CN109808792A - Modular logistics sorting platform and method based on gyroscopic procession effect - Google Patents
Modular logistics sorting platform and method based on gyroscopic procession effect Download PDFInfo
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- CN109808792A CN109808792A CN201910259110.2A CN201910259110A CN109808792A CN 109808792 A CN109808792 A CN 109808792A CN 201910259110 A CN201910259110 A CN 201910259110A CN 109808792 A CN109808792 A CN 109808792A
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Abstract
The invention discloses a kind of, and the modular logistics based on gyroscopic procession effect sort platform and method.The present invention includes several modular transportation units in structure, the modular transportation unit includes ball shape robot component and spherical shell support component, ball shape robot component includes spherical shell and the gyro driving unit inside spherical shell, gyro driving unit includes square set and gyrorotor mechanism and omnidirectional's wheel drive unit inside square set, spherical shell support component is by columnar bracket, steel ball, arc retainer and arc bracket composition, gyrorotor mechanism includes spherical top bracket and gyrorotor, omnidirectional's wheel drive unit includes six omni-directional wheel driving assemblies around spherical top rack arrangement, single omni-directional wheel facing each other is one group, three groups of single omni-directional wheels are respectively in three orthogonal planes for being orthogonal to spherical top carriage center.Precession effect based on gyro, the present invention realize the sorting of cargo by the frictional drive of each modular transportation unit.
Description
Technical field
The present invention relates to logistics Sorting Technique field, specially a kind of modular logistics sorting based on gyroscopic procession effect
Platform and method.
Background technique
At this stage, popularizing with Internet technology, shopping online has been the important component of people's daily life,
At the same time, shopping online has also driven the development of logistic industry, and there is great demand in entire society in logistics and transportation industry.
Currently, the development model of China Logistics industry is just gradually changed into robot automtion transport by labour's Transportation Model
Mode, traditional logistics sorting device are also difficult to meet fast-developing logistics at present, as society constantly advances,
There is an urgent need to can fast implement the logistic sorting machine structure of goods sorting to be suggested.
Existing logistic sorting machine structure mostly uses single institution to be sorted greatly, as publication number CN201810727921 is proposed
" a kind of logistic sorting machine device people ", the rare logistic sorting machine structure designed using modularization idea.
Summary of the invention
In view of the deficiencies of the prior art, a kind of based on gyroscopic procession effect the technical problem to be solved by the present invention is to propose
The modular logistics sorting platform and method answered.
It is able to solve the modular logistics sorting platform of above-mentioned technical problem, technical solution includes several according to reality
The modular transportation unit of demand distribution, except that the modular transportation unit includes ball shape robot component and spherical shell branch
Support component.
The ball shape robot component includes spherical shell and the gyro driving unit inside spherical shell, the gyro driving
Unit includes square set and gyrorotor mechanism and omnidirectional's wheel drive unit inside square set, based on gyro
Precession effect, the gyro driving unit can generate the omnidirectional's gyroscopic couple for making spherical shell omnibearing movable.
The spherical shell support component is by columnar bracket, steel ball and arc retainer, the arc being mounted on columnar bracket
Bracket is formed, and main function is to support ball shape robot component on the basis of not destroying ball shape robot movement.
The gyrorotor mechanism includes spherical top bracket and the gyrorotor set on spherical top internal stent, described
Gyrorotor is driven by the gyro machine for coming with incremental encoder and carries out high speed rotation；Omnidirectional's wheel drive unit packet
Include around spherical top rack arrangement and drive six omni-directional wheel driving assemblies of spherical top bracket universal rotational, the omnidirectional
Wheel drive component can be supported and drive to gyrorotor mechanism, and each omni-directional wheel driving assembly mainly includes by omnidirectional
The single omni-directional wheel of turbin generator driving and the absolute type encoder of the single omni-directional wheel rotational angle of detection, it is facing each other single
Omni-directional wheel is one group, and three groups of single omni-directional wheels are respectively at three orthogonal planes for being orthogonal to spherical top carriage center
On.
Further, the modular transportation unit passes through the bottom margin of columnar bracket successively close-packed arrays, the bottom sides
Edge can be the arbitrary shape for meeting actual demand.
Further, the steel ball keeps pure rolling with arc bracket inner wall and spherical shell outer wall respectively by arc retainer
Contact.
Further, there are pure rolling constraints between the spherical top bracket and each single omni-directional wheel.
Further, omnidirectional's turbin generator come with can real-time detection correspond to the incremental encoder of omnidirectional's wheel speed.
Using the movement technique of above-mentioned ball shape robot component are as follows:
1, initial time can detect that corresponding single omni-directional wheel by the absolute type encoder being mounted on omnidirectional's wheel carrier
Position.
2, when driving is set to omnidirectional's wheel drive unit movement inside square set, by being mounted on omnidirectional's wheel carrier
Absolute type encoder can detect that the corner of corresponding single omni-directional wheel, due to the fortune between single omni-directional wheel and spherical top bracket
It moves as pure rolling, and then finds out the attitude matrix of spherical top bracket.
3, the attitude matrix of the calculation method based on gyroscopic couple and spherical top bracket, passes through the track designed in advance
Controller calculates each omni-directional wheel driving moment and gyrorotor driving moment, and six omni-directional wheels and gyro of ball shape robot turn
Son will drive according to the calculated torque of controller.
4, based on the precession effect of gyro, when torque of the gyrorotor by two different directions, gyrorotor can be produced
The raw gyroscopic couple acted on spherical top bracket；Constraint is rolled due to existing between spherical top bracket and omni-directional wheel, together
When a series of interaction by power, gyrorotor can generate the gyroscopic couple for realizing spherical shell rotation and omnibearing movable.
Using the method for sorting of above-mentioned modular logistics sorting platform are as follows:
1, the number and distribution mode of each modular transportation unit are determined for different application scenarios.
2, different tracks is planned to the spherical shell of each modular transportation unit respectively for different classes of cargo.
3, when cargo reach spherical shell above when, according in advance to different classes of cargo planning Track fusion spherical shell move,
Cargo carries out frictional drive relative to each spherical shell and fast implements cargo eventually by the collaborative work of each modular transportation unit
Sorting.
Beneficial effects of the present invention:
1, in structure of the invention, omni-directional wheel driving assembly, gyrorotor mechanism, spherical shell support component are all made of symmetrical point
Cloth, this symmetrical mode can reduce the generation of additional unbalanced moments.
2, in structure of the invention, the precession effect based on gyro, the omnidirectional's gyroscopic couple generated by gyro driving unit
Ball shape robot can be made to realize rotation and omnibearing movable, it is relatively simple in structure, it is easy to accomplish.
3, in structure of the invention, when rotation occurs for gyrorotor, driving is mounted on one group three of square internal stent
A rotation axis omni-directional wheel driving assembly perpendicular to each other, may be implemented the omnibearing movable of ball shape robot, and actual installation
There are two groups of three rotation axis omni-directional wheel driving assemblies perpendicular to each other, can thus achieve the effect that redundancy backup, improve
The reliability of system.
4, in structure of the invention, the characteristics of using spherical shell omnibearing movable, the complete of cargo may be implemented by frictional drive
To sorting, it can thus change the transporting direction of cargo at any time on the basis of not changing existing structure.
It 5,, can quantity, the volume of cargo, cargo according to cargo using modular design philosophy in structure of the invention
Weight selecting module delivery unit number and distribution mode, in structure more freely, be able to satisfy different demands, more
It can be improved logistics sorting efficiency.
6, in structure of the invention, it can be combined with technologies such as image recognition, computer visions, becomes a kind of novel
Unmanned, intelligentized logistics sorts platform.
Detailed description of the invention
Fig. 1 is the stereochemical structure distribution schematic diagram of one embodiment of the present invention.
Fig. 2 is the schematic perspective view of modular transportation unit in Fig. 1 embodiment.
Fig. 3 is the main view of modular transportation unit in Fig. 1 embodiment.
Fig. 4 is the A-A cross-sectional view of Fig. 3 modular transportation unit.
Fig. 5 is the structural schematic diagram of omnidirectional's wheel drive unit in Fig. 1 embodiment.
Fig. 6 is the structural schematic diagram of omni-directional wheel in Fig. 1 embodiment.
Fig. 7 is the structural schematic diagram of arc retainer in Fig. 1 embodiment.
In figure: 1, modular transportation unit；2, columnar bracket；2-1, bottom margin；3, spherical shell；4, arc bracket；5, arc
Retainer；6, square set；7, spherical top bracket；8, gyro machine；9, gyrorotor；10, bearing；11, pinboard；12,
Omnidirectional's turbin generator；13, omni-directional wheel；14, omnidirectional's wheel carrier；15, absolute type encoder；16, steel ball；17, trifle wheel；18, big section wheel；
19, axle sleeve；20, wheel hub；21, circular hole.
Specific embodiment
A kind of embodiment shown in reference to the accompanying drawing is described further technical solution of the present invention.
Modular logistics sorting platform of the present invention includes several modular transportation units 1, the number of the modular transportation unit 1
Depending on different application demands, the modular transportation unit 1 passes through the bottom margin 2- of columnar bracket 2 for mesh and distribution mode
1 successively close-packed arrays, as shown in Figure 1.
The modular transportation unit 1 includes ball shape robot component and spherical shell support component, the ball shape robot group
Part includes spherical shell 3 and the gyro driving unit inside spherical shell 3, the gyro driving unit include square set 6 and
Gyrorotor mechanism and omnidirectional's wheel drive unit inside square set 6, the square set 6 are mounted on spherical shell 3, institute
Stating gyrorotor mechanism includes spherical top bracket 7 and the gyrorotor 9 inside spherical top bracket 7, and the gyro turns
Son 9 drives and carries out high speed rotation by the gyro machine 8 for coming with incremental encoder, and gyrorotor 9 is installed by bearing 10
On spherical top bracket 7, gyro machine 8 is mounted on spherical top bracket 7 by pinboard 11；Omnidirectional's wheel drive list
Member includes that six omni-directional wheel driving assemblies of 7 universal rotational of spherical top bracket, institute are arranged and driven around spherical top bracket 7
It states omni-directional wheel driving assembly and mainly by single omni-directional wheel 13, omnidirectional's wheel carrier 14, absolute type encoder 15 and comes with increment type
Omnidirectional's turbin generator 12 of encoder is formed, and each single omni-directional wheel 13 passes through pacifies on the corresponding installation of omnidirectional's wheel carrier 14 and each wheel carrier 14
Absolute type encoder 15 equipped with corresponding single 13 rotational angle of omni-directional wheel of detection, single omni-directional wheel 13 facing each other are one
Group, three groups of single omni-directional wheels 13 are respectively in three orthogonal planes for being orthogonal to 7 center of spherical top bracket, described
Omnidirectional's wheel carrier 14 is symmetrically mounted on square set 6, and omnidirectional's turbin generator 12 is coaxially mounted to entirely with absolute type encoder 15
To on wheel carrier 14, the single omni-directional wheel 13 is mainly made of wheel hub 20, big section wheel 18, trifle wheel 17, axle sleeve 19, described big
Section wheel 18, trifle wheel 17 interlock circumference uniform distribution be mounted on wheel hub 20, the axle sleeve 19 is coaxially mounted on wheel hub 20, as Fig. 1,
Shown in Fig. 2, Fig. 3, Fig. 4, Fig. 5, Fig. 6.
The spherical shell support component is made of columnar bracket 2, steel ball 16, arc retainer 5 and arc bracket 4, institute
State 16 even circumferential of steel ball be distributed in the circular hole 21 of arc retainer 5 and respectively with 3 outer wall of 4 inner wall of arc bracket and spherical shell
Pure rolling contact is kept, the arc retainer 5, arc bracket 4 are coaxially mounted on columnar bracket, the centre of sphere of the spherical shell 3,
The center of square set 6, the centre of sphere of arc retainer 5, the centre of sphere of arc bracket 4, the centre of sphere of spherical top bracket 7 and gyro turn
The center of son 8 is concentric, as shown in Figure 1, Figure 2, shown in Fig. 3, Fig. 4, Fig. 7.
Using the motion scheme of above-mentioned ball shape robot component are as follows:
1, initial time can detect that corresponding single omnidirectional by the absolute type encoder 15 being mounted on omnidirectional's wheel carrier 14
The position of wheel 13.
2, when driving is set to omnidirectional's wheel drive unit movement inside square set 6, by being mounted on omnidirectional's wheel carrier 14
On absolute type encoder 15 can detect that the corner of corresponding single omni-directional wheel 13, due to single omni-directional wheel 13 and spherical top branch
Movement between frame 7 is pure rolling, and then finds out the attitude matrix of spherical top bracket 7.
3, the attitude matrix of the calculation method based on gyroscopic couple and spherical top bracket, passes through the track designed in advance
Controller calculates each 13 driving moment of omni-directional wheel and 9 driving moment of gyrorotor, six omni-directional wheels 13 of ball shape robot and
Gyrorotor 9 will drive according to the calculated torque of controller.
4, based on the precession effect of gyro, when torque of the gyrorotor 9 by two different directions, 9 meeting of gyrorotor
Generate the gyroscopic couple acted on spherical top bracket 7；It is rolled about due to existing between spherical top bracket 7 and omni-directional wheel 13
Beam, while omni-directional wheel 13 is mounted on omnidirectional's wheel carrier 14, omnidirectional's wheel carrier 14 is mounted on square set 6, and square set 6 is mounted on
On spherical shell 3, by a series of interaction of power, gyrorotor 9 can generate the top for realizing 3 rotation of spherical shell and omnibearing movable
Spiral shell torque.
Using the method for sorting of above-mentioned modular logistics sorting platform, protocol step are as follows:
1, the number and distribution mode of each modular transportation unit 1 are determined for different application scenarios.
2, different track is planned it respectively for different classes of cargo；When shipping mass is big, volume cargo
When, in order to give full play to the effect of its inertia force, straight-line trajectory is planned to category cargo；When shipping mass is small, small in size
Cargo when, in order to save haulage time, play it and turn to flexibly rapid feature, circular movement is planned to category cargo
Track.
3, when cargo reaches 3 top of spherical shell, according in advance to each gyro of Track fusion turn of different classes of cargo planning
Son 9, each single omni-directional wheel 13 rotate, and drive each spherical shell 3 to move based on the precession effect of gyrorotor 9, cargo is relative to each
Spherical shell 3 carries out frictional drive and fast implements the sorting of cargo eventually by the collaborative work of each modular transportation unit 1.
Claims (5)
1. the modular logistics based on gyroscopic procession effect sort platform, transported including several according to the module of actual demand distribution
Defeated unit (1), it is characterised in that: the modular transportation unit (1) includes ball shape robot component and spherical shell support component, institute
Stating ball shape robot component includes spherical shell (3) and the gyro driving unit for being set to spherical shell (3) inside, the gyro driving unit
Including square set (6) and it is set to square set (6) internal gyrorotor mechanism and omnidirectional's wheel drive unit, the gyro
Rotor mechanism includes spherical top bracket (7) and is set to spherical top bracket (7) internal gyrorotor (9), and the gyro turns
Sub (9) are driven by the gyro machine (8) for coming with incremental encoder and carry out high speed rotation；Omnidirectional's wheel drive unit packet
The six omni-directional wheel driving assemblies arranged around spherical top bracket (7) and drive spherical top bracket (7) universal rotational are included, respectively
Omni-directional wheel driving assembly includes the single omni-directional wheel (13) and the single omni-directional wheel (13) of detection by omnidirectional's turbin generator (12) driving
The absolute type encoder (15) of rotational angle, omnidirectional's turbin generator (12) and absolute type encoder (15) are coaxially mounted to omnidirectional
On wheel carrier (14), single omni-directional wheel (13) facing each other is one group, and three groups of single omni-directional wheels (13) are respectively at and are orthogonal to ball
In three orthogonal planes at shape gimbal (7) center, the spherical shell support component is by columnar bracket (2), steel ball
(16) and the arc retainer (5), the arc bracket (4) that are mounted on columnar bracket (2) are formed, steel ball (16) circumference
It is uniformly distributed in the circular hole (21) of arc retainer (5) and is kept respectively with arc bracket (4) inner wall and spherical shell (3) outer wall
Pure rolling contact.
2. the modular logistics according to claim 1 based on gyroscopic procession effect sort platform, it is characterised in that: described
The number and distribution mode of modular transportation unit (1) are depending on different application demands.
3. the modular logistics according to claim 1 based on gyroscopic procession effect sort platform, it is characterised in that: described
For modular transportation unit (1) by the bottom margin (2-1) of columnar bracket (2) successively close-packed arrays, the bottom margin (2-1) can
To be the arbitrary shape for meeting actual demand.
4. the modular logistics based on gyroscopic procession effect sort platform method, it is characterised in that use such as claims 1 to 3
Any one of described in modular logistics based on gyroscopic procession effect sort platform, protocol step are as follows:
1., determine for different application scenarios the number and distribution mode of each modular transportation unit (1)；
2., for different classes of cargo plan it different tracks respectively；When shipping mass is big, volume cargo when,
In order to give full play to the effect of its inertia force, straight-line trajectory is planned to category cargo；When small, the small in size goods of shipping mass
When object, in order to save haulage time, plays it and turn to flexibly rapid feature, circular movement rail is planned to category cargo
Mark；
3., when cargo reach spherical shell (3) above when, according in advance to different classes of cargo planning each gyrorotor of Track fusion
(9), each single omni-directional wheel (13) rotation, drives each spherical shell (3) to move, cargo phase based on the precession effect of gyrorotor (9)
Frictional drive is carried out for each spherical shell (3) and fast implements cargo eventually by the collaborative work of each modular transportation unit (1)
Sorting.
5. the modular logistics according to claim 4 based on gyroscopic procession effect sort working platform principle, feature
It is to use ball shape robot component described in claim 1, motion scheme are as follows:
1., initial time, can detect that by the absolute type encoder (15) being mounted on omnidirectional's wheel carrier (14) corresponding single complete
To the position of wheel (13)；
2., when driving is set to square set (6) internal omnidirectional's wheel drive unit movement, by being mounted on omnidirectional's wheel carrier (14)
On absolute type encoder (15) can detect that the corner of corresponding single omni-directional wheel (13), due to single omni-directional wheel (13) and spherical
Movement between gimbal (7) is pure rolling, and then finds out the attitude matrix of spherical top bracket (7)；
3., the attitude matrix of the calculation method based on gyroscopic couple and spherical top bracket (7), pass through the track designed in advance
Controller calculates each omni-directional wheel (13) driving moment and gyrorotor (9) driving moment, six omni-directional wheels of ball shape robot
(13) and gyrorotor (9) will drive according to the calculated torque of controller；
4., the precession effect based on gyro, when torque of the gyrorotor (9) by two different directions, gyrorotor (9) meeting
Generation acts on the gyroscopic couple on spherical top bracket (7)；Due to existing between spherical top bracket (7) and omni-directional wheel (13)
Constraint being rolled, while omni-directional wheel (13) is mounted on omnidirectional's wheel carrier (14), omnidirectional's wheel carrier (14) is mounted on square set (6),
Square set (6) is mounted on spherical shell (3), and by a series of interaction of power, gyrorotor (9) can generate realization spherical shell
(3) gyroscopic couple of rotation and omnibearing movable.
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| EP0023958A1 (en) * | 1979-06-13 | 1981-02-18 | Rockwell International Corporation | Free rotor gas-bearing gyroscope having electro-magnetic rotor restraint and acceleration output signal and method of operating a gyroscope |
| CN1302717A (en) * | 2001-02-15 | 2001-07-11 | 上海交通大学 | Movable spherical robot |
| CN1397411A (en) * | 2002-08-22 | 2003-02-19 | 北京邮电大学 | Improved all-direction moving unit for spherical robot |
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| CN106873645A (en) * | 2017-04-13 | 2017-06-20 | 桂林电子科技大学 | Can omnidirectional's precession spherical top mechanism and control method |
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