CN206690067U - It is a kind of to be applied to the robot that express mail is distributed in express delivery office for incoming and outgoing mail - Google Patents

Abstract

A kind of robot for being applied to express mail distribution in express delivery office for incoming and outgoing mail is the utility model is related to, including：Robot remote control unit and robot cell；Robot remote control unit includes：First controller and the express mail positioner, display input device, the first radio communication device that are arranged at shelf lateral wall being connected with first controller；Robot cell includes：Moving device and the three-freedom mechanical arm being arranged on the moving device, second controller, moving device driver, mechanical arm driver, tracking device, the second radio communication device；First radio communication device matches with the second radio communication device.The utility model proposes it is a kind of be applied to the robot that express mail is distributed in express delivery office for incoming and outgoing mail, can mitigate mail clerk's labor intensity, improve express mail distribution efficiency, realize that distribution procedure automates.

Description

It is a kind of to be applied to the robot that express mail is distributed in express delivery office for incoming and outgoing mail

Technical field

It the utility model is related to a kind of robot for being applied to express mail distribution in express delivery office for incoming and outgoing mail.

Background technology

With the fast development of Chinese society economy, shopping online is very universal in our daily lifes.Due to The powerful human resources in China and perfect supply-chain Structure, cause whole operation very smooth quick.But if In special node, such as double 11 red-letter days that so can be rated as spring transportation, the mail clerks in office for incoming and outgoing mail will hurry very much, even The time having a meal all does not have, and due to more than express mail and miscellaneous, there is also the phenomenon of wrong sending, omission sending express mail, brought to buyer Unnecessary trouble.If now with robot mail clerk can be assisted to distribute express mail, mail clerks only need to be sitting in fixation Position on express mail is sent to can in buyer's hand, can thus mitigate the working strength of mail clerks, Er Qiexiao significantly Rate is high, not error-prone.With the continuous progress of science and technology, robotics development is quick, is applied in many fields, Certainly gradually will also be applied in logistics links.

Although external someone is developing merchandising machine people at present, and is applied to some warehouses and logistics In, but really the robot species of input application is also seldom, technology is also not mature enough, limits its application neck to a certain extent Domain and some functions.At home, the application of merchandising machine people is considerably less, and only two logistics warehouses have sorting machine people at present Using one of them is exactly Tian Mao supermarkets.It is also relatively backward about merchandising machine people technology and research and development, therefore in order to mitigate thing Intensity of workers in industry is flowed, improves operating efficiency, accelerates the development of domestic logistics robot, Development of Logistics robot skill Art will be extremely urgent.

External more famous merchandising machine people mainly has following a few classes at present：The Fetch that Silicon Valley company of robot develops The Transwheel designed with Freight storages robot, Israel's Shen karr engineering with academy of design robot, automation The Starship companies under Kiva robots, Skype founder Heinla and Friis that Provider of logistics Kiva is improved release " box robot ", company of robot of Singapore GrayOrange manufacture Bulter robots, Hitachi's HITACHI intelligent machines Device people and Swisslog Click Π ck systems.Fetch robot self-navigation functions, can be moved between shelf, be known Other product is simultaneously removed shelf and moving to and makes the automatic of Freight drive in robot.Transwheel robot is adopted With self-balancing system, when robot arm loading can pin step on single-wheel and be kept upright traveling, individual machine people can transport small packet, And some robot combination cooperations can transport big parcel.Kiva robot was bought for handling warehouse in 2012 by Amazon Goods checking and with work such as goods." box robot " most heavy goods for carrying about 9 kilograms, farthest can reach in logistics The heart has an area of about 1.6 kilometers of scope, due to being configured with a series of cameras and sensor on its hardware, can ensure its security row Walk on pavement, at the appointed time from logistics center, pass through streets and lanes, come customer entrance and complete express delivery times Business.Although recent year robot has obtained quick development, still there is no small gap from states such as America and Europes.But, with The prosperity of the development, especially National Commerce of industry 4.0, it is inevitably trend that robot is introduced in logistics links.

The content of the invention

The purpose of this utility model in provide it is a kind of be applied to express delivery office for incoming and outgoing mail in express mail distribute robot, to overcome Defect present in prior art.

To achieve the above object, the technical solution of the utility model is：One kind is applied to express mail in express delivery office for incoming and outgoing mail and distributed Robot, including：Robot remote control unit and robot cell；The robot remote control device includes：One First controller and the express mail positioner for being arranged at shelf lateral wall in express delivery office for incoming and outgoing mail being connected with first controller, Display input device, the first radio communication device；The robot cell includes：One moving device, one are arranged at traveling dress Three-freedom mechanical arm on front side of top set portion, one are arranged at the second controller of the moving device top rear, one are arranged at this Moving device top rear and for driving the moving device driver of the moving device, one to be arranged at the top of the moving device Rear side and for drive the three-freedom mechanical arm mechanical arm driver, be arranged at the second of the moving device top rear Radio communication device, the tracking device for being arranged at the moving device lower front and coordinating with being arranged at the black line path on ground； The moving device driver, the mechanical arm driver, the tracking device and second radio communication device with The second controller is connected；First radio communication device matches with second radio communication device.

In the embodiment of the utility model one, first controller uses the single-chip microcomputers of arduino mega 2560, institute State the first radio communication device and use nRF905 wireless communication modules；The express mail positioner is included along every layer of shelf lateral wall The optoelectronic switch that length direction is set at equal intervals；The display input device includes a LCD12864 and a 4*4 matrix film keys Disk；The second controller uses the single-chip microcomputers of arduino mega 2560, and second radio communication device uses nRF905 Wireless communication module.

In the embodiment of the utility model one, the three-freedom mechanical arm includes a frame；Side in the frame Longitudinal direction can be with respect to the splined shaft of gantry rotation provided with one；The opposite side longitudinal direction of the frame can be with respect to the silk of gantry rotation provided with one Bar；A lifting nut is equipped with the screw mandrel；A liter being slidably connected with the splined shaft is fixed with the lifting nut Platform drops；A U shape grooves are provided with positioned at the lifting platform lower end of the splined shaft side；One and the spline are provided with the U shapes groove The 3rd synchronous pulley that axle spline slide coordinates；The synchronized band driving one of 3rd synchronous pulley is horizontally disposed with it and is located at 4th synchronous pulley of lifting platform bottom；The output shaft of 4th synchronous pulley and one be located at the lifting platform upper end gear Tray bottom connects；The upper surface of the toothed disc is connected with a turning arm；The turning arm top and a telescopic mechanical arm one end It is be hinged；The telescopic mechanical arm other end is hinged with an end mechanical arm one end；The end mechanical arm other end and one It is hinged to carry the end effector of express mail to be taken；One second motor is provided with the turning arm；Second motor is defeated Shaft is connected through one second decelerator with one end of the telescopic mechanical arm；In the telescopic mechanical arm with second decelerator Connected side is provided with one the 5th synchronous pulley, and opposite side is provided with the 6th timing belt that synchronized band is connected with the 5th synchronous pulley Wheel；The upper end of 5th synchronous pulley and the turning arm is connected；6th synchronous pulley and the end mechanical arm A side be connected；The interior side that is connected with the 6th synchronous pulley of the end mechanical arm is provided with one the 7th synchronous pulley, separately Side is provided with the 8th synchronous pulley that synchronized band is connected with the 7th synchronous pulley；8th synchronous pulley and end effector It is connected；7th synchronous pulley and another side of the telescopic mechanical arm are connected.

In the embodiment of the utility model one, the bottom of the splined shaft is fixed with one second synchronous pulley；Described second The synchronized band of synchronous pulley is connected with located at the first synchronous pulley of side in the frame；First synchronous pulley is set through one The output shaft of one first motor is connected in the first decelerator in the frame；Opposite side in the frame is provided with the 3rd electricity Machine；The 9th synchronous pulley is connected with the output shaft of 3rd motor；The synchronized band of 9th synchronous pulley is with being fixed on The tenth synchronous pulley connection of screw mandrel lower end.

In the embodiment of the utility model one, the mechanical arm driving device include respectively correspond to first motor, The first motor driver, the second motor driver and the 3rd motor that second motor and the 3rd motor are connected drive Dynamic device.

In the embodiment of the utility model one, the moving device includes an aluminum alloy base；The Three Degree Of Freedom machinery Arm, the second controller and second radio communication device may be contained within the aluminum alloy base upper surface；The aluminium Alloy base lower surface front left is provided with the first dc motor, and the anterior right side in lower surface is provided with the second direct current drive Machine；First dc motor is provided with what is be connected with the second controller with the end of second dc motor Photoelectric encoder；The output shaft of first dc motor is connected with 1 the 11st synchronous pulley；Second direct current drive The output shaft of machine is connected with 1 the 12nd synchronous pulley；The synchronized band connection of 11st synchronous pulley is to 1 the 13rd band Wheel；13 belt wheel and the first driving wheel that aluminum alloy base lower surface front left is arranged at through the first connection component It is fixedly connected；The synchronized band connection of 12nd synchronous pulley is to 1 the 14th belt wheel；14 belt wheel through second with connecting The second driving wheel that connected components are arranged at the anterior right side in the aluminum alloy base lower surface is fixedly connected；Under the aluminum alloy base End face rear portion is provided with a pair of universal wheels.

In the embodiment of the utility model one, the moving device driver include respectively with first dc motor And the DC motor Driver unit that second dc motor is connected.

In the embodiment of the utility model one, the tracking device includes being arranged at the aluminum alloy base lower surface front portion The first infrared sensor to the 4th infrared sensor；First infrared sensor to the 4th infrared sensor from a left side to The right side is set at equal intervals successively.

In the embodiment of the utility model one, the second controller is also used to detect the moving device driving with one Device, the mechanical arm driver, the tracking device, second radio communication device and second controller temperature fortune The temperature sensor of row environment temperature and a heat-sink unit for being used to radiate are connected.

Compared to prior art, the utility model has the advantages that：

1. the utility model devises a kind of system of robot for assisting mail clerk to carry out express mail distribution suitable for office for incoming and outgoing mail System, mail clerk's labor intensity can be mitigated using the system, express mail distribution efficiency is improved, realize that distribution procedure automates.

2. the robot express mail dissemination system in the utility model design has three critically important functions, i.e., accurate fixed Express mail, rapid extraction express mail and steadily carry express mail in position.So novelty of the utility model design with distinctness, to a certain degree On may advantageously facilitate the development and application of China Logistics robot technology.

3. the robot body in the utility model design uses the relatively simple three freedom degree manipulator of structure and four Wheel dolly is combined into so that whole robot architecture is compact firm, concise.Fully according to their structural principle, hair Respective function is waved, robot has been effectively ensured and has completed express mail distributed tasks.

4. in the robot express mail dissemination system of the utility model design, robot mobile route is used parallel to shelf Elliptical orbit, detect the track using 4 infrared sensors, robot can move quickly into express mail present position to be taken and carry Take express mail and smoothly return.

5. the robot body in the utility model design is conventional using lead screw guide rails, multigroup timing belt, decelerator etc. Transmission mechanism, transmission efficiency, four motions of whole robot are made up of these mechanisms：Lifting, rotation, flexible and shifting It is dynamic, so as to drive robot to complete express mail distribution procedure, and perform rapid, stabilized structure.

6. the linear telescopic motion of the robot body end effector in the utility model design only need to be by a step Stepper motor is driven by two groups of synchronous belt drive mechanisms, using can not only be used for elevation and subsidence mechanical arm but also as rotating mechanical arm Cylinder mechanism lifts and rotary motion to drive end effector.Above two structure design reduces answering for mechanical structure Miscellaneous degree, whole robot volume is set to diminish, it is in light weight.

7. the robot system in the utility model design has intelligent heat dissipation function, by comparing temperature inside slave computer Degree and system set point temperature, carry out automatic start and close radiator fan, while the environment of one safety of system is maintained, and Also achieve energy-conserving and environment-protective.

8. the robot body in the utility model design mixes formula stepping motor using five, small with step angle, Rotating torque is big, and Acceleration and deceleration time is short, the advantages such as Dynamic Inertia is low, so as to reach stepless speed regulation and pinpoint purpose.

9. the present invention design in robot body using lorry be used as travel mechanism, stable movement, quickly, hold Loading capability is big.

Brief description of the drawings

Fig. 1 is that the robot express mail being applied in the embodiment of the utility model one in express delivery office for incoming and outgoing mail distributes control system knot Structure schematic diagram.

Fig. 2 is that the robot express mail that the embodiment of the utility model one is applied in express delivery office for incoming and outgoing mail is distributed four in control system Take turns dolly polycrystalline substance schematic diagram.

Fig. 3 is that the robot express mail being applied in the embodiment of the utility model one in express delivery office for incoming and outgoing mail is distributed in control system Circuit system block diagram.

Fig. 4 is that the I/O interfaces of the single-chip microcomputers of slave computer Arduino mega 2560 in the embodiment of the utility model one take Situation schematic diagram.

Fig. 5 is that the I/O interfaces of the single-chip microcomputers of host computer Arduino mega 2560 in the embodiment of the utility model one take Situation schematic diagram.

Fig. 6 is that express mail positioning is schemed during robot express mail distribution sense in the embodiment of the utility model one.

Fig. 7 is robot express mail dissemination system control flow chart in the embodiment of the utility model one.

Fig. 8 is robot express mail dissemination system human-computer interaction interface figure in the embodiment of the utility model one.

Fig. 9 is direct current generator circuit diagram in the embodiment of the utility model one.

Figure 10 is stepper motor circuit diagram in the embodiment of the utility model one.

Figure 11 is end effector of robot linear telescopic motion structure figure in the embodiment of the utility model one.

Figure 12 is heat-sink unit circuit theory diagrams in the embodiment of the utility model one.

【Label declaration】：1- host computers；2- slave computers；The stepper motors of 3- first；The stepper motors of 4- second；The steppings of 5- the 3rd Motor；The decelerators of 6- first；The decelerators of 7- second；The synchronous pulleys of 8- first；The synchronous pulleys of 9- second；The synchronous pulleys of 10- the 9th； The synchronous pulleys of 11- the tenth；The synchronous pulleys of 12- the 3rd；The synchronous pulleys of 13- the 4th；The synchronous pulleys of 14- the 5th；The timing belts of 15- the 6th Wheel；The synchronous pulleys of 16- the 7th；The synchronous pulleys of 17- the 8th；18- guide rails；19- screw mandrels；20- lifting platforms；21- toothed discs；22- silks Stem nut；23- radiator fans；24- rotating mechanical arms；25- end effectors；26- telescopic mechanical arms；27- end mechanical arms； 28- casings；29- driving wheels；30- universal wheels；31- aluminium alloy bicycle frames；The dc motors of 32- first；The direct current drives of 33- second Machine；34- first positions encoder；35- second places encoder；The synchronous pulleys of 36- the 11st；The synchronous pulleys of 37- the 12nd； The synchronous pulleys of 38- the 13rd；The synchronous pulleys of 39- the 14th；40- infrared sensors.

Embodiment

Below in conjunction with the accompanying drawings and existing software or control method, the technical solution of the utility model is carried out specifically It is bright.Involved existing software or control method in the declarative procedure, are not the object that the utility model is protected, this reality With the new structure and its annexation for only protecting the device.

The utility model is provided in a kind of robot express mail distribution control system, including one being applied in express delivery office for incoming and outgoing mail Position machine and a slave computer.Host computer include an Arduino control units, parameter setting and monitoring unit, express mail positioning unit, NRF905 wireless communication units.Slave computer includes another Arduino control units, another nRF905 wireless communication units, stepping Electric-motor drive unit, position-limiting unit, initial position reset unit, heat-sink unit, DC motor drive unit, tracking unit, Slave computer power supply unit, three freedom degree manipulator and lorry.

Further, in the present embodiment, host computer be responsible for system parameter setting, monitoring robot running status and downwards Position machine sends manipulation order, the control command that slave computer transmits according to host computer, and direct control machine people simultaneously obtains robot shape State information.Parameter setting and monitoring unit, express mail location parameter and system command, liquid crystal display real-time display machine are set by keyboard Device people tracking and positioning scenarios, translational speed and controller temperature.Express mail positioning unit, opened according to the photoelectricity on shelf Close and determine each numbering express mail in the X direction（Along shelf length direction）Coordinate, determine that numbering is fast per layer height according to shelf Part is in z-direction（Along pallet height direction）Coordinate, position of so each express mail in shelf determines that. NRF905 wireless communication units, realize the data exchange between host computer and slave computer.

Wherein, the Arduino control units in host computer and slave computer, using the single-chip microcomputers of arduino mega 2560 Pass through nRF905 wireless communication modules as respective core processor, between them and carry out data exchange.Host computer is responsible for System parameter setting, monitor robot running status and send manipulation order to slave computer.Slave computer is as real-time control system, root The control command transmitted according to host computer, direct control machine people simultaneously obtain robot health information.

Parameter setting and monitoring unit, namely display input block, including LCD12864,4X4 matrix film keyboard.Pass through Keyboard sets express mail location parameter and system command, using being arranged at DC motor drive cell position encoder read machine People shift position and speed, using in heat-sink unit DS18B20 read slave computer temperature, and these data real-time displays in On LCD12864.It is thus enough into good human-computer interaction interface, facilitate operator to manipulate and understand robot work at any time State, ensure that robot manipulating task process in order, is smoothly carried out.

Express mail positioning unit, including multiple photoelectricity switchs, they are equidistantly mounted side by side on shelf along shelf length direction On.It is determined that during express mail position, it is numbered first to each express mail, then according to the optoelectronic switch being arranged on shelf It is determined that each numbering express mail is in the X direction（Along shelf length direction）Coordinate, according to shelf per layer height determine numbering express mail In z-direction（Along pallet height direction）Coordinate, position of so each express mail in shelf determines that；It is as long as last Control machine people is moved to reference numeral along the default oval black path locus parallel to shelf on ground are arranged at Express mail point can is extracted this number express mail and is sent at mail clerk.

NRF905 wireless communication units, including two nRF905 wireless communication modules, pass through the phase with Arduino single-chip microcomputers Critical point is connected, and realizes the data exchange between host computer and slave computer, coordinates whole robot dissemination system, realizes to express mail Positioning, extraction and carrying.

Further, in the present embodiment, driving stepper motor unit, by the corner, the rotating speed that control each stepper motor And steering, so as to drive the coordination between elevation and subsidence mechanical arm in three freedom degree manipulator, rotating mechanical arm and telescopic mechanical arm to transport It is dynamic, realize the automation of robot express mail extraction process.Position-limiting unit, the range of movement of each free degree of limit mechanical hand, protection Robot manipulator structure.Initial position reset unit, slave computer drive each mechanical arm in three freedom degree manipulator first to move to limit position Put, initial position is then returned to according to each mechanical arm of switching signal driving manipulator of limit switch.Heat-sink unit, pass through detection Whether controller internal temperature reaches the temperature of default to automatically control the startup of radiator fan and closing, so as to be dissipated Heat.DC motor drive unit, by controlling steering and the rotating speed of direct current generator, to drive robot movement and commutation.Follow Mark unit, the black line path on ground is identified using infrared sensor, to ensure that robot moves along desired guiding trajectory all the time It is dynamic.Slave computer power supply unit, respectively to Arduino control units, driving stepper motor unit, DC motor drive unit, Heat-sink unit etc. is powered, the energy supply module as whole robot system.Three freedom degree manipulator structure includes multigroup same Walk tape handler, reducing gear, lead screw guide rails mechanism, lifting platform, elevation and subsidence mechanical arm, telescopic mechanical arm, rotating mechanical arm, end Mechanical arm, end effector and three five phase stepping motors are held, is driven by the cooperation of each mechanism, finally drives end End actuator is vertically moved up or down in space, circumgyration and horizontal stretching motion, so as to realize the crawl to express mail.Four-wheel is small Car carries whole fuselage and drives Robot desired guiding trajectory to move, its structure includes aluminum alloy bottom plate, one as travel mechanism To driving wheel, a pair of universal wheels, two groups of synchronous belt drive mechanisms and two high pulling torque dc motors with encoder.

Wherein, driving stepper motor unit, including for driving three group of five stepping for mixing formula stepper motor electricity respectively Machine driver.This 5 mixes that formula stepper motor step angle is small, and Acceleration and deceleration time is short, and Dynamic Inertia is low, have higher precision and Torque, the switching of pulse or dipulse control model can be achieved, when selecting mono pulse control mode, pass through the correlation of single-chip microcomputer I/O mouths are connected with the direction signal and pulse signal mouth of stepper motor driver, the pulse signal control of pulse signal end input Motor corner and rotating speed processed, the low and high level signal control motor of direction signal end input turn to.By controlling each stepper motor Corner, rotating speed and steering, so as to drive elevation and subsidence mechanical arm in three freedom degree manipulator, rotating mechanical arm and telescopic mechanical arm it Between the coordinated movement of various economic factors, realize the automation of robot express mail extraction process.

Position-limiting unit, including three pairs of limit switches, are separately mounted on the three degree of freedom of manipulator, pass through single-chip microcomputer Related I/O mouths are connected with limit switch interface, the range of movement of each free degree of limit mechanical hand, stretching for manipulator are effectively ensured Contracting motion, rotary motion and elevating movement are unlikely to exceed limited range of movement, and safe guarantor is played to robot manipulator structure Shield acts on.

Initial position reset unit, including three limit switches, the i.e. limit switch of position-limiting unit kind, they are respectively with Position machine Arduino correlation I/O mouths are connected, and when receiving the reset instruction that host computer transmits, slave computer will drive three certainly Extreme position is first moved to by each mechanical arm in degree manipulator, then according to each machine of switching signal driving manipulator of limit switch Tool arm returns to initial position.

Heat-sink unit, including radiator fan, DS18B20 temperature sensors and relay etc..Relay, DS18B20 difference I/O mouths related to slave computer Arduino single-chip microcomputers are connected, by detecting whether controller internal temperature reaches default Temperature automatically control the startup of radiator fan and closing, slave computer is carried out using forced convertion that radiator fan is brought more Layer radiating.

DC motor drive unit, including for driving the L298N of two high pulling torque dc motors with encoder DC motor Driver module.The high pulling torque dc motor moment of torsion with encoder is big, and response is fast, and Acceleration and deceleration time is short, dynamic Inertia is low, and the control to motor is realized using PWM speed adjusting techniques, passes through related I/O mouths and the L298N drive modules of single-chip microcomputer On IN1, IN2, IN3, IN4 interface be connected, the steering of controlled motor, driven by the related I/O mouths of single-chip microcomputer and L298N ENA, ENB interface in module is connected, the rotating speed of controlled motor.By controlling rotating speed and the steering of each direct current generator, so as to Drive robot movement.

Tracking unit, including provided beside, in 4 infrared sensors of dolly chassis front end, number consecutively is from left to right No. 1, No. 2, No. 3 and No. 4.They are connected by I/O mouths related to slave computer Arduino single-chip microcomputers, to the black line on ground It is identified.When robot moves, the black line on ground is remained between No. 2 and No. 3 infrared sensors, when robot is inclined During from black line, No. 2 or No. 3 sensors will not receive the infrared light reflected, and now control system responds immediately, right Robot moving direction is corrected.If because inertia is excessive, robot has run off the detection of No. 2 and No. 3 infrared sensors Scope, at this moment No. 1 and No. 4 infrared sensors do not receive infrared light, system is equally corrected to the moving direction of robot. So pass through 4 infrared sensors, you can realize that Robot desired guiding trajectory moves.In order to ensure that robot can be moved quickly Return to express mail present position to be taken and smoothly.It is preferred that elliptical orbit can be set along parallel to shelf length direction.

Slave computer power supply unit, including 4 12 V battery, 6 No. 5 batteries and button switch, respectively to slave computer Arduino control units, driving stepper motor unit, DC motor drive unit, heat-sink unit etc. are powered, as whole machine The energy supply module of device people's system.

Multigroup synchronous belt drive mechanism, including it is the first synchronous pulley, the second synchronous pulley, the 3rd synchronous pulley, the 4th same Walk belt wheel, the 5th synchronous pulley, the 6th synchronous pulley, the 7th synchronous pulley, the 8th synchronous pulley, the 9th synchronous pulley, the tenth Synchronous pulley and supporting timing belt.First synchronous pulley, the second synchronous pulley, which are realized, turns the rotation of the first step motor shaft It is changed to the rotation of guide rail；3rd synchronous pulley, the 4th synchronous pulley are realized is converted to turning for rotating mechanical arm guide rail It is dynamic；5th synchronous pulley, the 6th synchronous pulley realize the rotation for being converted to end mechanical arm telescopic mechanical arm；The Seven synchronous pulleys, the 8th synchronous pulley realize the rotation for being converted to end effector end mechanical arm；9th is same Step belt wheel, the tenth synchronous pulley realize the rotation for being converted to screw mandrel the second stepper motor.

Reducing gear, including the first decelerator and the second decelerator, reduce the first stepper motor, the second stepping for realizing Motor output shaft speed and increase motor driving moment, reduce the inertia of load while deceleration, and inertia is reduced to Square of fast ratio, the slowing-down structure is compact, and backhaul gap is small, precision is higher, and service life is very long, there is larger specified torsion Square output shaft.

Lead screw guide rails mechanism, including screw mandrel, feed screw nut and guide rail etc., feed screw nut is driven along silk by the rotation of screw mandrel Bar moves up and down so that lifting platform drives elevation and subsidence mechanical arm to move up and down.

Lifting platform, elevation and subsidence mechanical arm, telescopic mechanical arm, rotating mechanical arm and end mechanical arm, elevation and subsidence mechanical arm drive End effector moves up and down in vertical plane；Rotating mechanical arm drives end effector to rotate in the horizontal plane；Pass through 5th synchronous pulley, the 6th synchronous pulley, the 7th synchronous pulley, the 8th synchronous pulley and the transmission of end mechanical arm motion, Telescopic mechanical arm will drive end effector to make horizontal rectilinear motion.Finally, moved by their cooperations, complete machine jointly The express mail crawl operation of tool hand space.

End effector, by the way of parallel shovel takes, realize steady, rapid holding express mail.

Three five phase stepping motors, all using Japan Oriental vexta products, motor supply voltage is all 24V, specified turn Speed is 1000rpm, and maximum moment meets robot drives requirement up to 12.5N.m.The five phases stepping motor has step angle Small, Acceleration and deceleration time is short, and Dynamic Inertia is low, high accuracy and the features such as big torque.They are separately mounted in manipulator, as machine Power source in three directions of motion of tool hand.

Aluminum alloy bottom plate, plate body use aluminum alloy materials, and a length of 0.6m of plate, a width of 0.4m of plate, the thickness of plate is 0.02m, As robot bottom plate, for supporting whole fuselage.

Driving wheel and universal wheel, including two driving wheels and two universal wheels, they are respectively installed in robot bottom plate Front and back end.Driving wheel is by high pulling torque DC motor drive；Universal wheel coordinates driving wheel band mobile robot to move as supporting roller It is dynamic.

Two groups of synchronous belt drive mechanisms, including the 11st synchronous pulley, the 12nd synchronous pulley, the 13rd synchronous pulley, 14th synchronous pulley and supporting timing belt, every group of synchronous belt mechanism pass the power that each self-corresponding dc motor exports Corresponding driving wheel is passed, so as to drive whole robot to move.

Two high pulling torque dc motors with encoder, it is planet-gear speed reducing motor, afterbody is equipped with photoelectric encoder, Resolution ratio is 334 lines, and motor supply voltage is 24V, rated moment 6N.m, and maximum (top) speed meets robot up to 200rpm Requirement of system design.

Further, as shown in Figure 7：First, control system is started, system enters initialization；Then, according to Fig. 6 to The location parameter of numbering express mail is set and opens monitoring system, as shown in figure 8, wherein " Y " represents that robot tracking is correct Or be accurate to up to target location, error prompting " N " otherwise occurs；Finally, by pressing correlation function key in lower keyboard, control machine Device people makes corresponding action.When pressing start key, robot begins to work, and its course of work is as follows：First, robot Moved from origin along parallel to the elliptic orbits of shelf, when reaching express mail present position to be taken, to the optoelectronic switch that should locate just It can sense, now, slave computer responds immediately, robot is stopped movement, and according to default control mode, pass through Three freedom degree manipulator starts to extract express mail；Then, robot carries express mail and returns to origin along elliptic orbit；Finally, mail clerk Express mail is removed, when to carry out pickup next time, resets express mail location parameter.

Further, walk in the present embodiment, multigroup synchronous belt drive mechanism includes following 7 groups：1st, the and of the first synchronous pulley 8 Second synchronous pulley 9；2nd, with the 3rd step belt wheel 12 and the 4th synchronous pulley 13；3rd, the 5th synchronous pulley 14 and the 6th synchronous pulley 15；4th, the 7th synchronous pulley 16 and the 8th synchronous pulley 17；5th, the 9th synchronous pulley 10 and the tenth synchronous pulley 11；6th, the ten one The synchronous pulley 37 of synchronous pulley 36 and the 12nd；7th, the 13rd synchronous pulley 38 and the 14th synchronous pulley 39.1st group： The rotation for being converted to guide rail of one step motor shaft, gearratio Z1:Z2=1:1；2nd group：The rotation of guide rail is converted to The rotation of rotating mechanical arm, gearratio Z3:Z4=1:2；3rd group：The rotation of telescopic mechanical arm is converted to end mechanical arm Rotation, gearratio Z5:Z6=2:1；4th group：The rotation for being converted to end effector of end mechanical arm, pass Dynamic ratio is Z7:Z8=1:2；5th group：The rotation for being converted to screw mandrel of the second stepper motor, gearratio Z9:Z10=4: 5；6th, 7 group：The rotation for being converted to driving wheel of direct current drive arbor.Reducing gear, for realize reduce first with And second stepper motor output shaft speed and increase motor driving moment.Lead screw guide rails mechanism, silk is driven by the rotation of screw mandrel Stem nut moves up and down along screw mandrel so that lifting platform drives elevation and subsidence mechanical arm to move up and down.Lifting platform, elevation and subsidence mechanical arm, stretch Contracting mechanical arm, rotating mechanical arm and end mechanical arm, elevation and subsidence mechanical arm drive end effector to lift in vertical plane Motion；Rotating mechanical arm drives end effector to rotate in the horizontal plane；Pass through the 5th synchronous pulley, the 6th synchronous pulley, The transmission of seven synchronous pulleys, the 8th synchronous pulley and end mechanical arm motion, telescopic mechanical arm will drive end effector to make Horizontal rectilinear motion.

Further, walk in the present embodiment, three freedom degree manipulator control method is as follows：

Stretching motion is driven：5th synchronous pulley 14 is fixed in elevation and subsidence mechanical arm 24, is stretched when the 3rd stepper motor 5 drives When mechanical arm 26 rotates, the 6th synchronous pulley 15 will form revolution relative to elevation and subsidence mechanical arm 24 and autobiography, due to end machine Tool arm 27 is fixed in the 6th synchronous pulley 15, and then end mechanical arm 27 is synchronous with the rotation of the 6th synchronous pulley 15 turns Dynamic, then end mechanical arm 27 rotates 26, and direction of rotation and the OQ t machine of telescopic mechanical arm 26 relative to telescopic mechanical arm The direction of rotation of tool arm 24 is on the contrary, corner value is 2 times of the corner of telescopic mechanical arm 26（5th synchronous pulley 5 and the 6th timing belt The gear ratio of wheel is Z5:Z6=2:1）.7th synchronous pulley 16 is fixed in telescopic mechanical arm 26, when end mechanical arm 27 is relative When telescopic mechanical arm 26 rotates, the 8th synchronous pulley 17 will form revolution relative to telescopic mechanical arm 26 and autobiography, due to end End actuator 25 is fixed in the 8th synchronous pulley 17, then the opposing end portions mechanical arm 27 of end effector 25 rotates, and rotation side To the direction of rotation with the relative telescopic mechanical arm 26 of end mechanical arm 27 on the contrary, corner value is the corner of end mechanical arm 27 1/2（The gear ratio of 7th synchronous pulley and the 8th belt wheel is Z7:Z8=1:2).According to the calculating of corner vector sum, end performs The corner of the OQ t mechanical arm 24 of device 25For telescopic arm angle, end mechanical arm angleAnd end effector CornerVector, therefore when the 3rd stepper motor 5 drives flexible machinery through the second decelerator 7 When arm 26 rotates, end effector does not rotate relative to elevation and subsidence mechanical arm all the time, only moves linearly.That is the 3rd stepper motor passes through The intermediate transmission mechanisms such as the second decelerator, telescopic mechanical arm, end mechanical arm, two groups of toothed belt transmissions driving end effector Make horizontal rectilinear motion.

Rotary motion is driven mechanism：First stepper motor 3 passes through the first synchronous pulley, the second synchronization through the first decelerator 6 Drive guide rail 18 to rotate, because the 3rd synchronous pulley 12 can not rotate around guide rail 18, but can be moved up and down along guide rail 18, therefore 3rd synchronous pulley 12 and guide rail synchronous axial system, the transmission through the 4th synchronous pulley 13 so as to drive rotating mechanical arm 24 to rotate, That is the first stepper motor is through the first decelerator, the first synchronous pulley, the second synchronous pulley, the 3rd synchronous pulley, the 4th timing belt The intermediate transmission mechanisms such as wheel driving rotating mechanical arm rotates.

Elevating movement is driven mechanism：Second stepper motor 4 is driven by the transmission of the 9th synchronous pulley, the tenth synchronous pulley Screw mandrel 19 rotates, so as to which drive screw nut 22 moves up and down along screw mandrel, because lifting platform 20 and feed screw nut 22 are connected, therefore Lifting platform 20 synchronously moves up and down with feed screw nut 22, so as to drive elevation and subsidence mechanical arm 24 to lift, that is, walks the second stepper motor through The intermediate transmission mechanisms such as nine synchronous pulleys, the tenth synchronous pulley, leading screw, lifting platform driving elevation and subsidence mechanical arm makees elevating movement.

In summary, above three moves, and linear motion, rotary motion, elevating movement, cooperates cooperation so that three Free degree manipulator end effector can complete transport operation in certain space.

Lorry structural principle：Dolly vehicle body uses four-wheel car body, coordinates aluminium alloy to have light, hard as vehicle frame Gu the features such as.Whole vehicle body movement aids in the mobile configuration mode of front-wheel drive using trailing wheel：Two-wheeled is as two before vehicle body Independent driving wheel, pass through the 11st synchronous pulley, the 12nd synchronous pulley, the tenth by two high pulling torque dc motors respectively Three synchronous pulleys, the 14th synchronous pulley driving mechanism are operated alone, and the direction of motion of vehicle body is controlled using their speed discrepancy； And trailing wheel is then two universal wheels, they play a part of supporting vehicle body as supporting roller.This configuration mode is simple in construction, It is easily controllable, and when two driving wheel constant speed, rotate backward when, vehicle body can only around the midpoint of the two driving wheel lines from Turn, be easy to position and commutate.

Driving wheel and universal wheel, it is respectively installed in the front and back end of robot bottom plate.Driving wheel is by high pulling torque direct current drive Machine drives；Universal wheel coordinates driving wheel band mobile robot to move as supporting roller.Two groups of synchronous belt drive mechanisms, including Synchronous pulley 11,12,13,14 and supporting timing belt, every group of synchronous belt mechanism export each self-corresponding dc motor Power passes to corresponding driving wheel, so as to drive whole robot to move.Described two high pulling torque direct currents with encoder Motivation, afterbody are equipped with photoelectric encoder, and resolution ratio is 334 lines, and motor supply voltage is 24V, rated moment 6N.m, and maximum turns Scooter 200rpm, meet robot system design requirement.

Above is preferred embodiment of the present utility model, all changes made according to technical solutions of the utility model are produced Function without departing from technical solutions of the utility model scope when, belong to the scope of protection of the utility model.

Claims (9)

1. a kind of be applied to the robot that express mail is distributed in express delivery office for incoming and outgoing mail, it is characterised in that including：Robot remote control is single Member and robot cell；The robot remote control device includes：One first controller and with the first controller phase The express mail positioner, display input device, the first radio communication device that are arranged at shelf lateral wall in express delivery office for incoming and outgoing mail even； The robot cell includes：One moving device, one are arranged at the three-freedom mechanical arm of front side, one at the top of the moving device and set It is placed in the second controller of the moving device top rear, one is arranged at the moving device top rear and for driving the row Enter the moving device driver of device, one be arranged at the moving device top rear and for driving the three-freedom mechanical arm Mechanical arm driver, be arranged at the second radio communication device of the moving device top rear, be arranged at the moving device bottom The tracking device coordinated on front side of portion and with being arranged at the black line path on ground；The moving device driver, the mechanical arm drive Dynamic device, the tracking device and second radio communication device are connected with the second controller；Described first is wireless Communicator matches with second radio communication device.

A kind of 2. robot for being applied to express mail distribution in express delivery office for incoming and outgoing mail according to claim 1, it is characterised in that institute State the first controller and use the single-chip microcomputers of arduino mega 2560, first radio communication device uses nRF905 channel radios Believe module；The express mail positioner includes the optoelectronic switch set at equal intervals along every layer of shelf lateral wall length direction；It is described Display input device includes a LCD12864 and a 4*4 matrix film keyboards；The second controller uses arduino mega 2560 single-chip microcomputers, second radio communication device use nRF905 wireless communication modules.

A kind of 3. robot for being applied to express mail distribution in express delivery office for incoming and outgoing mail according to claim 1, it is characterised in that institute Stating three-freedom mechanical arm includes a frame；Side longitudinal direction in the frame can be with respect to the splined shaft of gantry rotation provided with one； The opposite side longitudinal direction of the frame can be with respect to the screw mandrel of gantry rotation provided with one；A lifting nut is equipped with the screw mandrel；Institute State and a lifting platform being slidably connected with the splined shaft is fixed with lifting nut；Positioned at the lifting platform lower end of the splined shaft side Provided with a U shape grooves；The 3rd synchronous pulley coordinated with the splined shaft spline slide is provided with the U shapes groove；It is described The synchronized band driving one of 3rd synchronous pulley horizontally disposed and positioned at lifting platform bottom the 4th synchronous pulley with it；Described 4th The output shaft of synchronous pulley is connected with a gear tray bottom positioned at the lifting platform upper end；The upper surface of the toothed disc and one Turning arm connects；The turning arm top is hinged with a telescopic mechanical arm one end；The telescopic mechanical arm other end and an end Mechanical arm one end is hinged；The end mechanical arm other end is hinged with one to carry the end effector of express mail to be taken； One second motor is provided with the turning arm；Second motor output shaft is through one second decelerator and the telescopic mechanical arm One end connection；The interior side that is connected with second decelerator of the telescopic mechanical arm is provided with one the 5th synchronous pulley, and opposite side is set There is the 6th synchronous pulley that synchronized band is connected with the 5th synchronous pulley；5th synchronous pulley and the turning arm Upper end is connected；6th synchronous pulley and a side of the end mechanical arm are connected；In the end mechanical arm with The connected side of 6th synchronous pulley is provided with one the 7th synchronous pulley, and opposite side is connected provided with synchronized band with the 7th synchronous pulley The 8th synchronous pulley；8th synchronous pulley is connected with end effector；7th synchronous pulley is stretched with described Another side of contracting mechanical arm is connected.

A kind of 4. robot for being applied to express mail distribution in express delivery office for incoming and outgoing mail according to claim 3, it is characterised in that institute The bottom for stating splined shaft is fixed with one second synchronous pulley；The synchronized band of second synchronous pulley and the side in the frame The first synchronous pulley connection of side；First synchronous pulley is connected to one the through first decelerator in the frame The output shaft of one motor；Opposite side in the frame is provided with the 3rd motor；Is connected with the output shaft of 3rd motor Nine synchronous pulleys；The synchronized band of 9th synchronous pulley is connected with being fixed on the tenth synchronous pulley of screw mandrel lower end.

A kind of 5. robot for being applied to express mail distribution in express delivery office for incoming and outgoing mail according to claim 4, it is characterised in that institute Stating mechanical arm driving device includes corresponding to what is with first motor, second motor and the 3rd motor be connected respectively First motor driver, the second motor driver and the 3rd motor driver.

A kind of 6. robot for being applied to express mail distribution in express delivery office for incoming and outgoing mail according to claim 1, it is characterised in that institute Stating moving device includes an aluminum alloy base；The three-freedom mechanical arm, the second controller and described second wireless Communicator may be contained within the aluminum alloy base upper surface；It is straight that aluminum alloy base lower surface front left is provided with first Motor is flowed, the anterior right side in lower surface is provided with the second dc motor；First dc motor and second direct current The end of motor is provided with the photoelectric encoder being connected with the second controller；The output of first dc motor Axle is connected with 1 the 11st synchronous pulley；The output shaft of second dc motor is connected with 1 the 12nd synchronous pulley；Institute State the 11st synchronized band connection of synchronous pulley to 1 the 13rd belt wheel；13 belt wheel through the first connection component with being arranged at First driving wheel of aluminum alloy base lower surface front left is fixedly connected；The synchronized band of 12nd synchronous pulley connects It is connected to 1 the 14th belt wheel；14 belt wheel is anterior right with being arranged at the aluminum alloy base lower surface through the second connection component Second driving wheel of side is fixedly connected；Aluminum alloy base lower surface rear portion is provided with a pair of universal wheels.

A kind of 7. robot for being applied to express mail distribution in express delivery office for incoming and outgoing mail according to claim 6, it is characterised in that institute State the direct current that moving device driver includes with first dc motor and second dc motor being connected respectively Electric-motor drive unit.

A kind of 8. robot for being applied to express mail distribution in express delivery office for incoming and outgoing mail according to claim 6, it is characterised in that institute Stating tracking device includes being arranged at anterior the first infrared sensor to the 4th infrared sensor in the aluminum alloy base lower surface； First infrared sensor to the 4th infrared sensor is set at equal intervals successively from left to right.

A kind of 9. robot for being applied to express mail distribution in express delivery office for incoming and outgoing mail according to claim 1, it is characterised in that institute Second controller is stated also to be used to detect the moving device driver, the mechanical arm driver, the tracking device, institute with one The temperature sensor and one for stating the second radio communication device and the second controller temperature operating ambient temperature are arranged at The second controller side and for radiate heat-sink unit be connected.