CN203680321U - Front positioning device for competition warehouse-type robot - Google Patents
Front positioning device for competition warehouse-type robot Download PDFInfo
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- CN203680321U CN203680321U CN201320694075.5U CN201320694075U CN203680321U CN 203680321 U CN203680321 U CN 203680321U CN 201320694075 U CN201320694075 U CN 201320694075U CN 203680321 U CN203680321 U CN 203680321U
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Abstract
The utility model discloses a front positioning device for a competition warehouse-type robot and relates to an auxiliary device for the robot. The front positioning device for the competition warehouse-type robot comprises a positioning fork arranged at the front end of an underframe of the warehouse-type robot; an opening of the positioning fork is of an open arc structure; the bottom of the opening is an inner arc section coincided with the excircle surface of a positioning pillar of a goods shelf; two tentacle edges of the opening are outer arc sections in smooth transition connection with the inner arc section at the bottom of the opening; the upper parts of two side edges of the positioning forks respectively are inclined edges which are inclined inwards by an angle alpha of 30 to 75 degrees; and a positioning baffle is also arranged below the positioning fork. According to the utility model, by carrying out deformation design on the positioning fork and adding the positioning baffle below the positioning fork, not only is a range of reliably positioning the robot enlarged, the requirement of the robot on tracking is reduced and probability of correctly positioning is improved, but also the robot can be guaranteed to be in parallel to the goods shelf after being positioned each time; and the front positioning device has a relatively simple structure, however, the front positioning device has very reliable performance and is easy to popularize and apply.
Description
Technical field
The utility model relates to the warehouse style robot of servicing unit, the particularly a kind of contest front positioner of a kind of small-sized storage robot, contest robot.
Background technology
Contest requires robot on shelf, to capture or deposit goods by certain rule with warehouse style robot conventionally, and be transported to the position of appointment along certain route, in this process, the general device such as tracking device, CPU of robot the rotating speed that coordinates certain software algorithm to carry out control left and right sides motor of relying on of advancing of robot realized, and the location of robot completes by being arranged on the locating fork in robot front (front end) and the locating dowel of shelf conventionally.It is the locating fork of V-structure that existing locating fork structure adopts opening mostly, the opening of this locating fork is directly proportional to the length of feeler, what obviously the locating fork opening of contest robot can not do is too large, virtually just require the tracking level of robot to want high, otherwise location that can not be correct, and the locating dowel of locating fork and shelf only has 2 contact points, locating dowel discontinuity.And shelf structure as shown in Figure 3, conventionally formed by locating dowel 501 and shelf body 502 two parts, shelf body 502 is generally made by aluminium section bar or other materials, and rigidity is higher, and anti-mechanical impact ability is strong, conventionally be fixed on place, make of lucite pipe and locating dowel 501 is general, anti-mechanical impact ability a little less than, therefore, if discontinuity when locating fork contacts with locating dowel, easily damages locating dowel.
Summary of the invention
The technical problems to be solved in the utility model is: provide the warehouse style robot of a kind of contest front positioner, to solve the weak point that the tracking level that requires robot existing in above-mentioned prior art is high, easily damage locating dowel.
The technical scheme solving the problems of the technologies described above is: warehouse style robot front positioner for a kind of contest, comprise the locating fork of the underframe front end that is installed on warehouse style robot, the opening of described locating fork is uncovered convex structure, the bottom of this opening is the interior arc section matching with the locating dowel outer round surface of shelf, and two feeler limits of opening are the cylindrical segmental arc being connected smoothly with the interior arc section of open bottom.
Further technical scheme of the present utility model is: described locating fork dual-side top is respectively the hypotenuse of α=30～75 degree that slopes inwardly.
Further technical scheme more of the present utility model is: positioning baffle is also installed below described locating fork, and this positioning baffle is fixed on the underframe bottom of warehouse style robot.
Due to adopt said structure, the contest of the utility model with warehouse style robot front positioner compared with prior art, there is following beneficial effect:
1. reduced the injury of locating fork to locating dowel:
Because the opening of locating fork of the present utility model is uncovered convex structure, the bottom of this opening is the interior arc section matching with the locating dowel outer round surface of shelf, and two feeler limits of opening are the cylindrical segmental arc being connected smoothly with the interior arc section of open bottom.This design shortens the feeler of locating fork, and it is large that opening becomes, and increased the contact area of locating fork and locating dowel, thereby reduced the injury of locating fork to locating dowel.
2. can guarantee that locating fork contacts with locating dowel reliably:
The utility model is by the dual-side top of locating fork be designed to respectively the to slope inwardly hypotenuse of α=30～75 degree, object be if robot in tracking process, the larger center of having departed from, in the process of advancing, will encounter the fixed leg of shelf both sides, now due to the guide effect of hypotenuse, in the process of advancing in robot, correct by machinery, guided robot is got back to correct tracking route;
In addition, two feeler limits of opening are designed to the cylindrical segmental arc being connected smoothly with the interior arc section of open bottom by the utility model, even if its objective is that robot tracking has little deviation, cause locating fork center not aim at locating dowel, also can rely on the guide effect of locating fork opening circular arc, guided robot locating fork contacts locating dowel reliably, greatly reduce the probability of robot positioned off-center post, thereby the locating fork that guarantees robot contacts with shelf locating dowel reliably, has reduced the requirement to robot tracking level.
3. can protect the goods that warehouse style robot can correctly capture shelf:
Warehouse style robot will identify and capture shelf goods, just require robot front end must with shelf keeping parallelism, but in most of the cases, only depend on locating fork cannot guarantee that robot is parallel with shelf, even if there is very little deviation, also can affect the correct crawl of goods, for this reason, the utility model is also provided with positioning baffle below locating fork, and this positioning baffle is fixed on the underframe bottom of warehouse style robot, can coordinate to reach the object that makes shelf parallel with the fixed frame of shelf bottom.Concrete methods of realizing is: when after robot locating fork and locating dowel collision, allow robot the right and left wheel rotate forward several seconds with certain speed, if now robot and shelf are not parallel, positioning baffle has at least between one end and shelf fixed frame and has gap, and now, robot is subject to motor pushing effect, travel forward, positioning baffle is contacted with shelf fixed frame, reach the object parallel with shelf, thereby guaranteed that warehouse style robot can correctly capture the goods of shelf.
4. simple and reliable for structure, be easy to apply:
Because this device is by the deformation design to locating fork, and below locating fork, increase a positioning baffle, both can expand the scope of the reliable location of robot, reduce the requirement of robot to tracking, improve the probability of correct location, can also guarantee that the rear robot in each location is parallel with shelf, although its structure is fairly simple, but performance is very reliable, be easy to apply.
Below, in conjunction with the accompanying drawings and embodiments the contest of the utility model is further described with the technical characterictic of warehouse style robot front positioner.
Accompanying drawing explanation
Fig. 1: the structural representation of warehouse style robot front positioner for the contest of the utility model,
The structural representation of locating fork (overlooking) described in Fig. 2: embodiment mono-,
Fig. 3: the structural representation of two-sided shelf,
Fig. 4: the combination schematic diagram of locating fork and locating dowel.
In above-mentioned accompanying drawing, each label is as follows:
1-locating fork, 101-opening, 1011-bottom, 1012-feeler limit,
102-side, 2-positioning baffle, 3-fixed head, the warehouse style robot of 4-,
401-underframe, 5-shelf, 501-locating dowel, 502-shelf body.
The specific embodiment
Embodiment mono-:
A kind of warehouse style robot front positioner (referring to Fig. 1) for contest, comprise locating fork 1, positioning baffle 2, described locating fork 1 is installed on underframe 401 front ends of warehouse style robot 4 by fixed head 3 and bolt, the opening 101 of locating fork 1 is uncovered convex structure (referring to Fig. 2), the bottom 1011 of this opening 101 is the interior arc section matching with locating dowel 501 outer round surface of shelf 5, two feeler limits 1012 of opening 101 are the cylindrical segmental arc being connected smoothly with the interior arc section of open bottom, dual-side 102 tops of described locating fork 1 are respectively the hypotenuse of α=30 degree that slopes inwardly, described positioning baffle 2 is fixed on underframe 401 bottoms of warehouse style robot 4.
As the one conversion of the present embodiment one, described α angle can also be the arbitrary value between 30～75 degree such as 45 degree, 50 degree, 60 degree, 65 degree, 70 degree, 75 degree.
Claims (3)
1. a warehouse style robot front positioner for contest, comprise the locating fork (1) of underframe (401) front end that is installed on warehouse style robot (4), it is characterized in that: the opening (101) of described locating fork (1) is uncovered convex structure, the bottom (1011) of this opening (101) is the interior arc section matching with locating dowel (501) outer round surface of shelf (5), and two feeler limits (1012) of opening (101) are the cylindrical segmental arc being connected smoothly with the interior arc section of open bottom.
2. warehouse style robot front positioner for contest according to claim 1, is characterized in that: described locating fork (1) dual-side (102) top is respectively the hypotenuse of α=30～75 degree that slopes inwardly.
3. warehouse style robot front positioner for contest according to claim 1 and 2, it is characterized in that: in described locating fork (1) below, positioning baffle (2) is also installed, this positioning baffle (2) is fixed on underframe (401) bottom of warehouse style robot (4).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320694075.5U CN203680321U (en) | 2013-03-22 | 2013-11-05 | Front positioning device for competition warehouse-type robot |
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320134828 | 2013-03-22 | ||
| CN201320134828.7 | 2013-03-22 | ||
| CN201320694075.5U CN203680321U (en) | 2013-03-22 | 2013-11-05 | Front positioning device for competition warehouse-type robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203680321U true CN203680321U (en) | 2014-07-02 |
Family
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Family Applications (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201320694075.5U Expired - Fee Related CN203680321U (en) | 2013-03-22 | 2013-11-05 | Front positioning device for competition warehouse-type robot |
| CN201310542777.6A Pending CN103568009A (en) | 2013-03-22 | 2013-11-05 | Front positioning device for storage type robot for competition |
Family Applications After (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310542777.6A Pending CN103568009A (en) | 2013-03-22 | 2013-11-05 | Front positioning device for storage type robot for competition |
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| Country | Link |
|---|---|
| CN (2) | CN203680321U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103568009A (en) * | 2013-03-22 | 2014-02-12 | 柳州铁道职业技术学院 | Front positioning device for storage type robot for competition |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111582529A (en) * | 2019-02-18 | 2020-08-25 | 北京京东尚科信息技术有限公司 | Shelf scheduling method and device and computer readable storage medium |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP4849227B2 (en) * | 2006-07-31 | 2012-01-11 | 株式会社ダイフク | Automatic load position correction device |
| CN201002258Y (en) * | 2006-10-25 | 2008-01-09 | 哈尔滨工程大学 | Colliding type automatic grasping mechanical arm |
| KR101019534B1 (en) * | 2008-08-05 | 2011-03-07 | 주식회사 에스에프에이 | Probe Card Stocker System |
| CN102887320B (en) * | 2012-11-05 | 2014-09-10 | 长沙丰达智能科技有限公司 | Intelligent warehouse robot with function of self adaption of coordinate position |
| CN203680321U (en) * | 2013-03-22 | 2014-07-02 | 柳州铁道职业技术学院 | Front positioning device for competition warehouse-type robot |
-
2013
- 2013-11-05 CN CN201320694075.5U patent/CN203680321U/en not_active Expired - Fee Related
- 2013-11-05 CN CN201310542777.6A patent/CN103568009A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103568009A (en) * | 2013-03-22 | 2014-02-12 | 柳州铁道职业技术学院 | Front positioning device for storage type robot for competition |
Also Published As
| Publication number | Publication date |
|---|---|
| CN103568009A (en) | 2014-02-12 |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20140702 Termination date: 20161105 |