CN109649906A - Automatic supermarket tally machine - Google Patents
Automatic supermarket tally machine Download PDFInfo
- Publication number
- CN109649906A CN109649906A CN201811357261.3A CN201811357261A CN109649906A CN 109649906 A CN109649906 A CN 109649906A CN 201811357261 A CN201811357261 A CN 201811357261A CN 109649906 A CN109649906 A CN 109649906A
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- China
- Prior art keywords
- transporting freight
- mechanical arm
- sliding
- transporting
- freight
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- 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
- B65G1/0492—Storage devices mechanical with cars adapted to travel in storage aisles
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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
- B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
- B65G1/1373—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses
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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
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/04—Detection means
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Loading Or Unloading Of Vehicles (AREA)
Abstract
The present invention provides a kind of automatic supermarket's tally machines, comprising: loading platform, workbench, scanning means, mechanical arm, load-carrying device, apparatus for transporting freight, movable pulley, battery and single-chip microcontroller etc..Get in stocks accuracy and working efficiency can be improved the technical problem to be solved in the present invention is to provide a kind of, and can use manpower and material resources sparingly and then save automatic supermarket's tally machine of cost.
Description
Present patent application is divisional application.The patent No. of original bill is 201711332557.5, and the applying date is 2017
December 13, denomination of invention are automatic supermarket's tally machines.
Technical field
The present invention relates to a kind of intelligent machine device, especially a kind of automatic supermarket's tally machine.
Background technique
The cargo of supermarket needs special tally-man to go to get in stocks, this process repeats, and labor intensive, virtually increases
The operation cost of supermarket, while type of merchandize is various in supermarket, needs to be equipped with many tally-mans, and using tally-man it is artificial on
This mode of goods, error rate is high, and working efficiency is low.
State Intellectual Property Office disclosed a utility model for applying for entitled " tally machine " on February 06th, 2014
Patent (Publication No.: 203451173 U of CN), a kind of tally machine provided by the utility model belong to category haulage equipment, are
It is a kind of to integrate horizontal transport, vertical lift and the tally special-purpose machinery with corresponding tally working space, it can be with loading pocket
Warehousing object completes cargo transfer in the coverage of goods yard, and warehoused cargo is given rise to tally position together with tally-man, or
Transformation arranges the cargo of storage.Equipment is reduced with hydraulic motor or wheel rim motor driven running gear and is driven occupied space,
It is brought convenience for entire vehicle design production；Scissor-type strut hydraulicefficiency elevation structure can more fully meet what lifting was placed with cargo
It needs, the workbench of branch support, has taken into account the different needs that the transhipment of cargo is placed from cargo lifting.Plan plot is reasonable
Exquisiteness, equipment making is simple and feasible, takes into account goods yard cargo transfer, lifting is placed and the multiple needs of tally operating space, raising
Goods yard circulation of goods and the working efficiency moved up, the clean low charcoal discharge of the energy.The tally machine needs tally-man's cooperating, can not
It realizes automation tally, and human cost can not be saved completely.
Summary of the invention
Get in stocks accuracy and working efficiency can be improved the technical problem to be solved in the present invention is to provide a kind of, and people can be saved
Power material resources and then the automatic supermarket's tally machine for saving cost.
In order to solve the above technical problems, the present invention provides a kind of automatic supermarket's tally machines, comprising: loading platform, workbench,
Scanning means, mechanical arm, load-carrying device, apparatus for transporting freight, movable pulley, battery and single-chip microcontroller；The workbench is living
It is dynamic to be connected in the top of the loading platform and centrally located；The movable pulley carries driving motor and steering motor
And it is set to the loading platform lower part；The scanning means is by fixing seat and is fixed in the fixing seat and direction phase
Anti- scanning means A and scanning means B composition, scanning means include the camera connecting with single-chip microcontroller, range sensor and red
External detector, picking and get in stocks with hand and eye calibrating principle carry out precise positioning and mechanical arm clamping, when driving by away from
Realization avoiding barrier and people are cooperated to from sensor, infrared detector and single-chip microcontroller；Single-chip microcontroller is integrated with and supermarket
The wireless network module that database connects in real time, in order to allow tally machine preferably to travel, be additionally provided in the workbench with
The navigation module of single-chip microcontroller connection, can automatically plan route；The workbench top be fixedly installed support rod and
Apparatus for transporting freight support rod, the fixing seat of the scanning means are fixed on the top of the support rod, the support
Bar and workbench joint are provided with rotary electric machine A, fixing seat joint are provided with rotary electric machine B, the rotary electric machine A
Tooth-shaped conveying belt and slide rail are provided between rotary electric machine B, outside support rod；The apparatus for transporting freight support rod
Workbench joint is provided with apparatus for transporting freight rotary electric machine A, apparatus for transporting freight supporting bar top is provided with cargo biography
Send device rotary electric machine B, between the apparatus for transporting freight rotary electric machine A and apparatus for transporting freight rotary electric machine B, cargo pass
It send and is provided with apparatus for transporting freight tooth-shaped conveying belt and apparatus for transporting freight slide rail outside device support rod；The machinery
Arm includes sliding case, tooth form sliding shoe, mechanical arm A and mechanical arm B, and the sliding case is passed by the support rod, tooth form
Send band and slide rail are vertical to wear and can move up and down along the slide rail, the sliding shoe be set to slide case it is interior and with
The tooth-shaped conveying belt engagement, the mechanical arm A and mechanical arm B are respectively arranged at the sliding case two sides and are provided with
Matched mechanical arm driving motor A and mechanical arm driving motor B, the mechanical arm driving motor A and mechanical arm driving
Motor B is set in the sliding case；The mechanical arm A and mechanical arm B is all made of postbrachium, middle arm, forearm and gripper,
Postbrachium is flexibly connected with middle arm and is provided with steering-engine, and middle arm is flexibly connected with forearm and is provided with steering-engine, forearm with
Gripper connects and is provided with steering-engine；The apparatus for transporting freight includes apparatus for transporting freight sliding case, cargo transmission dress
Sliding shoe, two apparatus for transporting freight fixed links and belt conveyor are set, the apparatus for transporting freight sliding case is by described
Apparatus for transporting freight support rod, apparatus for transporting freight tooth-shaped conveying belt and apparatus for transporting freight slide rail be vertical to be worn and can be along described
Apparatus for transporting freight slide rail move up and down, the apparatus for transporting freight sliding shoe be set to apparatus for transporting freight sliding
It is engaged in case and with the apparatus for transporting freight tooth-shaped conveying belt, two apparatus for transporting freight fixed links activity respectively
It is connected to the apparatus for transporting freight sliding case two sides and is provided with direction adjustment steering engine, the belt conveyor and cargo
Transmission device fixed link is flexibly connected and angled adjustment steering engine is arranged；The load-carrying device includes hydraulic load-carrying box A and liquid
Ballast container B is set on the loading platform；The battery is set to inside the loading platform, the monolithic
Machine is set in the fixing seat, and battery provides electric power for the tally machine, and single-chip microcontroller is for automatically controlling the tally machine
Each electric elements, the operating of steering engine and driving motor, stalling and job order.
The each shelf of supermarket and warehouse are designed with identification code, and identical cargo is in shelf with warehouse stock region equipped with identical
Identification code, and every kind of cargo has and is stored in fixed region, and automatic supermarket's tally machine is facilitated to work, automatic supermarket's tally machine is set
Scanning result can be matched just know it is that cargo with the result in its database with identification marking code by some scanning means.
Meanwhile the also detectable ambient enviroment of scanning means, programme path avoid bumping against pedestrian in the process of walking.In addition, scanning means
Mechanical arm can also be helped to position, it is made accurately to grab cargo.The main effect of mechanical arm is crawl cargo, in picking
When, the cargo crawl of storage is put on apparatus for transporting freight by gripper；When getting in stocks, the cargo crawl in hydraulic load-carrying box is put
Onto shelf.The multiple joints of mechanical arm considerably increase its flexibility, it can be achieved that multiple directions movement, guarantee that gripper can be into
The crawl of the multiple angles of row.The hydraulic device that hydraulic load-carrying box A and hydraulic load-carrying box B can be located at bottom by it adjusts load-carrying box
Height, to meet picking and the needs got in stocks.It, will be corresponding by rotating loading platform when needing using a load-carrying box
Cabinet go to front, after use, pass through rotation loading platform switch operating load-carrying box.Movable pulley is equipped with to be connected with single-chip microcontroller
The steering motor and driving motor connect, steering motor can control the direction of travel of automatic supermarket's tally machine, and driving motor is should be certainly
Dynamic supermarket's tally machine provides power.
The rotation of apparatus for transporting freight flat-toothed belt drives the movement of apparatus for transporting freight sliding case.Apparatus for transporting freight
Sliding case is connect with apparatus for transporting freight fixed link, controls belt conveyor by the rotation of apparatus for transporting freight fixed link
It packs up and opens.The rotation of steering engine is adjusted by direction, can control the angle of belt conveyor, to facilitate transmission cargo.?
When picking, cargo is put on belt conveyor by mechanical arm, is operated by belt conveyor, so that cargo is sent into load-carrying box
In, picking process is completed, picking speed is accelerated.
Preferably, in order to allow the work of automatic supermarket's tally function higher efficiency also to set as further Optimal improvements
It is equipped with positioned at the chassis of the loading platform lower part, chassis is the support zone of entire tally machine, the chassis and loading platform
Be flexibly connected, can 360 degree rotations, loading platform can relatively rotate with chassis, and workbench is not rotatable, and the movable pulley is set
It is placed in the lower part on chassis, the chassis lower part is additionally provided with 2 universal wheels.
Preferably, in order to which the job stability for increasing automatic supermarket's tally machine will be mechanical as further Optimal improvements
The steering-engine of arm replaces with hydraulic telescopic rod, and the postbrachium is flexibly connected with middle arm and is provided with hydraulic telescopic rod, in
Arm is flexibly connected with forearm and is provided with hydraulic telescopic rod, and forearm connect with gripper and be provided with hydraulic telescopic rod, described above
Hydraulic telescopic rod connect with the single-chip microcontroller, the job stability of hydraulic telescopic rod is more preferable.
Preferably, as further Optimal improvements, the belt conveyor is by feed belt driving motor A, transmission
Belt driving motor B, feed belt and apparatus for transporting freight connecting shaft composition, the apparatus for transporting freight fixed link and cargo
Transmission device connecting shaft is flexibly connected, and the angle adjustment steering engine is set at apparatus for transporting freight connecting shaft.
Preferably, as further Optimal improvements, 2 sectional areas are offered in the sliding case slightly larger than described
Slide rail sectional area sliding slot, the slide rail pass through the sliding slot, slide case in slide rail
It preferably moves up and down under the double action of tooth-shaped conveying belt.
Preferably, as further Optimal improvements, the apparatus for transporting freight, which slides, offers sectional area summary in case
Apparatus for transporting freight greater than the apparatus for transporting freight slide rail sectional area slides slot, the apparatus for transporting freight
Slide rail passes through the apparatus for transporting freight and slides slot, and apparatus for transporting freight slides case and leads in apparatus for transporting freight sliding
It preferably moves up and down under the double action of rail and apparatus for transporting freight tooth-shaped conveying belt.
Preferably, as further Optimal improvements, the included driving motor of the movable pulley and steering motor are to watch
Take motor, the characteristic of servo motor enable movable pulley real-time motion, stop and precisely turn to.
Preferably, as further Optimal improvements, the fixed sliding shoe is additionally provided in the sliding case
Sliding shoe fixed frame.
Preferably, as further Optimal improvements, the apparatus for transporting freight slides in case and is additionally provided with fixed institute
The apparatus for transporting freight sliding shoe fixed frame for the apparatus for transporting freight sliding shoe stated.
It compared with prior art, can be with the invention has the advantages that using steering-engine or the mechanical arm of hydraulic telescopic rod
Accurately clamp cargo；The setting of tooth-shaped conveying belt and tooth form sliding shoe can make sliding case easier realize up and down motion；
The setting of slide rail and sliding slot, can make to slide case and preferably move up and down along slide rail, without departing from running track,
Increase the service life of tooth-shaped conveying belt and tooth form sliding shoe；Cargo can be easier put by the setting of belt conveyor
In hydraulic load-carrying box；The setting of universal wheel and automatic driving motor and the movable pulley of steering motor, so that the tally machine can be with
Preferably execute go to action.
Detailed description of the invention
The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.
Fig. 1 is overall structure schematic diagram of the invention.
Fig. 2 is overall structure side diagrammatic top view of the invention.
Fig. 3 is scanning means and mechanical arm schematic diagram of the invention.
Fig. 4 is sliding box structure schematic diagram of the invention.
Fig. 5 is apparatus for transporting freight schematic diagram of the invention.
Fig. 6 is belt conveyor collapsed state schematic diagram of the invention.
Fig. 7 is mechanical arm schematic diagram of the invention.
Fig. 8 is mechanical arm schematic diagram of the invention.
Fig. 9 is chassis backsight schematic diagram of the invention.
Figure 10 is chassis diagrammatic front view of the invention.
Figure 11 is belt conveyor schematic diagram of the invention.
Specific embodiment
To enable the above objects, features and advantages of the present invention to be clearer and more comprehensible, automatic supermarket of the invention hereafter is managed
Cargo aircraft will be cooperated appended relevant drawings, be elaborated with preferred embodiment.
In the description of the present invention, it should be noted that term " on ", "lower", "vertical", "horizontal", "inner", "outside"
The orientation or positional relationship of equal instructions is to be based on the orientation or positional relationship shown in the drawings, be merely for convenience of the description present invention and
Simplify description, rather than the device or element of indication or suggestion meaning must have a particular orientation, with specific orientation construction
And operation, therefore be not considered as limiting the invention.
Automatic supermarket's tally machine of the present embodiment, as shown in Figure 1 to 11, comprising: loading platform 1, workbench 2, scanning dress
Set 3, mechanical arm 4, load-carrying device 5, apparatus for transporting freight 6, movable pulley 7, battery and single-chip microcontroller；Workbench 2 is flexibly connected
In the top of the loading platform 1 and centrally located；Movable pulley 7 carries driving motor 71 and steering motor 72 and is set to
1 lower part of loading platform；Scanning means 3 is by fixing seat 31 and is fixed in fixing seat 31 and contrary scanning means A32 and sweeps
Imaging apparatus B33 composition；2 top of workbench is fixedly installed support rod 21 and apparatus for transporting freight support rod 61, scanning means 3
Fixing seat 31 is fixed on the top of support rod 21, and support rod 21 and 2 joint of workbench are provided with rotary electric machine A22 and fix
31 joints of seat are provided with rotary electric machine B23, are arranged between rotary electric machine A22 and rotary electric machine B23, outside support rod 21 with teeth
Shape conveyer belt 24 and slide rail 25；Apparatus for transporting freight support rod 61 and 2 joint of workbench are provided with apparatus for transporting freight
Rotary electric machine A62,61 top of apparatus for transporting freight support rod are provided with apparatus for transporting freight rotary electric machine B63, cargo transmission dress
It sets between rotary electric machine A62 and apparatus for transporting freight rotary electric machine B63, be provided with cargo outside apparatus for transporting freight support rod 61
Transmission device tooth-shaped conveying belt 64 and apparatus for transporting freight slide rail 65；Mechanical arm 4 includes sliding case 41, tooth form sliding shoe
42, mechanical arm A43 and mechanical arm B44, sliding case 41 are indulged by the support rod 21, tooth-shaped conveying belt 24 and slide rail 25 and are worn
And can move up and down along tooth-shaped conveying belt 24 and slide rail 25, sliding shoe 42 is set in sliding case 41 and and tooth-shaped conveying belt
24 engagements, mechanical arm A43 and mechanical arm B44 are respectively arranged at sliding 41 two sides of case and are provided with matched mechanical arm driving
Motor A45 and mechanical arm driving motor B46, mechanical arm driving motor A45 and mechanical arm driving motor B46 are set to sliding case 41
It is interior；Mechanical arm A43 and mechanical arm B44 is all made of postbrachium 47, middle arm 48, forearm 49 and gripper 50, and postbrachium 47 and middle arm 48 are living
Dynamic to connect and be provided with steering-engine, middle arm 48 is flexibly connected with forearm 49 and is provided with steering-engine, forearm 49 and gripper 50
It connects and is provided with steering-engine；Apparatus for transporting freight 6 includes that apparatus for transporting freight slides case 66, apparatus for transporting freight sliding shoe
67, two apparatus for transporting freight fixed links 68 and belt conveyor 69, apparatus for transporting freight slide case 66 by apparatus for transporting freight
Support rod 61, apparatus for transporting freight tooth-shaped conveying belt 64 and apparatus for transporting freight slide rail 65 are vertical to be worn and can transmit dress along cargo
It sets tooth-shaped conveying belt 64 and apparatus for transporting freight slide rail 65 moves up and down, apparatus for transporting freight sliding shoe 67 is set to cargo
It is engaged in transmission device sliding case 66 and with apparatus for transporting freight tooth-shaped conveying belt 64, two apparatus for transporting freight fixed links 68 are divided
It is not movably connected on apparatus for transporting freight sliding 66 two sides of case, belt conveyor 69 and 68 activity of apparatus for transporting freight fixed link are even
It connects and is provided with direction adjustment steering engine；Load-carrying device 5 includes hydraulic load-carrying box A51 and hydraulic load-carrying box B52, is set to loading platform
On 1.Be additionally provided with the chassis 8 positioned at 1 lower part of loading platform, chassis 8 is flexibly connected with loading platform 1, can 360 degree rotate, loading platform 1
It can relatively rotate with chassis 8, workbench 2 not can be rotated, and movable pulley 7 is set to the lower part on chassis 8, and 8 lower part of chassis is also set
It is equipped with 2 universal wheels 9.
Specific working principle: automatic supermarket's tally machine is connect with supermarket's marketing system, when detecting some commodity shelf
When surplus deficiency, automatic supermarket's tally machine just goes warehouse picking, when walking, by scanning means disturbance in judgement object, and relies on
Projected route reasonably avoiding barrier；After reaching warehouse, according to required cargo, the corresponding position of the cargo, scanning dress are reached
Searching identification code is set, after determining cargo, in fixing seat under the adjusting of single-chip microcontroller, automatic supermarket's tally machine expansion cargo transmission dress
It sets, then adjusts the height of hydraulic load-carrying box, and adjust the angle of belt conveyor, cargo is enable to fall into load-carrying box.So
Start feed belt driving motor A and feed belt driving motor B afterwards, drives feed belt rotation.At this point, mechanical arm is scanning
Cargo is quickly positioned under the action of device, and picks up and is put into apparatus for transporting freight, and cargo enters under the drive of belt conveyor
Load-carrying box.After one load-carrying box is piled, loading platform is rotated, another empty load-carrying box is gone into front, continues goods putting.
After the completion of picking, automatic supermarket's tally machine reaches shelf according to projected route, and scanning means passes through scanning identification code
Quickly positioning shelf.After determining shelf, by the rotation of flat-toothed belt, the height of adjusting mechanical arm then as needed can
Corresponding load-carrying box is increased, convenient for clamping, then, cargo is put on shelf by mechanical arm from taking-up in load-carrying box.When one
When acquisition in load-carrying box takes, loading platform is rotated, another load-carrying box is gone into front, continues to get in stocks.After the completion of getting in stocks, then
Warehouse picking is gone, the work is repeated.
In conclusion the present invention is by loading platform, workbench, scanning means, mechanical arm, load-carrying device, cargo, which transmits, to be filled
It sets, tooth-shaped conveying belt, tooth form sliding shoe, steering engine, movable pulley, battery and single-chip microcontroller, integrated uses is waited to manage to the automatic supermarket
It on cargo aircraft, is not mentioned in existing field, and the utilization of the relevant technologies, enables automatic supermarket's tally equipment standby many excellent
Point uses manpower and material resources sparingly as being automatically performed picking and getting in stocks.Therefore, the present invention has substantive distinguishing features outstanding and shows
The progress of work.
The above description is only a preferred embodiment of the present invention, is not intended to restrict the invention, for those skilled in the art
For member, the invention may be variously modified and varied.All within the spirits and principles of the present invention, it is made it is any modification,
Equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.
Claims (7)
1. a kind of automatic supermarket's tally machine, comprising: loading platform (1), workbench (2), scanning means (3), mechanical arm (4) carry
Goods device (5), apparatus for transporting freight (6), movable pulley (7), battery and single-chip microcontroller；The workbench (2) is movably connected on
The top of the loading platform (1) and centrally located；The movable pulley (7) carries driving motor (71) and steering motor
(72) and it is set to described loading platform (1) lower part；It is characterized by: the scanning means (3) is by fixing seat (31) and admittedly
Due in the fixing seat (31) and contrary scanning means A(32) and scanning means B(33) composition, the scanning
Device (3) includes camera, range sensor and infrared detector；Described workbench (2) top is fixedly installed support rod
(21) and apparatus for transporting freight support rod (61), the fixing seat (31) of the scanning means (3) are fixed on the support rod
(21) top, the support rod (21) and workbench (2) joint are provided with rotary electric machine A(22) and fixing seat (31)
Joint is provided with rotary electric machine B(23), the rotary electric machine A(22) and rotary electric machine B(23) between support rod (21)
Outside is provided with tooth-shaped conveying belt (24) and slide rail (25)；The apparatus for transporting freight support rod (61) and workbench
(2) joint is provided with apparatus for transporting freight rotary electric machine A(62), apparatus for transporting freight support rod (61) top is provided with cargo
Transmission device rotary electric machine B(63), the apparatus for transporting freight rotary electric machine A(62) and apparatus for transporting freight rotary electric machine B
(63) it is provided with apparatus for transporting freight tooth-shaped conveying belt (64) outside the apparatus for transporting freight support rod (61) between and cargo passes
Send device slide rail (65)；The mechanical arm (4) includes sliding case (41), tooth form sliding shoe (42), mechanical arm A(43)
With mechanical arm B(44), the sliding case (41) is by the support rod (21), tooth-shaped conveying belt (24) and slide rail (25)
Vertical to wear and move up and down along the tooth-shaped conveying belt (24) and slide rail (25), the sliding shoe (42) is set to cunning
Engaged in dynamic case (41) and with the tooth-shaped conveying belt (24), the mechanical arm A(43) and mechanical arm B(44) be respectively set
In sliding case (41) two sides and it is provided with matched mechanical arm driving motor A(45) and mechanical arm driving motor B
(46), the mechanical arm driving motor A(45) and mechanical arm driving motor B(46) be set in the sliding case (41)；
The mechanical arm A(43) and mechanical arm B(44) be all made of postbrachium (47), middle arm (48), forearm (59) and gripper (50), after
Arm (47) is flexibly connected and is arranged steering-engine with middle arm (48), and middle arm (48) is flexibly connected with forearm (49) and steering rudder is arranged
Machine, forearm (49) are flexibly connected with gripper (50) and steering-engine are arranged；The apparatus for transporting freight (6) includes cargo transmission
Device slides case (66), apparatus for transporting freight sliding shoe (67), two apparatus for transporting freight fixed links (68) and belt conveyor
(69), apparatus for transporting freight sliding case (66) is by the apparatus for transporting freight support rod (61), apparatus for transporting freight
Tooth-shaped conveying belt (64) and apparatus for transporting freight slide rail (65), which are indulged, to be worn and can transmit along the apparatus for transporting freight tooth form
Band (64) and apparatus for transporting freight slide rail (65) move up and down, and the apparatus for transporting freight sliding shoe (67) is set to goods
It is engaged in object transmission device sliding case (66) and with the apparatus for transporting freight tooth-shaped conveying belt (64), two cargos
Transmission device fixed link (68) is movably connected in apparatus for transporting freight sliding case (66) two sides and setting direction tune
Whole steering engine, the belt conveyor (69) are flexibly connected with apparatus for transporting freight fixed link (68) and angled adjustment rudder are arranged
Machine；The load-carrying device (5) includes hydraulic load-carrying box A(51) and hydraulic load-carrying box B(52), it is set to the loading platform
(1) on；The navigation module connecting with the single-chip microcontroller is additionally provided in the workbench, the single-chip microcontroller is also integrated with
Wireless network module；The battery is set to loading platform (1) inside, and the single-chip microcontroller is set to described consolidate
In reservation (31), battery is that the tally machine provides electric power, single-chip microcontroller for automatically control the tally machine each electric elements,
Operating, stalling and the job order of steering engine and driving motor；
It is additionally provided with positioned at the chassis (8) of described loading platform (1) lower part, the chassis (8) and loading platform (1) activity is even
It connecing, the workbench (2) is directly connect with the chassis (8), and the movable pulley (7) is set to the lower part of chassis (8),
Described chassis (8) lower part is additionally provided with 2 universal wheels (9)；
The postbrachium (47) is flexibly connected and is provided with hydraulic telescopic rod, middle arm (48) and forearm (49) activity with middle arm (48)
Hydraulic telescopic rod is connected and is provided with, forearm (49) connect and be provided with hydraulic telescopic rod, above-described liquid with gripper (50)
Pressure telescopic rod is connect with the single-chip microcontroller.
2. automatic supermarket's tally machine according to claim 1, it is characterised in that: the belt conveyor (69) is by transmitting
Belt driving motor A(691), feed belt driving motor B(692), feed belt (693) and apparatus for transporting freight connecting shaft
(694) it forms, the apparatus for transporting freight fixed link (68) is flexibly connected with apparatus for transporting freight connecting shaft (694), described
Angle adjustment steering engine be set at apparatus for transporting freight connecting shaft (694).
3. automatic supermarket's tally machine according to claim 2, it is characterised in that: offer 2 in the sliding case (41)
A sectional area is slightly larger than the sliding slot (251) of described slide rail (25) sectional area, and the slide rail (25) passes through
The sliding slot (251).
4. automatic supermarket's tally machine according to claim 2, it is characterised in that: the apparatus for transporting freight slides case
(66) it is sliding slightly larger than the apparatus for transporting freight of described apparatus for transporting freight slide rail (65) sectional area that sectional area is offered in
Dynamic slot (651), the apparatus for transporting freight slide rail (65) pass through the apparatus for transporting freight and slide slot
(651).
5. automatic supermarket's tally machine according to claim 3 or 4, it is characterised in that: the included drive of the movable pulley (7)
Dynamic motor (71) and steering motor (72) are servo motor.
6. automatic supermarket's tally machine according to claim 3 or 4, it is characterised in that: also set in the sliding case (41)
It is equipped with the sliding shoe fixed frame (421) of the fixed sliding shoe (42).
7. automatic supermarket's tally machine according to claim 3 or 4, it is characterised in that: the apparatus for transporting freight sliding
The apparatus for transporting freight sliding shoe fixed frame of the fixed apparatus for transporting freight sliding shoe (67) is additionally provided in case (66)
(671).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811357261.3A CN109649906A (en) | 2017-12-13 | 2017-12-13 | Automatic supermarket tally machine |
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711332557.5A CN107934334B (en) | 2017-12-13 | 2017-12-13 | Automatic supermarket tally machine |
| CN201811357261.3A CN109649906A (en) | 2017-12-13 | 2017-12-13 | Automatic supermarket tally machine |
Related Parent Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711332557.5A Division CN107934334B (en) | 2017-12-13 | 2017-12-13 | Automatic supermarket tally machine |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109649906A true CN109649906A (en) | 2019-04-19 |
Family
ID=61942990
Family Applications (3)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711332557.5A Expired - Fee Related CN107934334B (en) | 2017-12-13 | 2017-12-13 | Automatic supermarket tally machine |
| CN201811357261.3A Pending CN109649906A (en) | 2017-12-13 | 2017-12-13 | Automatic supermarket tally machine |
| CN201811357260.9A Pending CN109649905A (en) | 2017-12-13 | 2017-12-13 | Automatic supermarket tally machine |
Family Applications Before (1)
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| CN201711332557.5A Expired - Fee Related CN107934334B (en) | 2017-12-13 | 2017-12-13 | Automatic supermarket tally machine |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109719716A (en) * | 2018-06-20 | 2019-05-07 | 深圳市太惠科技有限公司 | A kind of manipulator for unmanned shop |
| CN109335431A (en) * | 2018-09-12 | 2019-02-15 | 刘丽娜 | A kind of tally robot of supermarket of the computer long-distance control based on wireless network |
| CN110039529A (en) * | 2019-05-16 | 2019-07-23 | 湖北工业大学 | A kind of more servo driving mechanical arms |
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| JP2733828B2 (en) * | 1995-08-30 | 1998-03-30 | タキゲン製造株式会社 | Transport vehicle with lifting device |
| CN102658542A (en) * | 2012-05-07 | 2012-09-12 | 上海电机学院 | Rail type intelligent machine transporting truck |
| CN104924288A (en) * | 2015-05-08 | 2015-09-23 | 江苏大学 | Full-automatic picking car for warehouse and control method of full-automatic picking car |
| CN105598937A (en) * | 2016-02-01 | 2016-05-25 | 湖北工业大学 | Automatic tallying robot for supermarket |
| CN206705054U (en) * | 2017-01-24 | 2017-12-05 | 无锡城市职业技术学院 | Enterprise's warehouse materials handling robot system based on radio frequency identification |
| CN107414850A (en) * | 2017-07-31 | 2017-12-01 | 青岛万祥如光机械技术研究有限公司 | It is a kind of can automatic neatening book robot |
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- 2017-12-13 CN CN201811357261.3A patent/CN109649906A/en active Pending
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| CN107934334A (en) | 2018-04-20 |
| CN107934334B (en) | 2019-01-04 |
| CN109649905A (en) | 2019-04-19 |
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