CN207630029U - Transfer robot and sorting system - Google Patents

Transfer robot and sorting system Download PDF

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Publication number
CN207630029U
CN207630029U CN201721854629.8U CN201721854629U CN207630029U CN 207630029 U CN207630029 U CN 207630029U CN 201721854629 U CN201721854629 U CN 201721854629U CN 207630029 U CN207630029 U CN 207630029U
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China
Prior art keywords
transfer robot
master controller
sensor
chassis
mentioned
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Expired - Fee Related
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CN201721854629.8U
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Chinese (zh)
Inventor
王玉琴
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Tianjin Tiandi Shentong Logistics Co Ltd
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Tianjin Tiandi Shentong Logistics Co Ltd
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Priority to CN201721854629.8U priority Critical patent/CN207630029U/en
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Expired - Fee Related legal-status Critical Current
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Abstract

The utility model provides a kind of transfer robot and sorting system, is related to logistics field, to alleviate the problem of existing transfer robot easily breaks, influences robot service life, improves crashworthiness, prolongs the service life.Transfer robot includes:Image collecting device, position sensor, telecontrol equipment, master controller, handling device, obstacle detecting device and collision prevention device;Image collecting device, position sensor, telecontrol equipment, handling device and obstacle detecting device are connected with master controller respectively;Image acquisition device terrestrial information;Position sensor acquires the location information of transfer robot and freight hold;Master controller receives terrestrial information, and controlled motion device drives transfer robot to be moved at cargo;Master controller receives location information, and control handling device transports goods;Obstacle detecting device detects obstacle information of the transfer robot in moving process;Collision prevention device prevents impact force of the transfer robot in moving process.

Description

Transfer robot and sorting system
Technical field
The utility model is related to logistics management technical fields, more particularly, to a kind of transfer robot and sorting system.
Background technology
Logistics is article from supply into the physical flow process for receiving ground, according to actual needs, by transport, storage, The functions such as handling, packaging, circulation and process, dispatching, information processing, which combine, realizes the process of user's requirement.
Logistics is the movable part of supply chain, be in order to meet client need and to commodity, service and relevant information The process for planning, implementation and the control that efficient, inexpensive flowing and storage from the place of production to area of consumption carry out.Logistics is to store in a warehouse Center promotes production synchronous with market holding.Logistics management refers to being flowed according to material goods entity during social production Rule, the basic principle and scientific method of application management, logistics activity is planned, is organized, is commanded, is coordinated, is controlled and Supervision, makes every logistics activity realize best coordination and cooperation, to reduce logistics cost, improves logistic efficiency and economic effect Benefit.
Currently, the application of robot entire logistics field at home focuses primarily upon two kinds, it is engaged in packaging palletizing operation Robot and the robot for being engaged in automated handling, and for transfer robot are typically due to the volume, big of logistics goods Small and weight disunity is easy to break robot during being carried.
To sum up, there is the technical issues of easily breaking, influencing robot service life in existing transfer robot.
Utility model content
In view of this, the purpose of this utility model is to provide a kind of transfer robot and sorting system, it is existing to alleviate The technical issues of easily breaking with the presence of the transfer robot in technology, influence robot service life.
In a first aspect, the utility model embodiment provides a kind of transfer robot, including:Image collecting device, position Sensor, telecontrol equipment, master controller, handling device, obstacle detecting device and collision prevention device;
Described image harvester, position sensor, master controller, handling device, obstacle detecting device and anticollision dress It installs on telecontrol equipment;
Described image harvester, position sensor, telecontrol equipment, handling device and obstacle detecting device respectively with it is described Master controller is connected;
Described image harvester acquires terrestrial information;
The location information of position sensor the acquisition transfer robot and freight hold;
The telecontrol equipment drives transfer robot movement;
The master controller receives terrestrial information, and controlled motion device drives transfer robot to be moved at cargo;It is described Master controller receives location information, and control handling device transports goods;
Obstacle information of the obstacle detecting device detection transfer robot in moving process;
The collision prevention device prevents impact force of the transfer robot in moving process, to protect transfer robot.
With reference to first aspect, the utility model embodiment provides the first possible embodiment of first aspect, In, described image harvester uses industrial camera.
With reference to first aspect, the utility model embodiment provides second of possible embodiment of first aspect, In, the telecontrol equipment includes direct current generator and the chassis structure that is connect with the direct current generator.
Second of possible embodiment with reference to first aspect, the utility model embodiment provide the of first aspect Three kinds of possible embodiments, wherein the transfer robot further includes:The sensor die being set on the chassis structure Block, wherein the sensor assembly includes:It is set on the chassis structure, and more with master controller communication connection A line walking sensor and/or multiple gray-scale sensors.
The third possible embodiment with reference to first aspect, the utility model embodiment provide the of first aspect Four kinds of possible embodiments, wherein the chassis structure includes:Chassis pedestal, chassis interlayer and driving wheel;
The chassis pedestal is for installing described image harvester, position sensor, handling device, obstacle detecting device And collision prevention device;
The chassis interlayer is for installing the master controller, the direct current generator and the sensor assembly;
The driving wheel under the driving of the direct current generator for driving the transfer robot to move.
With reference to first aspect, the utility model embodiment provides the 5th kind of possible embodiment of first aspect, In, the collision prevention device includes at least one for colliding sponge or spring.
With reference to first aspect, the utility model embodiment provides the 6th kind of possible embodiment of first aspect, In, the obstacle detecting device is optoelectronic switch.
With reference to first aspect, the utility model embodiment provides the 7th kind of possible embodiment of first aspect, In, the transfer robot further includes:The display screen being connect with the master controller, the display screen include it is following in one Kind:LED display, LCD display;
Current location and/or working condition of the display screen for transfer robot described in real-time display.
With reference to first aspect, the utility model embodiment provides the 8th kind of possible embodiment of first aspect, In, the transfer robot further includes:Music player, for playing music in transfer robot transportational process.
Second aspect, the utility model embodiment also provide a kind of sorting system, including:Host computer and such as first aspect And its transfer robot described in any one of possible embodiment;
The host computer is connected with the transfer robot.
The technical solution that the utility model embodiment provides brings following advantageous effect:
In transfer robot and system that the utility model embodiment provides, wherein the transfer robot includes:Image Harvester, position sensor, telecontrol equipment, master controller, handling device, obstacle detecting device and collision prevention device;It is described Image collecting device, position sensor, master controller, handling device, obstacle detecting device and collision prevention device setting are moving On device;Described image harvester, position sensor, telecontrol equipment, handling device and obstacle detecting device respectively with it is described Master controller is connected;Described image harvester acquires terrestrial information;The position sensor acquisition transfer robot and goods Location information between object;The telecontrol equipment drives transfer robot movement;The master controller receives terrestrial information, control fortune Dynamic device drives transfer robot to be moved at cargo;The master controller receives location information, and control handling device carries goods Object;Obstacle information of the obstacle detecting device detection transfer robot in moving process;The collision prevention device prevents Impact force of the transfer robot in moving process, to protect transfer robot.Therefore, the skill that the utility model embodiment provides Art scheme can alleviate transfer robot in the prior art and there is the technical issues of easily breaking, influencing robot service life, The crashworthiness for improving transfer robot, extends the service life of transfer robot.
Other feature and advantage of the utility model will illustrate in the following description, also, partly from specification In become apparent, or understood by implementing the utility model.The purpose of this utility model and other advantages are illustrating Specifically noted structure is realized and is obtained in book, claims and attached drawing.
To enable the above objects, features, and advantages of the utility model to be clearer and more comprehensible, preferred embodiment cited below particularly, and The appended attached drawing of cooperation, is described in detail below.
Description of the drawings
It, below will be right in order to illustrate more clearly of specific embodiment of the present invention or technical solution in the prior art Specific implementation mode or attached drawing needed to be used in the description of the prior art are briefly described, it should be apparent that, it is described below In attached drawing be that some embodiments of the utility model are not paying creativeness for those of ordinary skill in the art Under the premise of labour, other drawings may also be obtained based on these drawings.
Fig. 1 is a kind of structural schematic diagram for transfer robot that the utility model embodiment one provides;
Fig. 2 is a kind of structure diagram for transfer robot that the utility model embodiment one provides;
Fig. 3 is the structural schematic diagram for another transfer robot that the utility model embodiment two provides;
Fig. 4 is the structure diagram for another transfer robot that the utility model embodiment two provides;
Fig. 5 is the structural schematic diagram for the sorting system that the utility model embodiment three provides.
Icon:11- image collecting devices;12- position sensors;13- telecontrol equipments;14- master controllers;15- carries dress It sets;16- obstacle detecting devices;17- collision prevention devices;131- direct current generators;The chassis 132- pedestal;133- driving wheels;151- machines Tool hand;152- article trays;18- display screens;19- warning devices;136- scram buttons;20- status indicator lamps;21- magnetic navigations Sensor;100- host computers;200- transfer robots.
Specific implementation mode
To keep the purpose, technical scheme and advantage of the utility model embodiment clearer, below in conjunction with attached drawing to this The technical solution of utility model is clearly and completely described, it is clear that described embodiment is that the utility model part is real Example is applied, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art are not making The every other embodiment obtained under the premise of creative work, shall fall within the protection scope of the present invention.
At present there is the technical issues of easily breaking, influencing robot service life in existing transfer robot, be based on this, this A kind of transfer robot and sorting system that utility model embodiment provides, can alleviate transfer robot in the prior art and deposit The technical issues of easily breaking, influencing robot service life.The crashworthiness that transfer robot can be improved extends carrying The service life of robot..
For ease of understanding the present embodiment, first to a kind of transfer robot disclosed in the utility model embodiment It describes in detail.
Embodiment one:
A kind of transfer robot that the utility model embodiment provides is used for logistics management field, is applied particularly to logistics The cargo of industry carries operation, and as depicted in figs. 1 and 2, which includes:Image collecting device 11, position sensor 12, telecontrol equipment 13, master controller 14, handling device 15, obstacle detecting device 16 and collision prevention device 17.
Wherein, above-mentioned image collecting device, position sensor, master controller, handling device, obstacle detecting device and anti-collision Collision device is arranged on above-mentioned telecontrol equipment.
Above-mentioned image collecting device, position sensor, telecontrol equipment, handling device and obstacle detecting device respectively with it is above-mentioned Master controller is connected.
Above-mentioned image acquisition device terrestrial information.
The location information of above-mentioned position sensor acquisition transfer robot and freight hold.
Above-mentioned telecontrol equipment drives transfer robot movement.
Above-mentioned master controller receives terrestrial information, and controlled motion device drives transfer robot to be moved at cargo;It is above-mentioned Master controller receives location information, and control handling device transports goods.
Obstacle information of the above-mentioned obstacle detecting device detection transfer robot in moving process.
Above-mentioned collision prevention device prevents impact force of the transfer robot in moving process, to protect transfer robot.
Specifically, above-mentioned image collecting device is arranged in the front end of telecontrol equipment, when transfer robot in a forward direction When being moved, image collecting device acquires terrestrial information in real time, and is transmitted to master controller, and master controller receives ground letter Breath advances according to terrestrial information controlled motion device line walking (control route), to drive transfer robot to be moved at cargo.
Above-mentioned position sensor is arranged in the front end of telecontrol equipment, the position for acquiring conveying robot and freight hold in real time Information, and it is transmitted to master controller, master controller receives location information, and the state and appearance of handling device are adjusted according to location information Gesture, control handling device transport goods.
Above-mentioned obstacle detecting device is arranged in the front end of telecontrol equipment, for detecting transfer robot in real time in moving process In obstacle information, in other words, above-mentioned obstacle detecting device is for carrying out detection of obstacles, when there is obstacle in moving process When object, master controller, master controller commands telecontrol equipment stop motion are delivered a signal to, transfer robot stops advancing, and works as barrier After hindering object to remove, continue on.
Above-mentioned collision prevention device is arranged on telecontrol equipment, and collision prevention device is for buffering, caused by capable of preventing shock Damage of the impact force to transfer robot is played the role of protecting transfer robot.
Further, above-mentioned image collecting device uses industrial camera.
In the present embodiment, above-mentioned image collecting device includes using CCD industrial cameras, i.e., above-mentioned image collecting device Ccd image sensor.
Wherein, the full name in English of CCD is " Charge-coupled Device ", and Chinese name is electric row coupling element, is led to Frequently referred to ccd image sensor.CCD is a kind of semiconductor devices, optical image can be converted into digital signal, be planted on CCD The small photoactive substance entered is referred to as pixel (Pixel), and the pixel number for including on one piece of CCO is more, the screen resolution provided Also higher.It is the same that CCD acts like film, but it is that image pixel is converted into digital signal, and CCD is upper whole there are many arranging Neat capacitance can incude light, and image is transformed into digital signal.Via the control of external circuit, each small capacitances can incite somebody to action The electric row of its band is given to its adjacent capacitance.
Ccd image sensor can directly convert optical signals into analog current signal, and current signal is by amplification and mould Number conversion realizes that acquisition, storage, transmission, processing and the reproduction of image, ccd image sensor have following features:
(1) small in volume.
(2) small power consumption, operating voltage are low;Shock resistance and vibrations, performance are stablized, long lifespan.
(3) high sensitivity, noise is low, and dynamic range is big.
(4) fast response time has self-scanning function, and pattern distortion is small, no image retention.
(5) super large-scale integration technology is applied to produce, the degree of integration of pixel is high, accurate size, merchandized handling It is at low cost.
Further, above-mentioned telecontrol equipment includes direct current generator 131 and the chassis structure that is connect with direct current generator 131.
It considers how that the more accurate line walking of transfer robot is made to advance.Further, it is arranged on above-mentioned chassis structure There is sensor assembly (being not shown in the drawing), sensor assembly is connected with master controller, for acquiring terrestrial information.
Further, the sensor module includes:It is set to above-mentioned chassis structure bottom end, and logical with above-mentioned master controller Believe multiple line walking sensors of connection and/or multiple gray-scale sensors.
Reflection signal where above-mentioned line walking sensor is used to acquire on place (i.e. ground), and sent out to above-mentioned master controller It serves and states reflection signal, so that above-mentioned master controller judges whether above-mentioned transfer robot moves along control route.
Grey scale signal where above-mentioned gray-scale sensor is used to acquire on place, and send above-mentioned ash to above-mentioned master controller Signal is spent, so that above-mentioned master controller judges whether above-mentioned transfer robot moves along control route.
It may insure that transfer robot line walking advances by sensor assembly and being used cooperatively for image collecting device.
Further, above-mentioned direct current generator uses brshless DC motor.
Specifically, the direct current generator in the present embodiment uses two-way brshless DC motor.
Above-mentioned chassis structure constitutes the main body of transfer robot.
Further, above-mentioned chassis structure is in rectangular parallelepiped structure.Above-mentioned master controller and above-mentioned direct current generator are arranged upper It states inside chassis structure, the upper front end in above-mentioned chassis structure is arranged in above-mentioned image collecting device, and above-mentioned position sensor is set The front center in above-mentioned chassis structure is set, above-mentioned handling device is arranged in the side of above-mentioned chassis structure, above-mentioned obstacle detection Upper front end and lower part in above-mentioned chassis structure is arranged in device, and above-mentioned collision prevention device is arranged in the front end of chassis structure with after The middle part at end.It should be noted that front end here refers to along robot direction of travel.
Specifically, the chassis structure includes:Chassis pedestal 132, chassis interlayer (being not shown in the drawing) and driving wheel 133.
Above-mentioned direct current generator is connected with above-mentioned driving wheel;Above-mentioned direct current generator is connected with above-mentioned master controller;It is above-mentioned Master controller drives above-mentioned driving wheel to advance by above-mentioned direct current generator.
The chassis pedestal is for installing described image harvester, position sensor, handling device, obstacle detecting device And collision prevention device.
The chassis interlayer is for installing the master controller, the direct current generator and the sensor assembly.
The driving wheel under the driving of the direct current generator for driving the transfer robot to move.
Specifically, the direct current generator of the master controller by the control telecontrol equipment, drives the chassis to tie Structure drives the transfer robot mobile along control route (line walking);
Further, the master controller further includes:It alarm signal generator and is connect with the alarm signal generator Alarm;
The alarm signal generator is used to judge the transfer robot deviation control route when the master controller When, generate and send alarm signal;
The alarm is used to receive the alarm signal that the alarm signal generator is sent, and alarms.
Further, above-mentioned driving wheel is multiple, and multiple above-mentioned driving wheel distributions are arranged at the both sides bottom of chassis structure End.
Further, above-mentioned driving wheel is one kind of crawler type driving wheel or universal wheel.
Further, above-mentioned master controller includes 32 microcontrollers, specifically, above-mentioned master controller includes STM32 controls Chip.
Further, above-mentioned handling device includes manipulator 151.Manipulator is arranged in the both sides on chassis, and positioned at driving The top of wheel." hand " of the handling device as transfer robot is the principal organ for carrying out cargo carrying.In view of manipulator exists Before outside may be wiped clashing and breaking wound by unexpected, therefore the handling device in the present embodiment transports goods, the manipulator of handling device It is to be located inside chassis, does not extend out outside, when carrying out cargo carrying, Arm expanding chassis carries out cargo carrying.It needs Bright, manipulator can also be set up directly on outside, save and stretch out the time, to be further reduced the time of transporting goods.
Further, manipulator can be single arm robot arm or bell machines arm.It is needed with specific reference to practical carry Ask selection.
Further, above-mentioned handling device further includes article tray 152, and above-mentioned article tray is used for arrangement of goods.
Specifically, when handling device transports goods, cargo can be placed on article tray by manipulator.
Further, article tray 152 is square structure or circular configuration.In the present embodiment, article tray 152 is side Shape structure.
Further, it is additionally provided with weighing sensor on above-mentioned article tray, for identification goods weight.
In view of goods weight differs, cargo overload damage caused by transfer robot in order to prevent, further, on It further includes overweight alarm module to state transfer robot, is used for overweight alarm.Preferably, overweight alarm module uses external loudspeaker .
Specifically, above-mentioned weighing sensor, above-mentioned overweight alarm module are respectively connected with master controller, weighing and sensing The goods weight of identification is transmitted to master controller by device, and master controller sees if fall out preset weight according to goods weight, when When beyond preset weight, adults alarm module sends out overweight alarm.
Further, above-mentioned obstacle detecting device includes at least one of infrared sensor or ultrasonic sensor.
Further, collision prevention device includes at least one for colliding sponge or spring, in the present embodiment, anticollision dress It sets including multiple collision sponges, is separately positioned on the front-end and back-end of chassis pedestal.It certainly, can also be according to actual conditions The both sides of chassis pedestal are arranged.
Further, collision sponge can be triangular structure or rectangle structure.
The state of transfer robot is identified in order to facilitate staff, further, the transfer robot further includes:With The display screen 18 of master controller connection, the display screen for transfer robot described in real-time display current location and/ Or working condition.
The display screen is arranged on the volume chassis structure of telecontrol equipment.
Further, the display screen include it is following in it is one or more:Liquid crystal display, LED display, LCD are aobvious Display screen.The present embodiment is preferably, and display screen uses LED touch display screen.
The utility model embodiment provide transfer robot include:Image collecting device, position sensor, sportswear It sets, master controller, handling device, obstacle detecting device and collision prevention device;Described image harvester, position sensor, master Controller, handling device, obstacle detecting device and collision prevention device are arranged on telecontrol equipment;Described image harvester, position Sensor, telecontrol equipment, handling device and obstacle detecting device is set respectively to be connected with the master controller;Described image acquires Device acquires terrestrial information;The location information of position sensor the acquisition transfer robot and freight hold;The telecontrol equipment Drive transfer robot movement;The master controller receives terrestrial information, and controlled motion device drives transfer robot to be moved to At cargo;The master controller receives location information, and control handling device transports goods;The obstacle detecting device detection is carried Obstacle information of the robot in moving process;The collision prevention device prevents impact of the transfer robot in moving process Power, to protect transfer robot.Therefore, the technical solution that the utility model embodiment provides, can alleviate in the prior art There is the technical issues of easily breaking, influencing robot service life in transfer robot, improve the crashworthiness of transfer robot, prolong The service life of transfer robot is grown.
Embodiment two:
As shown in Figure 3 and Figure 4, the utility model embodiment provides another transfer robot, the area with embodiment one It is not, it is contemplated that how to remind staff to carry out barrier removing, which can also include:Warning device 19。
Above-mentioned warning device is connected with above-mentioned master controller, and master controller is in the letter for receiving obstacle detecting device transmission Number, while order telecontrol equipment stop motion, control warning device sends out alarm, clear to prompt staff to carry out obstacle Reason, ensures the normal operation of transfer robot.
Further, above-mentioned warning device includes acousto-optic integrated alarm, can send out audible and visible alarm, warning effect It is good.
Above-mentioned acousto-optic integrated alarm can be arranged separately on telecontrol equipment, can also be integrated in the electricity of master controller On the plate of road, the present embodiment is not construed as limiting this.
In the present embodiment, image collecting device uses CMOS industrial cameras.
Relative to CCD industrial cameras, CMOS industrial cameras very power saving, unlike the CCD being constituted by a diode, cmos circuit Almost without static electric quantity consumption, only just there is the consumption of electricity when circuit is connected.This power consumption for allowing for CMOS only has 1/3 or so of common CCD.
Further, above-mentioned chassis structure can also include support wheel assembly (being not shown in the drawing).
Further, above-mentioned support wheel assembly is four, and is separately positioned on four angles of above-mentioned chassis structure.
Above-mentioned support wheel assembly includes rotatable supporting rack and support wheel, and above-mentioned rotatable supporting rack is detachably arranged in On above-mentioned chassis, above-mentioned support wheel is removably mounted on above-mentioned rotatable supporting rack.
Further, above-mentioned support wheel uses universal caster wheel.
It considers how to carry out emergent stopping under emergency situations to transfer robot, further, the transfer robot Further include:The scram button 136 being set on above-mentioned telecontrol equipment, above-mentioned scram button are connected with above-mentioned master controller.
It is different in the way of display screen dispaly state from embodiment one, in order on a low-cost basis, reach prompt The purpose of the state of staff's transfer robot, in the present embodiment, which further includes:Status indicator lamp 20, on It states status indicator lamp to be arranged on telecontrol equipment, above-mentioned status indicator lamp is used to indicate transfer robot working condition.Work as carrying Under robot is in running order, status indicator lamp lights;When transfer robot is under off working state, status indicator lamp is not It is bright.
Specifically, above-mentioned status indicator lamp is connected with master controller, and the upper front end on chassis is set.
Further, above-mentioned status indicator lamp uses green light LED lamp.Under transfer robot is in running order, state Indicator light lights green light;When transfer robot is under off working state, status indicator lamp does not work.
Further, above-mentioned status indicator lamp can also include charging indicator light, be used to indicate the charging of transfer robot State.When transfer robot is under charged state, charging indicator light flashes the redlight;When transfer robot is in non-charged state Under, charging indicator light does not work.
It considers how that the more accurate line walking of transfer robot is made to advance.Further, in the present embodiment, sensor die Block includes magnetic navigation sensor 21, and magnetic navigation sensor acquires the magnetic information on ground, and above-mentioned to the transmission of above-mentioned master controller Magnetic information, so that above-mentioned master controller judges whether above-mentioned transfer robot moves along control route.
By being used cooperatively for image collecting device and sensor assembly, it ensure that the line walking of transfer robot advanced Journey, it is ensured that whole work process is smoothed out.
It should be noted that being previously provided with the magnetic orbital of the advance of robot, magnetic navigation sensor on place (ground) It can coordinate with magnetic orbital and complete line walking advance.
Further, magnetic orbital is made of magnetic stripe, this is solved compared with needing to be powered the copper wire that could generate magnetic field The problem of stability of signal, power and poor continuity.The utility model is used can obtain very surely from magnetic magnetic stripe Fixed signal can ensure being smoothed out for whole work process.
And the magnetic orbital of the utility model can be voluntarily laid with according to workplace, realized optimal path transport, improved Whole system working efficiency;And three kinds of different speed are provided with according to express delivery task, the difference of road conditions, staff can press More adaptable according to actual place demand adjust automatically, operation is more flexible.
The quantity of obstacle detecting device optoelectronic switch in the present embodiment, optoelectronic switch is 4, with shape substantially symmetrical about its central axis Formula is distributed in the front end of chassis pedestal.
In the present embodiment, air bag may be used in collision prevention device.
Further, which can also include voice playing device (being not shown in the drawing), voice playing device For music player, music can be automatically played in transfer robot transportational process, it is easily pleasant for staff's manufacture Work climate, it is recreational stronger.Specifically, voice playing device can be MP3 player.
Further, in order to improve the use of transfer robot, which further includes power supply and power interface, tool There is charge function.
Specifically, power supply uses 24V lithium electrical storage cells, for powering for master controller, ensure the normal of transfer robot Work;Power interface is connected by power supply adaptor with external external power supply (such as 220V AC powers), to realize charging work( Energy.
In view of the unstability of circuit voltage or electric current, the normal work of robot can be adversely affected, Further, the transfer robot further includes:The regulator circuit being connected with external external power supply and the master controller;
The regulator circuit is used to carry out the voltage of the external external power supply output steady pressure treatment, and by steady pressure treatment Voltage afterwards is transmitted to the master controller.
Embodiment three:
A kind of sorting system that the utility model embodiment provides, as shown in figure 5, sorting system may include:Host computer The transfer robot 200 that any one of 100 and above-described embodiment provide.
Wherein, above-mentioned host computer is connected with above-mentioned transfer robot.
Further, above-mentioned host computer is connected with the master controller of above-mentioned transfer robot;
Specifically, above-mentioned host computer is connect by radio communication with the master controller of above-mentioned transfer robot.
In one embodiment, above-mentioned host computer can be remote control.
In another embodiment, host computer can also be industrial control computer.
The sorting system that the utility model embodiment provides, the transfer robot provided with above-described embodiment are having the same Technical characteristic reaches identical technique effect so can also solve identical technical problem.
In addition, in the description of the utility model embodiment unless specifically defined or limited otherwise, term " installation ", " connected ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or integrally connect It connects;It can be mechanical connection, can also be electrical connection;It can be directly connected, can also indirectly connected through an intermediary, it can To be the connection inside two elements.For the ordinary skill in the art, it can understand above-mentioned term with concrete condition Concrete meaning in the present invention.
It is in the description of the present invention, it should be noted that term "center", "upper", "lower", "left", "right", " perpendicular Directly ", the orientation or positional relationship of the instructions such as "horizontal", "inner", "outside" is to be based on the orientation or positional relationship shown in the drawings, and is only The utility model and simplifying describes for ease of description, do not indicate or imply the indicated device or element must have it is specific Orientation, with specific azimuth configuration and operation, therefore should not be understood as limiting the present invention.
In several embodiments provided herein, it should be understood that disclosed systems, devices and methods, it can be with It realizes by another way.The apparatus embodiments described above are merely exemplary, for example, the division of the unit, Only a kind of division of logic function, formula that in actual implementation, there may be another division manner, in another example, multiple units or component can To combine or be desirably integrated into another system, or some features can be ignored or not executed.Another point, it is shown or beg for The mutual coupling, direct-coupling or communication connection of opinion can be by some communication interfaces, device or unit it is indirect Coupling or communication connection can be electrical, machinery or other forms.
Finally it should be noted that:Embodiment described above, only specific embodiment of the present utility model, to illustrate this The technical solution of utility model, rather than its limitations, the scope of protection of the utility model is not limited thereto, although with reference to aforementioned The utility model is described in detail in embodiment, it will be understood by those of ordinary skill in the art that:It is any to be familiar with this skill The technical staff in art field within the technical scope disclosed by the utility model, still can be to the skill recorded in previous embodiment Art scheme modify or can readily occur in variation or equivalent replacement of some of the technical features;And these modifications, Variation is replaced, the spirit and model of the utility model embodiment technical solution that it does not separate the essence of the corresponding technical solution It encloses, should be covered within the scope of the utility model.Therefore, the scope of protection of the utility model is answered described is wanted with right Subject to the protection domain asked.

Claims (10)

1. a kind of transfer robot, which is characterized in that including:Image collecting device, position sensor, telecontrol equipment, main control Device, handling device, obstacle detecting device and collision prevention device;
Described image harvester, position sensor, master controller, handling device, obstacle detecting device and collision prevention device are set It sets on telecontrol equipment;
Described image harvester, position sensor, telecontrol equipment, handling device and obstacle detecting device respectively with the master control Device processed is connected;
Described image harvester acquires terrestrial information;
The location information of position sensor the acquisition transfer robot and freight hold;
The telecontrol equipment drives transfer robot movement;
The master controller receives terrestrial information, and controlled motion device drives transfer robot to be moved at cargo;The master control Device processed receives location information, and control handling device transports goods;
Obstacle information of the obstacle detecting device detection transfer robot in moving process;
The collision prevention device prevents impact force of the transfer robot in moving process, to protect transfer robot.
2. transfer robot according to claim 1, which is characterized in that described image harvester uses industrial camera.
3. transfer robot according to claim 1, which is characterized in that the telecontrol equipment include direct current generator and with institute State the chassis structure of direct current generator connection.
4. transfer robot according to claim 3, which is characterized in that the transfer robot further includes:It is set to institute State the sensor assembly on chassis structure, wherein the sensor assembly includes:Be set on the chassis structure, and with institute State multiple line walking sensors of master controller communication connection and/or multiple gray-scale sensors.
5. transfer robot according to claim 4, which is characterized in that the chassis structure includes:Chassis pedestal, chassis Interlayer and driving wheel;
The chassis pedestal is for installing described image harvester, position sensor, handling device, obstacle detecting device and preventing Crash device;
The chassis interlayer is for installing the master controller, the direct current generator and the sensor assembly;
The driving wheel under the driving of the direct current generator for driving the transfer robot to move.
6. transfer robot according to claim 1, which is characterized in that the collision prevention device include collision sponge or At least one of spring.
7. transfer robot according to claim 1, which is characterized in that the obstacle detecting device is optoelectronic switch.
8. transfer robot according to claim 1, which is characterized in that the transfer robot further includes:With the master Controller connection display screen, the display screen include it is following in one kind:LED display, LCD display;
Current location and/or working condition of the display screen for transfer robot described in real-time display.
9. transfer robot according to claim 1, which is characterized in that the transfer robot further includes:Music Device, for playing music in transfer robot transportational process.
10. a kind of sorting system, which is characterized in that including:Host computer and such as claim 1-9 any one of them carrying implements Device people;
The host computer is connected with the transfer robot.
CN201721854629.8U 2017-12-26 2017-12-26 Transfer robot and sorting system Expired - Fee Related CN207630029U (en)

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109110416A (en) * 2018-08-08 2019-01-01 苏州新晟际智能科技有限公司 A kind of intelligence handling system and its method
CN109284962A (en) * 2018-09-29 2019-01-29 炬星科技(深圳)有限公司 A kind of cooperative system based on walking robot lamplight pointing, method and device and terminal and storage medium
WO2020042646A1 (en) * 2018-08-30 2020-03-05 南京灵雀智能制造有限公司 Material-carrying robot for industrial production

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109110416A (en) * 2018-08-08 2019-01-01 苏州新晟际智能科技有限公司 A kind of intelligence handling system and its method
CN109110416B (en) * 2018-08-08 2020-07-17 苏州新晟际智能科技有限公司 Intelligent carrying system and method thereof
WO2020042646A1 (en) * 2018-08-30 2020-03-05 南京灵雀智能制造有限公司 Material-carrying robot for industrial production
CN109284962A (en) * 2018-09-29 2019-01-29 炬星科技(深圳)有限公司 A kind of cooperative system based on walking robot lamplight pointing, method and device and terminal and storage medium

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