CN110065044A - A kind of warehouse formula placement machine people - Google Patents
A kind of warehouse formula placement machine people Download PDFInfo
- Publication number
- CN110065044A CN110065044A CN201910342923.8A CN201910342923A CN110065044A CN 110065044 A CN110065044 A CN 110065044A CN 201910342923 A CN201910342923 A CN 201910342923A CN 110065044 A CN110065044 A CN 110065044A
- Authority
- CN
- China
- Prior art keywords
- warehouse
- type element
- sandwich type
- battery
- control module
- 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.)
- Pending
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
Abstract
The invention discloses a kind of warehouse formula placement machine people, including for accommodating and installing control module warehouse sandwich type element, be mounted on the two drive differential wheel assemblies and universal caster wheel, the monitoring modular that is mounted at the top of warehouse sandwich type element of warehouse sandwich type element bottom, battery compartment is additionally provided in warehouse sandwich type element, battery modules are installed, battery modules provide operating voltage by control module for two drive differential wheel assemblies and monitoring modular in battery compartment.The present invention uses warehouse sandwich type element body construction, and control module can be fitted and fixed in the cavity inside warehouse sandwich type element, and centrality is strong, and preceding warehouse lid and rear warehouse lid detachably have a down dip installation, facilitate maintenance and sluicing；Differential wheel assembly is driven using two, differential driving is realized, and assisted by universal caster wheel, realizes even running；Also have the function of monitoring, navigation, anticollision, more hit, sounding, alarm and telecommunication etc..
Description
Technical field
The present invention relates to the technical fields of robot, and in particular to a kind of warehouse formula placement machine people.
Background technique
Robot is the automatic installations for executing work.It can not only receive mankind commander, but also can run preparatory volume
The program of row, can also be according to principle program action formulated with artificial intelligence technology.Its task is to assist or replace the mankind
The work of work, such as production industry, construction industry, or dangerous work.
Currently, the electronic component in robot is commonly installed dispersion, centrality is lower, and maintenance is caused to be also required to grow very much
Time finds route, and since installation disperses, leads to that effective waterproofing protection cannot be played to all electronic components；
In addition, generalling use the mode that driving wheel group is directly installed on robot body at present, cause installation procedure complicated, installation is strong
Degree is big, reduces the packaging efficiency of robot.For this purpose, proposing a kind of warehouse formula placement machine people.
Summary of the invention
In view of the above-mentioned deficiencies in the prior art, it is an object of the present invention to a kind of warehouse formula placement machine people be provided, using warehouse
Sandwich type element facilitates control module centrality to install, and drives differential wheel assembly using modular two, the installation for reducing driving wheel group is strong
Degree improves the installation effectiveness of driving wheel group.
In order to solve the above-mentioned technical problem, it adopts the following technical scheme that
A kind of warehouse formula placement machine people, including for accommodating and installing control module warehouse sandwich type element, be mounted on institute
State the two drive differential wheel assemblies and universal caster wheel, the monitoring mould that is mounted at the top of the warehouse sandwich type element of warehouse sandwich type element bottom
Block is additionally provided with battery compartment in the warehouse sandwich type element, battery modules, the battery mould is equipped in the battery compartment
Group provides operating voltage by control module for two drive differential wheel assemblies and monitoring modular.
Preferably, the forward and backward side in top of the warehouse sandwich type element is respectively arranged with preceding Hatch Opening and rear Hatch Opening, the storehouse
Body sandwich type element is provided with battery installing port in the bottom of battery compartment, is internally provided with battery limiting frame in battery compartment.
Preferably, the preceding warehouse lid having a down dip forwards is detachably equipped on the preceding Hatch Opening, on the rear Hatch Opening
The rear warehouse lid rearward having a down dip detachably is installed；Battery cabin cap is installed on the battery installing port；The preceding warehouse lid, after
Sealing strip is provided in warehouse lid and the connection wall of battery cabin cap and the warehouse sandwich type element.
Preferably, the two drive differential wheel assemblies and universal caster wheel are located at the forward and backward side of the battery compartment；
The drive wheel assemblies that the two drive differential wheel assemblies include positioning plate, are symmetrically mounted at left and right sides of the positioning plate, it is described
Positioning plate be fixed on the bottom of the warehouse sandwich type element by fastener, the universal caster wheel be located at two groups described in driving wheel
In the symmetrical center line of component.
Preferably, drive wheel assemblies described in every group include locating piece, the speed reducer being fixed on the inside of the locating piece,
The bearing for being mounted on the servo motor connecting on the speed reducer with the speed reducer drive, being fixed on the outside of the locating piece
Seat, the flange shaft matched by least one bearing with the bearing block are fixedly connected with the flange section of the flange shaft
Wheel；The output shaft of the speed reducer is fixedly connected with the shaft portion of the flange shaft by key after passing through the locating piece,
The locating piece is mounted on the positioning plate by fastener, and the positioning plate is also in the deceleration of every group of drive wheel assemblies
Dust cover is installed outside machine and servo motor.
Preferably, the monitoring modular includes the fixed frame for being mounted on the warehouse sandwich type element top center, installation
Electric platform at the top of the fixed frame, and it is mounted on the electric platform camera of at least one, the electricity
Dynamic holder and camera are communicated to connect with the control module being mounted in the warehouse sandwich type element, and pass through control module and institute
The battery modules stated are electrically connected.
Preferably, the fixed frame includes back-shaped frame, the supporting walls being mounted on the back-shaped frame and is mounted on institute
State the fixed plate on supporting walls, the back-shaped top of the trellis, supporting walls and fixed plate form an installation cavity, in the installation cavity
Loudspeaker is installed, a laser sensor is also installed at the center of the back-shaped frame, and the bottom of the back-shaped frame is also equipped with navigation
Instrument, the loudspeaker, laser sensor and navigator are equally communicated with the control module being mounted in the warehouse sandwich type element
Connection, and be electrically connected by control module and the battery modules.
Preferably, the front outsides of the warehouse sandwich type element are also equipped with touching side sensor, charging copper bar and at least one
A ultrasonic probe；The rear outside of the warehouse sandwich type element is equipped with emergency stop switch, alarm lamp and for receiving and transmitting signal
Antenna.
Preferably, touching side sensor, ultrasonic probe, emergency stop switch, alarm lamp and the antenna be mounted on institute
The control module communication connection in warehouse sandwich type element is stated, and is electrically connected by control module and the battery modules, it is described
Charging copper bar and battery modules be electrically connected.
Preferably, the outside of the warehouse sandwich type element is also equipped with the shell that can be dismantled.
As a result of the above technical solution, the following beneficial effects are obtained:
The present invention is a kind of warehouse formula placement machine people, is had the advantage that
1), using warehouse sandwich type element body construction, control module can be fitted and fixed to inside warehouse sandwich type element
In cavity, centrality is strong, and preceding warehouse lid and rear warehouse lid are installed in forward and backward side respectively, detachably, facilitates maintenance；Furthermore preceding warehouse lid
It has a down dip sluicing easy for installation with rear warehouse lid；
2) differential wheel assembly, is driven using modular two, can be achieved with and warehouse sandwich type element by simple connection type
The installation of one step, the drive wheel assemblies of the left and right sides respectively pass through respective servo motor and are driven, and realize differential driving, and by ten thousand
It is assisted to castor, realizes even running；
3), by monitoring modular, touching side sensor, ultrasonic probe, alarm lamp and antenna realize monitoring, navigation, anticollision,
It more hits, sounding, the functions such as alarm and telecommunication.
Detailed description of the invention
The present invention will be further explained below with reference to the attached drawings:
Fig. 1 is a kind of structural schematic diagram of warehouse formula placement machine people of the present invention；
Fig. 2 is the decomposition texture schematic diagram of middle warehouse sandwich type element of the present invention；
Fig. 3 is two perspective view of the explosion for driving differential wheel assembly in the present invention；
Fig. 4 is to install a kind of chlamydate warehouse formula placement machine people's structural schematic diagram in the present invention.
Specific embodiment
In order to make the objectives, technical solutions and advantages of the present invention clearer, below by accompanying drawings and embodiments, to this
Invention is further elaborated.However, it should be understood that the specific embodiments described herein are merely illustrative of the present invention,
The range being not intended to restrict the invention.In addition, in the following description, descriptions of well-known structures and technologies are omitted, to keep away
Exempt from unnecessarily to obscure idea of the invention.
Refering to fig. 1, a kind of warehouse formula placement machine people, including for accommodating and installing control module warehouse sandwich type element 1,
It is mounted on two drive differential wheel assembly 2 and universal caster wheels 3 of 1 bottom of warehouse sandwich type element, is mounted on the top of warehouse sandwich type element 1
The monitoring modular 4 in portion is additionally provided with battery compartment 11 in the warehouse sandwich type element 1, is equipped with battery in the battery compartment 11
Mould group 5, the battery modules 5 are that two drive differential wheel assemblies 2 and monitoring modular 4 provide operating voltage by control module.
Further, the forward and backward side in top of the warehouse sandwich type element 1 is respectively arranged with preceding Hatch Opening combined with Figure 1 and Figure 2,
11 and rear Hatch Opening 12, the warehouse sandwich type element 1 be provided with battery installing port 15, in battery compartment 11 in the bottom of battery compartment 11
Portion is provided with battery limiting frame 16.
In embodiments of the present invention, the preceding warehouse lid 13 having a down dip forwards is installed on the preceding Hatch Opening 11, after described
The rear warehouse lid 14 rearward having a down dip is installed on Hatch Opening 12；Battery cabin cap 17 is installed on the battery installing port 15；It is described
It is provided with sealing strip in the connection wall of preceding warehouse lid 13, rear warehouse lid 14 and battery cabin cap 17 and the warehouse sandwich type element 1, is prevented
Water enters inside warehouse sandwich type element 1.
Before further, the described two drive differential wheel assemblies 2 and universal caster wheel 3 are located at the battery compartment 11,
Rear；The two drive differential wheel assemblies 2 include positioning plate 21, the driving wheel for being symmetrically mounted on 21 left and right sides of positioning plate
Component 22, the positioning plate 21 are fixed on the bottom of the warehouse sandwich type element 1, the universal caster wheel 3 by fastener
In the symmetrical center line of the drive wheel assemblies 22 described in two groups.
Specifically, referring to Fig. 3, drive wheel assemblies 22 described in every group include locating piece 221, are fixed on the locating piece
221 inside speed reducer 222, be mounted on the speed reducer 222 with the speed reducer 222 transmission connection servo motor 223,
The bearing block 224 for being fixed on 221 outside of locating piece, the method matched with the bearing block 224 by least one bearing
Blue axis 225, the wheel 226 being fixedly connected with the flange section of the flange shaft 225；The output shaft of the speed reducer 222 passes through
It is fixedly connected with the shaft portion of the flange shaft 225 by key after the locating piece 221, the locating piece 221 passes through fastening
Part is mounted on the positioning plate 21, and the positioning plate 21 is also in speed reducer 222 and the servo electricity of every group of drive wheel assemblies 22
Dust cover 227 is installed outside machine 223.
Further, the monitoring modular 4 include be mounted on 1 top center of warehouse sandwich type element fixed frame 41,
It is mounted on the electric platform 42 at 41 top of the fixed frame, and is mounted on the electric platform 42 camera of at least one
43, the electric platform 42 and camera 43 are communicated to connect with the control module being mounted in the warehouse sandwich type element 1, and
It is electrically connected by control module and the battery modules 5.
Specifically, referring to Fig. 1, the fixed frame 41 includes back-shaped frame 411, is mounted on the back-shaped frame 411
Supporting walls 412 and the fixed plate 413 being mounted on the supporting walls 412,411 top of back-shaped frame, supporting walls 412 and solid
Fixed board 413 forms an installation cavity, is equipped with loudspeaker 44 in the installation cavity, the center of the back-shaped frame 411 also installs one
Laser sensor 45, the bottom of the back-shaped frame 411 are also equipped with navigator 46, the loudspeaker 44, laser sensor 45
It is equally communicated to connect with the control module being mounted in the warehouse sandwich type element 1 with navigator 46, and passes through control module and institute
The battery modules 5 stated are electrically connected.
In embodiments of the present invention, 44 outlet sound mouth of loudspeaker is arranged in bottom, passes through the public address being arranged at the top of back-shaped frame 411
Mouth is spoken.
Further, the front outsides of the warehouse sandwich type element 1 are also equipped with touching side sensor 6, charging copper bar 7 and extremely
Few one ultrasonic probe 8；The rear outside of the warehouse sandwich type element 1 is equipped with emergency stop switch 9, alarm lamp 10 and for receiving
The antenna of signalling；Touching side sensor 6, ultrasonic probe 8, emergency stop switch 9, alarm lamp 10 and the antenna be mounted on institute
The control module communication connection in warehouse sandwich type element 1 is stated, and is electrically connected by control module and the battery modules 5, institute
The charging copper bar 7 and battery modules 5 stated are electrically connected.
In embodiments of the present invention, the outside of the warehouse sandwich type element 1 is also equipped with the shell 18 that can be dismantled, to mention
The aesthetics of high robot entirety, as shown in Figure 4.
A kind of working principle of warehouse formula placement machine people of the present invention: differential wheel assembly 2 is driven by two and realizes differential driving
It is mobile to drive entire robot, and the realizations such as laser sensor 45, navigator 46, touching side sensor 6, ultrasonic probe 8 is cooperated to lead
The functions such as boat, anticollision, electric platform 42 and camera 43, which are realized, adjusts monitoring, and control module cooperates antenna to realize telecommunication control
System.
The above is only specific embodiments of the present invention, but technical characteristic of the invention is not limited thereto.It is any with this hair
Based on bright, to solve essentially identical technical problem, essentially identical technical effect is realized, made ground simple change, etc.
With replacement or modification etc., all it is covered by among protection scope of the present invention.
Claims (10)
1. a kind of warehouse formula placement machine people, it is characterised in that: including the warehouse sandwich type element for accommodating and installing control module
(1), the two of warehouse sandwich type element (1) bottom is mounted on to drive differential wheel assembly (2) and universal caster wheel (3), be mounted on the storehouse
Monitoring modular (4) at the top of body sandwich type element (1), the warehouse sandwich type element (1) is interior to be additionally provided with battery compartment (11), the electricity
It is equipped with battery modules (5) in Chi Cang (11), the battery modules (5) are two drives differential wheel assembly (2) by control module
And monitoring modular (4) provides operating voltage.
2. a kind of warehouse formula placement machine people according to claim 1, it is characterised in that: the warehouse sandwich type element (1)
The forward and backward side in top be respectively arranged with preceding Hatch Opening (11) and rear Hatch Opening (12), the warehouse sandwich type element (1) is in battery compartment (11)
Bottom is provided with battery installing port (15), is internally provided with battery limiting frame (16) in battery compartment (11).
3. a kind of warehouse formula placement machine people according to claim 2, it is characterised in that: pacify on the preceding Hatch Opening (11)
Equipped with the preceding warehouse lid (13) having a down dip forwards, the rear warehouse lid (14) rearward having a down dip is installed on the rear Hatch Opening (12)；Institute
Battery cabin cap (17) are installed on the battery installing port (15) stated；The preceding warehouse lid (13), rear warehouse lid (14) and battery cabin cap
(17) and sealing strip is provided in the connection wall of the warehouse sandwich type element (1).
4. a kind of warehouse formula placement machine people according to claim 1, it is characterised in that: described two drive differential wheel assembly
(2) and universal caster wheel (3) is located at the forward and backward side of the battery compartment (11)；Described two drive differential wheel assembly (2)
Positioning plate (21), the drive wheel assemblies (22) being symmetrically mounted at left and right sides of the positioning plate (21), the positioning plate (21)
The bottom of the warehouse sandwich type element (1) is fixed on by fastener, the universal caster wheel (3) is positioned at driving wheel group described in two groups
In the symmetrical center line of part (22).
5. a kind of warehouse formula placement machine people according to claim 4, it is characterised in that: drive wheel assemblies described in every group
(22) include locating piece (221), the speed reducer (222) being fixed on the inside of the locating piece (221), be mounted on the speed reducer
(222) servo motor (223) being sequentially connected on the speed reducer (222), the axis being fixed on the outside of the locating piece (221)
The flange shaft (225) and the flange shaft holding seat (224), being matched with the bearing block (224) by least one bearing
(225) wheel (226) that flange section is fixedly connected；The output shaft of the speed reducer (222) passes through the locating piece (221)
It is fixedly connected afterwards with the shaft portion of the flange shaft (225) by key, the locating piece (221) is mounted on institute by fastener
It states on positioning plate (21), the positioning plate (21) is also in the speed reducer (222) and servo motor of every group of drive wheel assemblies (22)
(223) external that dust cover (227) are installed.
6. a kind of warehouse formula placement machine people according to claim 1, it is characterised in that: monitoring modular (4) packet
Include be mounted on the fixed frame (41) of warehouse sandwich type element (1) top center, be mounted on it is electronic at the top of the fixed frame (41)
Holder (42), and it is mounted on the electric platform (42) camera (43) of at least one, the electric platform (42)
Communicated to connect with the control module that is mounted in the warehouse sandwich type element (1) with camera (43), and by control module with
The battery modules (5) are electrically connected.
7. a kind of warehouse formula placement machine people according to claim 5, it is characterised in that: the fixed frame (41) includes
Back-shaped frame (411), the supporting walls (412) being mounted on the back-shaped frame (411) and it is mounted on consolidating on the supporting walls (412)
Fixed board (413), back-shaped frame (411) top, supporting walls (412) and fixed plate (413) form an installation cavity, the peace
It is equipped with loudspeaker (44) in behaveing affectedly, the center of the back-shaped frame (411) is also installed a laser sensor (45), the back-shaped frame
(411) bottom is also equipped with navigator (46), and the loudspeaker (44), laser sensor (45) and navigator (46) are same
It is communicated to connect with the control module being mounted in the warehouse sandwich type element (1), and passes through control module and the battery modules
(5) it is electrically connected.
8. according to claim 1 to a kind of warehouse formula placement machine people described in 7 any one, it is characterised in that:
The front outsides of the warehouse sandwich type element (1) be also equipped with touching side sensor (6), charging copper bar (7) and at least one
Ultrasonic probe (8)；The rear outside of the warehouse sandwich type element (1) is equipped with emergency stop switch (9), alarm lamp (10) and for receiving
The antenna of signalling.
9. a kind of warehouse formula placement machine people according to claim 8, it is characterised in that: the touching side sensor (6),
Ultrasonic probe (8), emergency stop switch (9), alarm lamp (10) and antenna with the control mould that is mounted in the warehouse sandwich type element (1)
Block communication connection, and be electrically connected by control module and the battery modules (5), the charging copper bar (7) and battery
Mould group (5) is electrically connected.
10. a kind of warehouse formula placement machine people according to claim 8, it is characterised in that: the warehouse sandwich type element (1)
Outside be also equipped with the shell (18) that can be dismantled.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910342923.8A CN110065044A (en) | 2019-04-26 | 2019-04-26 | A kind of warehouse formula placement machine people |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910342923.8A CN110065044A (en) | 2019-04-26 | 2019-04-26 | A kind of warehouse formula placement machine people |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110065044A true CN110065044A (en) | 2019-07-30 |
Family
ID=67369115
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910342923.8A Pending CN110065044A (en) | 2019-04-26 | 2019-04-26 | A kind of warehouse formula placement machine people |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110065044A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110434868A (en) * | 2019-08-13 | 2019-11-12 | 郑州慧腾科技有限公司 | Robot is used in a kind of security protection patrol |
| CN112849284A (en) * | 2021-02-25 | 2021-05-28 | 杭州申昊科技股份有限公司 | Crawler-type inspection robot |
| CN113043326A (en) * | 2019-12-27 | 2021-06-29 | 沈阳新松机器人自动化股份有限公司 | Robot with easily-detachable shell |
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| CN112849284A (en) * | 2021-02-25 | 2021-05-28 | 杭州申昊科技股份有限公司 | Crawler-type inspection robot |
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Application publication date: 20190730 |