CN208882646U - A kind of storage robot - Google Patents
A kind of storage robot Download PDFInfo
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- CN208882646U CN208882646U CN201821474455.7U CN201821474455U CN208882646U CN 208882646 U CN208882646 U CN 208882646U CN 201821474455 U CN201821474455 U CN 201821474455U CN 208882646 U CN208882646 U CN 208882646U
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Abstract
The utility model discloses a kind of storage robots.It includes mobile chassis and at least one mechanical arm for grabbing article, mobile chassis bottom is equipped with the first camera, mobile chassis front end is equipped with warehousing device, mobile chassis rear end is equipped with the elevating mechanism for driving mechanical arm vertically moving, warehousing device includes the supporting plate that several are arranged side by side from top to bottom, mobile chassis is equipped with several mobile mechanisms that can be moved forward and backward along mobile chassis, mobile mechanism and supporting plate correspond, supporting plate two sides are equipped with connecting column, supporting plate is connected by connecting column with corresponding mobile mechanism, controller and wireless communication module are additionally provided on mobile chassis.The utility model does not need to carry entire shelf, and cost is relatively low, and shelf size is unrestricted, improves the efficiency that staff sorts kinds of goods, and its work occupies little space, and shelf density in warehouse can be made to greatly improve.
Description
Technical field
The utility model relates to intelligent storage technical field more particularly to a kind of storage robots.
Background technique
Intelligent storage is a link of logistics progress, and the application of intelligent storage ensure that each ring of kinds of goods storehouse management
Joint number according to input speed and accuracy, it is ensured that enterprise timely and accurately grasps the truthful data of inventory, rationally keep and control
Business inventory.By the coding of science, being also convenient to the batch to inventory good, shelf-life etc. is managed.
Currently, intelligent storage is that multiple shelf for placing kinds of goods are arranged in warehouse, intelligent storage robot is according to wireless
Shelf where kinds of goods are carried to employee's treatment region from warehouse by the order of instruction, and staff picks in employee's treatment region, scans
Commodity.But this intelligent storage robot can only carry entire shelf, cost higher to performance requirements such as the load-bearing of itself
Higher, weight, height of shelf etc. are also restrained, and staff looks for order kinds of goods on shelf, and efficiency is lower.
Summary of the invention
Entire shelf can only be carried the purpose of the utility model is to overcome existing intelligent storage robot, performance requirement compared with
Height, higher cost, shelf size are restricted, and staff sorts the lower technical problem of kinds of goods efficiency, provide a kind of storehouse
Robot is stored up, entire shelf are not needed to carry, cost is relatively low, and shelf size is unrestricted, improves staff and sorts kinds of goods
Efficiency, and its work occupies little space, and shelf density in warehouse can be made to greatly improve.
To solve the above-mentioned problems, the utility model is achieved using following technical scheme:
A kind of storage robot of the utility model, at least one machinery including mobile chassis and for grabbing article
Arm, the mobile chassis bottom are equipped with the first camera, and the mobile chassis front end is equipped with warehousing device, after the mobile chassis
End is equipped with the elevating mechanism for driving mechanical arm vertically moving, and the warehousing device includes that several set side by side from top to bottom
The supporting plate set, the mobile chassis are equipped with several mobile mechanisms that can be moved forward and backward along mobile chassis, mobile mechanism and support
Plate corresponds, and the supporting plate two sides are equipped with connecting column, and the supporting plate is connected by connecting column with corresponding mobile mechanism, described
Controller and wireless communication module are additionally provided on mobile chassis, the controller is imaged with mobile chassis, mechanical arm, first respectively
Head, elevating mechanism, mobile mechanism and wireless communication module electrical connection.
In the technical scheme, mobile chassis includes chassis, and tray bottom is set there are two walking module, and walking module includes
Driving wheel and the drive module of driving driving wheel rotation, drive module are electrically connected with the controller.Undersurface of bottom disc quadrangle is additionally provided with
Universal wheel.Controller drives driving wheel movement by drive module, moves freely on the ground to control mobile chassis.
First camera is stored in a warehouse leading line on localized ground or navigation two dimensional code for identification, and the help robot that stores in a warehouse is fixed
Position cooperates mobile chassis, realizes and moves freely in storage region.Storing in a warehouse, module receives administrative center by wireless communication for robot
The wireless instructions of transmission.
Robot store in a warehouse by elevating mechanism drive mechanical arm lifting, mechanical arm is put into for removing the kinds of goods on supporting plate
It stores in a warehouse on the shelf in region, or the kinds of goods on the shelf in region of storing in a warehouse is removed and are put on supporting plate.
Supporting plate is for storing kinds of goods.When supporting plate is located at initial position, supporting plate is located at immediately below mechanical arm, and supporting plate does not have
It stretches out except mobile chassis.Each supporting plate has corresponding mobile mechanism to drive it independently mobile, and mobile mechanism can drive pallet
It is moved on the outside of mobile chassis.
When mechanical arm needs to remove in the kinds of goods on some supporting plate, the supporting plate above the supporting plate is all moved forward, so that
Unobstructed above the supporting plate, mechanical arm removes kinds of goods on the supporting plate, and the supporting plate then to move forward is returned to original position.Similarly, work as machine
When tool arm needs to be placed into kinds of goods on some supporting plate, the supporting plate above the supporting plate all moves forward, so that it is unobstructed above the supporting plate,
After equal mechanical arms discharge kinds of goods, the supporting plate of Forward is returned to original position.
When mechanical arm needs to be put into storage region from lower position picking product on the shelf in storage region or by kinds of goods
On shelf when lower position, corresponding supporting plate is moved forward, so that mechanical arm picking or goods putting not will receive the obstruction of supporting plate, later
Forward supporting plate returns to original position.
In the present solution, elevating mechanism, mechanical arm and all supporting plates are all located at the upper space of mobile chassis, elevating mechanism
It is oppositely arranged with supporting plate, supporting plate is located at immediately below mechanical arm, substantially reduces the sky that storage robot occupies in moving process
Between, the more shelf of storage for allowing storage region more dense substantially increase the space utilization rate in storage region.Storage
Robot is by the mobile control of independence to each supporting plate, so that mechanical arm is at work, it can be by controlling corresponding support
Plate movement does not hinder mechanical arm to work.
The storage robot of this programme can be good at completing while reducing occupied space picking in storage/goods putting behaviour
Make, do not need to carry entire shelf, cost is relatively low, and shelf size is unrestricted, improves staff and sorts the efficiency of kinds of goods, and makes
Shelf density greatly improves in warehouse.
Preferably, the elevating mechanism includes column, the column is equipped with can be along the lifting column that column moves up and down
And the first driving mechanism that driving lifting column moves up and down, the lifting column bottom are equipped with the first synchronous pulley, the lifting
Column top is equipped with the second synchronous pulley, and first synchronous pulley passes through synchronous band connection, the lifting with the second synchronous pulley
The first sliding block that is equipped with the first guide rail along longitudinal direction on column and can slide on the first guide rail, the mechanical arm setting are sliding first
On block, first sliding block is fixedly connected with synchronous belt, and the lifting column bottom is additionally provided with gear, and the gear is synchronous with first
Belt wheel is coaxially connected, is equipped with rack gear, the wheel and rack engagement, the controller and the first driving on the column along longitudinal direction
Mechanism electrical connection.
First driving mechanism can drive lifting column to move up and down along column, when lifting column moves up and down, go up and down column bottom
Gear by rack gear act on rotate, gear drive the first synchronous pulley rotation, the first synchronous pulley drive synchronous belt be rotated up or
It rotates down, synchronous belt drives the first sliding block to move up or move down, and the first sliding block drives mechanical arm to move up or move down, to realize machine
Tool arm goes up and down two-stage linkage.
Preferably, the mobile mechanism includes second driving machine of two moving structures and driving moving structure movement
Structure, described two moving structures are located at the underface of two connecting columns of supporting plate, and the moving structure includes being arranged in movement
Guide groove on chassis and what can be slided along guide groove move item, the guide groove move towards to be arranged before and after mobile chassis, institute
It states mobile item connecting column corresponding with its top to be fixedly connected, second driving mechanism includes screw rod, is set on screw rod
Screw and the driving motor of driving screw rod rotation, the mobile item are connect by the first connector with screw, the driving electricity
Machine is electrically connected with the controller.
Driving motor is rotated by driving screw rod so that screw is moved forward and backward, and screw drives mobile item to move before and after guide groove
Dynamic, mobile item drives corresponding supporting plate to be moved forward and backward.Each supporting plate has a corresponding screw rod driver to be moved forward and backward.
Preferably, each supporting plate two sides connecting column is positioned above the inside of supporting plate two sides connecting column.When all supporting plates
When positioned at initial position, all connecting columns are generally aligned in the same plane.
Preferably, being set side by side on the mobile chassis there are two battery apparatus for placing, the battery apparatus for placing includes
Open-topped battery case, the plug on rear side of battery case and the electromagnet on front side of battery case, after the battery case
Side is equipped with the socket with mate, is equipped with battery in the battery case, the battery case is made of ferrimagnet, the electricity
Magnet is connect by the second connector with the connecting column of any one supporting plate, and the electromagnet is electrically connected with the controller, each to insert
Head is electrically connected by corresponding switch module with the power end of controller, and control terminal and the controller of the switch module are electrically connected
It connects.
When normal condition, all with corresponding plug grafting, controller controls a switch module for socket on two battery cases
Conducting, another switch module disconnect, and the battery in only one battery case gives the power supply of storage robot.
When the battery capacity deficiency powered to storage robot, controller controls the corresponding switch module of the battery by leading
Logical to go off, control another switch module becomes being connected from disconnecting, and gives storage robot by the battery of another Full Charge Capacity
Battery switching is completed in power supply, and then, storage robot is moved at charging rack, and the connecting column connecting with electromagnet moves backward
So that electromagnet is contacted with battery case, the electromagnet on front side of the corresponding battery case of the battery of not enough power supply is powered, which will
Corresponding battery case is sucked, and the connecting column connecting with electromagnet moves forward a distance and makes battery where the battery of not enough power supply
Box is separated with corresponding plug, and battery case is no longer sucked in control electromagnet power-off, control all supporting plates move forward so that electricity not
It is unobstructed above battery case where the battery of foot, it charges on the anti-battery-theft charging rack of mechanical arm taking-up not enough power supply, from charging
Fully charged battery is taken out on frame to be put into the battery case for being removed battery, the connecting column being connect with electromagnet move backward so that
It is put into battery case and the corresponding plug grafting of new battery, finally, all supporting plates are returned to original position, completes battery altering.
Preferably, the mechanical arm includes attachment base, first motor, the first transverse arm, the second transverse arm and grasping mechanism, institute
It states the first transverse arm rear end and attachment base is hinged, the attachment base is fixedly connected with elevating mechanism, and the first motor setting is even
On joint chair and the first transverse arm rotation can be driven, second transverse arm is located at below the first transverse arm, second front arm and the
One front arm is hinged, and the second motor of the second transverse arm rotation of driving is equipped in first transverse arm, and the grasping mechanism is located at
Below second transverse arm, second transverse arm rear end and grasping mechanism are hinged, and driving grasping mechanism is equipped in second transverse arm and is turned
Dynamic third motor, the controller are electrically connected with first motor, the second motor, third motor and grasping mechanism respectively.
First motor drives the first transverse arm rotation, second the second transverse arm rotation of motor driven, and the first transverse arm, the second transverse arm turn
It is dynamic that grasping mechanism is driven to be moved horizontally to the position that need to grab article, article is grabbed convenient for grasping mechanism.
Preferably, the grasping mechanism includes substrate, below the substrate front and rear sides be respectively equipped with the first handgrip and
Second handgrip, the substrate bottom surface be equipped with can drive the first handgrip, the second handgrip with respect to opening/closing third driving mechanism,
The substrate is respectively arranged on the left side and the right side second camera, and the controller is electric with third driving mechanism and second camera respectively
Connection.Second camera is used to determine the relative position on grasping mechanism and shelf between kinds of goods, convenient for fine tuning grasping mechanism
Position, so that more accurately grabbing kinds of goods, moreover it is possible to be confirmed whether to be the kinds of goods for needing to grab.
Preferably, when supporting plate is located at initial position, supporting plate be located at immediately below mechanical arm and be located at mobile chassis just on
Side.
The beneficial effects of the utility model are: not needing to carry entire shelf, cost is relatively low, and shelf size is unrestricted, mentions
High staff sorts the efficiency of kinds of goods, and its work occupies little space, and shelf density in warehouse can be made to greatly improve.
Detailed description of the invention
Fig. 1 is a kind of structural schematic diagram of the utility model；
Fig. 2 is a kind of circuit theory connection block diagram of the utility model；
Fig. 3 is the schematic bottom view of mobile chassis；
Fig. 4 is the structural schematic diagram of elevating mechanism；
Fig. 5 is the side view of elevating mechanism；
Fig. 6 is the front view of warehousing device；
Fig. 7 is the A-A cross-sectional view of Fig. 6；
Fig. 8 is the structural schematic diagram of battery apparatus for placing；
Fig. 9 is the structural schematic diagram of mechanical arm；
Figure 10 is the B-B cross-sectional view of Fig. 9；
Figure 11 is the schematic diagram after the Forward of the top supporting plate；
Figure 12 is the schematic diagram after all supporting plate Forwards；
Figure 13 is to store in a warehouse robot in the schematic diagram of regional work of storing in a warehouse.
In figure: 1, mobile chassis, 2, mechanical arm, the 3, first camera, 4, elevating mechanism, 5, supporting plate, 6, mobile mechanism, 7,
Connecting column, 8, controller, 9, wireless communication module, 10, column, 11, lifting column, the 12, first synchronous pulley, 13, second is synchronous
Belt wheel, 14, synchronous belt, the 15, first guide rail, the 16, first sliding block, 17, gear, 18, rack gear, 19, guide groove, 20, mobile item,
21, screw rod, 22, screw, 23, battery case, 24, plug, 25, electromagnet, 26, socket, the 27, second connector, 28, switching molding
Block, 29, attachment base, 30, first motor, the 31, first transverse arm, the 32, second transverse arm, the 33, second motor, 34, third motor, 35,
Substrate, the 36, first handgrip, the 37, second handgrip, 38, second camera, 39, chassis, 40, driving wheel, 41, universal wheel, 42, electricity
Pond, 43, driving motor, 44, shelf, 45, turnover box.
Specific embodiment
Below with reference to the embodiments and with reference to the accompanying drawing the technical solutions of the present invention will be further described.
A kind of storage robot of the present embodiment, as shown in Figure 1, Figure 2, Figure 3 shows, including mobile chassis 1 and for grabbing object
At least one mechanical arm 2 of product, 1 bottom of mobile chassis are equipped with the first camera 3, and 1 front end of mobile chassis is equipped with warehousing device, move
Dynamic 1 rear end of chassis is equipped with the elevating mechanism 4 for driving mechanical arm 2 vertically moving, warehousing device include four from top to bottom
Supporting plate arranged side by side, sets that there are four the mobile mechanism 6 that can be moved forward and backward along mobile chassis 1, mobile mechanisms 6 on mobile chassis 1
It is corresponded with supporting plate 5,5 two sides of supporting plate are equipped with connecting column 7, and supporting plate 5 is connected by connecting column 7 with corresponding mobile mechanism 6, move
Controller 8 and wireless communication module 9 are additionally provided on dynamic chassis 1, controller 8 is imaged with mobile chassis 1, mechanical arm 2, first respectively
First 3, elevating mechanism 4, mobile mechanism 6 and wireless communication module 9 are electrically connected.
Each 5 two sides connecting column 7 of supporting plate is positioned above the inside of 5 two sides connecting column 7 of supporting plate.When all supporting plates 5 are located at
When initial position, all connecting columns 7 are generally aligned in the same plane.When supporting plate 5 is located at initial position, under supporting plate 5 is located at mechanical arm 2 just
Just and it is located at right above mobile chassis 1.
Mobile chassis 1 includes chassis 39, and 39 bottom of chassis is set there are two walking module, walking module include driving wheel 40 with
And the drive module that driving driving wheel 40 rotates, drive module are electrically connected with the controller.39 bottom surface quadrangle of chassis is additionally provided with universal
Wheel 41.Controller drives driving wheel movement by drive module, moves freely on the ground to control mobile chassis.
First camera is stored in a warehouse leading line on localized ground or navigation two dimensional code for identification, and the help robot that stores in a warehouse is fixed
Position cooperates mobile chassis, realizes and moves freely in storage region.Storing in a warehouse, module receives administrative center by wireless communication for robot
The wireless instructions of transmission work under the control of administrative center.
Robot store in a warehouse by elevating mechanism drive mechanical arm lifting, mechanical arm is put into for removing the kinds of goods on supporting plate
It stores in a warehouse on the shelf in region, or the kinds of goods on the shelf in region of storing in a warehouse is removed and are put on supporting plate.
Supporting plate is for storing kinds of goods.When supporting plate is located at initial position, supporting plate is located at immediately below mechanical arm, and supporting plate does not have
It stretches out except mobile chassis.Each supporting plate has corresponding mobile mechanism to drive it independently mobile, and mobile mechanism can drive pallet
It is moved on the outside of mobile chassis.As shown in figure 11, the top supporting plate is advanced on the outside of mobile chassis, as shown in figure 12, all supports
Plate is advanced on the outside of mobile chassis.
When mechanical arm needs to remove in the kinds of goods on some supporting plate, the supporting plate above the supporting plate is all moved forward, so that
Unobstructed above the supporting plate, mechanical arm removes kinds of goods on the supporting plate, and the supporting plate then to move forward is returned to original position.Similarly, work as machine
When tool arm needs to be placed into kinds of goods on some supporting plate, the supporting plate above the supporting plate all moves forward, so that it is unobstructed above the supporting plate,
After equal mechanical arms discharge kinds of goods, the supporting plate of Forward is returned to original position.
When mechanical arm needs to be put into storage region from lower position picking product on the shelf in storage region or by kinds of goods
On shelf when lower position, corresponding supporting plate is moved forward, so that mechanical arm picking or goods putting not will receive the obstruction of supporting plate, later
Forward supporting plate returns to original position.
As shown in figure 13, store in a warehouse region shelf 44 on be placed with the turnover box 45 of unified specification, placed in turnover box 45
There are same kinds of goods.Turnover box is convenient for grasping mechanism crawl.
When picking, storage robot, which will be placed with, needs the turnover box of picking product to remove from corresponding shelf, transports to employee's treatment region,
Staff takes out the kinds of goods of specified quantity from turnover box.When getting in stocks, storage robot will be placed with the turnover for the kinds of goods that need to get in stocks
Case is put on idle supporting plate thereon, moves to corresponding shelf, and the turnover box for being placed with the kinds of goods that need to get in stocks is put into the correspondence of shelf
Warehousing position.Administrative center receives the order that external equipment is sent, and deploys storage robot picking according to order, gets in stocks, has simultaneously
There are the functions such as storage business, outbound business, warehouse are alloted and empty storekeeper is managed, to batch management, material correspondence, stock-taking, matter
The function synthesizeds such as inspection management, empty storekeeper reason and just in time inventory management use.
Elevating mechanism, mechanical arm and all supporting plates are all located at the upper space of mobile chassis, elevating mechanism and supporting plate phase
To setting, supporting plate is located at immediately below mechanical arm, storage robot the space occupied in moving process is substantially reduced, so that storehouse
Storage area domain can be more dense the more shelf of storage, substantially increase storage region space utilization rate.Storage robot is logical
It crosses to the mobile control of the independence of each supporting plate, so that mechanical arm is at work, it can be mobile not by controlling corresponding supporting plate
Hinder mechanical arm work.
The storage robot of this programme can be good at completing while reducing occupied space picking in storage/goods putting behaviour
Make, do not need to carry entire shelf, cost is relatively low, and shelf size is unrestricted, improves staff and sorts the efficiency of kinds of goods, and makes
Shelf density greatly improves in warehouse.
As shown in Figure 4, Figure 5, elevating mechanism 4 includes column 10, and column 10 is equipped with the liter that can be moved up and down along column 10
Drop column 11 and the first driving mechanism for driving lifting column 11 to move up and down, 11 bottom of lifting column are equipped with the first synchronous pulley 12,
The second synchronous pulley 13 is equipped at the top of lifting column 11, the first synchronous pulley 12 is connected with the second synchronous pulley 13 by synchronous belt 14
It connects, the first sliding block 16 that is equipped with the first guide rail 15 along longitudinal direction on lifting column 11 and can be slided on the first guide rail 15, mechanical arm 2
It is arranged on the first sliding block 16, the first sliding block 16 is fixedly connected with synchronous belt 14, and 11 bottom of lifting column is additionally provided with gear 17, gear
17 is coaxially connected with the first synchronous pulley 12, is equipped with rack gear 18 on column 10 along longitudinal direction, and gear 17 is engaged with rack gear 18, controller
8 are electrically connected with the first driving mechanism.
First driving mechanism can drive lifting column to move up and down along column, when lifting column moves up and down, go up and down column bottom
Gear by rack gear act on rotate, gear drive the first synchronous pulley rotation, the first synchronous pulley drive synchronous belt be rotated up or
It rotates down, synchronous belt drives the first sliding block to move up or move down, and the first sliding block drives mechanical arm to move up or move down, to realize machine
Tool arm goes up and down two-stage linkage.
As shown in Figure 6, Figure 7, mobile mechanism 6 includes two moving structures and the second driving for driving moving structure movement
Mechanism, two moving structures are located at the underface of 5 two connecting columns 7 of supporting plate, and moving structure includes being arranged in mobile chassis 1
On guide groove 19 and item 20 can be moved along what guide groove 19 slided, guide groove 19 move towards setting, shifting before and after mobile chassis 1
Dynamic item 20 is fixedly connected with connecting column 7 corresponding above it, and the second driving mechanism includes screw rod 21, the silk that is set on screw rod 21
The driving motor 43 that mother 22 and driving screw rod 21 rotate, mobile item 20 are connect by the first connector with screw 22, driving electricity
Machine 43 is electrically connected with controller 8.
Driving motor is rotated by driving screw rod so that screw is moved forward and backward, and screw drives mobile item to move before and after guide groove
Dynamic, mobile item drives corresponding supporting plate to be moved forward and backward.Each supporting plate has a corresponding screw rod driver to be moved forward and backward.
As shown in Figure 7, Figure 8, it is set side by side on mobile chassis 1 there are two battery apparatus for placing, battery apparatus for placing includes top
The battery case 23 of portion's opening, the electromagnet 25 positioned at the plug 24 of 23 rear side of battery case and positioned at 23 front side of battery case, battery
Be equipped on rear side of box 23 with the matched socket 26 of plug 24, battery 42 is equipped in battery case 23, battery case 23 is by ferrimagnet system
At electromagnet 25 is connect by the connecting column 7 of the second connector 27 supporting plate 5 high with third, and electromagnet 25 is electrically connected with controller 8
Connect, each plug 24 is electrically connected by corresponding switch module 28 with the power end of controller 8, the control terminal of switch module 28 and
Controller 8 is electrically connected.
When normal condition, all with corresponding plug grafting, controller controls a switch module for socket on two battery cases
Conducting, another switch module disconnect, and the battery in only one battery case gives the power supply of storage robot.
When the battery capacity deficiency powered to storage robot, controller controls the corresponding switch module of the battery by leading
Logical to go off, control another switch module becomes being connected from disconnecting, and gives storage robot by the battery of another Full Charge Capacity
Battery switching is completed in power supply, and then, storage robot is moved at charging rack, and the connecting column connecting with electromagnet moves backward
So that electromagnet is contacted with battery case, the electromagnet on front side of the corresponding battery case of the battery of not enough power supply is powered, which will
Corresponding battery case is sucked, and the connecting column connecting with electromagnet moves forward a distance and makes battery where the battery of not enough power supply
Box is separated with corresponding plug, and battery case is no longer sucked in control electromagnet power-off, control all supporting plates move forward so that electricity not
It is unobstructed above battery case where the battery of foot, it charges on the anti-battery-theft charging rack of mechanical arm taking-up not enough power supply, from charging
Fully charged battery is taken out on frame to be put into the battery case for being removed battery, the connecting column being connect with electromagnet move backward so that
It is put into battery case and the corresponding plug grafting of new battery, finally, all supporting plates are returned to original position, completes battery altering.
As shown in Figure 9, Figure 10, mechanical arm 2 includes attachment base 29, first motor 30, the first transverse arm 31,32 and of the second transverse arm
Grasping mechanism, 31 rear end of the first transverse arm and attachment base 29 are hinged, and attachment base 29 is fixedly connected with the first sliding block 16, first motor 30
It is arranged on attachment base 29 and the first transverse arm 31 can be driven to rotate, the second transverse arm 32 is located at 31 lower section of the first transverse arm, the second transverse arm
32 front ends and 31 front end of the first transverse arm are hinged, and the second motor 33 of driving the second transverse arm 32 rotation is equipped in the first transverse arm 31, is grabbed
Mechanism is taken to be located at 32 lower section of the second transverse arm, 32 rear end of the second transverse arm and grasping mechanism are hinged, are equipped with driving in the second transverse arm 32 and grab
Take mechanism rotate third motor 34, controller 8 respectively with first motor 30, the second motor 33, third motor 34 and gripper
Structure electrical connection.
Grasping mechanism includes substrate 35, and 35 lower section front and rear sides of substrate are respectively equipped with the first handgrip 36 and the second handgrip 37,
35 bottom surface of substrate is equipped with the third driving mechanism that can drive the first handgrip 36, the opposite opening/closing of the second handgrip 37, and substrate 35 is left
Right two sides are respectively equipped with second camera 38, and controller 8 is electrically connected with third driving mechanism and second camera 38 respectively.
First motor drives the first transverse arm rotation, second the second transverse arm rotation of motor driven, and the first transverse arm, the second transverse arm turn
It is dynamic that grasping mechanism is driven to be moved horizontally to the position that need to grab article, article is grabbed convenient for grasping mechanism.Second camera is used for
The relative position on grasping mechanism and shelf between turnover box is determined, convenient for finely tuning the position of grasping mechanism, so that more accurately
Grab turnover box, moreover it is possible to be confirmed whether to be the turnover box for needing to grab.
Claims (8)
1. a kind of storage robot, which is characterized in that at least one mechanical arm including mobile chassis (1) and for grabbing article
(2), mobile chassis (1) bottom is equipped with the first camera (3), and mobile chassis (1) front end is equipped with warehousing device, described
Mobile chassis (1) rear end is equipped with the elevating mechanism (4) for driving mechanical arm (2) vertically moving, and the warehousing device includes
Several supporting plates being arranged side by side from top to bottom (5), the mobile chassis (1) is equipped with several can be before mobile chassis (1)
The mobile mechanism (6) moved afterwards, mobile mechanism (6) and supporting plate (5) correspond, and supporting plate (5) two sides are equipped with connecting column
(7), the supporting plate (5) is connected by connecting column (7) with corresponding mobile mechanism (6), is additionally provided with control on the mobile chassis (1)
Device (8) processed and wireless communication module (9), the controller (8) respectively with mobile chassis (1), mechanical arm (2), the first camera
(3), elevating mechanism (4), mobile mechanism (6) and wireless communication module (9) electrical connection.
2. a kind of storage robot according to claim 1, which is characterized in that the elevating mechanism (4) includes column
(10), be equipped with can be along lifting column (11) that column (10) move up and down and driving lifting column (11) up and down for the column (10)
The first mobile driving mechanism, lifting column (11) bottom are equipped with the first synchronous pulley (12), at the top of the lifting column (11)
Equipped with the second synchronous pulley (13), first synchronous pulley (12) and the second synchronous pulley (13) are connected by synchronous belt (14)
It connects, the first sliding block that is equipped with the first guide rail (15) along longitudinal direction on the lifting column (11) and can be slided on the first guide rail (15)
(16), the mechanical arm (2) is arranged on the first sliding block (16), and first sliding block (16) is fixedly connected with synchronous belt (14),
Lifting column (11) bottom is additionally provided with gear (17), and the gear (17) and the first synchronous pulley (12) are coaxially connected, described
Rack gear (18) are equipped with along longitudinal direction on column (10), the gear (17) is engaged with rack gear (18), and the controller (8) is driven with first
The electrical connection of motivation structure.
3. a kind of storage robot according to claim 1, which is characterized in that the mobile mechanism includes two mobile knots
Structure and the second driving mechanism of driving moving structure movement, described two moving structures are located at supporting plate (5) two connections
The underface of column (7), the moving structure include the guide groove (19) being arranged on mobile chassis (1) and can be along guide grooves
(19) the mobile item (20) slided, the guide groove (19) move towardss setting before and after the mobile chassis (1), the mobile item (20) and
Its corresponding connecting column (7) in top is fixedly connected, and second driving mechanism includes screw rod (21), is set on screw rod (21)
Screw (22) and the driving motor (43) of driving screw rod (21) rotation, the mobile item (20) pass through the first connector and screw
(22) it connects, the driving motor (43) is electrically connected with controller (8).
4. a kind of storage robot according to claim 1, which is characterized in that each supporting plate (5) two sides connecting column is located at
The inside of its top supporting plate (5) two sides connecting column (7).
5. a kind of storage robot according to claim 1, which is characterized in that be equipped with side by side on the mobile chassis (1)
Two battery apparatus for placing, the battery apparatus for placing include open-topped battery case (23), are located on rear side of battery case (23)
Plug (24) and the electromagnet (25) that is located on front side of battery case (23), be equipped on rear side of the battery case (23) and plug (24)
Matched socket (26), the battery case (23) is interior to be equipped with battery (42), and the battery case (23) is made of ferrimagnet, institute
It states electromagnet (25) to connect by the second connector (27) with the connecting column (7) of any one supporting plate (5), the electromagnet (25)
It is electrically connected with controller (8), each plug (24) is electrically connected by corresponding switch module (28) and the power end of controller (8)
It connects, the control terminal of the switch module (28) is electrically connected with controller (8).
6. a kind of storage robot according to claim 1, which is characterized in that the mechanical arm (2) includes attachment base
(29), first motor (30), the first transverse arm (31), the second transverse arm (32) and grasping mechanism, the first transverse arm (31) rear end with
Hingedly, the attachment base (29) is fixedly connected attachment base (29) with elevating mechanism (4), and first motor (30) setting is connecting
On seat (29) and the first transverse arm (31) can be driven to rotate, second transverse arm (32) is located at the first transverse arm (31) lower section, and described the
Two transverse arms (32) front end and the first transverse arm (31) front end are hinged, and driving the second transverse arm (32) is equipped in first transverse arm (31) and is turned
Dynamic the second motor (33), the grasping mechanism are located at below the second transverse arm (32), the second transverse arm (32) rear end and crawl
Mechanism is hinged, and the third motor (34) of driving grasping mechanism rotation, the controller (8) point are equipped in second transverse arm (32)
It is not electrically connected with first motor (30), the second motor (33), third motor (34) and grasping mechanism.
7. a kind of storage robot according to claim 6, which is characterized in that the grasping mechanism includes substrate (35),
Front and rear sides are respectively equipped with the first handgrip (36) and the second handgrip (37) below the substrate (35), and substrate (35) bottom surface is set
There are the third driving mechanism that the first handgrip (36), the second handgrip (37) can be driven with respect to opening/closing, substrate (35) left and right
Two sides are respectively equipped with second camera (38), and the controller (8) is electric with third driving mechanism and second camera (38) respectively
Connection.
8. a kind of storage robot according to claim 1, which is characterized in that when supporting plate (5) is located at initial position, support
Plate (5) is located at immediately below mechanical arm (2) and is located at right above mobile chassis (1).
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| CN201821474455.7U CN208882646U (en) | 2018-09-10 | 2018-09-10 | A kind of storage robot |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109383974A (en) * | 2018-09-10 | 2019-02-26 | 杭州慧盈智能科技有限公司 | A kind of storage robot and its control method |
| CN111017459A (en) * | 2019-12-31 | 2020-04-17 | 方昌顺 | Express container turnover device and turnover method thereof |
| CN113733108A (en) * | 2021-07-13 | 2021-12-03 | 武汉理工大学 | Intelligent express delivery carrying robot and use method |
-
2018
- 2018-09-10 CN CN201821474455.7U patent/CN208882646U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109383974A (en) * | 2018-09-10 | 2019-02-26 | 杭州慧盈智能科技有限公司 | A kind of storage robot and its control method |
| CN111017459A (en) * | 2019-12-31 | 2020-04-17 | 方昌顺 | Express container turnover device and turnover method thereof |
| CN113733108A (en) * | 2021-07-13 | 2021-12-03 | 武汉理工大学 | Intelligent express delivery carrying robot and use method |
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