CN1562575A - Robot of feeding paper for copying machine automatically - Google Patents
Robot of feeding paper for copying machine automatically Download PDFInfo
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- CN1562575A CN1562575A CN 200410017194 CN200410017194A CN1562575A CN 1562575 A CN1562575 A CN 1562575A CN 200410017194 CN200410017194 CN 200410017194 CN 200410017194 A CN200410017194 A CN 200410017194A CN 1562575 A CN1562575 A CN 1562575A
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- decelerator
- robot
- pedestal
- wheel
- car body
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Abstract
An automatic paper feeding and exchanging robot for the copying machine is composed of wheel-type carriage, base, left and right arms, clampers, radio transceiver, main controller, locating camera, and path recognizing camera. Its electric connection scheme is also disclosed.
Description
Technical field
The present invention relates to the service robot technical field, specifically is the automatic feeding and changing paper of a kind of duplicator robot.
Background technology
The service robot of having succeeded in developing at present has the guide robot, and sweeping robot is used for " candy striper " robot of hospital etc., mostly is the mobile robot of no arm, and yet there are no the robot appearance that has automatically for duplicator interpolation paper.Along with the breakthrough raising of duplicator copying speed, the also proportional increase of paper consuming amount.Having the large-scale CRD that many duplicators are worked simultaneously, the continuous continually paper that adds becomes operating personnel's hard work burden gradually, demands urgently utilizing automatic technology to replace dull manpower work.Find Chinese patent application number by literature search: 01120357.9, title: panel type special printer and web replacing device therefor thereof.This patent is a special printing equipment, its structure comprises casing, be located at chassis cavity and the paper storehouse that can move forward and backward, an end and front portion, paper storehouse are hinged with the pin joint be the axle center can and the head supporting plate that does relative motion of paper storehouse, supporting plate on be fixed with between head, rear portion, paper storehouse and casing inner wall and be provided with spring.Its automatic web replacing device therefor can only be applicable to this special equipment, can not be applicable to general print copying equipment, does not therefore have generality.In further retrieving, find identical with theme of the present invention or similar report as yet.
Summary of the invention
The present invention is directed to above shortcomings and defective in the prior art, the automatic feeding and changing paper of a kind of duplicator robot is provided, make it solve large-scale CRD and rely on artificial many problems that duplicator frequently changes paper that are, to reach CRD operation automation, reduce manual labor or minimizing employee's purpose.
The present invention is achieved by the following technical solutions, the present invention includes: wheeled carriage, pedestal, left arm, right arm, clamper, wireless receiver, master controller, positioning shooting machine, the first Path Recognition video camera.Connected mode is: pedestal is arranged on the wheeled carriage, pedestal shoulder both sides connect left and right arms respectively, the left and right arms end is provided with clamper, positive top at pedestal is provided with wireless transceiver, the pedestal side is provided with the positioning shooting machine, master controller is arranged on base interior, and robot is played comprehensive control action.The first Path Recognition video camera is fixed on the dead ahead of wheeled carriage.
Master controller at first receives the mission requirements that wireless receiver is received, getting paper and putting the paper action according to mission requirements control left and right sides both arms, the digital picture of RX path identification video camera and positioning shooting machine in the process of wheeled carriage operation, and handle, extract the characteristic signal of path and anchor point, through by parameter is moved in the shipping of two driving servomotors motor being controlled after the computing, fixed route moves and the location thereby the control wheeled carriage is drawn according to ground.
Wheeled carriage comprises as the carrier that robot moves: driving wheel, wheel decelerator drives servomotor, battery, car body, directive wheel, Path Recognition video camera.Its connected mode is: wheel decelerator is fixed on the car body, drive servomotor and be arranged on the wheel decelerator, battery places in the middle of the car body, and driving wheel is connected with the wheel decelerator output shaft, directive wheel links to each other with car body by bearing, and the Path Recognition video camera is arranged on the dead ahead of car body.Wheeled carriage is by bottom driving wheel, universal wheel carrying, wherein driving wheel is arranged on the back, respectively by driving driven by servomotor, give two motor power supplies by a battery, the universal wheel of servo-actuated is arranged on the front, the second Path Recognition video camera in the dolly dead ahead, picked-up path profile picture, sending master controller to handles, master controller is handled the back and through the control algolithm computing, is controlled two servomotors the path image, when two motors during with identical rotational speed, the dolly rectilinear motion, dolly turns to when two motors rotate with different rotating speeds.
Use when of the present invention, all duplicators of CRD are all linked to each other by wireless network with robot, thereby realize and the communication of robot, form a unified system.When not changing the paper operation, robot awaits orders on storage paper frame limit.When certain duplicator uses up the paper of certain size, this duplicator just sends information to robot by wireless communication networks, inform that robot is which platform duplicator lacks paper, the paper that lacks what model, at this moment robot just takes off the paper of respective model from storage paper frame, removes to seek corresponding duplicator along the good path of planning afterwards.Robot moves to the duplicator dead ahead, at first carry out the vision location with the stationary machines people, robot draws back the dress paper drawer of the scarce paper of duplicator then, will be from the paper that storage paper frame takes off be packed the dress paper drawer of attached duplicator into, shut the dress paper drawer of duplicator subsequently, robot finishes a subtask, is back to the other task next time of awaiting orders of storage paper frame.
Because the present invention's employing is carried out identification mode at ground paint graticule by the camera acquisition image and carried out path trace, so have good flexibility, the change path is very convenient.Carry out robot and robot by wireless communication mode, mobile robot's communication wiring has been simplified in the communication between robot and the duplicator.In routine duties, robot is in the utonomous working state, need not artificial interference.Greatly improve the automaticity of CRD operation, replace the people to carry out frequent and uninteresting feeding and changing paper work, have the minimizing manual labor, the effect of raising the efficiency.
Description of drawings
Fig. 1 is an overall structure schematic diagram of the present invention
Fig. 2 is a wheeled carriage structural representation of the present invention
The specific embodiment
As depicted in figs. 1 and 2, the present invention includes: wheeled carriage 1, pedestal 2, master controller 3, left arm 4, wireless receiver 5, right arm 6, clamper 7, positioning shooting machine 8, Path Recognition video camera 9, its connected mode is: pedestal 2 is arranged on the wheeled carriage 1, pedestal 2 shoulder both sides connect left arm 4, right arm 6 respectively, left and right arms 4,6 ends are provided with clamper 7, positive top at pedestal 2 is provided with wireless transceiver 5, pedestal 2 sides are provided with positioning shooting machine 8, and master controller 3 is arranged on pedestal 2 inside, and Path Recognition video camera 9 is fixed on the dead ahead of wheeled carriage 1.
Wheeled carriage 1 comprises: right driving wheel 10, and right wheel decelerator 11, the right side drives servomotor 12, battery 13, the left side drives servomotor 14, revolver decelerator 15, left driving wheel 16, car body 17, directive wheel 18,20, Path Recognition video camera 19.Its connected mode is: revolver decelerator 15, right wheel decelerator 11 are fixed on the car body 17, the right side drives servomotor 12 and is fixed on the right wheel decelerator 11, the left side drives servomotor 14 and is fixed on the right wheel decelerator 15, battery 13 places in the middle of the car body 17, right driving wheel 10 is connected with right wheel decelerator 11 output shafts, left driving wheel 16 is connected with revolver reducer output shaft 15, directive wheel 18,20 links to each other with car body 17 by bearing, and Path Recognition video camera 19 is arranged on the dead ahead of car body 17.
Claims (2)
1, the automatic feeding and changing paper of a kind of duplicator robot, it is characterized in that, comprise: wheeled carriage (1), pedestal (2), master controller (3), left arm (4), wireless receiver (5), right arm (6), clamper (7), positioning shooting machine (8), Path Recognition video camera (9), its connected mode is: pedestal (2) is arranged on the wheeled carriage (1), pedestal (2) shoulder both sides connect left arm (4) respectively, right arm (6), left and right arms (4), (6) end is provided with clamper (7), be provided with wireless transceiver (5) on the positive top of pedestal (2), pedestal (2) side is provided with positioning shooting machine (8), master controller (3) is arranged on pedestal (2) inside, and Path Recognition video camera (9) is fixed on the dead ahead of wheeled carriage (1).
2, the automatic feeding and changing paper of duplicator according to claim 1 robot, it is characterized in that, wheeled carriage (1) comprising: right driving wheel (10), right wheel decelerator (11), the right side drives servomotor (12), battery (13), the left side drives servomotor (14), revolver decelerator (15), left driving wheel (16), car body (17), directive wheel (18), (20), Path Recognition video camera (19), its connected mode is: revolver decelerator (15), right wheel decelerator (11) is fixed on the car body (17), the right side drives servomotor (12) and is fixed on right wheel decelerator (11), the left side drives servomotor (14) and is arranged on the revolver decelerator (15), and battery (13) places in the middle of the car body (17), and right driving wheel (10) is connected with right wheel decelerator (11) output shaft, left driving wheel (16) is connected with revolver decelerator (15) output shaft, directive wheel (18), (20) link to each other with car body (17) by bearing, Path Recognition video camera (19) is arranged on the dead ahead of car body (17).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200410017194 CN1284654C (en) | 2004-03-25 | 2004-03-25 | Robot of feeding paper for copying machine automatically |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200410017194 CN1284654C (en) | 2004-03-25 | 2004-03-25 | Robot of feeding paper for copying machine automatically |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1562575A true CN1562575A (en) | 2005-01-12 |
| CN1284654C CN1284654C (en) | 2006-11-15 |
Family
ID=34478830
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 200410017194 Expired - Fee Related CN1284654C (en) | 2004-03-25 | 2004-03-25 | Robot of feeding paper for copying machine automatically |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN1284654C (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103223665A (en) * | 2013-04-28 | 2013-07-31 | 哈尔滨工业大学 | Full-automatic transport robot for physical files |
| CN103273476A (en) * | 2013-04-27 | 2013-09-04 | 国家电网公司 | Relay protection room inspection tour robot |
| CN105291135A (en) * | 2015-12-04 | 2016-02-03 | 哈尔滨云控机器人科技有限公司 | Ultra-redundant mechanical arm |
| CN106363612A (en) * | 2016-10-18 | 2017-02-01 | 南京航空航天大学 | Visual guidance type omnidirectional mobile double-arm robot and omnidirectional moving method thereof |
| CN106514717A (en) * | 2016-11-23 | 2017-03-22 | 上海螺趣科技有限公司 | Service robot |
| CN108236786A (en) * | 2016-12-23 | 2018-07-03 | 深圳光启合众科技有限公司 | The virtual feeding method and machine animal of machine animal |
| CN109658628A (en) * | 2018-12-17 | 2019-04-19 | 深圳市丰巢科技有限公司 | A kind of express delivery cabinet printing paper replacing options and device |
-
2004
- 2004-03-25 CN CN 200410017194 patent/CN1284654C/en not_active Expired - Fee Related
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103273476A (en) * | 2013-04-27 | 2013-09-04 | 国家电网公司 | Relay protection room inspection tour robot |
| CN103223665A (en) * | 2013-04-28 | 2013-07-31 | 哈尔滨工业大学 | Full-automatic transport robot for physical files |
| CN105291135A (en) * | 2015-12-04 | 2016-02-03 | 哈尔滨云控机器人科技有限公司 | Ultra-redundant mechanical arm |
| CN105291135B (en) * | 2015-12-04 | 2018-08-21 | 哈尔滨云控机器人科技有限公司 | A kind of super redundant mechanical arm |
| CN106363612A (en) * | 2016-10-18 | 2017-02-01 | 南京航空航天大学 | Visual guidance type omnidirectional mobile double-arm robot and omnidirectional moving method thereof |
| CN106514717A (en) * | 2016-11-23 | 2017-03-22 | 上海螺趣科技有限公司 | Service robot |
| CN106514717B (en) * | 2016-11-23 | 2019-04-26 | 上海螺趣科技有限公司 | A kind of service robot |
| CN108236786A (en) * | 2016-12-23 | 2018-07-03 | 深圳光启合众科技有限公司 | The virtual feeding method and machine animal of machine animal |
| CN108236786B (en) * | 2016-12-23 | 2020-11-27 | 深圳光启合众科技有限公司 | Virtual feeding method of machine animal and machine animal |
| CN109658628A (en) * | 2018-12-17 | 2019-04-19 | 深圳市丰巢科技有限公司 | A kind of express delivery cabinet printing paper replacing options and device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN1284654C (en) | 2006-11-15 |
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| C06 | Publication | ||
| PB01 | Publication | ||
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| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20061115 |