CN206447087U - A kind of electric pole formula automated warehousing robot - Google Patents
A kind of electric pole formula automated warehousing robot Download PDFInfo
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- CN206447087U CN206447087U CN201621064417.5U CN201621064417U CN206447087U CN 206447087 U CN206447087 U CN 206447087U CN 201621064417 U CN201621064417 U CN 201621064417U CN 206447087 U CN206447087 U CN 206447087U
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Abstract
The utility model is related to a kind of electric pole formula automated warehousing robot, and it includes：Vehicle frame, the bottom of frame is provided with universal wheel and driving wheel, the universal wheel is located at four corners of the bottom of frame, the driving wheel is located at the middle part of the vehicle frame and positioned at both sides, motor is provided with the vehicle frame, the motor connects the driving wheel, the head of the vehicle frame is provided with obstacle module, the vehicle frame top is provided with rotary-tray module, the rotary-tray inside modules are provided with electric rotating machine, electric pushrod is provided with the vehicle frame, the electric pushrod is located at the bottom of the rotary-tray module, perforate is provided with the vehicle frame, it is provided with above the perforate below camera and the perforate and is provided with lower camera.The operator scheme of " goods to people " can be realized, while simplifying the mechanism design of robot, increase machine human reriability, weight capacity, the speed of service, security.
Description
Technical field
The utility model is related to robotic technology field, specifically refers to electric pole formula automated warehousing robot.
Background technology
Traditional warehouse entry, outbound operation are usually " people's arrival ", i.e., push dolly by warehouse employee and enter warehouse, by goods
Product are put into correspondence shelf, correspondence position successively.This process not only takes many, human cost height, and because workman is in storehouse
Movement in storehouse so that potential safety hazard is big.When warehouse kinds of goods huge number (SKU quantity is big), operating process is complex,
Easily error.
For this single stepping that optimization is put in storage, there is the trial of many automated warehouses at present, including automation
Transfer robot (AGV), realizes the pattern of " goods to people ", i.e., enter storage area by robot, finds the shelf needed, and be sent to
Sorting work station completes operationies on incoming and outgoing inventory.And existing automated handling robot use motor and large-scale spiral shell cylinder, realize lifting,
The action put down.The problem of this structure, has：
Electric efficiency is low during lifting, limited ability；Complicated, manufacturing cost is high, and large-scale spiral shell cylinder easily weares and teares, reliability
It is low.Lift, put down, turn during need to realize that dolly rotation is synchronous with large-scale spiral shell cylinder rotation, algorithm complexity is unstable.
There is the large-scale spiral shell cylinder scheme of higher level：Ball is added in spiral shell cylinder, frictional force is reduced, electric efficiency is improved, but also greatly increase
Manufacturing cost is added.
Utility model content
Main purpose of the present utility model is to provide one kind, it is possible to achieve the operator scheme of " goods to people ", while simplifying machine
The mechanism design of device people, increase machine human reriability, weight capacity, the speed of service, security.
The utility model solves the technical scheme that its technical problem used：
The utility model provides a kind of electric pole formula automated warehousing robot, it is characterised in that including：Vehicle frame, the car
Frame bottom is provided with universal wheel 101 and driving wheel 102, and the universal wheel 101 is located at four corners of the bottom of frame, described
Driving wheel 102 is located at the middle part of the vehicle frame and motor 201 is provided with both sides, the vehicle frame, the driving electricity
Machine 201 connects the driving wheel 102, and the head of the vehicle frame is provided with obstacle module 104, and the vehicle frame top is provided with rotation
It is provided with pallet module 103, the rotary-tray module 103 on electric rotating machine 306, the vehicle frame and is provided with electric pushrod
202, the electric pushrod, which is located on the bottom of the rotary-tray module 103, the vehicle frame, is provided with perforate 203, described to open
The lower section that the top in hole 203 is provided with camera 303 and the perforate 203 is provided with lower camera 304, the vehicle frame and set
It is equipped with supply unit 204.
Preferably, the head of the vehicle frame is provided with emergency stop switch 105.
Preferably, the supply unit is automatic charging module.
Implement the technical solution of the utility model, have the advantages that：The transfer robot that the utility model is provided
The operation of " goods to people " in camera, Quick Response Code, automatic charging module, obstacle module Automatic Warehouse, improves warehouse base
The efficiency of this operation.Using electric pushrod, the action for simplify robot lifting, putting down, and by the motion of robot and shelf
Lift, put down and separate, simplify control improves reliability and speed.Using rotary-tray module, the rotation of robot is transported
The rotary motion of dynamic and shelf is separated, and is realized in robot rotary course, keeps shelf motionless with respect to ground, or in machine
When device people is as you were, shelf rotation is driven, simplifies robot kinematics, improve the efficiency of Transport cargo rack and reliable
Property.
Brief description of the drawings
The top view for the robot that Fig. 1 provides for the utility model embodiment；
The upward view for the robot that Fig. 2 provides for the utility model embodiment；
The side view for the robot that Fig. 3 provides for the utility model embodiment；
Realization, functional characteristics and the advantage of the utility model purpose will be described further referring to the drawings in conjunction with the embodiments.
Embodiment
In order that the purpose of this utility model, technical scheme and advantage are more clearly understood, below in conjunction with accompanying drawing and implementation
Example, the utility model is further elaborated.It should be appreciated that specific embodiment described herein is only to explain
The utility model, is not used to limit the utility model.
The utility model embodiment provides a kind of electric pole formula automated warehousing robot, as shown in Figure 1, Figure 2 and Figure 3, bag
Include：Vehicle frame, the bottom of frame is provided with universal wheel 101 and driving wheel 102, and the universal wheel 101 is located at the bottom of frame
Four corners, the driving wheel 102 is located at the middle part of the vehicle frame and positioned at both sides, motor is provided with the vehicle frame
201, the motor 201 connects the driving wheel 102, and the head of the vehicle frame is provided with obstacle module 104, the vehicle frame
Top is provided with to be provided with electric rotating machine 306, the vehicle frame in rotary-tray module 103, the rotary-tray module 103 and set
Electric pushrod 202 is equipped with, the electric pushrod, which is located on the bottom of the rotary-tray module 103, the vehicle frame, to be provided with out
Hole 203, the top of the perforate 203 is provided with camera 303 and the lower section of the perforate 203 is provided with lower camera 304,
Supply unit 204 is provided with the vehicle frame.
The universal wheel is four, for load capacity, keeps carrying spring shock absorption knot on robot balance, universal wheel
Structure；Two driving wheels 102 are controlled by motor 201, drive the robot to be moved in warehouse；Ring rotation pallet module
103 are risen or fallen by motor drive, are lifted shelf and are completed lifting, put down operation；Headstock assembly wall barrier module 104, containing sharp
Optical radar, ultrasonic radar, after obstacle occurs in front, realize jerk；Emergency stop switch 105 is installed in headstock, it is special to tackle
Situation, is easy to artificial jerk, it is contemplated that most people is right-handed person, and this emergency stop switch is placed on the left of headstock by we, also may be used
To be arranged on the right side of headstock；The automatic charging module of the tailstock, allows robot to be moved to before automatic charging stake, realizes automatic
Charging, and then realize the full-automatic operation in warehouse.
Ring rotation pallet module 103 is supported by three (being not limited to three) electric pushrods 202, on electric pushrod 202
Ring rotation pallet module can be lifted or fallen to lower movement, realize lifting, put down the action of shelf；The ring rotation tray mold
The electric rotating machine 306 that block 103 is set by inside drives rotation, so as to drive the shelf lifted to complete clockwise or counterclockwise
Rotation；Two driving wheels are connected with two motors 201 respectively, by controller control two motors synchronize or
Asynchronous rotary can realize the advance of robot car, retreat and turn；Lifted by electric pushrod after shelf, pass through controller
Control electric rotating machine can realize the rotation of the machine-independent people's dolly of shelf, be used in conjunction with that machine can be achieved with two motors
The rotation of either synchronously or asynchronously three kinds of rotary modes of device people dolly and shelf, i.e. robot, shelf are motionless (pattern one), robot
Motionless, shelf rotation (pattern two), robot drives shelf to rotate together (pattern three)；Electric pushrod 202, motor 201
And electric rotating machine 306 is powered by supply unit 204.In fig. 3 it can be seen that the central openings of ring rotation pallet module 103, make
Upward camera 303 can sweep the Quick Response Code of picking frame bottom surface, determine its position；The center of chassis 305 of vehicle frame sets perforate
203, facilitate downward camera 304 to see ground two-dimensional code, determine robot car self-position.On three electric pushrods 202
Lower movement, can be achieved the lifting of annular pallet, declines, but do not influence camera to sweep to take Quick Response Code.
Quick Response Code is laid in warehouse floor, transfer robot is using the camera installed, by reading these Quick Response Codes
Now position oneself, can automatically realize and move freely in warehouse.
Quick Response Code is laid in bottom shelf, transfer robot is true by reading these Quick Response Codes using the camera installed
Know goods the position of frame, shelf can be confirmed with Automatic-searching, and accurately carry.
Using one or more electric pushrod of motor operation, realize lifting, put down the action of shelf.
Ring rotation pallet module is operated using electric rotating machine, realizes that shelf rotate independently of dolly.(i.e. shelf turn
Body function)
Coordinate the rotating speed of motor 201 using electric rotating machine operation ring rotation pallet module 103, realize that trolley is revolved
Turn, but shelf keep constant motion.(i.e. dolly keeps the function of lifting shelf and turn round.)
Using motor 201, realize that dolly carries the function of shelf rotation.
Using the obstacle module 104 of headstock, the function of running into barrier jerk is realized, it is ensured that the security of operation.
Using the automatic charging module of parking stall, the full-automation of transfer robot is realized.
Preferred embodiment of the present utility model is the foregoing is only, it is all at this not to limit the utility model
Any modifications, equivalent substitutions and improvements made within the spirit and principle of utility model etc., should be included in the utility model
Protection domain within.
Claims (3)
1. a kind of electric pole formula automated warehousing robot, it is characterised in that including：Vehicle frame, the bottom of frame is provided with universal
(101) and driving wheel (102) are taken turns, the universal wheel (101) is located at four corners of the bottom of frame, the driving wheel
(102) it is located at the middle part of the vehicle frame and is provided with motor (201), the motor on both sides, the vehicle frame
(201) driving wheel (102) is connected, the head of the vehicle frame is provided with obstacle module (104), and the vehicle frame top is provided with
It is provided with electric rotating machine (306), the vehicle frame and is provided with rotary-tray module (103), the rotary-tray module (103)
Electric pushrod (202), the electric pushrod, which is located on the bottom of the rotary-tray module (103), the vehicle frame, to be provided with out
It is provided with to be provided with down below camera (303) and the perforate (203) above hole (203), the perforate (203) and takes the photograph
As head (304), supply unit (204) is provided with the vehicle frame.
2. electric pole formula automated warehousing robot as claimed in claim 1, it is characterised in that the head of the vehicle frame is provided with urgency
Guard's valve (105).
3. electric pole formula automated warehousing robot as claimed in claim 1, it is characterised in that the supply unit is automatic charging
Module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621064417.5U CN206447087U (en) | 2016-09-20 | 2016-09-20 | A kind of electric pole formula automated warehousing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621064417.5U CN206447087U (en) | 2016-09-20 | 2016-09-20 | A kind of electric pole formula automated warehousing robot |
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| Publication Number | Publication Date |
|---|---|
| CN206447087U true CN206447087U (en) | 2017-08-29 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201621064417.5U Active CN206447087U (en) | 2016-09-20 | 2016-09-20 | A kind of electric pole formula automated warehousing robot |
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| Country | Link |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106219124A (en) * | 2016-09-20 | 2016-12-14 | 刘哲 | A kind of electric pole formula automated warehousing robot |
| WO2020000282A1 (en) * | 2018-06-28 | 2020-01-02 | 张亚菊 | Smart collision-prevention transport vehicle for warehouses |
| US10525604B2 (en) | 2016-06-13 | 2020-01-07 | Zhuineng Robotics (Shanghai) Co., Ltd | Linear actuator-type automatic warehouse robot |
-
2016
- 2016-09-20 CN CN201621064417.5U patent/CN206447087U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US10525604B2 (en) | 2016-06-13 | 2020-01-07 | Zhuineng Robotics (Shanghai) Co., Ltd | Linear actuator-type automatic warehouse robot |
| CN106219124A (en) * | 2016-09-20 | 2016-12-14 | 刘哲 | A kind of electric pole formula automated warehousing robot |
| WO2020000282A1 (en) * | 2018-06-28 | 2020-01-02 | 张亚菊 | Smart collision-prevention transport vehicle for warehouses |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20180329 Address after: 200062 Shanghai city Putuo District Yunling West Road 600 Lane No. 6 room 503 Patentee after: Cone energy robot (Shanghai) Co., Ltd. Address before: Wu Zhai Xiang Xiu Shan Street in Lucheng District of Wenzhou City, Zhejiang province No. 19 Lane 28 Patentee before: Liu Zhe |
|
| TR01 | Transfer of patent right |