnetic field
Signal, relative stability is good, still, lacks since magnetic cuiding needs to bury guide cable, change and dimension on the ground in advance
It is more difficult to protect route, is not suitable for narrow storage environment；
(2) current storage transfer robot, body construction is fairly simple, and movement is more flexible, but comparatively, vehicle
Body balance is poor, and bearing capacity is not strong and can not make transverse movement, and automatic running is adapted to the unidirectional fortune under light condition
Row.
Summary of the invention
In order to overcome the shortcomings of prior art, the present invention provide it is a kind of can autonomous barcode scanning identification storage conveying robot
People can effectively solve the problem of background technique proposes.
The technical solution adopted by the present invention to solve the technical problems is:
It is a kind of can autonomous barcode scanning identification storage transfer robot, including carry shell, bearing chassis and lifting mechanism, institute
The lower thread for stating carrying shell is connected with bearing chassis, and the lower part of the bearing chassis is fixedly installed with six wheel drive of chassis dress
It sets, the top for carrying shell is also axially connected with lifting mechanism, and the top of the lifting mechanism is fixedly installed with lift stand,
Emergency stop switch is additionally provided on the upper surface for carrying shell.
Further, it is described carry shell be internally provided with support frame and sprung suspension, support frame as described above and buffering are outstanding
It is fixedly connected between frame by compressed spring column, the upper surface of support frame as described above is additionally provided with code reader, under support frame as described above
Portion is fixedly connected by connecting shaft with bearing chassis, and driver, the driver are provided on the upper surface of the sprung suspension
Left side on be fixedly installed with power supply case, the lower part of the power supply case is fixedly mounted on the upper surface of sprung suspension, described
Controller connection card slot is additionally provided on the upper surface of driver, the top of the controller connection card slot is connected with lifting mechanism
It connects.
Further, the lifting mechanism includes round tray and electric pushrod, the lower part of the round tray and control
Device connection card slot inner wall is fixedly connected, and the upper axial end of the round tray is connected with electric pushrod, the electric pushrod
Axial end is provided with rotating electric machine, and the rotating electric machine is fixedly mounted on the inner wall of round tray.
Further, obstacle avoidance sensor, the letter of the obstacle avoidance sensor are additionally provided on the upper surface of the sprung suspension
Number end is connected with Zigbee communication control card, and the Zigbee communication control card is fixedly mounted on the surface of sprung suspension.
Further, six wheel drive unit of chassis includes active universal wheel and driving wheel, and the drive shaft is to even
It connects at the middle part of bearing chassis, the both ends of the bearing chassis are separately connected there are two active universal wheel, the axis of the driving wheel
To transmission shaft is connected with, the axial end of the transmission shaft is connected with driving motor, and the driving motor, which is fixedly mounted on, to be held
On the outer surface for carrying chassis, vibration damping sheet is additionally provided on the surface of the bearing chassis.
Further, two dimensional code code reader, the side of the bearing chassis are additionally provided on the surface of the bearing chassis
On be also symmetrically installed there are four infrared sensor, be additionally provided with tracing sensor between four infrared sensors, it is described to seek
Mark sensor is fixedly mounted on the surface of bearing chassis.
Further, multiple support beams, the adjacent support are also fixedly installed on the outer surface of the bearing chassis
It is set as vertically connecting between crossbeam.
Compared with prior art, the beneficial effects of the present invention are:
(1) it is of the invention can autonomous barcode scanning identification storage transfer robot, inertial navigation, two dimensional code, gray scale are combined
Navigation mode uses in logistic storage environment for robot, and robot can be realized straight line walking, original place in working space
The function of turning, while carrying task can be completed, while robot is connect using sensor by narrow channel Transport cargo rack
Receive environmental information combines motion control arithmetic to allow the robot to accurately move to target position later；
(2) it is of the invention can autonomous barcode scanning identification storage transfer robot, car body driving structure uses six wheel constructions, preceding
Each two universal wheels afterwards, intermediate two driving wheels, the bearing capacity of enhancing storage transfer robot, while can guarantee that storage is removed
The flexibility of robot is transported, the full side of storage transfer robot may be implemented by two motor control differential steerings in driving wheel
Displacement is dynamic, can make transfer robot operation in narrow channel of storing in a warehouse；
Detailed description of the invention
Fig. 1 is overall structure diagram of the invention；
Fig. 2 is carrying interior of shell structural schematic diagram of the invention；
Fig. 3 is bearing chassis structural schematic diagram of the invention.
Figure label:
1- carries shell；2- bearing chassis；3- lifting mechanism；4- lift stand；5- emergency stop switch；Six wheel drive of the chassis 6- dress
It sets；
101- support frame；102- sprung suspension；103- compressed spring column；104- driver；105- power supply case；106- control
Device connects card slot；107- obstacle avoidance sensor；108-Zigbee communication control card；109- code reader；
201- two dimensional code code reader；202- tracing sensor；203- transmission shaft；204- driving motor；205- vibration damping sheet；
206- support beam；207- infrared sensor；
301- rotating electric machine；302- electric pushrod；303- round tray；
601- active universal wheel；602- driving wheel.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
As shown in Figure 1 to Figure 3, the present invention provides it is a kind of can autonomous barcode scanning identification storage transfer robot, including remove
Transport shell 1, bearing chassis 2 and lifting mechanism 3, it is characterised in that: the lower thread for carrying shell 1 is connected with bearing chassis 2, holds
The lower part for carrying chassis 2 is fixedly installed with six wheel drive unit 6 of chassis, and the top for carrying shell 1 is also axially connected with lifting mechanism
3, the top of lifting mechanism 3 is fixedly installed with lift stand 4, carries and is additionally provided with emergency stop switch 5 on the upper surface of shell 1.
In the present embodiment, the bearing chassis 2 of conveying robot human body is main framing, and mainly support robot is integrally tied
Structure uses steel plate materials to improve the rigidity of robot as the bottom plate of bearing chassis 2.It carries 1 shell of shell and is similar to skin
Skin, protects robot interior component, and robot lifting mechanism 3 is that robot executes the critical component for carrying lifting, institute of robot
The sensor of carrying guarantees that robot reliably travels.
That carries shell 1 is internally provided with support frame 101 and sprung suspension 102, support frame 101 and sprung suspension 102 it
Between be fixedly connected by compressed spring column 103, the upper surface of support frame 101 is additionally provided with code reader 109, under support frame 101
Portion is fixedly connected by connecting shaft with bearing chassis 2, and driver 104, driver are provided on the upper surface of sprung suspension 102
Power supply case 105 is fixedly installed on 104 left side, the lower part of power supply case 105 is fixedly mounted on the upper surface of sprung suspension 102
On, controller connection card slot 106 is additionally provided on the upper surface of driver 104, controller connects top and the lifting of card slot 106
Mechanism 3 is connected, and obstacle avoidance sensor 107, the signal end of obstacle avoidance sensor 107 are additionally provided on the upper surface of sprung suspension 102
It is connected with Zigbee communication control card 108, Zigbee communication control card 108 is fixedly mounted on the surface of sprung suspension 102.
In the present embodiment, robot passes through the acquisition of two dimensional code code reader 109 two-dimensional barcode information first and obtains initial alignment letter
Breath acquires the yaw angle information in robot driving process, at the same time controller connection card later based on inertia device
The velocity information of the available robot of the encoder used inside slot 106, the two obtain the movement rail of robot in conjunction with reckoning
Mark, there are score accumulation errors in long-time use for the yaw angle information obtained due to robot, it is therefore desirable to deviation into
Row amendment, is modified, specific method is to introduce grayscale information: acquisition two-dimensional barcode information carries out just positioning, detection first
Terrestrial reference gray-value variation corrects the error, and is navigated in the short time using inertia device matching coding device later.
Lifting mechanism 3 includes round tray 303 and electric pushrod 302, lower part and the controller connection card of round tray 303
106 inner wall of slot is fixedly connected, and the upper axial end of round tray 303 is connected with electric pushrod 302, the axial direction of electric pushrod 302
End is provided with rotating electric machine 301, and rotating electric machine 301 is fixedly mounted on the inner wall of round tray 303.
Six wheel drive unit 6 of chassis includes active universal wheel 602 and driving wheel 601, and driving wheel 601 is axial to be connected to carrying
The middle part on chassis 2, the both ends of bearing chassis 2 are separately connected there are two active universal wheel 602, and the axial connection of driving wheel 601 is set
It is equipped with transmission shaft 203, the axial end of transmission shaft 203 is connected with driving motor 204, and driving motor 204 is fixedly mounted on carrying bottom
On the outer surface of disk 2.
In the present embodiment, in such a way that two driving wheels 601 drive, selection is shared negative using 4 active universal wheels 602
It carries, improves the ability of storage transfer robot carrying weight.
In the present embodiment, in order to guarantee six wheels in six wheel drive unit 6 of chassis while land, drive part and vehicle
Frame increases sprung suspension 102, is connected between sprung suspension 102 and support frame 101 using compressed spring column 103, guarantees in this way
Entire car body uniform force is distributed on driving wheel 601, is then redispersed on four support universal wheels 602, to prevent from turning to,
Two limited blocks are provided in contact point, this mechanical structure both ensure that the driving capability of storage transfer robot operation, together
When decrease storage transfer robot run turning when swing.
It is additionally provided with vibration damping sheet 205 on the surface of bearing chassis 2, two dimensional code reading is additionally provided on the surface of bearing chassis 2
Code device 201 is also symmetrically installed on the side of bearing chassis 2 there are four infrared sensor 207, between four infrared sensors 207
It is additionally provided with tracing sensor 202, tracing sensor 202 is fixedly mounted on the surface of bearing chassis 2, outside bearing chassis 2
It is also fixedly installed with multiple support beams 206 on surface, is set as vertically connecting between adjacent supports crossbeam 206.
In the present embodiment, gray scale tracking sensor 202 is used for ground hunting, superfluous as storage Transport Robot Control System for Punch
Remaining system, can be improved the precision of robot travelling route, and two dimensional code code reader 201 is installed in the forward position of center chassis
It sets, for reading the two dimensional code terrestrial reference containing two-dimensional barcode information, facilitates robot localization, wherein on the side of bearing chassis 2
Infrared sensor 207 is as the protective device for preventing robot from colliding.
In the present embodiment, the use for transfer robot of storing in a warehouse advantageously reduces the cost that carrying is plunderred in logistics point, reduces personnel
Investment, improve logistics management, reduce the probability that cargo carries damage, can be improved the torpedo efficiency of modern logistics, promote logistics
The development of industry.
In the present embodiment, two driving wheels 601 of robot are symmetrically placed in the two sides at 2 center of bearing chassis, two drivings
Wheel 601 is connected with two driving motors 204 respectively, and for providing power, driving motor 204 is used with the brushless of reduction gearbox
Direct current generator, active universal wheel 602 can be driven with driven-mechanism as driven wheel and do omni-directional movement, wherein vibration damping sheet 205
It is placed among chassis of vehicle body structural chassis, both ends are in contact with the shell of driving motor 204, when encountering Uneven road, remove
When fortune one driving wheel of robot is forced to lift or be recessed, due to the tension of intermediate vibration damping sheet 205, keep chassis of vehicle body opposite
Steadily, to play cushioning effect.
It is obvious to a person skilled in the art that invention is not limited to the details of the above exemplary embodiments, Er Qie
In the case where without departing substantially from spirit or essential attributes of the invention, the present invention can be realized in other specific forms.Therefore, no matter
From the point of view of which point, the present embodiments are to be considered as illustrative and not restrictive, and the scope of the present invention is by appended power
Benefit requires rather than above description limits, it is intended that all by what is fallen within the meaning and scope of the equivalent elements of the claims
Variation is included within the present invention.Any reference signs in the claims should not be construed as limiting the involved claims.
Claims (7)
1. one kind can autonomous barcode scanning identification storage transfer robot, including carry shell (1), bearing chassis (2) and lifting machine
Structure (3), it is characterised in that: the lower thread for carrying shell (1) is connected with bearing chassis (2), the bearing chassis (2)
Lower part is fixedly installed with six wheel drive unit of chassis (6), and the top for carrying shell (1) is also axially connected with lifting mechanism
(3), the top of the lifting mechanism (3) is fixedly installed with lift stand (4), is also set up on the upper surface for carrying shell (1)
There are emergency stop switch (5).
2. one kind according to claim 1 can autonomous barcode scanning identification storage transfer robot, it is characterised in that: it is described to remove
Fortune shell (1) is internally provided with support frame (101) and sprung suspension (102), support frame as described above (101) and sprung suspension
(102) it is fixedly connected between by compressed spring column (103), the upper surface of support frame as described above (101) is additionally provided with code reader
(109), the lower part of support frame as described above (101) is fixedly connected by connecting shaft with bearing chassis (2), the sprung suspension (102)
Upper surface on be provided with driver (104), be fixedly installed with power supply case (105), institute on the left side of the driver (104)
The lower part for stating power supply case (105) is fixedly mounted on the upper surface of sprung suspension (102), the upper surface of the driver (104)
On be additionally provided with controller connection card slot (106), the top of controller connection card slot (106) is connected with lifting mechanism (3)
It connects.
3. one kind according to claim 1 can autonomous barcode scanning identification storage transfer robot, it is characterised in that: the act
Rising mechanism (3) includes round tray (303) and electric pushrod (302), and the lower part of the round tray (303) is connect with controller
Card slot (106) inner wall is fixedly connected, and the upper axial end of the round tray (303) is connected with electric pushrod (302), the electricity
The axial end of dynamic push rod (302) is provided with rotating electric machine (301), and the rotating electric machine (301) is fixedly mounted on round tray
(303) on inner wall.
4. one kind according to claim 2 can autonomous barcode scanning identification storage transfer robot, it is characterised in that: it is described slow
It rushes on the upper surface of suspension (102) and is additionally provided with obstacle avoidance sensor (107), the signal end connection of the obstacle avoidance sensor (107)
Have Zigbee communication control card (108), the Zigbee communication control card (108) is fixedly mounted on the table of sprung suspension (102)
On face.
5. one kind according to claim 1 can autonomous barcode scanning identification storage transfer robot, it is characterised in that: the bottom
Six wheel drive unit of disk (6) includes active universal wheel (602) and driving wheel (601), and the driving wheel (601) is axially connected to and holds
The middle part of chassis (2) is carried, the both ends of the bearing chassis (2) are separately connected there are two active universal wheel (602), the driving wheel
(601) axial direction is connected with transmission shaft (203), and the axial end of the transmission shaft (203) is connected with driving motor (204),
The driving motor (204) is fixedly mounted on the outer surface of bearing chassis (2), also sets on the surface of the bearing chassis (2)
It is equipped with vibration damping sheet (205).
6. one kind according to claim 1 can autonomous barcode scanning identification storage transfer robot, it is characterised in that: it is described to hold
It carries and is additionally provided with two dimensional code code reader (201) on the surface of chassis (2), is also symmetrically installed on the side of the bearing chassis (2)
There are four infrared sensor (207), it is additionally provided with tracing sensor (202) between four infrared sensors (207), it is described
Tracing sensor (202) is fixedly mounted on the surface of bearing chassis (2).
7. one kind according to claim 1 can autonomous barcode scanning identification storage transfer robot, it is characterised in that: it is described to hold
It carries and is also fixedly installed with multiple support beams (206) on the outer surface of chassis (2), set between the adjacent support beam (206)
It is set to vertical connection.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811051873.XA CN109279244A (en) | 2018-09-10 | 2018-09-10 | It is a kind of can autonomous barcode scanning identification storage transfer robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811051873.XA CN109279244A (en) | 2018-09-10 | 2018-09-10 | It is a kind of can autonomous barcode scanning identification storage transfer robot |
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| CN109279244A true CN109279244A (en) | 2019-01-29 |
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ID=65178109
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811051873.XA Pending CN109279244A (en) | 2018-09-10 | 2018-09-10 | It is a kind of can autonomous barcode scanning identification storage transfer robot |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111767755A (en) * | 2020-07-02 | 2020-10-13 | 焦作大学 | Intelligent identification system for underground logistics |
| CN111775167A (en) * | 2019-12-27 | 2020-10-16 | 上海微电机研究所(中国电子科技集团公司第二十一研究所) | Transport service robot and mobile chassis thereof |
| CN113772347A (en) * | 2020-06-09 | 2021-12-10 | 丰田自动车株式会社 | Mobile robot, server device, and transportation method |
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Application publication date: 20190129 |