CN207373178U - A kind of sorting machine people - Google Patents
A kind of sorting machine people Download PDFInfo
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- CN207373178U CN207373178U CN201721195350.3U CN201721195350U CN207373178U CN 207373178 U CN207373178 U CN 207373178U CN 201721195350 U CN201721195350 U CN 201721195350U CN 207373178 U CN207373178 U CN 207373178U
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- connecting rod
- sorting machine
- machine people
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- pallet
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Abstract
A kind of sorting machine people, the utility model is related to robotic technology field, more particularly, to a kind of sorting machine people.A kind of sorting machine people, including robot base and pallet, the sorting machine people pedestal includes at least two driving wheels, robot moves power set, route control device, tray discharge power set and power supply module, the sorting machine people further includes first connecting rod and second connecting rod, described first connecting rod one end is fixedly connected with the output terminal of tray discharge power set, the other end of first connecting rod is connected by bearing with pallet and bearing axis and tray discharge power set output revolving shaft axis are parallel and not coaxial, described second connecting rod one end is connected by bearing with pallet, the other end is connected by bearing with robot base, and second connecting rod bearings at both ends axis is all parallel with tray discharge power set output revolving shaft axis.
Description
Technical field
The present invention relates to robotic technology field, more particularly, to a kind of sorting machine people.
Background technology
Robot is the installations of automated execution work；Robot can not only receive the commander of the mankind, but also can run
The program of advance layout, can also be according to the principle guiding principle action formulated with artificial intelligence technology；The main task of robot is
In such as production industry, construction industry or other dangerous industries, the work of the mankind is assisted or substituted.Wherein, sorting machine people
It is one kind of robot, main function can be for unloading cargo.At present, the unloading of sorting machine people of the prior art
Device typically using uniaxial reversible tray or conveyer belt by goods handling to bin of unloading, and passes through uniaxial reversible tray and turns over
Turn or the transmission of conveyer belt unloads cargo；However, in practical work process, sorting machine people usually requires to be parked in and unload
There are the designated position at certain safe distance between bin, the unloading of cargo is then carried out again.Present inventor has found existing
There is the sorting machine people in technology in Discharging Process, due to being the easing gear using uniaxial reversible tray or conveyer belt, because
This is easy to cause cargo and takes with being discharged in safe distance region, so as to which cargo can not be sent into unloading bin exactly, into
And the working effect and work efficiency of sorting machine people are easily influenced, and the running of sorting machine people is easily made to break down；And
And load is larger at uniaxial reversible tray structure shaft, is unfavorable for sorting compared with parcel.
The content of the invention
The technical solution adopted in the present invention is.
A kind of sorting machine people, including robot base and pallet, the sorting machine people pedestal includes at least two and drives
Driving wheel, robot movement power set, route control device, tray discharge power set and power supply module, the sorting machine
People further includes first connecting rod and second connecting rod, and described first connecting rod one end and the output terminal of tray discharge power set fix company
It connects, the other end of first connecting rod is connected by bearing with pallet and bearing axis and tray discharge power set output revolving shaft axis
Line is parallel and not coaxial, and described second connecting rod one end is connected by bearing with pallet, and the other end passes through bearing and robot base
Connection, and second connecting rod bearings at both ends axis is all parallel with tray discharge power set output revolving shaft axis.Described second connects
The coaxial bearing that bar bearings at both ends is not connected with first connecting rod with pallet, the second connecting rod bearings at both ends are not unloaded with pallet
Goods power set output revolving shaft is coaxial；Bearing axis, second connecting rod and the pallet connection that the first connecting rod is connected with pallet
Bearing axis, second connecting rod and pedestal connection bearing axis and tray discharge power plant output shaft axis be each passed through with it is upper
State four points of quadrangle on axis vertical plane；Above-mentioned first connecting rod and second connecting rod are the transmission dress with certain brachium
Put, differing, it is rod-shaped to be set to, any shape gather around there are two fixed range tie point rigid connector all can, above-mentioned sorting
The route control device of robot is can to realize control machine according to ground station location marker or wireless signal spatial orientation information
People presses the robot mobile controller of track walking, and the mobile power set are typically motor, usually selects two motors
Two wheels in left and right are respectively driven, are usually also equipped with motorless balanced support wheel, it is necessary to which the cargo of sorting is placed on pallet
Corresponding target bin is discharged to by sorting machine people, the power supply module usually selects rechargeable battery to coordinate power management
Circuit and charging interface composition；The central inventive point of the present invention is to come using the second connecting rod between pallet and robot base
Pallet is moved to the direction for deviateing pedestal when sharing the load-bearing of cargo and guiding unloading, while also cargo is generated and is different from single shaft
The horizontal impulse outwards dished out overturned, and the connecting rod can also direct pallet and more be had by oneself in Discharging Process using cargo
Gravitational force urges pallet moves, and reduces the load of tray discharge power set, and it is exactly to reduce power consumption and abrasion to reduce load, above-mentioned support
Disk unloading mechanism can be conducive to pallet carrying and tilt the cargo of quality bigger, and the bearing can be rolling bearing or cunning
Dynamic bearing.
The tray discharge power set are a decelerating motor.The decelerating motor of motor acceleration and deceleration machine composition holds in the palm to realize
The driving power of disk unloading, motor usually selects direct current generator, and speed reducer can select planetary reducer or worm and gear to subtract
Fast machine, the output shaft of speed reducer and one end of first connecting rod are fixed, and the other end of first connecting rod turns with output end of reducer
It is dynamic to do partial circular motion around speed reducer output shaft.
The sorting machine people further includes third connecting rod, and described third connecting rod one end is connected by bearing with pallet, above-mentioned
The coaxial bearing that bearing is connected with second connecting rod with pallet；The other end of third connecting rod is connected by bearing with robot base,
The coaxial bearing that above-mentioned bearing is linked with second connecting rod with robot base.The third connecting rod and first that sorting machine people is included
Connecting rod and second connecting rod together form the supported at three point to pallet, can preferably share the weight of pallet, allow pallet can
The heavier cargo of carrying, while help to reduce when center of gravity of goods is not directly over connecting rod on pallet to the stress that topples of connecting rod,
Help to reduce and wear.
Include connecting rod pillar on the pallet, pass through the company of bearing between the first connecting rod or second connecting rod and pallet
It connects and is connected on connecting rod pillar.Interference is generated when avoiding unloading mobile simultaneously for the moulding for adapting to pallet, also for more
Good receiving bearing, pallet include extend below tray main body with the fixed connecting rod pillar of main body, usual pallet selects
Plastic injection production process, at this moment the connecting rod pillar on pallet can also pass through group with pallet disk body integrally casting shaping
Dress is by pallet disk body and connecting rod pillar assembling parts into component.
The pallet, which is surrounded by, upwarps edge.Pallet is surrounded by upwarp edge and be conducive to sorting machine people and be moved through
In journey cargo is avoided to drop.
The robot base is equipped with groove, and the groove can accommodate the first connecting rod.First connecting rod is being unloaded
When along tray discharge power plant output shaft rotate, since mechanism needs housing to do proofing dust and protecting in pedestal, so base housing
On should be equipped with groove accommodate first connecting rod rotation footprint, with ensure avoid interference with.
The robot movement power set are servomotor.Sorting machine people needs higher translational speed and flexibly
Accurately mobile control usually selects two servomotors to respectively drive two driving wheels in left and right.
The robot servo motors drive driving wheel by reducing gear.In order to obtain better torque characteristics, use
It is preferred that the mode of motor acceleration and deceleration mechanism, which drives wheel,.
The robot base also includes at least two balanced support wheels.Balanced support wheel is unpowered universal wheel, is used for
Support of contacting to earth in vehicle body imbalance keeps vehicle body steady.
The route control device judges that control driving wheel rotates the end of realization destination path to be a kind of by location information
Hold service controller.Route control device judges first into row positional information, then passes through current location information and target location
Information calculates destination path and then the purpose of target location is reached by being realized to the rotation control of driving wheel.
The present invention proposes sorting machine people, and central inventive point is the tray discharge mechanism of sorting machine people, passes through this
The tray discharge mechanism of the sorting machine people of invention can realize that sorting machine people's pedestal is relatively distant from the accurate of unloading bin and unloads
Goods reduces the risk of subsideing of sorting machine people, while the tray discharge mechanism of the sorting machine people of the present invention also helps carrying
Heavier cargo and heavier cargo of unloading, the unloading mechanism of last sorting machine people proposed by the present invention are conducive to Discharging Process
In it is energy saving.
The robot movement power set of the present invention and the circuit part of route control device belong to robot mobile field
General technology the present invention supporting paper in do not repeat.
Description of the drawings
Sorting machine people's loading view 1 of Fig. 1 embodiments 1（Hide robot base partial shell and non-pallet
Unloading dependency structure）.
Sorting machine people's loading view 2 of Fig. 2 embodiments 1（Hide robot base partial shell and non-pallet
Unloading dependency structure）.
Sorting machine people's unladen state schematic diagram 1 of Fig. 3 embodiments 1（Hide robot base partial shell and non-pallet
Unloading dependency structure）.
Sorting machine people's unladen state schematic diagram 2 of Fig. 4 embodiments 1（Hide robot base partial shell and non-pallet
Unloading dependency structure）.
Mark meaning is as follows in figure：1 robot base；2 pallets；3, first connecting rod；4 second connecting rods；5, third connecting rod；6
Tray discharge power set；7, the connecting rod pillar on pallet；8, driving wheel 1；9, driving wheel 2.
Specific embodiment
Example is proposed to specific embodiment below in conjunction with the accompanying drawings.
Embodiment 1 is as shown in Fig. 1 ~ 4, a kind of sorting machine people, including robot base and pallet, the sorting machine people
Pedestal is included to two driving wheels, robot movement power set, route control device, tray discharge power set and power supply mould
Group, sorting machine people further include first connecting rod and second connecting rod, first connecting rod one end and the output terminal of tray discharge power set
It is fixedly connected, the other end of first connecting rod is connected by bearing with the connecting rod pillar on pallet and bearing axis and tray discharge
Power set output revolving shaft axis is parallel and not coaxial, and described second connecting rod one end is connected by the connecting rod pillar on bearing and pallet
It connects, the other end is connected by bearing with robot base, and second connecting rod bearings at both ends axis is all filled with tray discharge power
Put that output revolving shaft axis is parallel, the pedestal carrying housing of above-mentioned robot is molded for ABS plastic, and pallet is also ABS plastic
Injection is made and connecting rod pillar is directly molded on pallet, and the present embodiment further includes third connecting rod, states third connecting rod one end and leads to
It crosses bearing to be connected with pallet, the coaxial bearing that above-mentioned bearing is connected with second connecting rod with pallet；The other end of third connecting rod passes through
Bearing is connected with robot base, the coaxial bearing that above-mentioned bearing is linked with second connecting rod with robot base, the present embodiment
Above-mentioned all bearings select deep groove ball bearing, and first connecting rod, second connecting rod and third connecting rod are aluminium alloy CNC processing systems
Into the tray discharge power set coordinate the decelerating motor of planetary reducer composition, the mobile power dress for servomotor
It is set to two privates and takes motor and two driving wheels, the pedestal following four angle of the sorting machine people are respectively driven by reduction gearing
Position is additionally provided with the everything wheel of Auxiliary support, and the route control device selects the road for identifying that ground two-dimensional code judges current location
Footpath control system, route control device is by WiFi signal networking master controller and takes orders.
Claims (10)
1. a kind of sorting machine people, including robot base and pallet, the sorting machine people pedestal includes at least two drivings
Wheel, robot movement power set, route control device, tray discharge power set and power supply module, it is characterized in that：Described point
It picks robot and further includes first connecting rod and second connecting rod, described first connecting rod one end and the output terminal of tray discharge power set are consolidated
Fixed connection, the other end of first connecting rod is connected by bearing with pallet and bearing axis turns with the output of tray discharge power set
Axis axis is parallel and not coaxial, and described second connecting rod one end is connected by bearing with pallet, and the other end passes through bearing and robot
Pedestal connects, and second connecting rod bearings at both ends axis is all parallel with tray discharge power set output revolving shaft axis.
2. a kind of sorting machine people according to claim 1, it is characterized in that：The tray discharge power set subtract for one
Speed motor.
3. a kind of sorting machine people according to claim 1, it is characterized in that：The sorting machine people further includes the 3rd company
Bar, described third connecting rod one end are connected by bearing with pallet, the coaxial bearing that above-mentioned bearing is connected with second connecting rod with pallet；
The other end of third connecting rod is connected by bearing with robot base, what above-mentioned bearing was linked with second connecting rod with robot base
Coaxial bearing.
4. a kind of sorting machine people according to claim 1, it is characterized in that：Include connecting rod pillar, institute on the pallet
It states and is connected between first connecting rod or second connecting rod and pallet by the connection of bearing on connecting rod pillar.
5. a kind of sorting machine people according to claim 1, it is characterized in that：The pallet, which is surrounded by, upwarps edge.
6. a kind of sorting machine people according to claim 1, it is characterized in that：The robot base is equipped with groove, institute
The first connecting rod can be accommodated by stating groove.
7. a kind of sorting machine people according to claim 1, it is characterized in that：The robot movement power set are servo
Motor.
8. a kind of sorting machine people according to claim 7, it is characterized in that：The robot servo motors pass through speed reducer
Structure drives driving wheel.
9. a kind of sorting machine people according to claim 1, it is characterized in that：The robot base also includes at least two
Balanced support wheel.
10. a kind of sorting machine people according to claim 1, it is characterized in that：The route control device passes through for one kind
Location information judges that control driving wheel rotates the terminal service controller for realizing destination path.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721195350.3U CN207373178U (en) | 2017-09-18 | 2017-09-18 | A kind of sorting machine people |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721195350.3U CN207373178U (en) | 2017-09-18 | 2017-09-18 | A kind of sorting machine people |
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| Publication Number | Publication Date |
|---|---|
| CN207373178U true CN207373178U (en) | 2018-05-18 |
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ID=62340189
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721195350.3U Active CN207373178U (en) | 2017-09-18 | 2017-09-18 | A kind of sorting machine people |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108906652A (en) * | 2018-06-27 | 2018-11-30 | 武汉工程大学 | A kind of fruit automatic sorting device |
| CN109533758A (en) * | 2018-12-26 | 2019-03-29 | 浙江国自机器人技术有限公司 | A kind of logistics method for sorting and system |
-
2017
- 2017-09-18 CN CN201721195350.3U patent/CN207373178U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108906652A (en) * | 2018-06-27 | 2018-11-30 | 武汉工程大学 | A kind of fruit automatic sorting device |
| CN108906652B (en) * | 2018-06-27 | 2020-03-17 | 武汉工程大学 | Automatic fruit sorting device |
| CN109533758A (en) * | 2018-12-26 | 2019-03-29 | 浙江国自机器人技术有限公司 | A kind of logistics method for sorting and system |
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