CN205058021U - Commodity circulation robot - Google Patents
Commodity circulation robot Download PDFInfo
- Publication number
- CN205058021U CN205058021U CN201520783689.XU CN201520783689U CN205058021U CN 205058021 U CN205058021 U CN 205058021U CN 201520783689 U CN201520783689 U CN 201520783689U CN 205058021 U CN205058021 U CN 205058021U
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- load
- carrying dish
- driving wheel
- dish
- carrying
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Abstract
The utility model relates to an intelligent robot field, in particular to commodity circulation robot. Commodity circulation robot, its constitution includes: load dish, load dish battery, load dish angle encoder, drive wheel angle encoder, drive wheel corner motor, load dish lift lead screw, organism gear wheel, drive wheel battery, drive wheel, load dish and lift motor, organism, drive wheel motor, automatic charging device and receiving process ware. The utility model discloses mechanical structure is simple, the manufacturing is convenient, and just four wheels all are action wheels, therefore the atress is even, durable.
Description
Technical field
The utility model relates to a kind of field in intelligent robotics, particularly a kind of merchandising machine people.
Background technology
Along with the development of society and the continuous progress of science and technology, the research of people to robot is constantly brought forth new ideas, and increasing heavy physical labor all will have been come by robot.Its advantage be convenient and swift, accuracy rate is high, operating efficiency is high, and can reduce production cost, meets the Production requirement of people greatly.
Merchandising machine people can replace the mankind to receive document, identifies goods, prints coding, check that packaging, ownership place are assembled, work such as transmitting-receiving goods, teletransmission document etc., is the indispensable product of development in science and technology.But existing external same machines people product has complex structure, wheel discontinuity of landing causes easily producing the shortcoming such as wearing and tearing and manufacturing cost height.
Summary of the invention
The purpose of this utility model is the defect in order to solve in existing technology, provides a kind of structure simple, lower-cost merchandising machine people.
Merchandising machine people, its composition comprises: load-carrying dish, load-carrying dish battery, load-carrying dish angular encoder, driving wheel angular encoder, driving wheel angle electrical machinery, load-carrying dish lifting leading screw, body gear wheel, driving wheel battery, driving wheel, load-carrying dish lifting motor, body, driving wheel motor, automatic charge device and receiving processor; Described load-carrying dish is made up of two dishes, and one is positioned at outside body, and one is positioned at body, and load-carrying dish axially has endoporus, and endoporus is screw structure, and forms screw thread pair syndeton with load-carrying dish lifting leading screw; Described load-carrying dish battery is fixed on the dish of load-carrying dish internal body, and rotates with load-carrying dish; Described load-carrying dish angular encoder one end is fixedly connected with the dish of load-carrying dish internal body, and the other end is fixed on the axle of load-carrying dish lifting motor, and load-carrying dish angular encoder can feed back the angular displacement of load-carrying dish and body at any time; Described driving wheel angular encoder is fixed on the axle of driving wheel angle electrical machinery, and feeds back the angular displacement of driving wheel angle electrical machinery at any time; Described driving wheel angle electrical machinery is fixed on body, and drives driving wheel motor to rotate together with the wheel shaft of driving wheel, thus robot can be turned to and operation flexibly; Described load-carrying dish lifting leading screw and body gear wheel form multidiameter structure, and are fixed on body; Described driving wheel battery is fixed on body: described driving wheel is fixed on the output shaft of driving wheel motor, and coaxial with it, completes walking and the stopping of robot; Described load-carrying dish lifting motor is fixed on the dish of load-carrying dish internal body, and the rotation of load-carrying dish lifting motor can drive load-carrying dish endoporus screw to rotate around load-carrying dish lifting motor, thus realizes lifting and the whereabouts of load-carrying dish; Described automatic charge device is fixed on body, and a part is positioned at engine body exterior, and a part is positioned at internal body and is connected with driving wheel battery with load-carrying dish battery, can charge for load-carrying dish battery and driving wheel battery; Described receiving processor is fixed on the dish of load-carrying dish internal body, and it has the effect receiving and send signal instruction.
Compared with prior art, the beneficial effect that the utility model has is: frame for movement is simple, easily manufactured, and four wheels is all driving wheel, therefore uniform force, durable in use.Screw thread pair elevating safety is reliable, it is convenient to control, and can turn flexibly in the process of moving, can realize rotating arbitrarily between clockwise or counterclockwise 360 degree and uninterruptedly to rotate, without dividing of headstock and the tailstock.
accompanying drawing illustrates:
Fig. 1 is the outside drawing of merchandising machine people;
Fig. 2 is the A face profile of merchandising machine people.
In figure: 1, load-carrying dish; 2, load-carrying dish battery; 3, load-carrying dish angular encoder; 4, driving wheel angular encoder; 5, driving wheel angle electrical machinery; 6, load-carrying dish lifting leading screw 7, body gear wheel; 8, driving wheel battery; 9, driving wheel; 10, load-carrying dish lifting motor; 11, body; 12, driving wheel motor; 13, automatic charge device; 14, receiving processor; 16, endoporus.
detailed description of the invention:
Merchandising machine people, its composition comprises: load-carrying dish 1, load-carrying dish battery 2, load-carrying dish angular encoder 3, driving wheel angular encoder 4, driving wheel angle electrical machinery 5, load-carrying dish lifting leading screw 6, body gear wheel 7, driving wheel battery 8, driving wheel 9, load-carrying dish lifting motor 10, body 11, driving wheel motor 12, automatic charge device 13 and receiving processor 14; Described load-carrying dish 1 is made up of two dishes, and one is positioned at outside body 11, and one is positioned at body 11, and load-carrying dish axially has endoporus 16, and endoporus 16 is screw structure, and forms screw thread pair syndeton with load-carrying dish lifting leading screw 6; Described load-carrying dish battery 2 is fixed on the dish of load-carrying dish 1 body 11 inside, and rotates with load-carrying dish 1; Described load-carrying dish angular encoder 3 one end is fixedly connected with the dish of load-carrying dish 1 body 11 inside, and the other end is fixed on the axle of load-carrying dish lifting motor 10, and load-carrying dish angular encoder 3 can feed back the angular displacement of load-carrying dish 1 and body 11 at any time; Described driving wheel angular encoder 4 is fixed on the axle of driving wheel angle electrical machinery 5, and feeds back the angular displacement of driving wheel angle electrical machinery 5 at any time; Described driving wheel angle electrical machinery 5 is fixed on body 11, and drives driving wheel motor 12 to rotate together with the wheel shaft of driving wheel 9, thus robot can be turned to and operation flexibly; Described load-carrying dish lifting leading screw 6 forms multidiameter structure with body gear wheel 7, and is fixed on body 11; Described driving wheel battery 8 is fixed on body 11: described driving wheel 9 is fixed on the output shaft of driving wheel motor 12, and coaxial with it, completes walking and the stopping of robot; Described load-carrying dish lifting motor 10 is fixed on the dish of load-carrying dish 1 internal body, and the rotation of load-carrying dish lifting motor 10 can drive load-carrying dish 1 endoporus 16 screw to rotate around load-carrying dish lifting motor 10, thus realizes lifting and the whereabouts of load-carrying dish 1; Described automatic charge device 13 is fixed on body 11, and it is outside that a part is positioned at body 11, and a part is positioned at body 11 inside and is connected with driving wheel battery 8 with load-carrying dish battery 2, can charge for load-carrying dish battery 2 and driving wheel battery 8; Described receiving processor 14 is fixed on the dish of load-carrying dish 1 body 11 inside, and it has the effect receiving and send signal instruction.
The operation principle of merchandising machine people:
1., after receiving processor 14 receives travel commands, send travel commands can to driving wheel motor 12, driving wheel motor 12 can be walked according to command request driven machine people.
2., after turn command is received in receiver process 14, send turn command can to driving wheel angle electrical machinery 5, drive angle electrical machinery 5 can turn according to command request driven machine people.
3. after lifting instruction is received in receiver process 14, can send lifting instruction to load-carrying dish lifting motor 10, goods can lift according to order-driven robot by load-carrying dish lifting motor 10.This link is achieved in that load-carrying dish lifting motor 10 is fixed on load-carrying dish 1, load-carrying dish 1 there are screw and load-carrying dish lifting leading screw 6 are connected to form screw pair, when load-carrying dish lifting motor 10 is relative to surface view plan direction, turn clockwise, load-carrying dish 1 will be driven together around body gear wheel 7, be rotated counterclockwise relative to surface view plan direction, lift in so just the goods on load-carrying dish being rotated under the effect of screw pair, this is that we do not need to see, is also main points of the present invention.Because load-carrying disc spins can make goods damage, therefore, in order to make a lifting in the goods lifting process on load-carrying dish and non rotating, while this architecture invention is to start load-carrying dish lifting motor 10, start and drive angle electrical machinery 5 and driving wheel motor 9 with together with body gear wheel, contrary direction (relative to surface view plan direction) is rotated namely clockwise with load-carrying dish 10, synchronous rotary, that is the goods on load-carrying dish is rotated counterclockwise relative to robot itself, and robot itself turns clockwise relative to ground, so just achieve the steady lifting of goods on loading and lifting dish and non-rotary object.
4., when receiving processor 14 finds that cell voltage is not enough, automatically charging can be gone to the position of specifying.
5. robot walking be driving stepper motor apart from controlled, route is the place of specifying, and there are discernible magnetic stripe, position sensor etc. in route surface.
6. the corner of robot feeds back driving stepper motor precision by angular encoder can satisfy the demand.
Claims (2)
1. merchandising machine people, is characterized in that comprising: load-carrying dish (1), load-carrying dish battery (2), load-carrying dish angular encoder (3), driving wheel angular encoder (4), driving wheel angle electrical machinery (5), load-carrying dish lifting leading screw (6), body gear wheel (7), driving wheel battery (8), driving wheel (9), load-carrying dish lifting motor (10), body (11), driving wheel motor (12), automatic charge device (13) and receiving processor (14); Described load-carrying dish (1) is made up of two dishes, and one is positioned at body (11) outward, and one is positioned at body (11), and load-carrying dish (1) axially has endoporus (16), and load-carrying dish lifting leading screw (6) penetrates endoporus (16) and is connected with load-carrying dish (1); Described load-carrying dish battery (2) is fixed on the inner dish of load-carrying dish (1) body (11), and rotates with load-carrying dish (1); Described load-carrying dish angular encoder (3) one end is fixedly connected with the dish of load-carrying dish (1) body (11) inside, and the other end is fixed on the axle of load-carrying dish lifting motor (10); Described driving wheel angular encoder (4) is fixed on the axle of driving wheel angle electrical machinery (5); Described driving wheel angle electrical machinery (5) is fixed on body (11), and drives the wheel shaft of driving wheel motor (12) and driving wheel (9) to rotate together; Described load-carrying dish lifting leading screw (6) and body gear wheel (7) form multidiameter structure, and are fixed on body (11); It is upper that described driving wheel battery (8) is fixed on body (11): described driving wheel (9) is fixed on the output shaft of driving wheel motor (12), and coaxial with it; Described load-carrying dish lifting motor (10) is fixed on the inner dish of load-carrying dish (1) body (11); Described automatic charge device (13) is fixed on body (11), and it is outside that a part is positioned at body (11), and a part is positioned at body (11) inside and is connected with driving wheel battery (8) with load-carrying dish battery (2); Described receiving processor (14) is fixed on the inner dish of load-carrying dish (1) body (11).
2. merchandising machine people according to claim 1, is characterized in that described endoporus (16) is for screw structure, and forms screw thread pair syndeton with load-carrying dish lifting leading screw (6).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520783689.XU CN205058021U (en) | 2015-10-12 | 2015-10-12 | Commodity circulation robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520783689.XU CN205058021U (en) | 2015-10-12 | 2015-10-12 | Commodity circulation robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205058021U true CN205058021U (en) | 2016-03-02 |
Family
ID=55384622
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520783689.XU Expired - Fee Related CN205058021U (en) | 2015-10-12 | 2015-10-12 | Commodity circulation robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205058021U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106002917A (en) * | 2016-06-13 | 2016-10-12 | 刘哲 | Electric pole type automatic warehousing robot |
| CN106335566A (en) * | 2016-10-25 | 2017-01-18 | 徐洪恩 | Express delivery robot |
| CN109877870A (en) * | 2019-02-13 | 2019-06-14 | 上海方立数码科技有限公司 | A kind of self-balancing lifting mechanism and regulation method for indoor mobile robot |
-
2015
- 2015-10-12 CN CN201520783689.XU patent/CN205058021U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106002917A (en) * | 2016-06-13 | 2016-10-12 | 刘哲 | Electric pole type automatic warehousing robot |
| CN106335566A (en) * | 2016-10-25 | 2017-01-18 | 徐洪恩 | Express delivery robot |
| CN106335566B (en) * | 2016-10-25 | 2018-10-02 | 泉州台商投资区钰宝商贸有限公司 | Robot is sent in a kind of express delivery with charge free |
| CN109877870A (en) * | 2019-02-13 | 2019-06-14 | 上海方立数码科技有限公司 | A kind of self-balancing lifting mechanism and regulation method for indoor mobile robot |
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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 |
Granted publication date: 20160302 Termination date: 20181012 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |