CN206050684U - Storage robot rotation lifting body and storage robot - Google Patents
Storage robot rotation lifting body and storage robot Download PDFInfo
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- CN206050684U CN206050684U CN201621040484.3U CN201621040484U CN206050684U CN 206050684 U CN206050684 U CN 206050684U CN 201621040484 U CN201621040484 U CN 201621040484U CN 206050684 U CN206050684 U CN 206050684U
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Abstract
The utility model discloses a kind of storage robot rotation lifting body and storage robot, rotate the driving means that lifting body includes that turnbarrel, the jacking sleeve relative to bearing sliding connection and driving turnbarrel that bearing and bearing are rotatably assorted are rotated relative to bearing；The turnbarrel it is concentric with jacking sleeve installation and between the two for screw pair cooperation；Guiding jacking sleeve guide mechanism for linear motion is provided with the bearing；And the storage robot for rotating lifting body, including car body are used based on above-mentioned storage robot, and rotation lifting body is installed in car body, the bearing of the rotation lifting body is fixed relative to car body, and the top of the jacking sleeve is provided with bracket；The storage robot is with rotation lifting body and storage robot architecture be simple, stable performance, cost performance are high, at the same the structure can realize that shelf are motionless and robot original place Rotation With Changing to increased the motility of storage robot.
Description
Technical field
This utility model is related to intelligent storage field, more particularly to a kind of storage robot with rotation lifting body and
Storage robot.
Background technology
Warehoused cargo sorting refers to requirement or the distribution plan according to outbound list, and commodity are picked from picking area or storage area
Out, and in a certain way carry out the operation process classified, concentrate；Prior art is generally according to goods feature, indent structure
It is different with order frequency, from different automatization's picking equipment, wherein, robot picking equipment is applied to frequency height, batch
Greatly, the application scenario of goods sorting wide in variety；The robot picking equipment for comparing fluidity at present is robot automatically storing and taking vehicles,
The car in addition to the carrying function with storage dispensing robot, also with elevating function and telescopic access facility, can be by goods
On frame, the goods of a certain layer is removed or placed into, and little access object is drawn with cargo pallet to access unit by the robot, and its deficiency exists
In：When the goods of batch sorting is more, multirobot concurrent operations need to be adopted, it is relatively costly.Design a simple structure,
Stable performance, cost performance are high, can carry out storage robot rotation lifting body and storage machine that shelf carry sorting
People.
The content of the invention
Goal of the invention：In order to overcome the deficiencies in the prior art, this utility model to provide a kind of simple structure, performance
Stable, cost performance high storage robot rotation lifting body and storage robot.
Technical scheme：For achieving the above object, it is of the present utility model storage robot with rotation lifting body, including
Seat, with the turnbarrel that bearing is rotatably assorted, relative to bearing sliding connection jacking sleeve and drive turnbarrel it is relative
In the driving means that bearing is rotated；The turnbarrel it is concentric with jacking sleeve installation and between the two for screw pair cooperation；Institute
State and on bearing, be provided with guiding jacking sleeve guide mechanism for linear motion.
The guide mechanism includes the guiding sleeve on the inside of jacking sleeve, be provided with the jacking sleeve inwall to
A few guide channel parallel to axial direction, is provided with the guide roller for stretching into guide channel on the guiding sleeve.
Electromagnetic clutch is provided between the guiding sleeve lower end and the bearing.
The outer circumference of the turnbarrel is provided with gear part, and the driving means include what is fixed relative to the bearing
Reducing motor and the little gear in reducing motor output shaft, the little gear are engaged with gear part.
Including car body, rotation lifting body is installed in car body, the bearing of the rotation lifting body is solid relative to car body
Fixed, the top of the jacking sleeve is provided with bracket；Two drivewheels and some support supporting rollers are symmetrically installed with car body.
The center of the car body be provided with relative to car body fix downward scanning camera and scan up camera.
The support supporting roller includes balance plate and is symmetrically mounted on two universal wheels of the both sides of balance plate, described flat
Connect to rotate between the middle part of weighing apparatus plate and the car body, its rotary shaft level.
The support supporting roller has four groups, is respectively symmetrically the corner location installed in car body.
Accumulator is installed in the car body, charging brush board on the outside of the car body, is provided with, the charging brush board with it is described
Storage battery connects.
Environment detection radar is also equipped with the car body.
Beneficial effect：Storage robot of the present utility model with rotation lifting body and storage robot architecture it is simple,
Stable performance, cost performance are high, at the same the structure can realize that shelf are motionless and robot original place Rotation With Changing to increased storage machine
The motility of device people, with high implementary value.
Description of the drawings
Sectional view of the accompanying drawing 1 for storage robot；
Top view of the accompanying drawing 2 for storage robot；
Upward view of the accompanying drawing 3 for storage robot.
Specific embodiment
Below in conjunction with the accompanying drawings this utility model is further described.
Storage robot as shown in Figure 1 rotation lifting body, including bearing 1, and the rotation that is rotatably assorted of bearing 1
Sleeve 2, the jacking sleeve 3 being slidably connected relative to bearing 1, and drive the driving dress that turnbarrel 2 rotates relative to bearing 1
Put 4；The turnbarrel 2 it is concentric with jacking sleeve 3 installation and between the two for screw pair cooperation；It is provided with the bearing 1
Guiding jacking sleeve 3 guide mechanism 5 for linear motion.The guide mechanism 5 includes the guiding on the inside of jacking sleeve 3
Sleeve 5-1, is provided with least one parallel to axial guide channel, pacifies on the guiding sleeve 5-1 on 3 inwall of the jacking sleeve
Equipped with the guide roller 5-2 for stretching into guide channel.Electromagnetic clutch is provided between the guiding sleeve 5-1 lower ends and the bearing 1
6。
Rotation lifting body operation principle be：When the storage robot for being equipped with the rotation lifting body is parked under shelf
When face needs to perform jack-up or put down the task of shelf, 6 dead electricity of the electromagnetic clutch, by guiding sleeve 5-1 relative to bearing 1
It is fixed, driving means 4 drive turnbarrel 2 to rotate relative to bearing 1, and jacking sleeve 3 is due between turnbarrel 2 being
Screw pair coordinates, and can only move up and down relative to the guiding sleeve 5-1, therefore rotates the i.e. achievable lifting of turnbarrel 2
The lifting action of sleeve 3.When the storage robot for being equipped with the rotation lifting body is moved with shelf, needs to turn, institute
State electromagnetic clutch 6 and obtain electric, guiding sleeve 5-1 can be rotated relative to bearing 1, now, rotating turnbarrel 2 can cover lifting
Cylinder 3 together with guiding sleeve 5-1 relative to storage robot rotation direction reversed rotate, realize storage revolute and goods
Frame relative to ground purpose static all the time, prevent shelf in handling process and then rotate produce centrifugal force cause article at random or
Shelf are toppled over, and can also prevent the shelf that different storage robots are carried from mutually colliding.
Used as preferred type of drive, the outer circumference of the turnbarrel 2 is provided with gear part 2-1, and the driving means 4 are wrapped
The reducing motor 4-1 and little gear 4-2 in reducing motor output shaft fixed relative to the bearing 1 is included, it is described
Little gear 4-2 is engaged with gear part 2-1.
Based on the storage robot of rotation lifting body of above-mentioned storage robot, as shown in accompanying drawing 1 to accompanying drawing 3, wrap
Car body 7 is included, rotation lifting body is installed in car body 7, the bearing 1 of the rotation lifting body is fixed relative to car body 7, described
The top of jacking sleeve 3 is provided with bracket 8；Two drivewheels 14 and some support supporting rollers 9 are symmetrically installed with car body 7.
Two universal wheel 9-2 of the both sides for supporting supporting roller 9 to include balance plate 9-1 and be symmetrically mounted on balance plate 9-1, it is described
Connect to rotate between the middle part of balance plate 9-1 and the car body 7, its rotary shaft level.The support supporting roller 9 has four groups,
It is respectively symmetrically the corner location installed in car body 7.
The center of the car body 7 be provided with relative to car body 7 fix downward scanning camera 10 and scan up
Camera 11, the camera lens of the downward scanning camera 10 are down, for scanning array patch Quick Response Code on the ground, described to sweep upwards
Retouch the camera lens of camera 11 upward, the Quick Response Code of bottom shelf is attached to for scanning.Environment detection thunder is also equipped with the car body 7
Up to 13.Downwards scanning camera 10 carries out corresponding action by the Quick Response Code that scanning array is pasted on the ground, realize advance, after
Move back, the corresponding actions such as flicker, flicker.Scan up camera 11 for scanning positioned at bottom shelf Quick Response Code, knowledge
Whether not current shelf are consistent with target shelf, so as to decide whether to perform carrying task.Environment detection radar 13 can be real-time
The ambient conditions of current direction of advance front end is scanned, prevents from mutually colliding between shelf.
Accumulator is installed in the car body 7, charging brush board 12, the charging brush board 12 on the outside of the car body 7, is provided with
It is connected with the storage battery.The intelligent battery management of storage robot can be realized using charging brush board, work as accumulator electric-quantity
Deficiency, storage robot can voluntarily travel to the cradle of charging zone charging, and charging modes are to make charging brush board 12 and charge
Electrode contact on seat, after fully charged, storage robot voluntarily resumes work, and whole process is without the need for manual intervention.
Storage robot of the present utility model is with rotation lifting body and storage robot architecture be simple, stable performance,
Cost performance is high, at the same the structure can realize that shelf are motionless and robot original place Rotation With Changing to increased the spirit of storage robot
Activity, with high implementary value.
The above is only preferred implementation of the present utility model, it should be pointed out that：For the common skill of the art
For art personnel, on the premise of without departing from this utility model principle, some improvements and modifications can also be made, these improve and
Retouching also should be regarded as protection domain of the present utility model.
Claims (10)
1. storage robot is used and rotates lifting body, it is characterised in that：Including bearing (1), and the rotation that is rotatably assorted of bearing (1)
Sleeve (2), the jacking sleeve (3) being slidably connected relative to bearing (1), and turnbarrel (2) is driven to turn relative to bearing (1)
Dynamic driving means (4)；The turnbarrel (2) installation concentric with jacking sleeve (3) and be screw pair cooperation between the two；Institute
State and on bearing (1), be provided with guiding jacking sleeve (3) guide mechanism (5) for linear motion.
2. storage robot according to claim 1 is used and rotates lifting body, it is characterised in that：The guide mechanism (5)
Including the guiding sleeve (5-1) on the inside of jacking sleeve (3), at least one is provided with jacking sleeve (3) inwall flat
Row is provided with the guide roller (5-2) for stretching into guide channel in the guide channel of axial direction on the guiding sleeve (5-1).
3. storage robot according to claim 1 is used and rotates lifting body, it is characterised in that：Guiding sleeve (the 5-
1) electromagnetic clutch (6) is provided between lower end and the bearing (1).
4. storage robot according to claim 1 is used and rotates lifting body, it is characterised in that：The turnbarrel (2)
Outer circumference be provided with gear part (2-1), the driving means (4) are included relative to the fixed reducing motor of the bearing (1)
(4-1) little gear (4-2) and in reducing motor output shaft, the little gear (4-2) are nibbled with gear part (2-1)
Close.
5. store in a warehouse robot, it is characterised in that：Including car body (7), car body (7) is interior to be provided with rotation lifting body, the rotation
The bearing (1) of lifting body is fixed relative to car body (7), and the top of the jacking sleeve (3) is provided with bracket (8)；Car body (7)
On be symmetrically installed with two drivewheels (14) and it is some support supporting roller (9).
6. storage robot according to claim 5, it is characterised in that：The center of the car body (7) is provided with phase
The downward scanning camera (10) fixed for car body (7) and scan up camera (11).
7. storage robot according to claim 5, it is characterised in that：Support supporting roller (9) is including balance plate (9-
1) and be symmetrically mounted on balance plate (9-1) both sides two universal wheels (9-2), the middle part of the balance plate (9-1) and institute
State between car body (7) to rotate connection, its rotary shaft level.
8. storage robot according to claim 5, it is characterised in that：Support supporting roller (9) has four groups, right respectively
Claim the corner location installed in car body (7).
9. the storage robot according to any one of claim 5-8, it is characterised in that：Storage is installed in the car body (7)
Battery, is provided with charging brush board (12) on the outside of the car body (7), the charging brush board (12) is connected with the storage battery.
10. the storage robot according to any one of claim 5-8, it is characterised in that：It is also equipped with the car body (7)
Environment detection radar (13).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621040484.3U CN206050684U (en) | 2016-09-07 | 2016-09-07 | Storage robot rotation lifting body and storage robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621040484.3U CN206050684U (en) | 2016-09-07 | 2016-09-07 | Storage robot rotation lifting body and storage robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206050684U true CN206050684U (en) | 2017-03-29 |
Family
ID=58371008
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621040484.3U Active CN206050684U (en) | 2016-09-07 | 2016-09-07 | Storage robot rotation lifting body and storage robot |
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| Country | Link |
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| CN (1) | CN206050684U (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107264304A (en) * | 2017-05-11 | 2017-10-20 | 合肥工业大学 | One kind can collaborative floor truck |
| CN107434226A (en) * | 2017-08-17 | 2017-12-05 | 苏州中德睿博智能科技有限公司 | Transfer robot |
| CN108100556A (en) * | 2017-12-29 | 2018-06-01 | 北京欣奕华科技有限公司 | Logistic storage robot |
| CN108382777A (en) * | 2018-03-21 | 2018-08-10 | 海门市彼维知识产权服务有限公司 | A kind of warehouse logistics robot |
| CN109319362A (en) * | 2017-07-31 | 2019-02-12 | 广州达泊智能科技有限公司 | Automated guided vehicle |
| CN110002162A (en) * | 2019-04-27 | 2019-07-12 | 安徽凌坤智能科技有限公司 | A kind of novel storage composite machine people |
| CN111943087A (en) * | 2019-08-26 | 2020-11-17 | 李朝阳 | Bracket of transfer robot for warehouse logistics and transfer robot |
-
2016
- 2016-09-07 CN CN201621040484.3U patent/CN206050684U/en active Active
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107264304A (en) * | 2017-05-11 | 2017-10-20 | 合肥工业大学 | One kind can collaborative floor truck |
| CN107264304B (en) * | 2017-05-11 | 2019-12-10 | 合肥工业大学 | Can collaborative formula floor truck |
| CN109319362A (en) * | 2017-07-31 | 2019-02-12 | 广州达泊智能科技有限公司 | Automated guided vehicle |
| CN107434226A (en) * | 2017-08-17 | 2017-12-05 | 苏州中德睿博智能科技有限公司 | Transfer robot |
| CN107434226B (en) * | 2017-08-17 | 2023-08-22 | 苏州中德睿博智能科技有限公司 | Transfer robot |
| CN108100556A (en) * | 2017-12-29 | 2018-06-01 | 北京欣奕华科技有限公司 | Logistic storage robot |
| CN108382777A (en) * | 2018-03-21 | 2018-08-10 | 海门市彼维知识产权服务有限公司 | A kind of warehouse logistics robot |
| CN110002162A (en) * | 2019-04-27 | 2019-07-12 | 安徽凌坤智能科技有限公司 | A kind of novel storage composite machine people |
| CN111943087A (en) * | 2019-08-26 | 2020-11-17 | 李朝阳 | Bracket of transfer robot for warehouse logistics and transfer robot |
| CN111943087B (en) * | 2019-08-26 | 2021-08-06 | 綦海保 | Bracket of transfer robot for warehouse logistics and transfer robot |
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