CN111674808A - Omnidirectional composite picking robot - Google Patents
Omnidirectional composite picking robot Download PDFInfo
- Publication number
- CN111674808A CN111674808A CN202010593452.0A CN202010593452A CN111674808A CN 111674808 A CN111674808 A CN 111674808A CN 202010593452 A CN202010593452 A CN 202010593452A CN 111674808 A CN111674808 A CN 111674808A
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- China
- Prior art keywords
- chassis
- driving
- goods
- steering
- goods taking
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- 239000002131 composite material Substances 0.000 title claims abstract description 16
- 238000013016 damping Methods 0.000 claims description 13
- 230000035939 shock Effects 0.000 claims description 10
- 239000003638 chemical reducing agent Substances 0.000 claims description 7
- 230000001360 synchronised effect Effects 0.000 claims description 7
- 238000010521 absorption reaction Methods 0.000 claims description 6
- 230000005540 biological transmission Effects 0.000 claims description 6
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 claims description 4
- 238000001514 detection method Methods 0.000 claims description 4
- 229910052744 lithium Inorganic materials 0.000 claims description 4
- 230000009286 beneficial effect Effects 0.000 abstract description 3
- 238000011065 in-situ storage Methods 0.000 abstract description 3
- 238000000034 method Methods 0.000 description 7
- 238000003860 storage Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000010408 sweeping Methods 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
Images
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
Abstract
The invention discloses an omnidirectional composite picking robot which comprises a driving steering chassis, a lifting assembly and a telescopic goods taking and placing assembly, wherein the lifting assembly is arranged on the driving steering chassis; the driving steering chassis comprises a chassis and a driving steering mechanism, and the chassis is provided with the driving steering mechanism. The invention has the beneficial effects that: when the robot transfers the to-be-transferred pieces, only a single to-be-transferred piece is transferred without carrying the whole goods shelf, so that the bearing capacity requirement of the transfer robot is greatly reduced, the application range and the transfer flexibility of the transfer robot are expanded, and the energy utilization rate is improved; the drive steering chassis can realize the in-situ rotation function by changing the steering of the front and rear hub motors; the lifting assembly drives the telescopic goods taking and placing assembly to lift, and both ends of a goods taking frame of the telescopic goods taking and placing assembly can take goods in a telescopic way, so that the use is flexible; the two-dimensional code is swept to the wharf to realize positioning, and the steering gyroscope realizes inertial navigation.
Description
Technical Field
The invention relates to the technical field of transfer robots, in particular to an omnidirectional composite picking robot.
Background
The intelligent storage is a link in the material handling process, and the application of the intelligent storage can ensure the speed and the accuracy of data input in each link of goods warehouse management and ensure that an enterprise can accurately master real data of the inventory. In the field of intelligent warehousing, the transportation of goods is the most important link, and the currently applied goods-to-people transportation mode is that a transportation robot is used for transporting the whole goods shelf to a target position and then a picker selects the goods. However, this method of transporting the entire rack not only requires a high carrying capacity of the transfer robot, but also causes unnecessary waste of robot energy and a reduction in the flexibility of the transfer. In addition, for the heavy goods, the carrying mode is not usable.
In addition to the method of transporting the entire rack, the conventional transporting method further includes the steps of lifting the target goods from the bottom or lifting the target goods from both sides by using a transfer mechanism of the transporting robot, transferring the target goods to a carrying mechanism of the transporting robot, and then integrally moving and transporting the target goods to the target position. However, in the process of transferring the goods from the transfer mechanism to the carrying mechanism, the transfer mechanism is required to bear the gravity of the goods in the whole process, and the requirement on the rigidity of the transfer mechanism is high, so that the design difficulty and the manufacturing cost of the transfer mechanism are increased.
Therefore, it is necessary to provide an omnidirectional composite picking robot for the above problems.
Disclosure of Invention
In view of the above-mentioned shortcomings in the prior art, the present invention provides an omnidirectional composite picking robot to solve the above-mentioned problems.
An omnidirectional composite picking robot comprises a driving steering chassis, a lifting assembly and a telescopic goods taking and placing assembly, wherein the lifting assembly is mounted on the driving steering chassis, and the telescopic goods taking and placing assembly is mounted on the lifting assembly; the driving steering chassis comprises a chassis and a driving steering mechanism, the driving steering mechanism is arranged on four corners of the chassis and comprises a damping frame, a driving wheel, a wheel frame, a first servo motor, a first gear, a second gear and a first planetary reducer, the upper portion of the damping frame is fixed on the lower portion of the shell, the first servo motor is installed on the side of the damping frame, the driving wheel is installed under the damping frame through the wheel frame, the output end of the first servo motor is in transmission connection with the first gear through the first planetary reducer, the first gear is meshed with the second gear, and the central shaft of the second gear is in rotation connection with the wheel frame.
Preferably, three sides of the wheel carrier are respectively provided with a photoelectric detection sensor, and the driving wheel adopts a wheel hub motor.
Preferably, the shock absorption frame comprises an upper plate, a lower plate and a plurality of shock absorption springs, and the shock absorption springs are connected between the lower plate and four corner edges of the upper plate.
Preferably, the lifting assembly comprises a gantry support frame, a servo speed reducing motor and a synchronous belt, linear guide rail pairs are arranged on two inner sides of the gantry support frame, the servo speed reducing motor is mounted on the chassis, and the output end of the servo speed reducing motor is connected with the synchronous belt through transmission teeth.
Preferably, the goods subassembly is got to flexible putting includes the layer board, first get put goods mechanism and second get put goods mechanism, the both ends of layer board respectively through sliding block sliding connection in linear guide is vice, the both ends of layer board still connect respectively in the hold-in range, first get put goods mechanism and second get put goods mechanism fixed connection respectively on the both sides limit of layer board.
Preferably, the first goods taking and placing mechanism and the second goods taking and placing mechanism are respectively provided with a first goods taking rack and a second goods taking rack, the supporting plate is respectively provided with a first driving motor and a second driving motor, the first driving motor drives the first goods taking rack, and the second driving motor drives the second goods taking rack.
Preferably, a two-dimensional code sweeping head, a steering gyroscope, a lithium battery and a driver are arranged on the chassis.
Compared with the prior art, the invention has the beneficial effects that: when the robot transfers the to-be-transferred pieces, only a single to-be-transferred piece is transferred without carrying the whole goods shelf, so that the bearing capacity requirement of the transfer robot is greatly reduced, the application range and the transfer flexibility of the transfer robot are expanded, and the energy utilization rate is improved; the drive steering chassis can realize the in-situ rotation function by changing the steering of the front and rear hub motors; the whole chassis is more flexible and is suitable for complex roadway environments, the lifting assembly drives the telescopic goods taking and placing assembly to lift, and both ends of a goods taking frame of the telescopic goods taking and placing assembly can take goods in a telescopic manner, so that the use is flexible; the two-dimensional code is swept to the wharf to realize positioning, and the steering gyroscope realizes inertial navigation.
Drawings
FIGS. 1 and 2 are block diagrams of an omnidirectional composite picking robot provided by the present invention;
FIGS. 3 and 4 are structural views of the drive steering chassis of the present invention; FIGS. 5 and 6 are structural views of a drive steering mechanism of the present invention
FIG. 7 is a view of the shock mount structure of the present invention;
FIGS. 8 and 9 are structural views of the lift assembly of the present invention;
fig. 10 and 11 are structural views of the telescopic pick-and-place assembly of the present invention.
Reference numbers in the figures: 1. driving a steering chassis; 2. a lifting assembly; 3. the goods taking and placing component is telescopic; 4. a chassis; 5. driving a steering mechanism; 201. a servo deceleration motor; 202. a gantry support frame; 203. a linear guide rail pair; 204. a slider; 205. a synchronous belt; 301. a support plate; 302. a first pick-and-place mechanism; 303. a second pick-and-place mechanism; 304. a first drive motor; 305. a second drive motor; 306. a first goods taking rack; 307. a second goods taking rack; 401. a lithium battery; 402. a steering gyroscope; 403. scanning a wharf by using a two-dimensional code; 404. a driver; 501. a first servo motor; 502. a first planetary reducer; 503. a first gear; 504. a second gear; 505. a drive wheel; 506. a wheel carrier; 507. a shock-absorbing mount; 508. a photoelectric detection sensor; 509. an upper plate; 510. a lower plate; 511. a damping spring; 512. a guide rail; 513. a slide block.
Detailed Description
It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict.
In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the present invention and for simplicity in description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and are not to be considered as limiting. Furthermore, the terms "first", "second", etc. are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first," "second," etc. may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless otherwise specified.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be connected internally or indirectly. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art through specific situations.
The embodiments of the invention will be described in detail below with reference to the drawings, but the invention can be implemented in many different ways as defined and covered by the claims.
As shown in fig. 1 in combination with fig. 2 to 11, an omnidirectional composite picking robot includes a driving steering chassis 1, a lifting assembly 2 and a telescopic goods taking and placing assembly 3, wherein the lifting assembly 2 is mounted on the driving steering chassis 1, and the telescopic goods taking and placing assembly 3 is mounted on the lifting assembly 2; the driving and steering chassis 1 comprises a chassis 4 and a driving and steering mechanism 5, the driving and steering mechanism 5 is arranged on each of four corners of the chassis 4, the driving and steering mechanism 5 comprises a damping frame 507, a driving wheel 505, a wheel frame 506, a first servo motor 501, a first gear 503, a second gear 504 and a first planetary reducer 502, the upper part of the damping frame 507 is fixed on the chassis 4, the first servo motor 501 is installed on the side edge of the damping frame 507, the driving wheel 505 is installed under the damping frame 507 through the wheel frame 506, the output end of the first servo motor 501 is in transmission connection with the first gear 503 through the first planetary reducer 502, the first gear 503 is meshed with the second gear 504, and the central shaft of the second gear 504 is in rotation connection with the wheel frame 506.
Further, three sides of the wheel frame 506 are respectively provided with a photoelectric detection sensor 508, and the driving wheel 505 adopts a wheel hub motor.
Further, the shock absorbing frame 507 includes an upper plate 509, a lower plate 510 and a plurality of shock absorbing springs 511, and the shock absorbing springs 511 are connected between the lower plate 510 and four corners of the upper plate 509.
Further, the lifting assembly 2 comprises a gantry support frame 202, a servo speed reducing motor 201 and a synchronous belt 205, linear guide rail pairs 203 are arranged on two inner sides of the gantry support frame 202, the servo speed reducing motor 201 is mounted on the chassis 4, and an output end of the servo speed reducing motor 201 is connected with the synchronous belt 205 through a transmission gear.
Further, the flexible goods subassembly 3 of getting put includes layer board 301, the first goods mechanism 302 of getting put and the second goods mechanism 303 of getting put, layer board 301 both ends respectively through sliding block 204 sliding connection in linear guide is vice 203, layer board 301's both ends still connect respectively in hold-in range 205, first goods mechanism 302 of getting put and the second is got and is put the both sides limit of goods mechanism 303 difference fixed connection at layer board 301.
Further, the first pick-and-place mechanism 302 and the second pick-and-place mechanism 303 are respectively provided with a first pick-and-place rack 306 and a second pick-and-place rack 307, the supporting plate 301 is respectively provided with a first driving motor 304 and a second driving motor 305, the first driving motor 304 is driven by the first pick-and-place rack 306, and the second driving motor 305 is driven by the second pick-and-place rack 307.
Further, a two-dimensional code scanning head 403, a steering gyroscope 402, a lithium battery 401 and a driver 404 are arranged on the chassis 4.
Compared with the prior art, the invention has the beneficial effects that: when the robot transfers the to-be-transferred pieces, only a single to-be-transferred piece is transferred without carrying the whole goods shelf, so that the bearing capacity requirement of the transfer robot is greatly reduced, the application range and the transfer flexibility of the transfer robot are expanded, and the energy utilization rate is improved; the drive steering chassis 1 can realize the in-situ rotation function by changing the steering of the front and rear hub motors; the whole chassis is more flexible and is suitable for complex roadway environments, the lifting assembly 2 drives the telescopic goods taking and placing assembly 3 to lift, and both ends of a goods taking frame of the telescopic goods taking and placing assembly 3 can take goods in a telescopic manner, so that the use is flexible; the two-dimensional code scanning head 403 realizes positioning, and the steering gyroscope 402 realizes inertial navigation.
The working principle is as follows: the lifting assembly 2 is arranged on the driving steering chassis 1, and the telescopic goods taking and placing assembly 3 is arranged on the lifting assembly 2; the driving and steering chassis 1 comprises a chassis 4 and a driving and steering mechanism 5, wherein the driving and steering mechanism 5 is arranged on each of four corners of the chassis 4; when the driving steering chassis drives to walk, the hub motor of the driving wheel rotates to walk; when walking to the assigned position, servo gear motor 201 starts and gets the goods subassembly 2 of putting and go up and down to appointed goods shelves height with stretching out and drawing back, and first driving motor 304 and second driving motor 305 start, and the first goods shelves 306 and the second goods shelves 307 of getting of drive are got the goods and are taken out.
The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (7)
1. An omnidirectional composite picking robot is characterized in that: the device comprises a driving steering chassis (1), a lifting assembly (2) and a telescopic goods taking and placing assembly (3), wherein the lifting assembly (2) is installed on the driving steering chassis (1), and the telescopic goods taking and placing assembly (3) is installed on the lifting assembly (2); the driving and steering chassis (1) comprises a chassis (4) and a driving and steering mechanism (5), the driving and steering mechanism is arranged on each of four corners of the chassis (4), the driving and steering mechanism (5) comprises a damping frame (507), a driving wheel (505), a wheel frame (506), a first servo motor (501), a first gear (503), a second gear (504) and a first planetary reducer (502), the upper part of the damping frame (507) is fixed on the chassis, the first servo motor (501) is installed on the side edge of the damping frame (507), the driving wheel (505) is installed below the damping frame (507) through the wheel frame (506), the output end of the first servo motor (501) is in transmission connection with the first gear (503) through the first planetary reducer (502), and the first gear (503) is meshed with the second gear (504), the second gear (504) is connected with the wheel carrier (506) in a rotating way through a central shaft.
2. An omnidirectional composite picking robot as recited in claim 1, wherein: photoelectric detection sensors (508) are respectively arranged on three sides of the wheel carrier (506), and a wheel hub motor is adopted as the driving wheel (505).
3. An omnidirectional composite picking robot as recited in claim 1, wherein: the shock absorption frame (507) comprises an upper plate (509), a lower plate (510) and a plurality of shock absorption springs (511), wherein the shock absorption springs (511) are connected between the lower plate (510) and four corner edges of the upper plate (509).
4. An omnidirectional composite picking robot as recited in claim 1, wherein: the lifting assembly (2) comprises a gantry support frame (202), a servo speed reducing motor (201) and a synchronous belt (205), linear guide rail pairs (203) are arranged on two inner sides of the gantry support frame (202), the servo speed reducing motor (201) is installed on the chassis (4), and the output end of the servo speed reducing motor (201) is connected with the synchronous belt (205) through transmission teeth.
5. An omnidirectional composite picking robot as recited in claim 1, wherein: the goods subassembly (3) is got including layer board (301), first get and put goods mechanism (302) and second and get and put goods mechanism (303), the both ends of layer board (301) respectively through sliding block (204) sliding connection in linear guide is vice (203), the both ends of layer board (301) still connect respectively in hold-in range (205), first get to put goods mechanism (302) and second and get and put goods mechanism (303) both sides limit at layer board (301) fixed connection respectively.
6. An omnidirectional composite picking robot as recited in claim 1, wherein: the first goods taking and placing mechanism (302) and the second goods taking and placing mechanism (303) are respectively provided with a first goods taking rack (306) and a second goods taking rack (307), the supporting plate (301) is respectively provided with a first driving motor (304) and a second driving motor (305), the first driving motor (304) is driven to the first goods taking rack (306), and the second driving motor (305) is driven to the second goods taking rack (307).
7. An omnidirectional composite picking robot as recited in claim 1, wherein: the chassis (4) is provided with a two-dimensional code scanning head (403), a steering gyroscope (402), a lithium battery (401) and a driver (404).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010593452.0A CN111674808A (en) | 2020-06-27 | 2020-06-27 | Omnidirectional composite picking robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010593452.0A CN111674808A (en) | 2020-06-27 | 2020-06-27 | Omnidirectional composite picking robot |
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| Publication Number | Publication Date |
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| CN111674808A true CN111674808A (en) | 2020-09-18 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202010593452.0A Pending CN111674808A (en) | 2020-06-27 | 2020-06-27 | Omnidirectional composite picking robot |
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| Country | Link |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112896545A (en) * | 2021-02-22 | 2021-06-04 | 浙江大学 | Airplane moving support platform with posture adjusting function |
| CN112978349A (en) * | 2021-01-29 | 2021-06-18 | 斯坦德机器人（深圳）有限公司 | Material taking and placing equipment |
| CN114012698A (en) * | 2021-11-25 | 2022-02-08 | 武汉理工大学 | Storage robot based on circular orbit |
| CN114516604A (en) * | 2022-02-26 | 2022-05-20 | 普罗格智芯科技(湖北)有限公司 | Four-way primary and secondary shuttle |
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| CN108861262A (en) * | 2018-04-09 | 2018-11-23 | 江苏金海湾智能制造有限公司 | Movable access mechanism for express tower |
| CN109573449A (en) * | 2019-01-29 | 2019-04-05 | 北京极智嘉科技有限公司 | A kind of transfer robot, products storage circulation system and container method for carrying |
| CN110884816A (en) * | 2019-12-10 | 2020-03-17 | 烟台拓伟智能科技股份有限公司 | Intelligent storage automatic storage stacking is got and is put device |
| CN110893966A (en) * | 2019-11-21 | 2020-03-20 | 苏州广锐鑫机电设备有限公司 | Goods taking trolley |
| CN111320112A (en) * | 2020-04-15 | 2020-06-23 | 湖北九州云仓科技发展有限公司 | Heavy-load omnidirectional shuttle |
-
2020
- 2020-06-27 CN CN202010593452.0A patent/CN111674808A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108861262A (en) * | 2018-04-09 | 2018-11-23 | 江苏金海湾智能制造有限公司 | Movable access mechanism for express tower |
| CN109573449A (en) * | 2019-01-29 | 2019-04-05 | 北京极智嘉科技有限公司 | A kind of transfer robot, products storage circulation system and container method for carrying |
| CN110893966A (en) * | 2019-11-21 | 2020-03-20 | 苏州广锐鑫机电设备有限公司 | Goods taking trolley |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112978349A (en) * | 2021-01-29 | 2021-06-18 | 斯坦德机器人（深圳）有限公司 | Material taking and placing equipment |
| CN112896545A (en) * | 2021-02-22 | 2021-06-04 | 浙江大学 | Airplane moving support platform with posture adjusting function |
| CN114012698A (en) * | 2021-11-25 | 2022-02-08 | 武汉理工大学 | Storage robot based on circular orbit |
| CN114516604A (en) * | 2022-02-26 | 2022-05-20 | 普罗格智芯科技(湖北)有限公司 | Four-way primary and secondary shuttle |
| CN114516604B (en) * | 2022-02-26 | 2023-01-10 | 智芯科技(湖北)有限公司 | Four-way primary and secondary shuttle |
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Application publication date: 20200918 |