CN207810578U - Transfer robot and sorting system - Google Patents
Transfer robot and sorting system Download PDFInfo
- Publication number
- CN207810578U CN207810578U CN201721852976.7U CN201721852976U CN207810578U CN 207810578 U CN207810578 U CN 207810578U CN 201721852976 U CN201721852976 U CN 201721852976U CN 207810578 U CN207810578 U CN 207810578U
- Authority
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- Prior art keywords
- transfer robot
- master controller
- mentioned
- telecontrol equipment
- obstacle detecting
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- Expired - Fee Related
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- 230000035939 shock Effects 0.000 description 1
- 230000003068 static Effects 0.000 description 1
- 210000000352 storage cell Anatomy 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
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Abstract
The utility model provides a kind of transfer robot and sorting system, it is related to logistics management technical field, to alleviate existing logistics management by there are labor intensity in a manner of artificial big, ineffective problem, manual labor's intensity can be mitigated, cargo is improved and carry and sorting efficiency.Transfer robot includes：Image collecting device, position sensor, telecontrol equipment, master controller, handling device and obstacle detecting 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.
Description
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, existing logistics management relies primarily on artificial progress cargo carrying, which results in labor intensities greatly,
The generation for a series of problems, such as fragile article spoilage caused by working efficiency is low, sorting error rate is high and violence carrying is high,
The serious development for constraining logistic industry.
To sum up, existing logistics management has that labor intensity is big, working efficiency is not high by artificial mode.
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
With the presence of the technical problem that the logistics management in technology is big by artificial mode labor intensity, working efficiency is relatively low.
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 and obstacle detecting device；Wherein,
Described image harvester, position sensor, master controller, handling device and obstacle detecting device are arranged at institute
It states 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 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.
With reference to first aspect, the utility model embodiment provides the first possible embodiment of first aspect,
In, described image harvester uses ccd image sensor.
With reference to first aspect, the utility model embodiment provides second of possible embodiment of first aspect,
In, the telecontrol equipment includes driving motor, chassis and the driving wheel being set on chassis, the driving motor and the master control
Device processed is connected；The driving wheel is connected with the driving motor.
With reference to first aspect, the utility model embodiment provides the third possible embodiment of first aspect,
In, the handling device includes manipulator.
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 handling device further includes article tray, and the article tray is used for arrangement of goods.
With reference to first aspect, the utility model embodiment provides the 5th kind of possible embodiment of first aspect,
In, the obstacle detecting device includes at least one of infrared sensor or ultrasonic sensor.
With reference to first aspect, the utility model embodiment provides the 6th kind of possible embodiment of first aspect,
In, the telecontrol equipment further includes anticollison block.
With reference to first aspect, the utility model embodiment provides the 7th kind of possible embodiment of first aspect,
In, further include：The scram button being set on the telecontrol equipment, the scram button are connected with the master controller.
With reference to first aspect, the utility model embodiment provides the 8th kind of possible embodiment of first aspect,
In, further include：Status indicator lamp, the status indicator lamp are arranged on telecontrol equipment, and the status indicator lamp, which is used to indicate, to be removed
Transport robot working condition.
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 sorting system that the utility model embodiment provides, wherein the transfer robot includes：
Image collecting device, position sensor, telecontrol equipment, master controller, handling device and obstacle detecting device；Wherein, the figure
As harvester, position sensor, master controller, handling device and obstacle detecting device are arranged on the telecontrol equipment；
Described image harvester, position sensor, telecontrol equipment, handling device and obstacle detecting device respectively with the master controller
It is connected；Described image harvester acquires terrestrial information；The position of position sensor the acquisition transfer robot and freight hold
Confidence ceases；The master controller receives terrestrial information, and controlled motion device drives transfer robot to be moved at cargo；The master
Controller receives location information, and control handling device transports goods；The obstacle detecting device detects transfer robot in movement
Obstacle information in the process.Therefore, the technical solution that the utility model embodiment provides can substitute the artificial cargo that carries out and remove
Fortune and sorting, the both hands of people are freed from labour, due to without manually transporting goods, preventing logistics management
Working efficiency caused by middle manual type is possible is low, sorting error rate is high and the caused fragile article spoilage of violence carrying is high
A series of problems, such as generation, so as to alleviate existing logistics management by artificial mode there are labor intensity big, work
The problem of making that efficiency is low, cannot be satisfied the high efficiency demand of logistic industry improves cargo and carries and sorting efficiency.
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；131- driving motors；The chassis 132-；133- driving wheels；151- manipulators；152- article trays；
17- warning devices；135- anticollison blocks；136- scram buttons；18- status indicator lamps；19- magnetic navigation sensors；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.
By artificial mode, that there are labor intensity is big, working efficiency is not high for current existing logistics management, cannot be satisfied
The problem of high efficiency demand of logistic industry.Based on this, a kind of transfer robot that the utility model embodiment provides and point
System is picked, can alleviating logistics management in the prior art, that there are working efficiencies is low by artificial mode, cannot be satisfied logistics
The technical issues of high efficiency demand of industry.
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 and obstacle detecting device 16.
Wherein, above-mentioned image collecting device, position sensor, master controller, handling device and obstacle detecting device are all provided with
It sets 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.
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.
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 driving motor 131, chassis 132 and the driving wheel being set on chassis 132
133。
Above-mentioned driving motor is connected with above-mentioned driving wheel；Above-mentioned driving motor 131 is connected with above-mentioned master controller；On
State master controller drives above-mentioned driving wheel to advance by above-mentioned driving motor.
Further, above-mentioned driving motor uses direct current generator.
Preferably, in the present embodiment, above-mentioned driving motor uses brshless DC motor.
Specifically, the driving motor in the present embodiment uses two-way brshless DC motor.
Above-mentioned chassis constitutes the agent structure of transfer robot.
Further, above-mentioned chassis is in rectangular parallelepiped structure.Above-mentioned master controller and above-mentioned driving motor are arranged at above-mentioned bottom
Inside disk, the upper front end on above-mentioned chassis is arranged in above-mentioned image collecting device, and above-mentioned position sensor is arranged on above-mentioned chassis
Front center, upper front end and lower part on above-mentioned chassis is arranged in above-mentioned obstacle detecting device.It should be noted that here
Front end refers to along robot direction of travel.
It considers how that the more accurate line walking of transfer robot is made to advance.Further, it is provided with biography on above-mentioned chassis
Sensor module (is not shown in the drawing), and 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 driving wheel is multiple, and uniformly distribution is arranged in the both sides on chassis multiple above-mentioned driving wheels.
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 series
Microcontroller.
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.
The utility model embodiment provide transfer robot include：Image collecting device, position sensor, sportswear
It sets, master controller, handling device and obstacle detecting device；Wherein, above-mentioned image collecting device, position sensor, master controller,
Handling device and obstacle detecting device are arranged on above-mentioned telecontrol equipment；Above-mentioned image collecting device, position sensor, movement
Device, handling device and obstacle detecting device are connected with above-mentioned master controller respectively；Above-mentioned image acquisition device ground
Information；The location information of above-mentioned position sensor acquisition transfer robot and freight hold；Above-mentioned master controller receives terrestrial information,
Controlled motion device drives transfer robot to be moved at cargo；Above-mentioned master controller receives location information, controls handling device
It transports goods；Obstacle information of the above-mentioned obstacle detecting device detection transfer robot in moving process.Therefore, this practicality is new
The technical solution that type embodiment provides can substitute artificial progress cargo carrying and sorting, the both hands of people are liberated from labour
Out, due to without manually transporting goods, preventing working efficiency caused by manual type is possible in logistics management low
Under, sorting error rate is high and violence carry caused by fragile article spoilage it is high a series of problems, such as generation, so as to slow
Solving existing logistics management, that there are labor intensity is big, working efficiency is low by artificial mode, cannot be satisfied the height of logistic industry
Efficiency requirements improve cargo carrying and sorting efficiency.
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
17。
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.
Above-mentioned telecontrol equipment is other than including driving motor, chassis and the driving wheel that is set on chassis, further,
Above-mentioned telecontrol equipment further includes support wheel assembly (being not shown in the drawing).
Further, above-mentioned support wheel assembly is four, and is separately positioned on four angles on above-mentioned chassis.
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.
Further, above-mentioned telecontrol equipment further includes anticollison block 135.Anticollison block can be prevented from hitting and be caused for buffering
Damage of the impact force to transfer robot, play the role of protecting transfer robot.
Further, anticollison block is multiple, and anticollison block is arranged in the front-end and back-end on chassis.Certainly, according to actual conditions,
Can also anticollison block be set in the both sides on chassis.
Further, anticollison block uses resilient material, specifically, spring or sponge etc. may be used in anticollison block.
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.
In order to prompt the state of staff's transfer robot, further, which further includes：State instruction
Lamp 18, above-mentioned status indicator lamp are arranged on telecontrol equipment, and above-mentioned status indicator lamp is used to indicate transfer robot working condition.
Under transfer robot is in running order, status indicator lamp lights；When transfer robot is under off working state, state refers to
Show that lamp does not work.
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 19, 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 on chassis.
Further, which can also include voice playing device (being not shown in the drawing), can be in carrying implement
Music can be played automatically in device people's transportational process, it is recreational stronger for the light pleasant work climate of staff's manufacture.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 220V AC powers, to realize charge function.
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.
In all examples being illustrated and described herein, any occurrence should be construed as merely illustrative, without
It is as limitation, therefore, other examples of exemplary embodiment can have different values.
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 and obstacle detecting device；Wherein,
Described image harvester, position sensor, master controller, handling device and obstacle detecting device are arranged at the fortune
On dynamic device；
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 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.
2. transfer robot according to claim 1, which is characterized in that described image harvester uses CCD industry phases
Machine.
3. transfer robot according to claim 1, which is characterized in that the telecontrol equipment includes driving motor, chassis
With the driving wheel being set on chassis, the driving motor is connected with the master controller；The driving wheel and the driving
Motor is connected.
4. transfer robot according to claim 1, which is characterized in that the handling device includes manipulator.
5. transfer robot according to claim 4, which is characterized in that the handling device further includes article tray, institute
Article tray is stated for arrangement of goods.
6. transfer robot according to claim 1, which is characterized in that the obstacle detecting device includes infrared sensor
Or at least one of ultrasonic sensor.
7. transfer robot according to claim 1, which is characterized in that the telecontrol equipment further includes anticollison block.
8. transfer robot according to claim 1, which is characterized in that further include：It is set on the telecontrol equipment
Scram button, the scram button are connected with the master controller.
9. transfer robot according to claim 1, which is characterized in that further include：Status indicator lamp, the state instruction
Lamp is arranged on telecontrol equipment, and the status indicator lamp is used to indicate transfer robot working condition.
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.
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|---|---|---|---|
| CN201721852976.7U CN207810578U (en) | 2017-12-26 | 2017-12-26 | Transfer robot and sorting system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721852976.7U CN207810578U (en) | 2017-12-26 | 2017-12-26 | Transfer robot and sorting system |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110077776A (en) * | 2019-05-15 | 2019-08-02 | 东风柳州汽车有限公司 | Robot for the area general assembly Ji Pei collects match system automatically |
| CN111409988A (en) * | 2020-04-22 | 2020-07-14 | 盐城佳华塑料制品有限公司 | Intelligent transfer robot for warehouse |
| CN112061718A (en) * | 2019-06-10 | 2020-12-11 | 李志鹏 | Control method of intelligent tray and intelligent tray |
| WO2021249568A1 (en) * | 2020-06-12 | 2021-12-16 | 深圳市海柔创新科技有限公司 | Warehouse robot control method and apparatus, device and readable storage medium |
-
2017
- 2017-12-26 CN CN201721852976.7U patent/CN207810578U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110077776A (en) * | 2019-05-15 | 2019-08-02 | 东风柳州汽车有限公司 | Robot for the area general assembly Ji Pei collects match system automatically |
| CN112061718A (en) * | 2019-06-10 | 2020-12-11 | 李志鹏 | Control method of intelligent tray and intelligent tray |
| CN111409988A (en) * | 2020-04-22 | 2020-07-14 | 盐城佳华塑料制品有限公司 | Intelligent transfer robot for warehouse |
| WO2021249568A1 (en) * | 2020-06-12 | 2021-12-16 | 深圳市海柔创新科技有限公司 | Warehouse robot control method and apparatus, device and readable storage medium |
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Granted publication date: 20180904 Termination date: 20191226 |