CN109625728A - A kind of more cargo transfer robots - Google Patents
A kind of more cargo transfer robots Download PDFInfo
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- CN109625728A CN109625728A CN201811519450.6A CN201811519450A CN109625728A CN 109625728 A CN109625728 A CN 109625728A CN 201811519450 A CN201811519450 A CN 201811519450A CN 109625728 A CN109625728 A CN 109625728A
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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
- B65G1/0407—Storage devices mechanical using stacker cranes
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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
- B65G1/0485—Check-in, check-out devices
-
- 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
- B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
- B65G2201/02—Articles
- B65G2201/0235—Containers
- B65G2201/0258—Trays, totes or bins
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention belongs to carry field of automation technology, more particularly to a kind of more cargo transfer robots, it includes including universal driving mechanism, robot shell, support rod, executing agency etc., wherein transfer robot of the invention can carry out access goods movement by the respective execution mechanisms on control support rod come the shelf to the different height in L-type support frame, transfer robot is enabled disposably to carry more than one piece cargo, to improve the handling efficiency of transfer robot.The configuration of the present invention is simple has preferable using effect.
Description
Technical field
The invention belongs to carry field of automation technology more particularly to a kind of more cargo transfer robots.
Background technique
With the fast development of logistic industry and machine intelligence, now to the efficiency of carrying and the access of cargo in logistics
It is higher and higher.For example when carrying electric business cargo in the warehouse of electric business, in order to save manual handling costs, and greatly improve carrying
Efficiency, the warehouse of many electric business has used intelligent robot when carrying to cargo now；But current city
Intelligent transfer robot on face mainly carries out carrying access to single good；In order to make intelligent transfer robot more
Add raising handling efficiency, so with regard to needing to design a kind of intelligent carrying implement that can carry to more than one piece cargo access simultaneously
Device people.
The present invention design a kind of more cargo transfer robots solve the problems, such as it is as above.
Summary of the invention
To solve drawbacks described above in the prior art, the present invention discloses a kind of more cargo transfer robots, it be use with
Lower technical solution is realized.
In the description of the present invention, it should be noted that the indicating positions such as term "inner", "lower", "upper" or position are closed
System be orientation based on the figure perhaps positional relationship or the invention product using when the orientation or position usually put
Set relationship, it is only for convenient for the description present invention and simplify description, rather than the device or element of indication or suggestion meaning must
There must be specific orientation, be constructed or operated with specific orientation, therefore be not considered as limiting the invention.In addition, art
Language " first ", " second " etc. are only used for distinguishing description, are not understood to indicate or imply relative importance.
A kind of more cargo transfer robots, it is characterised in that: it include robot shell, universal driving mechanism, support rod,
Executing agency, wherein the lower surface of robot shell is equipped with universal driving mechanism；Support rod is fixedly mounted on robot shell
Upper surface；Support rod is equably opened along support rod length direction there are three annular groove；It is installed at each annular groove of support rod
There is an executing agency, and executing agency is respectively positioned on the upside of robot shell.
Above-mentioned executing agency includes wobble plate, the second support plate for being fixedly mounted on wobble plate one end upper surface, is fixedly mounted on
The oblique support plate of wobble plate side, the second arc panel B, servo motor, is fixedly mounted on above-mentioned support rod the second arc panel A
Fixed gear, scroll spring, the second shaft, first gear, wherein wobble plate is opened installation circular hole by one end and is covered in above-mentioned branch
On the corresponding annular groove of strut, and wobble plate is rotatably assorted with support rod formation；Second shaft is mounted on the second support plate by bearing
In the circular hole of upper end, and the both ends of the second shaft are fixedly installed with the second arc panel A and the second arc panel B respectively；Second arc panel A
Upper surface it is mutually coplanar with the upper surface of the second arc panel B, the center of circle locating for the radian of the second arc panel A and the second arc panel B
Radian locating for the center of circle it is concentric；The end face of the one end of oblique support plate far from wobble plate is horizontal plane；Second shaft is equipped with scrollwork
Spring, when the second arc panel A and the second arc panel B are when in a horizontal state, scroll spring is in compressive state；Servo motor is solid
Dingan County is in wobble plate；Fixed gear is close to wobble plate；First gear is connected by axis with the motor shaft of servo motor；First tooth
Wheel is meshed with fixed gear；Second arc panel A and the second arc panel B are matched with the horizontal plane of oblique support plate.
Universal driving mechanism makes robot shell can be realized straight line walking or turning walking.
As the further improvement of this technology, shelf mechanism includes L-type support frame and shelf, and wherein L-type support frame is by cross
Plate and riser are constituted；Equably there are three shelf for installation along the length direction of L-type support frame riser.
Above-mentioned shelf are fixed including the first support plate, the first arc panel A, inclined plate A, the first arc panel B, inclined plate B, first
Plate, the first L-type plate, wherein one end of the first support plate is fixedly mounted on the riser of L-type support frame, the other end is fixedly installed with
First arc panel A；One end of first L-type plate is fixedly mounted on the riser of L-type support frame, and it is solid that the other end is fixedly installed with first
Fixed board；First fixed plate is fixedly installed with the first arc panel B far from one end of the first L-type plate；The upper surface of first arc panel A and
The upper surface of first arc panel B is mutually coplanar, and the acute angle that the upper surface of the first arc panel A and horizontal plane are constituted is 8 degree~12
Between degree；The center of circle locating for radian of the center of circle locating for the radian of first arc panel A with the first arc panel B is concentric；The one of inclined plate A
End is fixedly mounted on the upper surface of the first arc panel A；One end of inclined plate B is fixedly mounted on the upper surface of the first arc panel B；
Inclined plate A is mounted on the installation point of the first arc panel A and inclined plate B is mounted on line and L that the installation point of the first arc panel B is constituted
The riser of type support frame is perpendicular；Inclined plate A is coplanar with inclined plate B；The acute angle that inclined plate A and horizontal plane are constituted 40 degree~50 degree it
Between；Inclined plate A is identical with inclined plate B size.
As the further improvement of this technology, the second arc panel A and the second arc panel B in above-mentioned respective execution mechanisms with
The first arc panel A and the first arc panel B in corresponding shelf mechanism are matched；Second arc panel A in above-mentioned respective execution mechanisms
Intrados and the second arc panel B extrados between spacing be named as D1；First arc panel A in above-mentioned corresponding shelf mechanism
Intrados and the first arc panel B extrados between spacing be named as D2；D2 is greater than D1.Pass through rationally setting to D2 and D1
Meter, then the second arc panel A and the second arc panel B are passing through the first arc panel A and the first arc in the case where D2 is greater than D1
During spacing between plate B, when the second arc panel A and the second arc panel B surround the axis oscillating of the second shaft, the second arc
Plate A and the second arc panel B will not generate interference with the first arc panel A and the first arc panel B.
As the further improvement of this technology, it further includes middle control module and navigation module, wherein middle control module is mounted on
In above-mentioned robot shell；Navigation module is mounted on the outside of shell；Middle control module controls above-mentioned servo motor and above-mentioned ten thousand
To driving mechanism；Navigation module carries out path navigation to robot and apart from identification.
As the further improvement of this technology, above-mentioned executing agency further includes first rotating shaft, the second L-type plate, A square hole, the side B
Hole, link block, third shaft, one-way clutch, position-limited wheel, wherein one end of the second L-type plate is fixedly mounted on above-mentioned wobble plate
On upper surface, and the second L-type plate is close to above-mentioned support rod；Above-mentioned servo motor is located at the upper surface of wobble plate；First rotating shaft passes through
Bearing is mounted on the second L-type plate far from one end circular hole of wobble plate, and one end of first rotating shaft and the motor shaft of servo motor are mutually solid
Even；Above-mentioned first gear is fixedly mounted on first rotating shaft far from one end of servo motor.
Above-mentioned scroll spring is two；Two scroll springs cover in above-mentioned second shaft, and two scroll springs are located at
The two sides of above-mentioned second support plate, two scroll springs are between the second arc panel A and the second arc panel B；Two scrollwork bullets
Periphery of the one end of spring respectively with the second shaft is fixedly connected with, and the other end passes through link block respectively and is mounted on above-mentioned second support plate
Respective side on.
The A square hole of perforation is provided on above-mentioned second arc panel A；The B square hole of perforation is provided on above-mentioned second arc panel B；The side A
Hole and B square hole are located at the two sides of above-mentioned second support plate；A square hole is identical with institute's mounting structure in B square hole, for A square hole: third
Shaft is mounted between A square hole two sides；One-way clutch is mounted on the periphery of third shaft, the outer circle of one-way clutch
Position-limited wheel is installed on face；Position-limited wheel part periphery is pierced by the upper surface of the second arc panel A, and position-limited wheel is pierced by the second arc panel
The distance of the highest point of the upper surface of A to the upper surface of the second arc panel A is suitable between 1 millimeter~3 millimeters.Such design
Container nowel face and the upper surface of the upper surface of the second arc panel A, the second arc panel B are in contact substantially, under container
Case face can generate to squeeze with position-limited wheel and contact, so that there are larger frictions between container and position-limited wheel.
As the further improvement of this technology, the above-mentioned one end of second arc panel A far from oblique support plate to the second shaft
Distance is less than, and the second arc panel A is close to one end of oblique support plate to the distance of the second shaft；Above-mentioned second arc panel B is far from tiltedly
One end of support plate is less than to the distance of the second shaft, the second arc panel B close to one end of oblique support plate to the second shaft away from
From.In this way design the reason of be: using the second arc panel A and the second arc panel B on shelf progress picking when, in order to protect
It demonstrate,proves the second shaft contact B point that is connected with the second arc panel A and is located at the front end of container center of gravity, and container rear end can also be by the second arc
Plate A and the second arc panel B are supported, so setting the both ends distance of the second arc panel A and the second arc panel B.
As the further improvement of this technology, elastic rake tooth is circumferentially evenly distributed on the periphery of above-mentioned position-limited wheel.
Elastic rake tooth can increase limit when may slide downwards to container, further prevent container from the second arc panel A and second
It is slided down on arc panel B.In addition, since elastic rake tooth has elasticity, then under the weight of container, elastic rake tooth
It is easy to be further decreased the nowel face due to elastic rake tooth to container caused by container support and the second arc by compressive deformation
Plate A, the second arc panel B CONTACT WITH FRICTION area reduce the case where, relatively ensure that container nowel face and the second arc panel
A, the second arc panel B has biggish CONTACT WITH FRICTION area.
As the further improvement of this technology, when the second arc panel A is when in a horizontal state, above-mentioned second arc panel A's
Upper surface is higher than end face of second support plate far from wobble plate；When the second arc panel surrounds the axis oscillating of the second shaft, second
The one end of support plate far from wobble plate does not pass through the upper surface of the second arc panel always.Such design requirement is: the second arc
Shape plate A and the second arc panel B is during the spacing across the first arc panel A and the first arc panel B, the second arc panel A
When surrounding the axis oscillating of the second shaft with the second arc panel B, the second arc panel A and the second arc panel B can generate container and push away
Dynamic and supporting role, the one end of the second support plate far from wobble plate will not with the nowel face contact of container, guarantee the second arc panel A and
Second arc panel B smoothly can access goods to container on shelf.
As the further improvement of this technology, the upper surface of above-mentioned second arc panel A and the second arc panel B are friction
Face.Such design is, when container is located on the upper surface of the second arc panel A and the second arc panel B, in the second arc panel
When A and the second arc panel B are in heeling condition, under this state, since the upper surface of the second arc panel A and the second arc panel B are equal
For rubbing surface, container is by the friction between the second arc panel A, the second arc panel B without from the second arc panel A and second
Arc panel B slides.
As the further improvement of this technology, above-mentioned elasticity rake tooth is made of rubber material.
The both ends of second shaft are fixedly installed with the second arc panel A and the second arc panel B respectively, and the second arc panel A's is upper
Surface is mutually coplanar with the upper surface of the second arc panel B, then the second arc panel A and the second arc panel B can be around the second shaft
Axis synchronous hunting.
The design that second arc panel A and the second arc panel B are matched with the horizontal plane of oblique support plate is: first, when
Second arc panel A and the second arc panel B are when in a horizontal state, and scroll spring is in pre-compressed state, the second arc panel A following table
Face and the lower surface of the second arc panel B fit with the horizontal plane of oblique support plate, then oblique support plate can be to the second arc panel A
Good supporting role is played with the second arc panel B；Since scroll spring is in pre-compressed state, then the reset of scroll spring
Power can guarantee the second arc panel A and the second arc panel B when not by external force, the second lower surface arc panel A and the second arc
The lower surface of plate B can generate with the horizontal plane of oblique support plate be bonded always.Second, from first gear to the side of the second arc panel A
To seeing, when the second arc panel A and the second arc panel B surrounds the axis counter-clockwise swing of the second shaft, the second shaft is counterclockwise
Rotation, scroll spring continuation are compressed, and the second arc panel A and the second arc panel B are detached from the horizontal face contact with oblique support plate.The
Three, from first gear to the direction of the second arc panel A in terms of, when the second arc panel A and the second arc panel B surround the second shaft axis
When line clockwise oscillation, the maximum position of the clockwise oscillation of the second arc panel A and the second arc panel B is, under the second arc panel A
The position that surface and the lower surface of the second arc panel B fit with the horizontal plane of oblique support plate, under this state two arc panel A and
The axis both clockwise that second arc panel B can not continue around the second shaft is swung.
The upper surface of first arc panel A is mutually coplanar with the upper surface of the first arc panel B, and the upper surface of the first arc panel A
The acute angle constituted with horizontal plane is between 8 degree~12 degree；Inclined plate A is coplanar with inclined plate B；Inclined plate A is constituted sharp with horizontal plane
Design of the angle between 40 degree~50 degree is: after container is placed on the first arc panel A and the first arc panel B, due to
The acute angle that the upper surface of one arc panel A and horizontal plane are constituted is between 8 degree~12 degree, then container is in self weight gravity lower edge the
The inclined surface slide downward of one arc panel A and the first arc panel B；But, inclined plate A and inclined plate B can generate position-limiting action to container,
Prevent container from falling down from the first arc panel A and the first arc panel B.The acute angle constituted for inclined plate A and horizontal plane is 40
Requirement between~50 degree of degree, so that container is easier under external force, the inclined-plane along inclined plate A and inclined plate B is oblique to be moved up
It is dynamic.
Effect for one-way clutch: in terms of from first gear to the direction of the second arc panel A, one-way clutch is forbidden limiting
The rotation counterclockwise of position wheel, allows position-limited wheel to rotate clockwise.
The invention adopts the above technical scheme compared with prior art, has following technical effect that
1, transfer robot structure of the invention is simple, and one time performance carries more than one piece container, substantially increases conveying robot
The handling efficiency of people.
2, need at least two motors cooperation running come compared with realizing with the movement of the access container of robot in the prior art,
During accessing container, entire executing agency only needs a servo motor, in this way for executing agency in the present invention
The manufacturing cost of executing agency of the invention is opposite to be lowered, and the batch production and sale of executing agency of the present invention are conducive to.
Detailed description of the invention
Fig. 1 is robot entirety and shelf structural scheme of mechanism.
Fig. 2 is the scheme of installation of shelf.
Fig. 3 is the overall schematic of shelf.
Fig. 4 is robot overall schematic.
Fig. 5 is the schematic diagram of installed executing agency on support rod.
Fig. 6 is the structural schematic diagram of support rod.
Fig. 7 is executing agency's scheme of installation.
Fig. 8 is the installation diagrammatic cross-section of wobble plate and fixed gear.
Fig. 9 is the scheme of installation of the second arc panel A and the second arc panel B.
Figure 10 is the partial schematic diagram of institute's mounting structure on the second arc panel A and the second arc panel B.
Figure 11 is scroll spring scheme of installation.
Figure 12 is the scheme of installation of third shaft.
Figure 13 is the scheme of installation of position-limited wheel.
Figure 14 is the top view of executing agency's access container.
Figure 15 is principle (one) schematic diagram of executing agency's picking case.
Figure 16 is principle (two) schematic diagram of executing agency's picking case.
Figure label title: 1, L-type support frame；2, shelf mechanism；4, robot shell；5, universal driving mechanism；7, it props up
Strut；8, executing agency；9, transverse slat；10, riser；12, shelf；13, the first support plate；14, the first arc panel A；15, inclined plate A；
16, the first arc panel B；17, inclined plate B；18, the first fixed plate；19, the first L-type plate；29, fixed gear；30, first gear；
31, first rotating shaft；32, servo motor；33, the second L-type plate；34, wobble plate；35, the second support plate；36, the second shaft；37, whirlpool
Coil spring；38, link block；39, third shaft；40, one-way clutch；41, position-limited wheel；42, elastic rake tooth；43, bearing diagonal
Plate；44, the second arc panel A；45, the second arc panel B；46, A square hole；47, B square hole；48, circular hole is installed；50, annular groove；63, in
Control module；64, navigation module；67, container.
Specific embodiment
Hereinafter reference will be made to the drawings to describe the present invention；However, it should be understood that these descriptions are merely illustrative, and do not really want
It limits the scope of the present disclosure.In addition, in the following description, descriptions of well-known structures and technologies are omitted, to avoid unnecessary
Obscure the concept of the disclosure in ground.All terms (including technical and scientific term) as used herein are logical with those skilled in the art
The meaning often understood, unless otherwise defined.It should be noted that term used herein should be interpreted that with upper and lower with this specification
Text consistent meaning, without that should be explained with idealization or excessively mechanical mode.
As shown in Fig. 1,4,7, it includes robot shell 4, universal driving mechanism 5, support rod 7, executing agency 8, is such as schemed
1, shown in 4, wherein the lower surface of robot shell 4 is equipped with universal driving mechanism 5；As shown in Figure 1,5, the fixed peace of support rod 7
Mounted in the upper surface of robot shell 4；As shown in fig. 6, support rod 7 is equably opened along 7 length direction of support rod, there are three rings
Slot 50；As shown in Figure 5,6, an executing agency 8 is installed at each annular groove 50 of support rod 7, and executing agency 8 is respectively positioned on
4 upside of robot shell.
As shown in fig. 7, above-mentioned executing agency 8 includes wobble plate 34, as shown in figure 9, being fixedly mounted on table on 34 one end of wobble plate
Second support plate 35 in face, the oblique support plate 43 for being fixedly mounted on 34 side of wobble plate, the second arc panel A44, the second arc panel
B45, servo motor 32, as shown in fig. 7, be fixedly mounted on the fixation gear 29 on above-mentioned support rod 7, as shown in figure 11, scrollwork
Spring 37, the second shaft 36, first gear 30, as shown in Figure 8,9, wherein wobble plate 34 opens 48 sets of circular hole of installation by one end
On the corresponding annular groove 50 of above-mentioned support rod 7, and wobble plate 34 is rotatably assorted with the formation of support rod 7；As shown in figure 9, the second shaft
36 are mounted in 35 upper end circular hole of the second support plate by bearing, and the both ends of the second shaft 36 are fixedly installed with the second arc respectively
Shape plate A44 and the second arc panel B45；The upper surface of second arc panel A44 is mutually coplanar with the upper surface of the second arc panel B45, the
The center of circle locating for radian of the center of circle locating for the radian of two arc panel A44 with the second arc panel B45 is concentric；Oblique support plate 43 is separate
The end face of one end of wobble plate 34 is horizontal plane；As shown in Figure 10,11, the second shaft 36 is equipped with scroll spring 37, when the second arc
Shape plate A44 and the second arc panel B45 are when in a horizontal state, and scroll spring 37 is in compressive state；As shown in Figure 8,9, servo
Motor 32 is fixedly mounted in wobble plate 34；Fixed gear 29 is close to wobble plate 34；First gear 30 passes through axis and servo motor 32
Motor shaft is connected；First gear 30 is meshed with fixed gear 29；Second arc panel A44 and the second arc panel B45 is and tiltedly
The horizontal plane of support plate 43 matches.
Universal driving mechanism 5 makes robot shell 4 can be realized straight line walking or turning walking.
As shown in Figure 1, 2, shelf mechanism 2 includes L-type support frame 1 and shelf 12, as shown in Fig. 2, wherein L-type support frame 1
It is made of transverse slat 9 and riser 10；As shown in Figure 1, 2, three are equably equipped with along the length direction of 1 riser 10 of L-type support frame
A shelf 12.
As shown in figure 3, above-mentioned shelf 12 include the first support plate 13, the first arc panel A14, inclined plate A15, the first arc panel
B16, inclined plate B17, the first fixed plate 18, the first L-type plate 19, as shown in Figure 2,3, wherein the fixed peace in one end of the first support plate 13
On the riser 10 of L-type support frame 1, the other end is fixedly installed with the first arc panel A14；One end of first L-type plate 19 is fixed
It is mounted on the riser 10 of L-type support frame 1, the other end is fixedly installed with the first fixed plate 18；As shown in figure 3, the first fixed plate
18 one end far from the first L-type plate 19 are fixedly installed with the first arc panel B16；The upper surface of first arc panel A14 and the first arc
The upper surface of shape plate B16 is mutually coplanar, and the acute angle that the upper surface of the first arc panel A14 and horizontal plane are constituted is at 8 degree~12 degree
Between；The center of circle locating for radian of the center of circle locating for the radian of first arc panel A14 with the first arc panel B16 is concentric；Inclined plate A15
One end be fixedly mounted on the upper surface of the first arc panel A14；One end of inclined plate B17 is fixedly mounted on the first arc panel B16
Upper surface on；The installation point that inclined plate A15 is mounted on the first arc panel A14 is mounted on the peace of the first arc panel B16 with inclined plate B17
It decorates constituted line and the riser 10 of L-type support frame 1 is perpendicular；Inclined plate A15 is coplanar with inclined plate B17；Inclined plate A15 and level
The acute angle that face is constituted is between 40 degree~50 degree；Inclined plate A15 is identical with inclined plate B17 size.
In the second arc panel A44 and the second arc panel B45 and corresponding shelf mechanism 2 in above-mentioned respective execution mechanisms 8
First arc panel A14 and the first arc panel B16 are matched；In above-mentioned respective execution mechanisms 8 intrados of second arc panel A44 with
Spacing between the extrados of second arc panel B45 is named as D1；First arc panel A14's is interior in above-mentioned corresponding shelf mechanism 2
Spacing between cambered surface and the extrados of the first arc panel B16 is named as D2；D2 is greater than D1.Pass through rationally setting to D2 and D1
Meter, then the second arc panel A and the second arc panel B are passing through the first arc panel A and the first arc in the case where D2 is greater than D1
During spacing between plate B, when the second arc panel A and the second arc panel B surround the axis oscillating of the second shaft 36, the second arc
Shape plate A and the second arc panel B will not generate interference with the first arc panel A and the first arc panel B.
As shown in figure 4, it further includes middle control module 63 and navigation module 64, wherein middle control module 63 is mounted on above-mentioned machine
In people's shell 4；As shown in figure 4, navigation module 64 is mounted on the outside of shell；Middle control module 63 controls above-mentioned servo motor 32
With above-mentioned universal driving mechanism 5；Navigation module 64 carries out path navigation to robot and apart from identification.
As shown in Figure 8,9, above-mentioned executing agency 8 further includes first rotating shaft 31, the second L-type plate 33, A square hole 46, B square hole
47, link block 38, third shaft 39, one-way clutch 40, position-limited wheel 41, as shown in Figure 8,9, wherein the one of the second L-type plate 33
End is fixedly mounted on the upper surface of above-mentioned wobble plate 34, and the second L-type plate 33 is close to above-mentioned support rod 7；Above-mentioned servo motor 32
Positioned at the upper surface of wobble plate 34；First rotating shaft 31 is mounted on the second L-type plate 33 far from one end circular hole of wobble plate 34 by bearing,
One end of first rotating shaft 31 and the motor shaft of servo motor 32 are fixedly connected with；Above-mentioned first gear 30 is fixedly mounted on first rotating shaft 31
On one end far from servo motor 32.
As shown in Figure 10,11, above-mentioned scroll spring 37 is two；Two scroll springs 37 are covered in above-mentioned second shaft 36
On, two scroll springs 37 are located at the two sides of above-mentioned second support plate 35, two scroll springs 37 be located at the second arc panel A44 and
Between second arc panel B45；Periphery of the one end of two scroll springs 37 respectively with the second shaft 36 is fixedly connected with, the other end point
Not Tong Guo link block 38 be mounted in the respective side of above-mentioned second support plate 35.
As shown in figure 9, being provided with the A square hole 46 of perforation on above-mentioned second arc panel A44；It is opened on above-mentioned second arc panel B45
There is the B square hole 47 of perforation；A square hole 46 and B square hole 47 are located at the two sides of above-mentioned second support plate 35；In A square hole 46 and B square hole 47
Institute's mounting structure is identical, for A square hole 46: as shown in Figure 12,13, third shaft 39 is mounted between 46 two sides of A square hole；It is single
It is mounted on to clutch 40 on the periphery of third shaft 39, position-limited wheel 41 is installed on the periphery of one-way clutch 40；Limit
Position 41 part peripheries of wheel are pierced by the upper surface of the second arc panel A44, and position-limited wheel 41 is pierced by the upper surface of the second arc panel A44
The distance of highest point to the upper surface of the second arc panel A44 is suitable between 1 millimeter~3 millimeters.Such design is so that container
67 nowel faces can be in contact substantially with the upper surface of the upper surface of the second arc panel A, the second arc panel B, the nowel face of container 67
It can generate to squeeze with position-limited wheel 41 and contact, so that there are larger frictions between container 67 and position-limited wheel 41.
As shown in figure 9, distance of the above-mentioned one end of second arc panel A44 far from oblique support plate 43 to the second shaft 36, small
In the second arc panel A44 is close to one end of oblique support plate 43 to the distance of the second shaft 36；Above-mentioned second arc panel B45 is separate
One end of oblique support plate 43 is less than to the distance of the second shaft 36, and the second arc panel B45 is close to one end of oblique support plate 43 to
The distance of two shafts 36.The reason of designing in this way is: in utilization the second arc panel A44 and the second arc panel B45 in shelf 12
When upper progress picking, before the contact B point that is connected to guarantee the second shaft 36 with the second arc panel A44 is located at 67 center of gravity of container
End, and 67 rear end of container can also be supported by the second arc panel A44 and the second arc panel B45, so setting the second arc
The both ends distance of plate A44 and the second arc panel B45.
As shown in figure 13, elastic rake tooth 42 is circumferentially evenly distributed on the periphery of above-mentioned position-limited wheel 41.Elastic triangle
Tooth 42 can increase limit when may slide downwards to container 67, further prevent container 67 from the second arc panel A and the second arc
It is slided down on shape plate B.In addition, since elastic rake tooth 42 has elasticity, then under the weight of container 67, elastic rake tooth
42 are also easy to further decrease the nowel face of container 67 caused by supporting container 67 due to elastic rake tooth 42 by compressive deformation
The case where reducing with the CONTACT WITH FRICTION area of the second arc panel A, the second arc panel B, relatively ensure that the nowel face of container 67
There is biggish CONTACT WITH FRICTION area with the second arc panel A, the second arc panel B.
When the second arc panel A44 is when in a horizontal state, the upper surface of above-mentioned second arc panel A44 is higher than the second support plate
35 end faces far from wobble plate 34；When the second arc panel surrounds the axis oscillating of the second shaft 36, the second support plate 35 is far from pendulum
One end of plate 34 does not pass through the upper surface of the second arc panel always.Such design requirement is: the second arc panel A and second
Arc panel B is during the spacing across the first arc panel A and the first arc panel B, the second arc panel A and the second arc panel
When B surrounds the axis oscillating of the second shaft 36, the second arc panel A and the second arc panel B can generate container 67 and push and support
Effect, second one end of support plate 35 far from wobble plate 34 will not guarantee the second arc panel A and the with the nowel face contact of container 67
Two arc panel B smoothly can access goods on shelf 12 to container 67.
The upper surface of above-mentioned second arc panel A44 and the second arc panel B45 are rubbing surface.Such design is, when
When container 67 is located on the upper surface of the second arc panel A and the second arc panel B, it is in the second arc panel A and the second arc panel B
When heeling condition, under this state, since the upper surface of the second arc panel A44 and the second arc panel B45 are rubbing surface, container 67
By the friction between the second arc panel A44, the second arc panel B45 without from the second arc panel A44 and the second arc panel
B45 slides.
Above-mentioned elasticity rake tooth 42 is made of rubber material.
Navigation module 64 of the invention can obtain the routing information from current location to target position.It is disclosed in the present invention
In implementing procedure, navigation positioning module can be laser navigation, two-dimension code navigation, indoor positioning inertial navigation or tape navigation
Etc. modes, navigation positioning module make robot obtain automatically current location to target position routing information or distance, it is real
Existing robot carries out access container 67 according to routing information and distance.The specific navigation that the unlimited navigation module 64 processed of the present invention uses
Mode, as long as can be realized robot autonomous navigation, those skilled in the art can specifically set according to practical situations
Navigation mode.
Middle control module 63 of the invention can be according to the routing information, range information, 67 information of picking case, stock received
67 information of case etc. is analyzed, and is then controlled respectively servo motor 32 and universal driving mechanism 5.Middle control mould of the invention
Block 63 controls the specifying information processing mode that module 63 uses in not limiting, as long as can be realized robot autonomous access container 67 i.e.
Can, those skilled in the art can specifically set according to practical situations.
Middle control module 63 controls universal driving mechanism 5, so that universal driving mechanism 5 is able to drive transfer robot and carries out directly
Line walking or turning walking.There are two groups of universal wheels, two groups of directional wheels pass through control in universal driving mechanism 5 in the present invention
The direction of universal wheel processed and the speed of travel to carry out transfer robot straight line walking or turning walking.It is universal in the present invention
The function that driving mechanism 5 is realized uses the prior art, and the present invention no longer specifically describes here.
Workflow of the invention:
Straight line walking for robot of the invention: when navigation module 64 needs robot linear rows according to routing information
When walking, navigation module 64 sends routing information to middle control module 63, middle control module 63 analyzed after to universal driving mechanism 5
It is controlled, so that universal driving mechanism 5 is walked with mobile robot linear rows.For turning during robot ambulation of the invention
To: when navigation module 64 needs robot to continue to turn to according to routing information, during navigation module 64 sends routing information to
Module 63 is controlled, middle control module 63 controls universal driving mechanism 5 after being analyzed, so that universal driving mechanism 5 is with motivation
Device people turns to walking.
When robot ambulation is to close to the position of shelf mechanism 2, navigation module 64 recognizes the distance of setting, and navigate mould
Distance signal is passed to middle control module 63 by block 64, and middle control module 63 controls two driving mechanisms and robot is made to stop setting
Position.The setting position of robot stopping arrival frame mechanism 2: as shown in figure 14, the central axes of the support rod 7 in robot pass through
The center of circle locating for the radian of first arc panel B16.Such status requirement makes, and the wobble plate 34 in executing agency 8 is around support
When the central axes of bar 7 are swung, the second arc panel A44 and the second arc panel B45 in executing agency 8 can pass through the in shelf 12
Spacing between one arc panel A14 and the first arc panel B16.
When robot needs picking case 67, in the executing agency 8 of the lower side on support rod 7 and L-type support frame 1 most
The shelf 12 of downside match for picking: from the point of view of level, in Figure 15 shown in (a), it is assumed that the second arc panel A44 with
The connected point of second shaft 36 is B point, and endpoint of the inclined plate B17 far from the first arc panel B16 is A point, and the focus point of container 67 is C
Point.Container 67 is placed on the upper surface of the first arc panel A14 and the first arc panel B16, and container 67 follows the first arc panel A14
Inclined with the first arc panel B16, container 67 is blocked by inclined plate A15 and inclined plate B17.Prepare picking in executing agency 8
Before case 67, in the vertical direction, A point is lower than B point, and B point is lower than C point；As shown in fig. 7, the second arc panel A44 and the second arc
Plate B45 is when in a horizontal state, and scroll spring 37 is in pre-compressed state, the second lower surface arc panel A44 and the second arc panel
Horizontal plane of the lower surface of B45 with oblique support plate 43 fits.
The second arc panel A44 and B point are set apart from short one end as front edge of board, the second arc panel A44 and B point distance
One end is plate rear end.When container 67 is placed on the first arc panel B16, one end that 67 lower surface of container is in contact with inclined plate B17
For goods front end, the one end of 67 lower surface of container far from inclined plate B17 is goods rear end.If container 67 is along the second arc panel A44's
When upper face slide downward, container 67 is by friction so that 41 direction of rotation of position-limited wheel is counterclockwise.
After middle control module 63 receives information and the analysis of picking case 67, middle control module 63 controls servo motor 32 and starts；
As shown in figure 14, first gear 30 is viewed from above at this time, and servo motor 32 drives first gear 30 to revolve counterclockwise through first rotating shaft 31
Turn, then first gear 30 can revolve counterclockwise around fixed 29 periphery of gear, first gear 30 is through first rotating shaft 31, second
L-type plate 33 drives wobble plate 34 to rotate counterclockwise around the central axes of support rod 7, and institute's mounting structure follows wobble plate 34 in wobble plate 34
Movement, then the second arc panel A44 and the second arc panel B45 is to the first arc panel A14 and the first direction arc panel B16 with level
Mode rotate the past counterclockwise.Since the second shaft 36 can be such that the second arc panel A44 and the second arc panel B45 moves synchronously,
Position-limited wheel 41 on second arc panel A44, the second arc panel B45 is identical with the effect of one-way clutch 40, to describe the second arc
For shape plate A44 and position-limited wheel 41 and one-way clutch 40 on the second arc panel A44: in Figure 15 shown in (a), in the second arc
Shape plate A44 follows wobble plate 34 in a manner of horizontal in rotary course counterclockwise, and the second arc panel A44 is progressed into the first arc
Between plate A14 and the first arc panel B16 in spacing；As the second arc panel A44 continues to rotate counterclockwise in a manner of horizontal, the
The front edge of board of two arc panel A44 can be in contact with the lower surface of container 67；In Figure 15 shown in (b), the second arc panel A44 continues
It is rotated counterclockwise in a manner of horizontal, so that extruding of the front edge of board of the second arc panel A44 by 67 lower surface of container, the second arc
Shape plate A44 surrounds B point counter-clockwise swing, and the continuation of scroll spring 37 is compressed；As the second arc panel A44 continues with horizontal side
Formula rotates counterclockwise, and position-limited wheel 41 is mutually squeezed with 67 lower surface of container and contacted, since position-limited wheel 41 is pierced by the second arc panel A44
The distance on surface is at 1 millimeter~3 millimeters, and the angle that position-limited wheel 41 supports container 67 is minimum, or even ignores, then second
The upper surface of arc panel A44 can fit substantially with 67 lower surface of container.In Figure 16 shown in (a), with the second arc panel A44
Continue to rotate counterclockwise in a manner of horizontal, then the second arc panel A44 can give the motive force of 67 horizontal direction of container, container 67
Goods front end slided obliquely along the inclined plate face of inclined plate B17, the goods rear end of container 67 along the first arc panel B16 upper surface
Oblique lower slider, the upper surface of the second arc panel A44 can fit with 67 lower surface of container substantially always during this, guarantee the
Two arc panel A44 can persistently give the motive force of 67 1 horizontal directions of container；During this, relatively, container 67 is in the second arc
It is slided backward on the upper surface of shape plate A44, under the action of one-way clutch 40, position-limited wheel 41 allows to rotate clockwise, limit
Limit will not be generated by taking turns moving back for 41 pairs of containers 67, and B point is located at the front side of C point in the horizontal direction, and A point is located on front side of B point.
After the goods front end of container 67 is moved to a certain extent obliquely along inclined plate B17, the goods front end of container 67 is from inclined plate
It is detached from the A point of B17, the goods rear end of container 67 is also contacted with the first arc panel B16, and container 67 is still in skewed at this time
State, the upper surface of the second arc panel A44 still fit with 67 lower surface of container substantially, the elastic rake tooth 42 on position-limited wheel 41
It is contacted with the extruding of 67 following table surface elastic of container, the angle that position-limited wheel 41 supports container 67 is minimum, or even ignores；
Under this state, the upper surface of the second arc panel A44 is that rubbing surface and one-way clutch 40 forbid position-limited wheel 41 to revolve counterclockwise
Turn, position-limited wheel 41 and rubbing surface be avoided that container 67 may slide downward the case where, guarantee that container 67 is stablized in the second arc panel
On A44 and the first arc panel B16.
In Figure 16 shown in (b), as the second arc panel A44 continues to rotate counterclockwise in a manner of horizontal, the second arc
Plate A44 drives container 67 to move in the horizontal direction by the frictional force between container 67, the goods rear end of container 67
Still along the oblique lower slider in upper surface of the first arc panel B16, container 67 is gradually converted into horizontality from heeling condition；By
In the reset response of scroll spring 37, the upper surface of the second arc panel A44 is able to maintain to be affixed with 67 lower surface of container substantially always
It closes, then the second arc panel A44 is also gradually converted into horizontality from heeling condition；During this, relatively, container 67 is
Opposing stationary on two arc panel A44, B point is located at the front side of C point in the horizontal direction, and B point advances up to A point and crosses A point.When
When container 67 is changed into horizontality, the second arc panel A44 is also at horizontality, and the center of gravity C point of container 67 is located at the at this time
Behind the B point of two arc panel A44, scroll spring 37 is returned to original state.Horizontality is in the second arc panel A44
When, the horizontal face contact of the second arc panel A44 and oblique support plate 43, then oblique support plate 43 can play the second arc panel A44
Good supporting role.Since the center of gravity C point of container 67 is located at behind the B point of the second arc panel A44, and in oblique support plate 43
To under the support of the second arc panel A44, just level is stably placed on the second arc panel A44 container 67, and container 67 will not make
Second arc panel A44 surrounds B point counter-clockwise swing, and container 67 will not be fallen down from the second arc panel A44.
In Figure 16 shown in (b), as the second arc panel A44 continues to rotate counterclockwise in a manner of horizontal, the second arc
Plate A44 removes container 67 from the first arc panel B16.
Finally, the second arc panel A44 and the second arc panel are driven through the second support plate 35, the second shaft 36 in wobble plate 34
Under B45 is rotated counterclockwise in a manner of horizontal, the second arc panel A44 and the second arc panel B45 can be by containers 67 from the first arc
It is removed on plate A14 and the first arc panel B16.After the second arc panel A44 and the second arc panel B45 remove container 67 completely,
Wobble plate 34 drives drives the second arc panel A44 and the second arc panel B45 with horizontal side through the second support plate 35, the second shaft 36
After formula rotates counterclockwise to the surface of robot shell 4, middle control module 63 stops servo motor 32, and first gear 30 is not
The rotation of another mistake hour hands, the movement of picking case 67 finish.
When the needs of container 67 are placed on shelf 12 from executing agency 8, when position of robot of the present invention and picking, stops
Position only is identical, equally matches stock with the shelf 12 of lower side in L-type support frame 1 with the executing agency 8 of lower side and is
Example: container 67 is placed on the upper surface of the second arc panel A44 and the second arc panel B45, and container 67 follows the first arc panel A14
It is in a horizontal state with the first arc panel B16, scroll spring 37 is in compressive state, the second lower surface arc panel A44 and the second arc
Horizontal plane of the lower surface of shape plate B45 with oblique support plate 43 fits.Before executing agency 8 prepares stock case 67, perpendicular
Histogram is upward, and A point is still lower than B point, and B point is still lower than C point.
After middle control module 63 receives information and the analysis of stock case 67, middle control module 63 controls servo motor 32 and starts；
As shown in figure 14, first gear 30 is viewed from above at this time, and servo motor 32 drives first gear 30 to revolve clockwise through first rotating shaft 31
Turn, then first gear 30 can revolve clockwise around fixed 29 periphery of gear, first gear 30 is through first rotating shaft 31, second
L-type plate 33 drives wobble plate 34 to rotate clockwise around the central axes of support rod 7, and institute's mounting structure follows wobble plate 34 in wobble plate 34
Movement, then the second arc panel A44 and the second arc panel B45 is to the first arc panel A14 and the first direction arc panel B16 with level
Mode rotate clockwise over.Since the second shaft 36 can be such that the second arc panel A44 and the second arc panel B45 moves synchronously,
Position-limited wheel 41 on second arc panel A44, the second arc panel B45 is identical with the effect of one-way clutch 40, to describe the second arc
For shape plate A44 and position-limited wheel 41 and one-way clutch 40 on the second arc panel A44: following wobble plate in the second arc panel A44
During 34 are rotated clockwise in a manner of horizontal, the second arc panel A44 is progressed into the first arc panel A14 and the first arc
Between plate B16 in spacing；As the second arc panel A44 continues to rotate clockwise in a manner of horizontal, the plate of the second arc panel A44
It rear end meeting and is introduced between the first arc panel A14 and the first arc panel B16 in spacing；As the second arc panel A44 continues
Rotated clockwise in a manner of horizontal so that the goods rear end of the container 67 on the second arc panel A44 it is basic simultaneously with the first arc
The upper surface of plate A14, the first arc panel B16 upper surface be in contact.As the second arc panel A44 continuation is suitable in a manner of horizontal
Hour hands rotation, the second arc panel A44 gives container 67 1 horizontal impulses, so that the goods rear end of container 67 is along the first arc panel
The upper surface of A14 and the first arc panel B16 are slided obliquely, and the goods front end of container 67 is located at the upper surface of the second arc panel A44
It is upper and stationary relative to the second arc panel A44；Container 67 is gradually varied to heeling condition, goods from horizontality during this
The gradually inclination of case 67 is so that the second arc panel A44 surrounds B point counter-clockwise swing, and the continuation of scroll spring 37 is compressed, the second arc
Lower surface of the upper surface of shape plate A44 substantially with container 67 fits, under the elastic rake tooth 42 on position-limited wheel 41 and container 67
Surface is still in the state that elasticity squeezes contact, and the angle that position-limited wheel 41 supports container 67 is minimum, or even ignores
Disregard；Under this state, the upper surface of the second arc panel A44 is that rubbing surface and one-way clutch 40 forbid 41 inverse time of position-limited wheel
Needle rotation, position-limited wheel 41 and rubbing surface are avoided that the case where 67 possibility slide downward of container, guarantee that container 67 is in heeling condition
It is slid on the second arc panel of Shi Buhui A44.
As the second arc panel A44 continues to rotate clockwise in a manner of horizontal, the second arc panel A44 persistently gives container 67
One horizontal impulse, so that the goods rear end of container 67 continues along the upper surface of the first arc panel A14 and the first arc panel B16
Slide obliquely, the inclination of container 67 gradually make the lower surface of container 67 gradually with the first arc panel A14 and the first arc panel
The upper surface of B16 is parallel, and B point can cross A point, and 67 goods rear end of container is in the case where following the second arc panel A44 to move, goods
Rear end can also cross A point and cross inclined plate B17；As the second arc panel A44 continues to rotate clockwise in a manner of horizontal, when the
The front edge of board of two arc panel A44 is behind the upper surface of the first arc panel A14 and the first arc panel B16, and 67 goods rear end of container is not
It is in contact again with the upper surface of the second arc panel A44, but is detached from and is fallen in the first arc panel A14 from the second arc panel A44
With the upper surface of the first arc panel B16, the goods front end and goods rear end of such container 67 are all in the first arc panel A14 and the first arc
The upper surface of plate B16, final container 67 is under self gravity along the upper surface of the first arc panel A14 and the first arc panel B16
Oblique lower slider, until container 67 is blocked by inclined plate A15 and inclined plate B17.
As the second arc panel A44 continues to rotate clockwise in a manner of horizontal, in the second arc panel A44 from the first arc
After progressively disengaging between plate A14 and the first arc panel B16, under the reset response of scroll spring 37, the second arc panel A44 is surrounded
B point clockwise oscillation is to the home position of horizontality.Second arc panel B45 also can be under the reset of scroll spring 37 and second
Arc panel A44 synchronizes clockwise oscillation to the home position of horizontality.
Finally, wobble plate 34, which drives, drives the second arc panel A44 and the second arc panel through the second support plate 35, the second shaft 36
After B45 is rotated clockwise to the surface of robot shell 4 in a manner of horizontal, middle control module 63 stops servo motor 32
Only, first gear 30 no longer rotates clockwise, and the movement of stock case 67 finishes.
Relative to traditional carrying automatic technology, transfer robot of the invention can pass through the phase on control support rod
It answers executing agency to carry out access goods movement come the shelf to the different height in L-type support frame, enables transfer robot primary
Property carry more than one piece cargo, to improve the handling efficiency of transfer robot.The configuration of the present invention is simple has preferable using effect
Fruit.
Claims (10)
1. a kind of more cargo transfer robots, it is characterised in that: it includes robot shell, universal driving mechanism, support rod, holds
Row mechanism, wherein the lower surface of robot shell is equipped with universal driving mechanism；Support rod is fixedly mounted on robot shell
Upper surface；Support rod is equably opened along support rod length direction there are three annular groove；It is equipped at each annular groove of support rod
One executing agency, and executing agency is respectively positioned on the upside of robot shell；
Above-mentioned executing agency includes wobble plate, the second support plate for being fixedly mounted on wobble plate one end upper surface, is fixedly mounted on wobble plate
The oblique support plate of side, the second arc panel A, the second arc panel B, servo motor, the fixation being fixedly mounted on above-mentioned support rod
Gear, scroll spring, the second shaft, first gear, wherein wobble plate is opened installation circular hole by one end and is covered in above-mentioned support rod
Corresponding annular groove on, and the formation of wobble plate and support rod is rotatably assorted；Second shaft is mounted on the second support plate upper end by bearing
In circular hole, and the both ends of the second shaft are fixedly installed with the second arc panel A and the second arc panel B respectively；Second arc panel A's is upper
Surface is mutually coplanar with the upper surface of the second arc panel B, the arc in the center of circle locating for the radian of the second arc panel A and the second arc panel B
The locating center of circle of degree is concentric；The end face of the one end of oblique support plate far from wobble plate is horizontal plane；Second shaft is equipped with scroll spring,
When the second arc panel A and the second arc panel B are when in a horizontal state, scroll spring is in compressive state；The fixed peace of servo motor
In wobble plate；Fixed gear is close to wobble plate；First gear is connected by axis with the motor shaft of servo motor；First gear with
Fixed gear is meshed；Second arc panel A and the second arc panel B are matched with the horizontal plane of oblique support plate；
Universal driving mechanism makes robot shell can be realized straight line walking or turning walking.
2. a kind of with a kind of shelf mechanism that more cargo transfer robots match according to claim 1, feature exists
In: shelf mechanism includes L-type support frame and shelf, and wherein L-type support frame is made of transverse slat and riser；Along L-type support frame riser
Length direction on equably installation there are three shelf；
Above-mentioned shelf include the first support plate, the first arc panel A, inclined plate A, the first arc panel B, inclined plate B, the first fixed plate, the
One L-type plate, wherein one end of the first support plate is fixedly mounted on the riser of L-type support frame, the other end is fixedly installed with first
Arc panel A；One end of first L-type plate is fixedly mounted on the riser of L-type support frame, and it is fixed that the other end is fixedly installed with first
Plate；First fixed plate is fixedly installed with the first arc panel B far from one end of the first L-type plate；The upper surface of first arc panel A and
The upper surface of one arc panel B is mutually coplanar, and the acute angle that the upper surface of the first arc panel A and horizontal plane are constituted is at 8 degree~12 degree
Between；The center of circle locating for radian of the center of circle locating for the radian of first arc panel A with the first arc panel B is concentric；One end of inclined plate A
It is fixedly mounted on the upper surface of the first arc panel A；One end of inclined plate B is fixedly mounted on the upper surface of the first arc panel B；Tiltedly
Plate A is mounted on the installation point of the first arc panel A and inclined plate B is mounted on the line and L-type that the installation point of the first arc panel B is constituted
The riser of support frame is perpendicular；Inclined plate A is coplanar with inclined plate B；The acute angle that inclined plate A and horizontal plane are constituted 40 degree~50 degree it
Between；Inclined plate A is identical with inclined plate B size.
3. a kind of more cargo transfer robots according to claim 1 or 2, it is characterised in that: above-mentioned respective execution mechanisms
In the second arc panel A and the second arc panel B in corresponding shelf mechanism the first arc panel A and the first arc panel B match；
Spacing in above-mentioned respective execution mechanisms between the intrados of the second arc panel A and the extrados of the second arc panel B is named as D1；
Spacing in above-mentioned corresponding shelf mechanism between the intrados of the first arc panel A and the extrados of the first arc panel B is named as D2；
D2 is greater than D1.
4. a kind of more cargo transfer robots according to claim 1, it is characterised in that: it further includes middle control module and leads
Model plane block, wherein middle control module is mounted in above-mentioned robot shell；Navigation module is mounted on the outside of shell；Middle control module
Control above-mentioned servo motor and above-mentioned universal driving mechanism；Navigation module carries out path navigation to robot and apart from identification.
5. a kind of more cargo transfer robots according to claim 1, it is characterised in that: above-mentioned executing agency further includes
One shaft, the second L-type plate, A square hole, B square hole, link block, third shaft, one-way clutch, position-limited wheel, wherein the second L-type plate
One end be fixedly mounted on the upper surface of above-mentioned wobble plate, and the second L-type plate is close to above-mentioned support rod；Above-mentioned servo motor is located at
The upper surface of wobble plate；First rotating shaft is mounted on the second L-type plate far from one end circular hole of wobble plate by bearing, and the one of first rotating shaft
It holds and is fixedly connected with the motor shaft of servo motor；Above-mentioned first gear is fixedly mounted on the one end of first rotating shaft far from servo motor
On；
Above-mentioned scroll spring is two；Two scroll springs cover in above-mentioned second shaft, and two scroll springs are located at above-mentioned
The two sides of second support plate, two scroll springs are between the second arc panel A and the second arc panel B；Two scroll springs
Periphery of the one end respectively with the second shaft is fixedly connected with, and the other end passes through the phase that link block is mounted on above-mentioned second support plate respectively
It answers on side；
The A square hole of perforation is provided on above-mentioned second arc panel A；The B square hole of perforation is provided on above-mentioned second arc panel B；A square hole and
B square hole is located at the two sides of above-mentioned second support plate；A square hole is identical with institute's mounting structure in B square hole, for A square hole: third shaft
It is mounted between A square hole two sides；One-way clutch is mounted on the periphery of third shaft, on the periphery of one-way clutch
Position-limited wheel is installed；Position-limited wheel part periphery is pierced by the upper surface of the second arc panel A.
6. a kind of more cargo transfer robots according to claim 1, it is characterised in that: above-mentioned second arc panel A is separate
One end of oblique support plate is less than to the distance of the second shaft, and the second arc panel A is close to one end of oblique support plate to the second shaft
Distance；The above-mentioned one end of second arc panel B far from oblique support plate is less than to the distance of the second shaft, and the second arc panel B is close to tiltedly
Distance of the one end of support plate to the second shaft.
7. a kind of more cargo transfer robots according to claim 1, it is characterised in that: on the periphery of above-mentioned position-limited wheel
Circumferentially it is uniformly distributed flexible rake tooth.
8. a kind of more cargo transfer robots according to claim 1, it is characterised in that: when the second arc panel A is in water
When level state, the upper surface of above-mentioned second arc panel A is higher than end face of second support plate far from wobble plate；When the second arc panel surrounds
When the axis oscillating of the second shaft, the one end of the second support plate far from wobble plate does not pass through the upper surface of the second arc panel always.
9. a kind of more cargo transfer robots according to claim 1, it is characterised in that: above-mentioned second arc panel A and
The upper surface of two arc panel B is rubbing surface.
10. a kind of more cargo transfer robots according to claim 7, it is characterised in that: above-mentioned elasticity rake tooth is by rubber
Glue material is made.
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| CN201811519450.6A CN109625728B (en) | 2018-12-12 | 2018-12-12 | Multi-cargo carrying robot |
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|---|---|---|---|
| CN201811519450.6A CN109625728B (en) | 2018-12-12 | 2018-12-12 | Multi-cargo carrying robot |
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| CN109625728B CN109625728B (en) | 2021-09-14 |
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| CN206537623U (en) * | 2017-03-16 | 2017-10-03 | 江西永和诚信供应链管理有限公司 | A kind of vehicle-mounted shelf on stream carrier vehicle |
| CN107042980A (en) * | 2017-04-24 | 2017-08-15 | 华南理工大学 | Fork-lift type AGV dollies |
| CN207450847U (en) * | 2017-07-05 | 2018-06-05 | 泽优物联（天津）科技发展有限公司 | Applied to the sorting vehicle in goods-shelf type intelligent warehousing system |
| CN107758569A (en) * | 2017-10-21 | 2018-03-06 | 南京理工大学泰州科技学院 | A kind of transfer robot and its method of work |
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