CN206358714U - Store in a warehouse robot - Google Patents
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- Publication number
- CN206358714U CN206358714U CN201621287986.6U CN201621287986U CN206358714U CN 206358714 U CN206358714 U CN 206358714U CN 201621287986 U CN201621287986 U CN 201621287986U CN 206358714 U CN206358714 U CN 206358714U
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- car body
- camera
- storage robot
- robot according
- rotating mechanism
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Abstract
The utility model discloses one kind storage robot, including car body, drive mechanism, auxiliary support mechanism, guiding mechanism, lifting body and rotating mechanism；The drive mechanism, for driving the car body and converting the moving direction of the car body；The auxiliary support mechanism, for providing Auxiliary support for the car body；The guiding mechanism, for recognizing the path of the car body traveling and the position of object to be handled；The lifting body, positioned at the top of the drive mechanism；The rotating mechanism, is arranged at the top of the lifting body and can be rotated relative to the car body, wherein, the rotating mechanism includes the pallet for being used to carry object to be handled.Rotating mechanism of the present utility model is located at the top of lifting body and can be rotated relative to the car body, i.e., rotating mechanism is positioned at the top position of whole robot, it is to avoid wire harness influence, can be rotated by 360 °, wider using scope.
Description
Technical field
The utility model is related to storage technique field, more particularly to a kind of storage robot.
Background technology
With the explosive increase of ecommerce, the storage sorting work amount of electric business is also significantly increased.At present, many electric business
The unmanned carrying article of automation to realize warehouse is provided with warehouse, so as to reduce cost of labor, shortens storage article
The outbound time, improve storage sort efficiency.
This storage robot is a kind of dumpy novelty device, exteriorly like the tortoise that can quickly move.
They are shuttled in warehouse, and any goods that the retailers such as the clothes, electronic device, auto parts of whole shelf are sold is sent
To special packing work platform, in packing work platform, product is selected by workman, packed and haulage truck is sent into.
For example, Application No.：The 201610293405.8 intelligent conveyor system with jacking function, is a kind of storehouse
Robot is stored up, it includes car body；Drive mechanism, for driving car body and converting the moving direction of car body；Auxiliary support mechanism, be
Car body provides Auxiliary support；Guiding mechanism, path and the position of object to be handled that identification car body is advanced；Rotating mechanism, is set
It can rotate on car body and relative to car body；Lifting body, is fixed on rotating mechanism；And pallet, it is fixed on lifting body
Go up and can be moved up and down under the driving of lifting body.
However, the above-mentioned intelligent conveyor system with jacking function at least has the disadvantages that：
1）Rotating mechanism is arranged on car body and can rotated relative to car body, i.e., rotating mechanism is located under whole robot
Orientation is put, due to being influenceed by wire harness, and rotating mechanism rotates through up 90 degree, thus has certain limitation using upper.
2）Lifting body is on rotating mechanism, and pallet is fixed on lifting body, and rotating mechanism is located at whole robot
Lower position, rotating mechanism be subjected to itself gravity and rotating mechanism and pallet gravity, thus rotating mechanism load-bearing
It is larger, its stability can be influenceed to a certain extent.
Utility model content
The purpose of this utility model is to be to provide a kind of storage robot, so as to overcome the deficiencies in the prior art.
To reach above-mentioned purpose, the technical solution of the utility model is as follows：
One kind storage robot, including car body, drive mechanism, auxiliary support mechanism, guiding mechanism, lifting body and rotation
Rotation mechanism；
The drive mechanism, for driving the car body and converting the moving direction of the car body；
The auxiliary support mechanism, for providing Auxiliary support for the car body；
The guiding mechanism, for recognizing the path of the car body traveling and the position of object to be handled；
The lifting body, positioned at the top of the drive mechanism；
The rotating mechanism, is arranged at the top of the lifting body and can be rotated relative to the car body, wherein, it is described
Rotating mechanism includes the pallet for being used to carry object to be handled.
As one of preferred scheme of the present utility model, the lifting body includes：Two planetary lead-screw reductors, drivings
First motor of planetary lead-screw reductor described in any of which, first transmission component of two planetary lead-screw reductors of connection and
Raising plate, first transmission component includes driving wheel, driven pulley and chain, and the leading screw of the planetary lead-screw reductor is upward simultaneously
Fixed even described raising plate.
As one of preferred scheme of the present utility model, the lifting body also includes lead and the guiding matched
Set, the top ends of the lead are fixedly connected with the raising plate, and its bottom extends downward into the car body, the car body
Top be installed with a teapoy, the guide sleeve is fixedly arranged on the teapoy, and the planetary lead-screw reductor is also fixedly arranged on institute
State on teapoy.
As one of preferred scheme of the present utility model, the rotating mechanism includes the second motor and second motor
The sabot little gear of connection, the canine tooth wheel disc engaged with the sabot little gear and the top end face for being fixedly arranged on the canine tooth wheel disc
On the pallet, the bottom face of the canine tooth wheel disc is fixedly arranged on the top of the raising plate.
As one of preferred scheme of the present utility model, the drive mechanism includes：Two driving wheels, two driving wheels
The middle part for pivoting the direct of travel for being arranged at car body and the both sides for the width for being distributed in car body；Two are used to drive the drive
3rd motor of driving wheel；And for connecting the transmission component of the driving wheel and the 3rd motor, the transmission component includes master
Driving wheel, driven pulley and chain.
As one of preferred scheme of the present utility model, the auxiliary support mechanism includes four universal wheels, pivoted respectively
It is arranged at four angles of car body.
As one of preferred scheme of the present utility model, the guiding mechanism includes the first camera and second camera,
First camera and second camera are located at the top of car body, and are respectively positioned on the axis of car body, and described first takes the photograph
Positional information as head to recognize top object to be handled, the second camera is to recognize lower section control car body traveling road
The information of line.
Further, first camera and second camera are CCD camera.
As one of preferred scheme of the present utility model, the top of one end of the car body is installed with a master by fixed plate
Avoidance sensor and two side avoidance sensors, two side avoidance sensors are located at the main avoidance sensor respectively
Both sides.
As one of preferred scheme of the present utility model, the storage robot also includes protection shell, the protection shell
Cover at outside the car body.
Compared with prior art, advantage of the present utility model at least that：
1）Rotating mechanism is located at the top of lifting body and can be rotated relative to the car body, i.e., rotating mechanism is located at whole
The top position of robot, it is to avoid wire harness influence, can be rotated by 360 °, wider using scope.
2）Rotating mechanism is located at the top position of whole robot, is only subjected to own wt, and nothing is subjected to other objects
Weight, thus stability preferably, be not in unstable phenomenon.
Brief description of the drawings
, below will be to existing skill in order to illustrate more clearly of the technical scheme in the utility model prior art and embodiment
The accompanying drawing used required in art and embodiment description is briefly described.
Fig. 1 is the external structure schematic diagram of the storage robot disclosed in prior art；
Fig. 2 is the upward view of the storage robot disclosed in the present embodiment；
Fig. 3 is the internal structure schematic diagram of the storage robot disclosed in the present embodiment；
Fig. 4 is the drive mechanism and the structural representation of avoidance sensor disclosed in the present embodiment；
Fig. 5 is the structural representation of the lifting body disclosed in the present embodiment（Except raising plate）；
Fig. 6 is the structural representation of the lifting body disclosed in the present embodiment；
Fig. 7 is the structural representation of the guiding mechanism disclosed in the present embodiment；
Fig. 8 is the structural representation of the rotating mechanism disclosed in the present embodiment.
Embodiment
Below in conjunction with the accompanying drawing in the utility model embodiment, the technical scheme in the utility model embodiment is carried out
Clearly and completely describe.
Referring to shown in Fig. 1-8, the utility model discloses one kind storage robot, including car body 1, drive mechanism 2, auxiliary
Supporting mechanism 3, guiding mechanism 4, lifting body 5 and rotating mechanism 6；
Drive mechanism 2, for driving car body 1 and converting the moving direction of car body 1；
Auxiliary support mechanism 3, for providing Auxiliary support for car body 1；
Guiding mechanism 4, for recognizing the path of the traveling of car body 1 and the position of object to be handled；
Lifting body 5, positioned at the top of drive mechanism 2；
Rotating mechanism 6, is arranged at the top of lifting body 5 and can be rotated relative to car body 1, wherein, rotating mechanism 6 includes
Pallet 64 for carrying object to be handled.
Referring to shown in Fig. 5-6, lifting body 5 includes：Two planetary lead-screw reductors 51, driving any of which planetary lead-screws
First motor 52 of reductor 51, the first transmission component and raising plate 53 for connecting two planetary lead-screw reductors 51, first
Transmission component includes driving wheel 54, driven pulley 55 and chain 56, and the leading screw of planetary lead-screw reductor 51 is upward and fixation connects jacking
Plate 53.
Lifting body 5 also includes the lead 57 and guide sleeve 58 matched, top ends and the raising plate 53 of lead 57
It is fixedly connected, its bottom extends downward into car body 1, the top of car body 1 is installed with a teapoy 59, and guide sleeve 58 is fixedly arranged on teapoy
On 59, and planetary lead-screw reductor 51 is also fixedly arranged on teapoy 59.
Operationally, the first motor 52 drives planetary lead-screw reductor 51 to work to lifting body 5, planetary lead-screw reductor 51
Leading screw protrude upward so that drive raising plate 53 upwards motion, to reach the height for being adapted to lift object to be handled.This process
In, lead 57 and guide sleeve 58 play the guide effect that lifting body 5 is moved up and down.
It is shown in Figure 8, rotating mechanism 6 include the second motor 61, be connected with the second motor 61 sabot little gear 62, and
The canine tooth wheel disc 63 of the engagement of sabot little gear 62 and the pallet 64 being fixedly arranged on the top end face of canine tooth wheel disc 63, canine tooth wheel disc 63
Bottom face be fixedly arranged on the top of raising plate 53.
Operationally, the second motor 61 is rotated passes sequentially through sabot little gear 62 and canine tooth wheel disc 63 and band to rotating mechanism 6
Dynamic pallet 64 is rotated.
Referring to shown in Fig. 2-4, drive mechanism 2 includes：Two driving wheels 21, two driving wheels 21, which are pivoted, is arranged at car body
The middle part of 1 direct of travel and be distributed in car body 1 width both sides；Two the 3rd motors for driving driving wheel 21
22；And for connecting the transmission component of the motor 22 of driving wheel 21 and the 3rd, transmission component include driving wheel 23, driven pulley 24 with
And chain 25.
Shown in Figure 3, auxiliary support mechanism 3 includes four universal wheels 31, and four angles for being arranged at car body 1 are pivoted respectively
Place.Universal wheel 31 Auxiliary support can be provided for car body 1 and auxiliary commutates.
Shown in Figure 7, guiding mechanism 4 includes the first camera 41 and second camera 42, the first camera 41 and the
Two cameras 42 are located at the top of car body 1, and are respectively positioned on the axis of car body 1, and the first camera 41 is to recognize top
The positional information of object to be handled, information of the second camera 42 to recognize the lower section control course of car body 1.It is preferred that,
First camera 41 and second camera 42 can be adopted as CCD camera.Upper camera can scan shelf or thing to be handled
The information of body, to recognize the information of object to be handled；Lower camera can scan the information on ground, to recognize working as car body 1
Front position.Herein, described information can be Quick Response Code or bar code.More specifically, the first camera 41 and second camera 42
It is fixedly arranged on respectively by a support 43 on teapoy 59.
Shown in Figure 4, the top of one end of car body 1 is installed with a main avoidance sensor 72 and two sides by fixed plate
Side avoidance sensor 73, two side avoidance sensors 73 are located at the both sides of main avoidance sensor 72 respectively.Main avoidance sensor
72 and side avoidance sensor 73 can avoid storage robot barrier is bumped against during traveling, play cognitive disorders thing
Effect.
Shown in Figure 1, the storage robot also includes protection shell 8, and protection shell 8 is covered at outside car body 1, it is to avoid
Each part exposure of storage robot outside, plays protection and dust-proof effect.
Operation principle of the present utility model is as follows：
After the storage robot receives dependent instruction, under the driving of drive mechanism 2, car body 1 is known along guiding mechanism 4
The path movement of other traveling, when subject-oriented mechanism 4 detects car body 1 and has traveled to the position of object to be handled, car body 1 stops
It is mobile；Lifting body 5 drives rotating mechanism 6 to move up, and the pallet 64 of rotating mechanism 6 and then lifts object to be handled；Work as drive
The driving car body 1 of motivation structure 2 is when rotating the direction to change car body 1, and rotating mechanism 6 is along the direction opposite with the rotation direction of car body 1
Rotate and rotating speed is identical, because pallet 64 is rotated backward and rotating speed is identical with car body 1, so with respect to for ground, pallet 64 is protected
Hold static, it is ensured that object to be handled is constant with respect to the direction on ground when car body 1 commutates, it is to avoid when object to be handled rotates
Collision；Finally, car body 1 is moved along the path that guiding mechanism 4 is recognized, by object transport to be handled to destination.Therefore, this practicality
The storage robot of new offer can realize the automated handling for article of storing in a warehouse according to setting path, saved it is artificial and when
Between.
In summary, advantage of the present utility model at least that：
Rotating mechanism 6 is located at the top of lifting body 5 and can be rotated relative to car body 1, i.e., rotating mechanism 6 is located at whole machine
The top position of device people, it is to avoid wire harness influence, can be rotated by 360 °, wider using scope.
Rotating mechanism 6 is located at the top position of whole robot, is only subjected to own wt, and nothing is subjected to other objects
Weight, thus stability is preferably, is not in unstable phenomenon.
A variety of modifications to these embodiments will be apparent for those skilled in the art, herein
Defined General Principle can be real in other embodiments in the case where not departing from spirit or scope of the present utility model
It is existing.Therefore, the utility model is not intended to be limited to the embodiments shown herein, and be to fit to it is disclosed herein
The principle most wide scope consistent with features of novelty.
Claims (10)
1. one kind storage robot, it is characterised in that including car body, drive mechanism, auxiliary support mechanism, guiding mechanism, jacking
Mechanism and rotating mechanism；
The drive mechanism, for driving the car body and converting the moving direction of the car body；
The auxiliary support mechanism, for providing Auxiliary support for the car body；
The guiding mechanism, for recognizing the path of the car body traveling and the position of object to be handled；
The lifting body, positioned at the top of the drive mechanism；
The rotating mechanism, is arranged at the top of the lifting body and can be rotated relative to the car body, wherein, the rotation
Mechanism includes the pallet for being used to carry object to be handled.
2. storage robot according to claim 1, it is characterised in that the lifting body includes：Two planetary lead-screws
First motor of planetary lead-screw reductor, the first of two planetary lead-screw reductors of connection described in reductor, driving any of which
Transmission component and raising plate, first transmission component include driving wheel, driven pulley and chain, the planetary lead-screw reductor
Leading screw upward and fixed even described raising plate.
3. storage robot according to claim 2, it is characterised in that the lifting body also includes the guiding matched
Post and guide sleeve, the top ends of the lead are fixedly connected with the raising plate, and its bottom extends downward into the car body,
A teapoy is installed with above the car body, the guide sleeve is fixedly arranged on the teapoy, and the planetary lead-screw reductor
It is fixedly arranged on the teapoy.
4. storage robot according to claim 2, it is characterised in that the rotating mechanism includes the second motor and institute
The sabot little gear of stating the second motor connection, the canine tooth wheel disc engaged with the sabot little gear and it is fixedly arranged on the gear wheel
The pallet on the top end face of disk, the bottom face of the canine tooth wheel disc is fixedly arranged on the top of the raising plate.
5. storage robot according to claim 1, it is characterised in that the drive mechanism includes：Two driving wheels, should
Two driving wheels pivot the middle part for the direct of travel for being arranged at car body and are distributed in the both sides of the width of car body；Two are used for
Drive the 3rd motor of the driving wheel；And for connecting the transmission component of the driving wheel and the 3rd motor, the transmission
Component includes driving wheel, driven pulley and chain.
6. storage robot according to claim 1, it is characterised in that the auxiliary support mechanism is universal including four
Wheel, pivots be arranged at four angles of car body respectively.
7. storage robot according to claim 1, it is characterised in that the guiding mechanism includes the first camera and the
Two cameras, first camera and second camera are located at the top of car body, and are respectively positioned on the axis of car body, institute
Positional information of first camera to recognize top object to be handled is stated, the second camera is to recognize lower section control car
The information of body course.
8. storage robot according to claim 7, it is characterised in that first camera and second camera are
CCD camera.
9. storage robot according to claim 1, it is characterised in that the top of one end of the car body passes through fixed plate
A main avoidance sensor and two side avoidance sensors are installed with, two side avoidance sensors are located at the master respectively
The both sides of avoidance sensor.
10. storage robot according to claim 1, it is characterised in that the storage robot also includes protection shell, institute
Protection jacket is stated outside the car body.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621287986.6U CN206358714U (en) | 2016-11-29 | 2016-11-29 | Store in a warehouse robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621287986.6U CN206358714U (en) | 2016-11-29 | 2016-11-29 | Store in a warehouse robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206358714U true CN206358714U (en) | 2017-07-28 |
Family
ID=59372671
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621287986.6U Expired - Fee Related CN206358714U (en) | 2016-11-29 | 2016-11-29 | Store in a warehouse robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206358714U (en) |
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108116824A (en) * | 2016-11-29 | 2018-06-05 | 科思通自动化设备（苏州）有限公司 | Store in a warehouse robot |
| CN108529483A (en) * | 2018-04-12 | 2018-09-14 | 苏州三体智能科技有限公司 | Products storage circulation system transfer robot |
| CN108609333A (en) * | 2018-04-12 | 2018-10-02 | 苏州三体智能科技有限公司 | Intelligent storage robot |
| CN109238417A (en) * | 2018-06-26 | 2019-01-18 | 北京艾瑞思机器人技术有限公司 | Determine the method and device of the quality of storage the loaded cargo of robot |
| CN109230118A (en) * | 2018-06-26 | 2019-01-18 | 北京艾瑞思机器人技术有限公司 | Determine the method and device of the quality of storage the loaded cargo of robot |
| CN109878401A (en) * | 2019-01-29 | 2019-06-14 | 广东赛斐迩物流科技有限公司 | A kind of type variable cargo movement system and its operating method |
| CN110092130A (en) * | 2019-06-17 | 2019-08-06 | 珠海格力智能装备有限公司 | Transport vehicle |
| CN111278752A (en) * | 2017-10-27 | 2020-06-12 | 伯克希尔格雷股份有限公司 | Moving carrier for use in a system and method for processing objects comprising a moving matrix carrier system |
| US11390459B2 (en) | 2017-03-20 | 2022-07-19 | Berkshire Grey Operating Company, Inc. | Systems and methods for processing objects including mobile matrix carrier systems |
| US11402831B2 (en) | 2017-03-23 | 2022-08-02 | Berkshire Grey Operating Company, Inc. | Systems and methods for processing objects, including automated mobile matrix bins |
| US11493910B2 (en) | 2017-03-23 | 2022-11-08 | Berkshire Grey Operating Company, Inc. | Systems and methods for processing objects, including automated mobile matrix carriers |
| US12098027B2 (en) | 2023-04-13 | 2024-09-24 | Berkshire Grey Operating Company, Inc. | Maintenance systems for use in systems and methods for processing objects including mobile matrix carrier systems |
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2016
- 2016-11-29 CN CN201621287986.6U patent/CN206358714U/en not_active Expired - Fee Related
Cited By (23)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108116824A (en) * | 2016-11-29 | 2018-06-05 | 科思通自动化设备（苏州）有限公司 | Store in a warehouse robot |
| US11390459B2 (en) | 2017-03-20 | 2022-07-19 | Berkshire Grey Operating Company, Inc. | Systems and methods for processing objects including mobile matrix carrier systems |
| US11814245B2 (en) | 2017-03-20 | 2023-11-14 | Berkshire Grey Operating Company, Inc. | Systems and methods for processing objects including mobile matrix carrier systems |
| US12032367B2 (en) | 2017-03-23 | 2024-07-09 | Berkshire Grey Operating Company, Inc. | Systems and methods for processing objects, including automated mobile matrix bins |
| US11493910B2 (en) | 2017-03-23 | 2022-11-08 | Berkshire Grey Operating Company, Inc. | Systems and methods for processing objects, including automated mobile matrix carriers |
| US11402831B2 (en) | 2017-03-23 | 2022-08-02 | Berkshire Grey Operating Company, Inc. | Systems and methods for processing objects, including automated mobile matrix bins |
| US11597615B2 (en) | 2017-10-27 | 2023-03-07 | Berkshire Grey Operating Company, Inc. | Discontinuous grid system for use in systems and methods for processing objects including mobile matrix carrier systems |
| US11117760B2 (en) | 2017-10-27 | 2021-09-14 | Berkshire Grey, Inc. | Systems and methods for processing objects including mobile matrix carrier systems |
| US11148890B2 (en) | 2017-10-27 | 2021-10-19 | Berkshire Grey, Inc. | Mobile carriers for use in systems and methods for processing objects including mobile matrix carrier systems |
| US11161689B2 (en) | 2017-10-27 | 2021-11-02 | Berkshire Grey, Inc. | Movement systems and method for processing objects including mobile matrix carrier systems |
| US11866255B2 (en) | 2017-10-27 | 2024-01-09 | Berkshire Grey Operating Company, Inc. | Discontinuous grid system for use in systems and methods for processing objects including mobile matrix carrier systems |
| US11814246B2 (en) | 2017-10-27 | 2023-11-14 | Berkshire Grey Operating Company, Inc. | Bin infeed and removal systems and methods for processing objects including mobile matrix carrier systems |
| US11577920B2 (en) | 2017-10-27 | 2023-02-14 | Berkshire Grey Operating Company, Inc. | Systems and methods for processing objects including mobile matrix carrier systems |
| CN111278752A (en) * | 2017-10-27 | 2020-06-12 | 伯克希尔格雷股份有限公司 | Moving carrier for use in a system and method for processing objects comprising a moving matrix carrier system |
| US11661275B2 (en) | 2017-10-27 | 2023-05-30 | Berkshire Grey Operating Company, Inc. | Maintenance systems for use in systems and methods for processing objects including mobile matrix carrier systems |
| US11673742B2 (en) | 2017-10-27 | 2023-06-13 | Berkshire Grey Operating Company, Inc. | Systems and methods for processing objects including mobile matrix carrier systems |
| CN108609333A (en) * | 2018-04-12 | 2018-10-02 | 苏州三体智能科技有限公司 | Intelligent storage robot |
| CN108529483A (en) * | 2018-04-12 | 2018-09-14 | 苏州三体智能科技有限公司 | Products storage circulation system transfer robot |
| CN109238417A (en) * | 2018-06-26 | 2019-01-18 | 北京艾瑞思机器人技术有限公司 | Determine the method and device of the quality of storage the loaded cargo of robot |
| CN109230118A (en) * | 2018-06-26 | 2019-01-18 | 北京艾瑞思机器人技术有限公司 | Determine the method and device of the quality of storage the loaded cargo of robot |
| CN109878401A (en) * | 2019-01-29 | 2019-06-14 | 广东赛斐迩物流科技有限公司 | A kind of type variable cargo movement system and its operating method |
| CN110092130A (en) * | 2019-06-17 | 2019-08-06 | 珠海格力智能装备有限公司 | Transport vehicle |
| US12098027B2 (en) | 2023-04-13 | 2024-09-24 | Berkshire Grey Operating Company, Inc. | Maintenance systems for use in systems and methods for processing objects including mobile matrix carrier systems |
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Granted publication date: 20170728 Termination date: 20201129 |