CN207087887U - A kind of Intelligent transfer robot - Google Patents
A kind of Intelligent transfer robot Download PDFInfo
- Publication number
- CN207087887U CN207087887U CN201721049960.2U CN201721049960U CN207087887U CN 207087887 U CN207087887 U CN 207087887U CN 201721049960 U CN201721049960 U CN 201721049960U CN 207087887 U CN207087887 U CN 207087887U
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- Prior art keywords
- sensor
- transfer robot
- intelligent transfer
- robot body
- robot
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Abstract
The utility model discloses a kind of Intelligent transfer robot, including robot body, first sensor, second sensor, walking frame, rotary magnet, magnetic nail；First sensor and second sensor are uniformly installed on the surrounding of robot body, and rotary magnet is located at the middle part of robot body, and walking frame is located at the both sides of rotary magnet；Frame of walking includes transmission device, steering wheel, reductor；Transmission device, steering wheel and reductor are respectively positioned on walking inframe.Intelligent transfer robot disclosed in the utility model has the characteristics of carrying intellectuality, saving of time, precision.
Description
Technical field
Haulage equipment field is the utility model is related to, more particularly to a kind of Intelligent transfer robot.
Background technology
AGV (Automated Guided Vehicle, automatic transporting dolly) refers to magnetically or optically wait automatically equipped with electricity
It guiding device, can be travelled along defined guide path, there is dolly programming and lugs, safeguard protection and various transfers
The travelling bogie of function.Recently as modern logistics and correlation technique thing is widely used in China's high speed development, AGV
In streaming system and flexible manufacturing system, it efficiently, fast, flexibly, substantially increases production automation degree and production efficiency.
RFID (Radio Frequency Identification, radio frequency identification) guiding is a kind of advanced guidance mode, guides AGV
Dolly arranges that the magnetic nail of good position and RFID positioning are required using RFID scanner and in advance around AGV trolley travellings region
Basic environment, mainly complete the tasks such as path planning, positioning and avoidance.
But existing AGV dollies include car body, are installed on the universal wheel of vehicle bottom, but the carrying work(of the AGV dollies
Can be not intelligent enough；In addition, number of patent application for " 93105031.6 " patent in, disclose a kind of multi-storey parking area or
The combed access mechanism of storing field, the mechanism mainly by transverse-moving trolley, access chassis and combed elevator group into, but should
The intelligence degree of class combed haulage equipment is relatively low, it is necessary to lay walking track and connection service cable, this is just difficult to car
Colleges and universities' operating in storehouse, and then do not reach intelligent parking truly, so as to cause its carrying also not accurate enough.
Utility model content
The defects of in order to overcome prior art, technical problem to be solved in the utility model are to propose that a kind of intelligence is removed
Transport robot, to solve the problems, such as in the prior art there is the intelligence degree of haulage equipment it is relatively low, carry it is not accurate enough.
To use following technical scheme up to this purpose, the utility model：
The utility model provides a kind of Intelligent transfer robot, including robot body, first sensor, the second sensing
Device, walking frame, rotary magnet, magnetic nail；The first sensor and the second sensor are uniformly installed on the robot
The surrounding of body, the rotary magnet are located at the middle part of the robot body, and the walking frame is located at the rotating electromagnetic
The both sides of iron；
The walking frame includes transmission device, steering wheel, reductor；The transmission device, the steering wheel and the reductor
It is respectively positioned on the walking inframe.
Alternatively, the transmission device includes step-servo motor, ball screw and for driving the stepping servo electricity
The driver of machine, the clutch end of the step-servo motor are connected with the ball leading screw driving, the driver and institute
State step-servo motor electrical connection.
Alternatively, in addition to for anticollision safety detection device；
The safety detection device is located at the both ends of the robot body；
The safety detection device includes the ultrasonic scanning or noctovisor scan for being used to anticollision.
Alternatively, in addition to input/output unit, controller；
The input/output unit is electrically connected with the controller.
Alternatively, the input/output unit includes button, audio output device and is external in outside the robot body
The remote control in portion；
The button and the audio output device are electrically connected with the controller.
Alternatively, in addition to be installed in the robot body magnetic induction plate, be installed in the robot body
Magnetic induction switch.
Alternatively, in addition to it is installed on the electric supply installation of the robot body bottom；
The electric supply installation is provided with charging inlet and Electromagnetic bolt；
The charging latch is electrically connected with the charging inlet.
Alternatively, the quantity configuration of the first sensor is one；
The quantity configuration of the second sensor is eight.
Alternatively, the first sensor is RFID radio frequency identification site sensors；
The second sensor is diffusing reflection type sensor.
The beneficial effects of the utility model are：
A kind of Intelligent transfer robot provided by the utility model, it is handled upside down when Intelligent transfer robot is run to below car
When, when first sensor senses magnetic nail, Intelligent transfer robot stop motion, while unclamp rotary magnet, then steering wheel
To two lateral movements；When second sensor senses steering wheel stopping action, while release the claw beam and side wheel for being handled upside down car.First
Sensor is located at the central side of robot body, and second sensor is uniformly distributed in four angles of robot body, each
Angle is distributed two.The whole process that Intelligent transfer robot is completed to carry has intellectuality, more saving of time, precision
Feature.
Brief description of the drawings
Fig. 1 is a kind of structural representation of the top view for Intelligent transfer robot that the utility model embodiment provides
Figure；
Fig. 2 is that the structure of the top view for another Intelligent transfer robot that the utility model embodiment provides is shown
It is intended to；
Fig. 3 is that the structure of the top view for another Intelligent transfer robot that the utility model embodiment provides is shown
It is intended to；
Fig. 4 is a kind of Intelligent transfer robot that the utility model embodiment provides and the relation for being handled upside down car
The structural representation of side view；
Fig. 5 is a kind of Intelligent transfer robot that the utility model embodiment provides and the relation for being handled upside down car
The structural representation of front view.
In figure：
1st, robot body；2nd, first sensor；3rd, second sensor；4th, walking frame；5th, rotary magnet；6th, magnetic is followed closely；
7th, safety detection device；8th, magnetic induction plate；9th, magnetic induction switch；10th, it is handled upside down car；11st, Intelligent transfer robot；42nd, steering wheel；
43rd, reductor；44th, driving wheel；410th, ball screw；411st, step-servo motor；412nd, driver；413rd, travelling gear.
Embodiment
Further illustrate the technical solution of the utility model below in conjunction with the accompanying drawings and by embodiment.
As depicted in figs. 1 and 2, the utility model provides a kind of Intelligent transfer robot 11, the Intelligent transfer robot
11 include robot body 1, first sensor 2, second sensor 3, walking frame 4, rotary magnet 5, magnetic nail 6；First sensing
Device 2 and second sensor 3 are uniformly installed on the surrounding of robot body 1, and rotary magnet 5 is located at the middle part of robot body 1,
Walking frame 4 is located at the both sides of rotary magnet 5；Frame 4 of walking includes transmission device 41, steering wheel 42, reductor 43；Transmission device
41st, steering wheel 42 and reductor 43 are respectively positioned in walking frame 4；Specifically handling process is：First sensor 2 senses magnetic nail 6
When, the stop motion of robot body 1, while unclamp rotary magnet 5, steering wheel 42 is to two lateral movements；Second sensor 3 senses
During 42 stop motion of steering wheel, the claw beam and side wheel for being handled upside down car 10 are released, rotary magnet 5 starts, and completion is handled upside down car 10
Front and rear stretching.Specifically, when Intelligent transfer robot 11, which is run to, is handled upside down 10 lower section of car, first sensor 2 senses
During magnetic nail 6, the stop motion of Intelligent transfer robot 11, while unclamp rotary magnet 5, then steering wheel 42 is to two lateral movements；When
When second sensor 3 senses the stopping of steering wheel 42 action, while the claw beam and side wheel for being handled upside down car 10 are released, wherein, it is specific real
Shi Zhong, the quantity configuration of first sensor 2 is one；The quantity configuration of second sensor 3 is eight.First sensor 2 is located at
The central side of robot body 1, second sensor 3 are uniformly distributed in four angles of robot body 1, each angle distribution two
It is individual.The side wheel of car 10 is handled upside down when only having one end to sense in the second sensor 3 of the rear and front end of robot body 1, then is stopped
That releases afterwards is handled upside down that one end of the action of the claw beam and side wheel of car 10, continues to start steering wheel 42 after release until the other end
Second sensor 3 senses the side wheel stopping action for being handled upside down car 10, and completion is handled upside down the post-tensioning forward of car 10, while releases this
The claw beam and side wheel of one end.The whole process that Intelligent transfer robot 11 is completed to carry has intellectuality, saving of time, more
The characteristics of precision.In addition, in specific implementation, also include driving wheel 44 in frame 4 of walking.Wherein, the quantity of rotary magnet 5 is matched somebody with somebody
It is set to two.
Alternatively, first sensor 2 is RFID radio frequency identification site sensors；Second sensor 3 is that diffusing reflection type passes
Sensor.
Alternatively, the Intelligent transfer robot 11 also include be installed in robot body 1 magnetic induction plate 8, be installed on
Magnetic induction switch 9 in robot body 1；When magnetic induction plate 8 senses magnetic induction switch 9, steering wheel 42 stops, rotating electromagnetic
Iron 5 starts.Wherein, the quantity of magnetic induction plate 8 and magnetic induction switch 9 is respectively configured as two.The magnetic induction shown in the accompanying drawings
The position of plate 8 and magnetic induction switch 9 is symmetrical.
After completing carrying task and waiting claw beam and side wheel to reclaim, steering wheel 42 is to intermediary movements, when magnetic induction plate 8 senses
To after magnetic induction switch 9, the stopping of steering wheel 42 action, while the rotary magnet 5 for starting both sides blocks front and rear two slide unit, completes quilt
The anteroposterior contraction of carrier 10.
Alternatively, transmission device 41 includes step-servo motor 411, ball screw 410 and for driving stepping servo electric
The driver 412 of machine 411, clutch end and the ball screw 410 of step-servo motor 411 are connected, driver 412 with
Step-servo motor 411 electrically connects.In specific implementation, transmission device 41 also includes travelling gear 413.
Alternatively, the Intelligent transfer robot 11 also includes the electric supply installation for being installed on the bottom of robot body 1；Power supply dress
Put and be provided with charging inlet and Electromagnetic bolt；The latch that charges is electrically connected with charging inlet.
Alternatively, the Intelligent transfer robot 11 also includes the safety detection device 7 for anticollision；Safety detection device 7
Positioned at the both ends of robot body 1；Safety detection device 7 includes the ultrasonic scanning or noctovisor scan for being used to anticollision.Peace
Full detection means 7 is used for out of service when Intelligent transfer robot 11 encounters barrier.In order to become apparent from safety detection device 7
Structure, Fig. 3 schematically illustrates the structural representation of another Intelligent transfer robot of the present utility model, wherein, Fig. 3
In show the structure of safety detection device 7.
In implementing above, specifically, after second sensor 3 senses the side wheel for being handled upside down car 10, steering wheel 42 stops
Action, while start step-servo motor 411, step-servo motor 411 is driven by ball screw, releases claw beam and side
Wheel, in specific implementation, due to the effect of Electromagnetic bolt, can first release claw beam, when magnetic induction plate 8 senses magnetic induction switch 9,
Projecting motion stops, and now claw beam is pushed out 250mm, while electricity lifts on Electromagnetic bolt, and delay continues to start to release for 0.5 second to be moved
Make, because Electromagnetic bolt lifts, what projecting motion now promoted is side wheel, electromagnetism after 1.5 seconds after second of startup projecting motion
Latch dead electricity, when noctovisor scan monitors that side wheel only has 15mm apart from the spacing of car tire inner wall, projecting motion stops, together
Shi Qidong claw beams are clamped action, start claw beam clamping motor by ball leading screw driving, by claw beam clamping force whole
Car 10 is handled upside down to lift.In specific implementation, claw beam clamping motor can be four.
After Intelligent transfer robot 11 completes carrying task, start four claw beam clamping motors and do claw beam release action,
Unclamped by claw beam and put back to ground car 10 is entirely handled upside down, after claw beam release action stops, starting claw beam, side wheel does recovery and moved
Make, due to Electromagnetic bolt dead electricity, acted on by Electromagnetic bolt spring, Electromagnetic bolt can be inserted in pin-and-hole simultaneously when side wheel reclaims
Side wheel is positioned, after claw beam BB1 termination senses magnetic induction switch in removal process, recovery action is completed.
In specific implementation, Intelligent transfer robot 11 also includes charging device；Specifically, when Intelligent transfer robot 11
Battery electric quantity less than 30% when start charging procedure, now Intelligent transfer robot 11 is found to level sensor and filled by charging
Electric installation, and start the Electromagnetic bolt of charging device, charging latch insertion charging inlet charging is opened after battery electric quantity is full of
Dynamic Electromagnetic bolt recovery, unclamps charging inlet.
It is further to note that the magnetic on ground is read by magnetic inductor in the running of Intelligent transfer robot 11
Position is followed closely to confirm track route, to ensure Intelligent transfer robot 11 by specified route and direction running.
Alternatively, the Intelligent transfer robot 11 also includes input/output unit, controller；Input/output unit and control
Device is electrically connected with.
Alternatively, input/output unit includes button, audio output device and is external in distant outside robot body 1
Control device；Button and audio output device are electrically connected with controller.In specific implementation, button, audio output device respectively with
Lower computer system connects, and button is used to start or close intelligent parking robot, and audio output device is used to prompt intelligent carrying
The internal state data of robot 11, remote control belong to external equipment, when Intelligent transfer robot 11 breaks down, for controlling
The operation of Intelligent transfer robot 11 processed, remote control pass through wireless connection with lower computer system.
For the relation for becoming apparent from Intelligent transfer robot 11 and being handled upside down between car 10, Fig. 4 schematically illustrates this
A kind of structure of side view of the Intelligent transfer robot 11 that utility model specific embodiment provides with being handled upside down the relation of car 10
Schematic diagram, as shown in Figure 4；Fig. 5 is a kind of Intelligent transfer robot of the utility model embodiment offer with being handled upside down
The structural representation of the front view of the relation of car, as shown in Figure 5.
The utility model can also provide one kind and be handled upside down car 10, suitable for Intelligent transfer robot, be handled upside down car 10 and wrap
Include claw beam and side wheel；When second sensor 3 senses 42 stop motion of steering wheel, claw beam and side wheel are released.
The utility model is described with reference to the preferred embodiments, and those skilled in the art know, is not departing from this reality
In the case of with new spirit and scope, various changes or equivalence replacement can be carried out to these features and embodiment.This reality
It is not limited to the particular embodiment disclosed with new, other embodiments fallen into claims hereof all belong to
In the scope of the utility model protection.
Claims (9)
- A kind of 1. Intelligent transfer robot, it is characterised in that：Including robot body (1), first sensor (2), second sensor (3), walking frame (4), rotary magnet (5), magnetic Follow closely (6)；The first sensor (2) and the second sensor (3) are uniformly installed on the surrounding of the robot body (1), institute The middle part that rotary magnet (5) is located at the robot body (1) is stated, the walking frame (4) is located at the rotary magnet (5) Both sides；The walking frame (4) includes transmission device, steering wheel (42), reductor (43)；The transmission device, the steering wheel (42), And the reductor (43) is respectively positioned in the walking frame (4).
- A kind of 2. Intelligent transfer robot as claimed in claim 1, it is characterised in that：The transmission device includes step-servo motor (411), ball screw (410) and for driving the step-servo motor (411) driver (412), clutch end and the ball screw (410) transmission of the step-servo motor (411) connect Connect, the driver (412) electrically connects with the step-servo motor (411).
- A kind of 3. Intelligent transfer robot as claimed in claim 1, it is characterised in that：Also include the safety detection device (7) for anticollision；The safety detection device (7) is located at the both ends of the robot body (1)；The safety detection device (7) includes being used to the ultrasonic scanning or noctovisor scan of anticollision.
- A kind of 4. Intelligent transfer robot as claimed in claim 1, it is characterised in that：Also include input/output unit, controller；The input/output unit is electrically connected with the controller.
- A kind of 5. Intelligent transfer robot as claimed in claim 4, it is characterised in that：The input/output unit includes button, audio output device and is external in the outside remote control of the robot body (1) Device；The button and the audio output device are electrically connected with the controller.
- A kind of 6. Intelligent transfer robot as claimed in claim 1, it is characterised in that：Also include be installed in the robot body (1) magnetic induction plate (8), be installed in the robot body (1) Magnetic induction switch (9).
- A kind of 7. Intelligent transfer robot as claimed in claim 1, it is characterised in that：Also include the electric supply installation for being installed on the robot body (1) bottom；The electric supply installation is provided with charging inlet and Electromagnetic bolt；The charging latch is electrically connected with the charging inlet.
- A kind of 8. Intelligent transfer robot as described in any one of claim 1 to 7, it is characterised in that：The quantity configuration of the first sensor (2) is one；The quantity configuration of the second sensor (3) is eight.
- A kind of 9. Intelligent transfer robot as described in any one of claim 1 to 7, it is characterised in that：The first sensor (2) is RFID radio frequency identification site sensors；The second sensor (3) is diffusing reflection type sensor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721049960.2U CN207087887U (en) | 2017-08-21 | 2017-08-21 | A kind of Intelligent transfer robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721049960.2U CN207087887U (en) | 2017-08-21 | 2017-08-21 | A kind of Intelligent transfer robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207087887U true CN207087887U (en) | 2018-03-13 |
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ID=61542221
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721049960.2U Expired - Fee Related CN207087887U (en) | 2017-08-21 | 2017-08-21 | A kind of Intelligent transfer robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207087887U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108792184A (en) * | 2018-07-25 | 2018-11-13 | 盐城市大拇指包装材料有限公司 | A kind of cardboard storage and transportation apparatus |
| CN108843099A (en) * | 2018-07-02 | 2018-11-20 | 合肥市春华起重机械有限公司 | A kind of the self-adapting type mesa structure and its system of intelligent parking garage Yi Che robot |
| CN112723245A (en) * | 2020-12-28 | 2021-04-30 | 符雷鸣 | Intelligent carrying robot and use method thereof |
-
2017
- 2017-08-21 CN CN201721049960.2U patent/CN207087887U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108843099A (en) * | 2018-07-02 | 2018-11-20 | 合肥市春华起重机械有限公司 | A kind of the self-adapting type mesa structure and its system of intelligent parking garage Yi Che robot |
| CN108792184A (en) * | 2018-07-25 | 2018-11-13 | 盐城市大拇指包装材料有限公司 | A kind of cardboard storage and transportation apparatus |
| CN112723245A (en) * | 2020-12-28 | 2021-04-30 | 符雷鸣 | Intelligent carrying robot and use method thereof |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180313 Termination date: 20200821 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |