CN208856268U - It is a kind of for picking and placing the mobile robot of shelf cargo - Google Patents

It is a kind of for picking and placing the mobile robot of shelf cargo Download PDF

Info

Publication number
CN208856268U
CN208856268U CN201821648181.9U CN201821648181U CN208856268U CN 208856268 U CN208856268 U CN 208856268U CN 201821648181 U CN201821648181 U CN 201821648181U CN 208856268 U CN208856268 U CN 208856268U
Authority
CN
China
Prior art keywords
cargo
lead screw
guide rail
motor
picking
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN201821648181.9U
Other languages
Chinese (zh)
Inventor
张建华
张垚楠
何伟
李进
周有杰
姜旭
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Hebei University of Technology
Original Assignee
Hebei University of Technology
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Hebei University of Technology filed Critical Hebei University of Technology
Priority to CN201821648181.9U priority Critical patent/CN208856268U/en
Application granted granted Critical
Publication of CN208856268U publication Critical patent/CN208856268U/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Abstract

The utility model discloses a kind of for picking and placing the mobile robot of shelf cargo, including mobile platform, control device, vertical lift device, pallet apparatus, cargo grabbing device, stock keeping unit, horizontal rotation apparatus and navigation system;Horizontal rotation apparatus is installed on a mobile platform, and vertical lift device is mounted on horizontal rotation apparatus, and cargo grabbing device is mounted in vertical lift device, and pallet apparatus and stock keeping unit are mounted on cargo grabbing device.For the vertical lift device by the way of multistage lifting, every level-one is all made of ball screw slipway mechanism, and the sliding block of upper level and the guide rail of next stage connect;The cargo grabbing device includes proximity test device, grasping plate and telescoping mechanism;The proximity test device is mounted on one end of grasping plate;The telescoping mechanism uses ball screw slipway mechanism, connect with the other end of grasping plate.The robot architecture is compact to design, and flexibility is high, and operation is efficiently, at low cost, safety.

Description

It is a kind of for picking and placing the mobile robot of shelf cargo
Technical field
It is specifically a kind of for picking and placing the mobile robot of shelf cargo the utility model relates to robot field.
Background technique
Currently, the development that logistic industry is advanced by leaps and bounds, wisdom logistics has gradually moved towards practical application from theory.It passes The logistics of system, which is sorted, often relies primarily on artificial, this traditional approach not only large labor intensity, low efficiency, and section vacation with transport Wharf explosion easily occurs for day, and so as to cause route Severe blockage is allocated, artifact flow point, which is picked, to be increasingly difficult to transport to meet market The demand of high speed development.Application No. is 201610071569.6 documents to disclose a kind of automatic tally robot, supermarket, by moving Moving platform, lifting device, the catching robot being connect with lifting device, the scanning-detecting system at the top of lifting device, with And controller is constituted, and solves the tally automation issues in some large supermarkets and market, it can in a short time will be some at random The kinds of goods of accumulation are successively orderly to be placed in shelf, and can guarantee the sufficient state of commodity on shelf with automatic detecting.But The robot can not grab high shelf object, and there is also limitations for the cargo of crawl.
In today of big data, working environment is more complicated, product type is more abundant, the requirement of customer is tightened up, There are the yet unresolved issues such as grasping mechanism execution efficiency is low for unmanned warehousing and storage activities link for logistics field.
Utility model content
In view of the deficiencies of the prior art, the technical issues of the utility model intends to solve is to provide a kind of for picking and placing shelf The mobile robot of cargo.
The technical solution that the utility model solves the technical problem is to provide a kind of for picking and placing the movement of shelf cargo Robot, it is characterised in that the robot includes mobile platform, control device, vertical lift device, pallet apparatus, cargo crawl Device, stock keeping unit, horizontal rotation apparatus and navigation system;The horizontal rotation apparatus installation on a mobile platform, is hung down It goes straight up to falling unit to be mounted on horizontal rotation apparatus, cargo grabbing device is mounted in vertical lift device, pallet apparatus and goods Object identification device is mounted on cargo grabbing device;
For the vertical lift device by the way of multistage lifting, every level-one is all made of ball screw slipway mechanism, and upper one The sliding block of grade and the guide rail of next stage connect;
The cargo grabbing device includes proximity test device, grasping plate and telescoping mechanism;The proximity test device installation In one end of grasping plate;The telescoping mechanism uses ball screw slipway mechanism, connect with the other end of grasping plate.
Compared with prior art, the utility model beneficial effect is:
1) kinds of goods of some accumulations at random can be carried out accurate sorting crawl in a short time by robot, without artificial Operation improves working efficiency, while avoiding the safety problem occurred in the handling process;And structure is compact to design, flexibility is high, It is easy to assembly.
2) vertical lift and horizontal extension of robot are by the way of the combination of ball screw slide unit, and not only operation is high Effect, manufacturing cost is low, is greatly simplified mechanical arm configuration, improves the range of crawl, and to matched mobile platform It is of less demanding.
3) vertical lift device meets the excessively high situation of cargo height by the way of multistage lifting, thus when original state Robot overall dimensions are not too big, facilitate walking and storage.
4) horizontal rotation apparatus angle adjustable is capable of the position error of Compensating Robot to a certain extent in this way.
5) grasp mode that robot is combined using grasping plate and ball screw slide unit, can adapt to different cargo shapes Shape, size and material, traditional gripper or sucker etc. do not adapt to, and grasp mode is efficient, improve the applicability of robot.
6) dovetail groove of grasping plate both can be reduced the weight of grasping plate entirety, also can be reduced grasping plate bottom and goods shelf plate contact surface Product realizes that grasping plate quickly grabs cargo to reduce frictional force.
7) pallet apparatus uses electric cylinder for power source, can effective handling goods, it is ingenious in design simple, it is easy to control.
Detailed description of the invention
Fig. 1 is a kind of overall structure signal for embodiment of mobile robot that the utility model is used to pick and place shelf cargo Figure;
Fig. 2 is that a kind of control device structure for embodiment of mobile robot that the utility model is used to pick and place shelf cargo is shown It is intended to;
Fig. 3 is a kind of vertical lift device knot for embodiment of mobile robot that the utility model is used to pick and place shelf cargo Structure schematic diagram;
Fig. 4 is a kind of cargo grabbing device knot for embodiment of mobile robot that the utility model is used to pick and place shelf cargo Structure schematic diagram;
Fig. 5 is a kind of grasping plate structural representation for embodiment of mobile robot that the utility model is used to pick and place shelf cargo Figure;
Fig. 6 is that a kind of pallet apparatus structure for embodiment of mobile robot that the utility model is used to pick and place shelf cargo is shown It is intended to;
Fig. 7 is a kind of stock keeping unit knot for embodiment of mobile robot that the utility model is used to pick and place shelf cargo Structure schematic diagram;
Fig. 8 is a kind of horizontal rotation apparatus knot for embodiment of mobile robot that the utility model is used to pick and place shelf cargo Structure schematic diagram;
Fig. 9 is that a kind of control device control for embodiment of mobile robot that the utility model is used to pick and place shelf cargo is former Reason figure;(in figure: 1, mobile platform;2, control device;3, vertical lift device;4, pallet apparatus;5, cargo grabbing device;6, Stock keeping unit;7, horizontal rotation apparatus;8, navigation system;21, bracket is controlled;22, industrial personal computer;23, Arduino plate;24, Motor driver;31, second-grade lifting;32, secondary lifting mechanism;33, connector;34, fixed pedestal;3101, the first step Into motor;3102, first motor baffle;3103, first shaft coupling;3104, the 4th deep groove ball bearing;3105, the first lead screw branch Frame;3106, the first lead screw;3107, the first guide rail;3108, the first sliding block;3109, third deep groove ball bearing;3110, the first end End-stopping plate;3201, second end baffle;3202, the first deep groove ball bearing;3203, the second sliding block;3204, the second guide rail; 3205, the second lead screw;3206, the second lead screw bracket;3207, second shaft coupling;3208, the second deep groove ball bearing;3209, second Motor baffle;3210, second stepper motor;41, electric cylinder after-poppet;42, electric cylinder;43, tray supporter;44, U-shaped connection Part;45, T-type connector;46, electric cylinder fore-stock;47, pallet;51, proximity test device;52, grasping plate;53, telescoping mechanism; 5301, third sliding block;5302, third guide rail;5303, third lead screw;5304, third shaft coupling;5305, third stepper motor; 5306, third motor baffle;5307, the 6th deep groove ball bearing;5308, third lead screw bracket;5309, the 5th deep groove ball bearing; 5310, third end stop;61, depth camera;62, camera support;71, turntable;72, pedestal disk)
Specific embodiment
Specific embodiment of the utility model is given below.Specific embodiment is only used for being further described originally practical new Type does not limit the protection scope of the claim of this application.
The utility model provides a kind of mobile robot (abbreviation robot, referring to Fig. 1-for picking and placing shelf cargo 9), it is characterised in that the robot includes mobile platform 1, control device 2, vertical lift device 3, pallet apparatus 4, cargo crawl Device 5, stock keeping unit 6, horizontal rotation apparatus 7 and navigation system 8;The horizontal rotation apparatus 7 is mounted on mobile platform 1 On, control device 2, vertical lift device 3 and navigation system 8 are mounted on horizontal rotation apparatus 7, and cargo grabbing device 5 is installed In vertical lift device 3, pallet apparatus 4 and stock keeping unit 6 are mounted on cargo grabbing device 5;
The control device 2 controls robot and controls the movement of each component and complete picking operation;The vertical lift dress 3 are set for making object grabbing device 5 realize the movement in vertical direction;The horizontal rotation apparatus 7 is for making cargo grabbing device 5 Realize 360 ° of rotations in horizontal direction;The stock keeping unit 6 identifies and positions for realizing to various cargos;The goods Object grabbing device 5 passes through lifting, flexible, where rotary motion to cargo position;Pallet apparatus 4 is for bearing goods crawl dress It sets the cargo that 5 pick and realizes handling;The position of pallet apparatus 4 is fallen to by the cargo that cargo grabbing device 5 sorts out, then Cargo is sent out by mobile platform 1.
The control device 2 includes control bracket 21, industrial personal computer 22, Arduino plate 23 and motor driver 24;The control Bracket 21 and motor driver 24 processed are mounted on horizontal rotation apparatus 7;The industrial personal computer 22 and Arduino plate 23 are mounted on control On bracket 21 processed;The industrial personal computer 22 passes through CAN bus and the mutual communication connection of Arduino plate 23;Industrial personal computer 22 is total by CAN Line and the mutual communication connection of mobile platform 1;Industrial personal computer 22 is connected with depth camera 61 and the communication of navigation system 8 respectively by USB3.0 It connects;The Arduino plate 23 is communicatively connected to motor driver 24 and controls the first stepper motor 3101 and second stepper motor again 3210 realize moving up and down for cargo grabbing device 5, and Arduino plate 23 is communicatively connected to motor driver 24 and controls third again Stepper motor 5305 realize grasping plate 52 back-and-forth motion, Arduino plate 23 be communicatively connected to motor driver 24 control again it is electronic Cylinder 42 realizes that the warehousing and unloading function of pallet 47, Arduino plate 23 are communicatively connected to motor driver 24 and control rotation again Platform 71 realizes the rotation of entire robotic arm;
The vertical lift device 3 can be by the way of multistage lifting, and every level-one is all made of ball screw slipway mechanism To meet requirement for height, the sliding block of upper level and the guide rail of next stage are connected;The present embodiment is using secondary lifting, specifically: Including second-grade lifting 31, secondary lifting mechanism 32, connector 33 and fixed pedestal 34;The fixed pedestal 34 is fixed on water On the pedestal disk 72 of flat rotating device 7, second-grade lifting 31 is mounted on fixed pedestal 34, and secondary lifting mechanism 32 passes through company Fitting 33 is mounted in second-grade lifting 31;
The second-grade lifting 31 includes the first stepper motor 3101, first motor baffle 3102, first shaft coupling 3103, the 4th deep groove ball bearing 3104, the first lead screw bracket 3105, the first lead screw 3106, the first guide rail 3107, the first sliding block 3108, third deep groove ball bearing 3109 and first end baffle 3110;First guide rail 3107 is placed vertically, passes through fixed base Seat 34 is mounted on the pedestal disk 72 of horizontal rotation apparatus 7, and both ends are separately installed with first motor baffle 3102 and the first end End-stopping plate 3110;The first lead screw bracket 3105 is mounted on the first guide rail 3107 by screw;First lead screw 3106 Both ends pass through the 4th deep groove ball bearing 3104 respectively and third deep groove ball bearing 3109 is mounted on 3105 He of the first lead screw bracket On first end baffle 3110, it is located in the first guide rail 3107;First stepper motor 3101 is fixed on first motor baffle On 3102, output shaft is connected on the first lead screw 3106 by first shaft coupling 3103;3108 sets of first sliding block It, can be along 3106 back and forth movement of the first lead screw on one lead screw 3106;The Arduino plate 23 of control device 2 is to the first stepper motor 3101 send movement instruction, and the rotation of the first stepper motor 3101 drives the movement of the first lead screw 3106, to realize level-one lifting fortune It is dynamic;
The secondary lifting mechanism 32 includes second end baffle 3201, the first deep groove ball bearing 3202, the second sliding block 3203, the second guide rail 3204, the second lead screw 3205, the second lead screw bracket 3206, second shaft coupling 3207, the second deep groove ball bearing 3208, the second motor baffle 3209 and second stepper motor 3210;Second guide rail 3204 is placed vertically, passes through connector 33 It is mounted on the first sliding block 3108, both ends are separately installed with the second motor baffle 3209 and second end baffle 3201;It is described Second lead screw bracket 3206 is mounted on the second guide rail 3204 by screw;The both ends of second lead screw 3205 pass through respectively Two deep groove ball bearings 3208 and the first deep groove ball bearing 3202 are mounted on the second lead screw bracket 3206 and second end baffle 3201 On, it is located in the second guide rail 3204;The second stepper motor 3210 is fixed on the second motor baffle 3209, and output shaft is logical Second shaft coupling 3207 is crossed to be connected on the second lead screw 3205;3203 sets of second sliding block on the second lead screw 3205, can Along 3205 back and forth movement of the second lead screw;The Arduino plate 23 of control device 2 sends movement instruction to second stepper motor 3210, The rotation of second stepper motor 3210 drives the movement of the second lead screw 3205, to realize that secondary lifting moves;Control device 2 Arduino plate 23 can send movement instruction, level-one lifting to the first stepper motor 3101 and second stepper motor 3210 simultaneously It can be moved simultaneously with secondary lifting, to realize double movement velocity;
The cargo grabbing device 5 includes proximity test device 51, grasping plate 52 and telescoping mechanism 53;The proximity test dress 51 are set using photoelectric proximity switch, one end of grasping plate 52 is mounted on, for whether detecting grasping plate 52 close to shelf;It is described flexible Mechanism 53 use ball screw slipway mechanism, specifically include third sliding block 5301, third guide rail 5302, third lead screw 5303, Third shaft coupling 5304, third stepper motor 5305, third motor baffle 5306, the 6th deep groove ball bearing 5307, third lead screw Bracket 5308, the 5th deep groove ball bearing 5309 and third end stop 5310;The third guide rail 5302 is horizontal positioned, with second Sliding block 3203 connects, and both ends are separately installed with third motor baffle 5306 and third end stop 5310;The third lead screw Bracket 5308 is mounted on third guide rail 5302 by screw;The both ends of the third lead screw 5303 pass through the 6th deep-groove ball respectively Bearing 5307 and the 5th deep groove ball bearing 5309 are mounted in third lead screw bracket 5308 and third end stop 5310, are located at the In three guide rails 5302;The third stepper motor 5305 is fixed on third motor baffle 5306, and output shaft is joined by third Axis device 5304 is connected on third lead screw 5303;5301 sets of the third sliding block, can be along third silk on third lead screw 5303 5303 back and forth movement of thick stick;Third sliding block 5301 is connect with the other end of grasping plate 52, and grasping plate 52 is driven to move;Control device 2 Arduino plate 23 sends movement instruction to third stepper motor 5305, and the rotation of third stepper motor 5305 drives third lead screw 5303 movements, to realize the elastic of grasping plate 52;
Preferably, grasping plate 52 has dovetail groove 5201;
The pallet apparatus 4 includes electric cylinder after-poppet 41, electric cylinder 42, tray supporter 43, U-shaped connector 44, T-type company Fitting 45, electric cylinder fore-stock 46 and pallet 47;The electric cylinder after-poppet 41 is fixed on third guide rail 5302;It is described electronic 42 one end of cylinder is connect by pin shaft with electric cylinder after-poppet 41, and the other end is connect by pin shaft with electric cylinder fore-stock 46, electronic Cylinder fore-stock 46 is fixedly connected by bolt with pallet 47;The tray supporter 43 is fixed by screws in third guide rail 5302 On, U-shaped connector 44 is fixedly connected by bolt with tray supporter 43, and T-type connector 45 is connected by pin shaft and U-shaped connector 44 It connects, T-type connector 45 is fixedly connected by bolt with pallet 47;The fixed bit of T-type connector 45 and pallet 47 is setting in electronic The lower section of cylinder fore-stock 46 and the fixed position of pallet 47;When pallet apparatus 4 freights state, control device 2 controls electric cylinder 42 Elastic, electric cylinder 42 is in original state and does not extend, and pallet 47 is tilted a certain angle upwards, prevents cargo from pallet 47 It falls;When unladen state, control device 2 controls electric cylinder 42 and extends, so that pallet 47 be driven to tilt down certain angle, cargo It slides from pallet 47 to transferring box;
The stock keeping unit 6 includes depth camera 61 and camera support 62;The depth camera 61 is fixed on camera In the elongated slot 6201 of bracket 62, it can be moved along elongated slot 6201, be conveniently adjusted suitable position;The C-shaped channel of camera support 62 6202 cooperate with the third guide rail 5302 of telescoping mechanism 53 and fix;Depth camera 61 exports point cloud chart of the cargo with depth information, To realize the positioning of cargo location, and get cargo length and elevation information (this is the prior art);Depth camera 61 is defeated The cargo picture in cargo color image and database out compares and analyzes, and (this is existing for the identification and verification for realizing cargo There is technology);Depth camera 61 uses Intel RealSense R200;Depth camera 61 is existing commercial equipment.Cargo identification The working principle of device 6 is the prior art.
The horizontal rotation apparatus 7 includes turntable 71 and pedestal disk 72;The turntable 71 is fixed on mobile platform 1 On, pedestal disk 72 is mounted on turntable 71, and pedestal disk 72 realizes 360 ° of rotations by turntable 71;
The navigation system 8 uses laser radar scanning rangefinder, is existing commercial equipment.The work of navigation system 8 is former Reason is the prior art.
The utility model is used to pick and place the working principle of the mobile robot of shelf cargo and workflow is:
(1) before working, navigation system 8 carries out map structuring to space enrironment, then the chosen position point on map;This is The prior art.
(2) after work order issues, navigation system 8 is planned optimal path (this is the prior art) on map, control dress After setting 2 reception work orders (instruction includes the location point and cargo type etc. where each cargo), mobile platform 1 is controlled along pre- Determine path to move to wait pick the location point where cargo;
(3) control device 2 controls vertical lift device 3 and horizontal rotation apparatus 7 to go up and down and rotate, and makes pallet apparatus 4 Pallet 47 close to cargo to be picked bottom position, and towards cargo;It is identified by stock keeping unit 6 wait pick Cargo, obtain the relative position between cargo and cargo grabbing device 6 and elevation information;Control device 2 controls pallet apparatus 4 Pallet 47 close to the position of shelf where cargo to be picked;By cargo location and elevation information, goods is controlled by control device 2 The grasping plate 52 of object grabbing device 5 is higher than the height of cargo, while forward extending out grasping plate 52 and coming behind cargo;Then cargo grabs The grasping plate 52 of device 5 is landed down again, keeps the bottom margin of grasping plate 52 and goods shelf plate plane close;Then the electricity of pallet apparatus 4 Dynamic 42 setting in motion of cylinder, makes pallet 47 move to the position in horizontal direction, such pallet 47 can hold cargo without falling;Control The grasping plate 52 that device 2 processed controls cargo grabbing device 5 holds cargo back shrinkage will be by pallet when cargo leaves shelf The pallet 47 of device 4 is lifted;
(4) next location point is moved towards in the starting of mobile platform 1, while controlling 3 He of vertical lift device by control device 2 Cargo grabbing device 5 is restored to initial position, the upward position of 47 maintenance level of pallet;
(5) when completing after picking of all cargos in instruction, robot is according to planning path to transferring box position;Control dress The lifting of 2 control cargo grabbing devices 5 and rotary motion are set, the pallet 47 of pallet apparatus 4 is made to come the surface of transferring box, is adjusted To proper height, then 42 setting in motion of electric cylinder of pallet apparatus 4, is poured onto transferring box for the cargo in pallet 47.
The utility model does not address place and is suitable for the prior art.

Claims (10)

1. a kind of for picking and placing the mobile robot of shelf cargo, it is characterised in that the robot includes mobile platform, control dress It sets, vertical lift device, pallet apparatus, cargo grabbing device, stock keeping unit, horizontal rotation apparatus and navigation system;Institute State horizontal rotation apparatus installation on a mobile platform, vertical lift device is mounted on horizontal rotation apparatus, cargo grabbing device It is mounted in vertical lift device, pallet apparatus and stock keeping unit are mounted on cargo grabbing device;
The vertical lift device is by the way of multistage lifting, and every level-one is all made of ball screw slipway mechanism, upper level The connection of the guide rail of sliding block and next stage;
The cargo grabbing device includes proximity test device, grasping plate and telescoping mechanism;The proximity test device, which is mounted on, grabs One end of plate;The telescoping mechanism uses ball screw slipway mechanism, connect with the other end of grasping plate.
2. according to claim 1 for picking and placing the mobile robot of shelf cargo, it is characterised in that the pallet apparatus Including electric cylinder after-poppet, electric cylinder, tray supporter, U-shaped connector, T-type connector, electric cylinder fore-stock and pallet;It is described Electric cylinder after-poppet is fixed on the third guide rail of telescoping mechanism;Described electric cylinder one end is connected by pin shaft and electric cylinder after-poppet It connects, the other end is connect by pin shaft with electric cylinder fore-stock, and electric cylinder fore-stock is fixedly connected with the tray;The tray supporter is solid It is scheduled on third guide rail, U-shaped connector is fixedly connected with tray supporter, and T-type connector is connect by pin shaft with U-shaped connector, T Type connector is fixedly connected with the tray;The fixed bit of T-type connector and pallet is setting in electric cylinder fore-stock and pallet fixed bit The lower section set.
3. according to claim 1 for picking and placing the mobile robot of shelf cargo, it is characterised in that the vertical lift Device includes second-grade lifting, secondary lifting mechanism, connector and fixed pedestal;The fixed pedestal is fixed on horizontal rotation On the pedestal disk of device, second-grade lifting is mounted on fixed pedestal, and secondary lifting mechanism is mounted on level-one by connector On elevating mechanism.
4. according to claim 3 for picking and placing the mobile robot of shelf cargo, it is characterised in that the level-one lifting Mechanism includes the first stepper motor, first motor baffle, first shaft coupling, the 4th deep groove ball bearing, the first lead screw bracket, first Lead screw, the first guide rail, the first sliding block, third deep groove ball bearing and first end baffle;First guide rail is placed vertically, is passed through Fixed pedestal is mounted on the pedestal disk of horizontal rotation apparatus, and both ends are separately installed with first motor baffle and first end gear Plate;The first lead screw bracket is mounted on the first guide rail;The both ends of first lead screw pass through the 4th deep groove ball bearing respectively It is mounted on the first lead screw bracket and first end baffle with third deep groove ball bearing;First stepper motor is fixed on first On motor baffle, output shaft is connected on the first lead screw by first shaft coupling;First slide block set is on the first lead screw;
The secondary lifting mechanism includes second end baffle, the first deep groove ball bearing, the second sliding block, the second guide rail, second Thick stick, the second lead screw bracket, second shaft coupling, the second deep groove ball bearing, the second motor baffle and second stepper motor;Described second Guide rail is placed vertically, is mounted on the first sliding block by connector, and both ends are separately installed with the second motor baffle and the second end End-stopping plate;The second lead screw bracket is mounted on the second guide rail;The both ends of second lead screw pass through the second deep-groove ball respectively Bearing and the first deep groove ball bearing are mounted on the second lead screw bracket and second end baffle;The second stepper motor is fixed on On second motor baffle, output shaft is connected on the second lead screw by second shaft coupling;Second slide block set is at second On thick stick.
5. according to claim 1 for picking and placing the mobile robot of shelf cargo, it is characterised in that the telescoping mechanism Including third sliding block, third guide rail, third lead screw, third shaft coupling, third stepper motor, third motor baffle, the 6th zanjon Ball bearing, third lead screw bracket, the 5th deep groove ball bearing and third end stop;The third guide rail is horizontal positioned, and vertical Second sliding block of lifting device connects, and both ends are separately installed with third motor baffle and third end stop;The third silk Thick stick bracket is mounted on third guide rail;The both ends of the third lead screw pass through the 6th deep groove ball bearing and the 5th deep-groove ball axis respectively It holds and is mounted on third lead screw bracket and third end stop;The third stepper motor is fixed on third motor baffle, Output shaft is connected on third lead screw by third shaft coupling;The third slide block set is on third lead screw;Third sliding block with grab The other end of plate connects.
6. according to claim 1 for picking and placing the mobile robot of shelf cargo, it is characterised in that grasping plate has trapezoidal Slot;The navigation system uses laser radar scanning rangefinder;The proximity test device uses photoelectric proximity switch.
7. according to claim 1 for picking and placing the mobile robot of shelf cargo, it is characterised in that the cargo identification Device includes depth camera and camera support;The depth camera is fixed in the elongated slot of camera support, can be moved along elongated slot; The C-shaped channel of camera support and the third guide rail of telescoping mechanism, which cooperate, to be fixed.
8. according to claim 7 for picking and placing the mobile robot of shelf cargo, it is characterised in that depth camera uses Intel RealSense R200。
9. according to claim 1 for picking and placing the mobile robot of shelf cargo, it is characterised in that the horizontal rotation Device includes turntable and pedestal disk;The turntable is fixed on a mobile platform, and pedestal disk is installed on a spinstand, pedestal disk 360 ° of rotations are realized by turntable.
10. according to claim 1 for picking and placing the mobile robot of shelf cargo, it is characterised in that the control device Including control bracket, industrial personal computer, Arduino plate and motor driver;The control bracket and motor driver are mounted on level On rotating device;The industrial personal computer and Arduino plate are mounted on control bracket;The industrial personal computer by CAN bus and The mutual communication connection of Arduino plate;Industrial personal computer passes through CAN bus and the mutual communication connection of mobile platform;Industrial personal computer passes through USB3.0 respectively with depth camera and navigation system communication connection;The Arduino plate is communicatively connected to motor driver and controls again The first stepper motor and second stepper motor of vertical lift device processed realizes moving up and down for cargo grabbing device, Arduino plate is communicatively connected to the third stepper motor realization cargo grabbing device that motor driver controls cargo grabbing device again Grasping plate back-and-forth motion, Arduino plate be communicatively connected to motor driver control the electric cylinder of pallet apparatus again realize support The warehousing and unloading function of the pallet of disk device, Arduino plate are communicatively connected to motor driver controlled level rotating device again To realize the rotation of entire robotic arm.
CN201821648181.9U 2018-10-11 2018-10-11 It is a kind of for picking and placing the mobile robot of shelf cargo Active CN208856268U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201821648181.9U CN208856268U (en) 2018-10-11 2018-10-11 It is a kind of for picking and placing the mobile robot of shelf cargo

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201821648181.9U CN208856268U (en) 2018-10-11 2018-10-11 It is a kind of for picking and placing the mobile robot of shelf cargo

Publications (1)

Publication Number Publication Date
CN208856268U true CN208856268U (en) 2019-05-14

Family

ID=66420593

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201821648181.9U Active CN208856268U (en) 2018-10-11 2018-10-11 It is a kind of for picking and placing the mobile robot of shelf cargo

Country Status (1)

Country Link
CN (1) CN208856268U (en)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111217070A (en) * 2019-12-05 2020-06-02 河北工业大学 Can automatic access sample's breeding device
WO2021047344A1 (en) * 2019-09-10 2021-03-18 北京海益同展信息科技有限公司 Inspection robot and lifting apparatus thereof
CN113173522A (en) * 2021-04-23 2021-07-27 南京俊东机器人有限公司 Automatic stacking, lifting and traveling system for container locks

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2021047344A1 (en) * 2019-09-10 2021-03-18 北京海益同展信息科技有限公司 Inspection robot and lifting apparatus thereof
CN111217070A (en) * 2019-12-05 2020-06-02 河北工业大学 Can automatic access sample's breeding device
CN111217070B (en) * 2019-12-05 2021-09-21 河北工业大学 Can automatic access sample's breeding device
CN113173522A (en) * 2021-04-23 2021-07-27 南京俊东机器人有限公司 Automatic stacking, lifting and traveling system for container locks

Similar Documents

Publication Publication Date Title
CN208856268U (en) It is a kind of for picking and placing the mobile robot of shelf cargo
CN109051491A (en) It is a kind of for picking and placing the mobile robot of shelf cargo
CN109969781B (en) Taking-out device, transfer device, taking-out method, and control device
CN104528038A (en) Liquid crystal module classified packaging device
CN204368495U (en) Liquid crystal module class wrapping device
CN105598937A (en) Automatic tallying robot for supermarket
CN110980081A (en) Intelligent transfer robot for warehouse logistics, transfer method and transfer system
CN103567152A (en) Mail sorting and transporting system
CN108127665A (en) Different model standardization hopper robot vision scanning grabbing device
CN209238444U (en) A kind of logistics sorting device
CN204604355U (en) A kind of assembling and disassembling manipulator
CN108373002A (en) What a kind of material was classified automatically goes out Input System
CN106504443B (en) A kind of automatic book collating device and its book bidding method
CN107030015A (en) One kind scanning sorting system
CN105035706A (en) Pull rod type overturning inspection device
CN107032033B (en) The intensive storage method of cargo smart three-dimensional and intelligent intensive stereo garage system
CN105416965A (en) Smart warehousing mechanism and control system thereof
CN204842237U (en) Automatic sorting device
CN110239869A (en) A kind of mobile both arms handling device and its application method based on binocular vision
CN204355614U (en) A kind of efficient automatic goods loading device
CN206782784U (en) With goods equipment and with goods device
CN112024413A (en) Sorting manipulator and sorting system
CN211989765U (en) Ready-made clothe letter sorting system
CN211077248U (en) Rotation type stacker selects goods clamping jaw
CN204736215U (en) Automatic stirring machinery hand

Legal Events

Date Code Title Description
GR01 Patent grant
GR01 Patent grant