CN209833823U - Novel storage robot - Google Patents
Novel storage robot Download PDFInfo
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- CN209833823U CN209833823U CN201920553101.XU CN201920553101U CN209833823U CN 209833823 U CN209833823 U CN 209833823U CN 201920553101 U CN201920553101 U CN 201920553101U CN 209833823 U CN209833823 U CN 209833823U
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- lifting
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Abstract
The utility model discloses a novel storage robot, which comprises a chassis, a rotating disc mechanism, a carrying disc, a lifting mechanism, a controller and a tracing device; be equipped with driving motor and drive wheel on the chassis, be equipped with rolling disc mechanism and elevating system on the chassis, the last thing dish that carries that is equipped with of elevating system is equipped with and seeks the mark device below the chassis, and this storage robot has simple structure, advantages such as small.
Description
Technical Field
The utility model relates to an automatic guide car technical field, concretely relates to novel storage robot.
Background
An Automatic Guided Vehicle (AGV) has an electromagnetic or optical automatic guiding device, can travel along a specified guiding path, and is widely applied to the fields of industry, military, transportation, electronics, and the like along with the rapid development of intelligent warehouse logistics. However, the existing automatic guided vehicle has a complex structure, and is easy to cause inconvenience in installation and maintenance.
SUMMERY OF THE UTILITY MODEL
The utility model discloses a novel storage robot has been provided to the problem above, and this storage robot has simple structure, the advantage of being convenient for maintain.
The utility model discloses a technical means as follows:
a novel storage robot comprises a chassis, a rotating disc mechanism, a carrying disc, a lifting mechanism, a controller and a tracing device;
the left side and the right side of the chassis are respectively provided with a left driving wheel and a right driving wheel, the front end and the rear end of the chassis are respectively provided with a universal wheel, the left driving wheel is driven by a first motor, and the right driving wheel is driven by a second motor;
the rotating disc mechanism comprises an annular inner fixed seat and an annular outer driving disc, the inner fixed seat is fixed on the chassis, the outer driving disc is sleeved outside the inner fixed seat, gear teeth are arranged on the outer wall of the outer driving disc, a third motor is arranged on the chassis, and the third motor can drive the outer driving disc to rotate on the inner fixed seat through a first gear;
the lifting mechanism comprises a fourth motor, a fourth motor base and a lifting base, the fourth motor base is fixed on the external driving disc, the fourth motor is installed on the fourth motor base, the lifting base is of a strip-shaped plate-shaped structure, a first groove is formed in one side, corresponding to the fourth motor, of the lifting base, gear teeth are arranged on two inner side walls of the first groove, a second gear is installed on the fourth motor, a third gear is installed on the fourth motor base, the second gear and the third gear are arranged in the first groove and are meshed with each other, the outer sides of the second gear and the third gear are respectively meshed with the two inner side walls of the first groove, and the fourth motor can drive the lifting base to move up and down through the third gear and the fourth gear;
the upper end of the lifting seat is fixedly connected with the object carrying disc, the outer driving disc is fixedly provided with a guide rod, the object carrying disc is fixedly provided with a guide sleeve, and when the lifting seat moves up and down, the guide sleeve slides on the guide rod;
the tracing device is fixed on the lower surface of the chassis and is connected with the controller;
the controller is also connected with the motor.
Furthermore, a circular through hole is formed in the chassis corresponding to the inner diameter of the inner fixing seat, and when the lifting seat moves up and down, the lifting seat can pass through the inner diameter of the inner fixing seat and the circular through hole.
Furthermore, the tracing device comprises a plurality of groups of photoelectric geminate transistors, each photoelectric geminate transistor comprises an infrared transmitting tube and an infrared receiving tube, the plurality of groups of photoelectric geminate transistors are annularly and uniformly distributed below the chassis, and the tracing device is connected with the controller.
The obstacle avoidance device is connected with the controller, and the obstacle avoidance device adopts an infrared obstacle avoidance device or an ultrasonic obstacle avoidance device.
Further, still include wireless communication module, wireless communication module is connected with the controller.
Further, still include the module of testing the speed, the module of testing the speed with the controller is connected.
Further, still include the inertial navigation module, the inertial navigation module with the controller is connected.
Furthermore, the intelligent control system also comprises a display module and an alarm module, wherein the display module and the alarm module are both connected with the controller.
Compared with the prior art, novel storage robot have following beneficial effect: 1. the rotating disc mechanism and the lifting mechanism are arranged, so that the object carrying disc can rotate and lift, and the goods can be conveniently transported to a destination and correspondingly adjusted in position; 2. the lifting mechanism adopts a lifting seat and two gear structures, and has the advantages of simple structure and convenient maintenance; 3. the rotating disc mechanism is of an annular structure, and the base is provided with the through hole, so that the lifting seat can partially penetrate through the rotating disc mechanism and the base in the descending process, the lifting range of the lifting seat is improved, and the overall height of the lifting seat is reduced.
Drawings
Fig. 1 is a structural diagram of the novel warehousing robot disclosed by the invention;
FIG. 2 is a block diagram of a rotating disk mechanism;
FIG. 3 is a view showing the construction of the lifting mechanism, showing only the relationship between the lifting base, the second gear and the third gear;
FIG. 4 is a power circuit diagram of the control circuit of the present embodiment;
FIG. 5 is a control circuit diagram of the first and second motors;
fig. 6 is a control circuit diagram of the lifting device.
In the figure: 1. the device comprises a chassis, 101, a right driving wheel, 102, universal wheels, 104, a second motor, 105 and a circular through hole;
2. the device comprises a rotating disc mechanism 200, an inner fixed seat 201, an outer driving disc 202, a third motor 203, a first gear 204, a guide rod 205 and a third motor seat;
3. a carrying plate 300 and a guide sleeve;
401. a fourth motor base 402, a lifting base 403, a first groove 404, a second gear 405, a third gear 406 and the inner side wall of the first groove;
7. keep away barrier device.
Detailed Description
As shown in fig. 1, the novel warehousing robot disclosed by the utility model comprises a chassis 1, a rotating disc mechanism 2, a carrying disc 3, a lifting mechanism, a controller and a tracing device; a left driving wheel and a right driving wheel 101 are respectively arranged at the left side and the right side of the chassis 1, a universal wheel 103 is respectively arranged at the front end and the rear end of the chassis 1, the left driving wheel is driven by a first motor, the right driving wheel 101 is driven by a second motor 104, and only the right driving wheel and the second motor are shown in fig. 1; as shown in fig. 2, the rotating disc mechanism includes an annular inner fixing seat 200 and an outer driving disc 201, the inner fixing seat 200 is fixed on the chassis 1, the outer driving disc 201 is sleeved outside the inner fixing seat 200, preferably, a bearing is arranged between the inner fixing seat and the outer driving disc, gear teeth are arranged on the outer wall of the outer driving disc 201, a third motor seat 205 is installed at the front end of the chassis 1, a third motor 202 is fixed on the third motor seat 205, a first gear 203 is installed on an output shaft of the third motor 202, the first gear 203 is engaged with the gear teeth on the outer wall of the outer driving disc 201, and the third motor 202 can drive the outer driving disc 201 to rotate on the inner fixing seat 200 through the first gear 203; as shown in fig. 1 and 3, the lifting mechanism includes a fourth motor, a fourth motor base 401 and a lifting base 402, the fourth motor base 401 is fixed on the external driving disk 201, the fourth motor is installed on the fourth motor base 401, the lifting base 402 is a long strip-shaped plate-shaped structure, a first groove 403 is formed in one side of the lifting base 402 corresponding to the fourth motor, gear teeth are formed on two inner side walls 406 of the first groove 403, a second gear 404 is installed on the fourth motor, a third gear 405 is installed on the fourth motor base, the second gear 404 and the third gear 405 are placed in the first groove 403 and are engaged with each other, outer sides of the second gear 404 and the third gear 405 are engaged with two inner side walls of the first groove 403, respectively, as shown in fig. 3, the second gear drives the third gear to rotate under the driving of the fourth motor (i.e. the second gear and the third gear can rotate along the direction M-M in fig. 3), the outer sides of the second and third gears are engaged with the lifting base, and the lifting base 402 can be driven to move up and down in the N-N direction by the second and third gears. The upper end of the lifting seat 402 is fixedly connected with the object carrying tray 3, the guide rod 204 is fixed on the outer driving tray 201, the guide sleeve 300 is fixed at the lower end of the object carrying tray 3, when the lifting seat 402 moves up and down, the guide sleeve 300 slides on the guide rod 204, and the guide sleeve and the guide rod play a role in stabilizing and guiding the movement of the object carrying tray, so that the object carrying tray can move up and down more stably to carry goods. The lower surface of the chassis is fixed with a tracing device, the tracing device is connected with a controller, and the tracing device automatically carries goods according to a tracing mark on the ground under the control of the controller; the controller is further connected with the motors and controls the motors according to actual needs.
The utility model discloses a novel storage robot's theory of operation as follows: the lifting mechanism is controlled by the controller to lower the carrying plate to the lowest end, then the robot is guided by the tracing mark on the ground to move to the lower end of the goods shelf, the lifting mechanism moves upwards under the control of the controller and lifts the goods shelf through the carrying plate, under the guidance of the tracing device on the lower end of the chassis, the goods shelf is transported to a target place according to the tracing mark on the ground and reaches the target place, the rotating plate mechanism can adjust the rotating angle of the carrying plate as required, and further adjustment of the goods shelf is realized, so that the goods shelf is in a proper position, then the lifting mechanism is controlled by the controller to descend, the goods shelf is placed at a proper target position, and next goods carrying is carried out through the tracing mark again.
Further, as shown in fig. 2, a circular through hole 105 is formed in the chassis 1 corresponding to the inner diameter of the inner fixing base 200, and when the lifting base 402 moves up and down, the lifting base 402 can pass through the inner diameter of the inner fixing base and the circular through hole. Because there is certain height between chassis and the ground in addition, consequently, it has circular through-hole to open on the chassis, and when interior fixing base was annular structure simultaneously, the lift seat can pass circular through-hole and interior fixing base for it can rationally utilize the space between chassis and the ground, reduces the height of this storage robot itself.
Furthermore, the tracing device comprises a plurality of groups of photoelectric geminate transistors, each photoelectric geminate transistor comprises an infrared transmitting tube and an infrared receiving tube, the plurality of groups of photoelectric geminate transistors are annularly and uniformly distributed below the chassis, and the tracing device is connected with the controller. The infrared transmitting tube and the infrared receiving tube are connected with the controller, the controller controls the infrared transmitting tube to transmit signals to the ground, the infrared receiving tube receives infrared signals returned by ground tracing marks, a plurality of groups of photoelectric geminate transistors are arranged, the photoelectric geminate transistors are annularly and uniformly distributed, the tracing accuracy of the warehousing robot can be guaranteed, and deviation of an operation route is avoided.
The obstacle avoidance device is connected with the controller, and the obstacle avoidance device adopts an infrared obstacle avoidance device or an ultrasonic obstacle avoidance device. When adopting infrared obstacle avoidance, infrared obstacle avoidance includes an infrared transmitting tube and an infrared receiving tube, and infrared transmitting tube and infrared receiving tube are connected with the controller, and infrared transmitting tube outwards launches infrared signal under the control of controller, and when meetting the barrier, infrared signal is returned by the barrier and is received by infrared receiving tube, and infrared receiving tube gives the controller with received signal transmission, and the controller and then control this storage robot deceleration or turn to avoid with the barrier contact.
Further, the wireless communication module is connected with the controller through an IO port. In this embodiment, the wireless communication module is a JDY-18 bluetooth module, and the wireless communication module can implement wireless communication between a mobile phone or a computer and the warehousing robot, so as to facilitate remote control or setup of the warehousing robot.
Further, still include the module of testing the speed, the module of testing the speed with the controller is connected. In this embodiment, the speed measuring module adopts an encoder module, and the encoder module is installed on a driving motor for driving the driving wheel to rotate, so as to obtain the running speed.
Further, still include the inertial navigation module, the inertial navigation module with the controller is connected
In this embodiment, the controller uses an MK60DN512ZVMD10 chip, uses ADXL335 and MPU6050 to perform acceleration detection, and is used to measure the acceleration of the warehouse robot, and a three-axis or six-axis detection module should be used to implement the acceleration detection. In order to measure the robot speed, an encoder is also required. And calculating the current speed to obtain the actual PWM to be output to the motor, and outputting the actual PWM to a motor driving chip through an amplitude limiting function, wherein the motor driving chip drives the MOS tube to supply power to the motor.
As shown in FIG. 4, the power supply of the present invention specifically adopts LM2940 chip, the LM2940 chip is a low dropout regulator, and the purpose of voltage reduction is realized through heat dissipation, and the LM2940-5 adopted in the present design adopts TO-263 encapsulation, which can enhance the heat dissipation capability of the chip. 6-26V is input, 5V voltage is output, and 1A current can be continuously output to the maximum. The peripheral circuit is simple, and only the input and output filter capacitors are needed.
The TPS7333 voltage reduction chip is mainly used for supplying power to a single chip microcomputer and a sensor, and is also a low-dropout linear regulator like the LM 2940. The maximum input is 10V, and the output is 3.3V. The maximum current of 500mA is already sufficient for a single chip microcomputer and other 3.3V equipment. The TPS7333 has several advantages over AMS1117 and other common LDOs: low noise, SOP-8 packaging, single chip control, etc. The power module comprises a 5V power supply and two 3.3V power supplies, the 5V power supplies are mainly used for Bluetooth after being subjected to voltage reduction, and the input of the two 3.3V voltage-stabilizing power supplies is also 5V stabilized by a 5V voltage-stabilizing chip. 3.3V electricity output by the 3.3V voltage-stabilizing chip is mainly supplied to a singlechip, an OLED, a key, an accelerometer, a motor driving chip and the like. The 5V voltage regulation chip is LM2940, and the 3.3V voltage regulation chip is TPS 7333. The input and output of each power supply chip are provided with filter capacitors, so that the power supply chips can work more stably.
As shown in fig. 5 the utility model discloses a drive circuit of first motor and second motor, specifically, motor driver chip adopts the A4957 chip, and this chip is a gate pole full-bridge driver chip, and the main advantage is from taking the charge pump for the gate drive of MOS pipe. The MOS tube uses AO7510 produced by Alpha & Omega company, and has the main advantages of small package current, high switching speed, and suitability for manufacturing small-volume motor drive. In the design, 3 motor drives are needed according to requirements, the current required by the motor is large, and the motor drive needs high power, so that 3 groups of H-bridge motor drives using 4 NMOS are designed in the circuit design, and a direct current brush motor drive chip A4957 drives 4N-channel MOS (metal oxide semiconductor) tubes. Because the motor is required to rotate positively and negatively and the motor driving chip is driven in a Direct mode, each path of motor driving needs two paths of PWM signals to be input, and the two paths of PWM signals are contrastingly output to the NMOS to control the switches of the upper bridge arm and the lower bridge arm so as to enable the motor to move. In addition, a pull-down resistor needs to be added before input, otherwise, the motor driving chip can rotate forwards at full speed when the input is suspended.
Fig. 6 shows a fourth motor driving circuit, in this embodiment, an AS1015 chip is used AS a DC-DC switching step-down chip, and is packaged by an SOP-8 package, and a PMOS is built in, so that a large current can be output, and the maximum output current is 5A. The input voltage is 23V at most, and the output voltage is 0.8-23V adjustable. The switching frequency is 300 KHz. The output ripple is low, the interference to the ground is small, and the characteristics of ultralow standby current are realized. The chip is adopted in the design mainly because the starting current of the steering engine is large and the DC-DC of small packaging large current is needed.
The mechanism adopted in the mechanical lifting rotating part is realized by adopting a mode of a steering engine and a motor, and the scheme of using a push rod motor and the steering engine together is abandoned. The steering engine driving circuit mainly comprises an AS1015DC-DC chip, and because the starting current of an internal motor is large when the steering engine is started in a rotating mode, a large capacitor is specially added at the input and the output during design so AS to prevent the phenomenon of electricity shortage and immobility. The circuit is provided with an adjustable resistor for adjusting output voltage so as to adapt to steering engines with different response speeds.
The above, only be the concrete implementation of the preferred embodiment of the present invention, but the protection scope of the present invention is not limited thereto, and any person skilled in the art is in the technical scope of the present invention, according to the technical solution of the present invention and the utility model, the concept of which is equivalent to replace or change, should be covered within the protection scope of the present invention.
Claims (8)
1. The utility model provides a novel storage robot which characterized in that: comprises a chassis, a rotating disc mechanism, a carrying disc, a lifting mechanism, a controller and a tracing device;
the left side and the right side of the chassis are respectively provided with a left driving wheel and a right driving wheel, the front end and the rear end of the chassis are respectively provided with a universal wheel, the left driving wheel is driven by a first motor, and the right driving wheel is driven by a second motor;
the rotating disc mechanism comprises an annular inner fixed seat and an annular outer driving disc, the inner fixed seat is fixed on the chassis, the outer driving disc is sleeved outside the inner fixed seat, gear teeth are arranged on the outer wall of the outer driving disc, a third motor is arranged on the chassis, and the third motor can drive the outer driving disc to rotate on the inner fixed seat through a first gear;
the lifting mechanism comprises a fourth motor, a fourth motor base and a lifting base, the fourth motor base is fixed on the external driving disc, the fourth motor is installed on the fourth motor base, the lifting base is of a strip-shaped plate-shaped structure, a first groove is formed in one side, corresponding to the fourth motor, of the lifting base, gear teeth are arranged on two inner side walls of the first groove, a second gear is installed on the fourth motor, a third gear is installed on the fourth motor base, the second gear and the third gear are arranged in the first groove and are meshed with each other, the outer sides of the second gear and the third gear are respectively meshed with the two inner side walls of the first groove, and the fourth motor can drive the lifting base to move up and down through the third gear and the fourth gear;
the upper end of the lifting seat is fixedly connected with the object carrying disc, the outer driving disc is fixedly provided with a guide rod, the object carrying disc is fixedly provided with a guide sleeve, and when the lifting seat moves up and down, the guide sleeve slides on the guide rod;
the tracing device is fixed on the lower surface of the chassis and is connected with the controller;
the controller is also connected with the motor.
2. The novel warehousing robot as claimed in claim 1, wherein: a circular through hole is formed in the chassis corresponding to the inner diameter of the inner fixing seat, and when the lifting seat moves up and down, the lifting seat can pass through the inner diameter of the inner fixing seat and the circular through hole.
3. The novel warehousing robot as claimed in claim 1, wherein: the tracing device comprises a plurality of groups of photoelectric geminate transistors, the photoelectric geminate transistors comprise infrared transmitting tubes and infrared receiving tubes, the photoelectric geminate transistors are annularly and uniformly distributed below the chassis, and the tracing device is connected with the controller.
4. The novel warehousing robot as claimed in any one of claims 1 to 3, wherein: the obstacle avoidance device is arranged at the front end of the chassis and connected with the controller, and the obstacle avoidance device adopts an infrared obstacle avoidance device or an ultrasonic obstacle avoidance device.
5. The novel warehousing robot as claimed in claim 4, wherein: the wireless communication module is connected with the controller.
6. The novel warehousing robot as claimed in claim 5, wherein: the speed measurement device further comprises a speed measurement module, and the speed measurement module is connected with the controller.
7. The novel warehousing robot as claimed in claim 6, wherein: the inertial navigation system further comprises an inertial navigation module, and the inertial navigation module is connected with the controller.
8. The novel warehousing robot as claimed in claim 7, wherein: the display module and the alarm module are connected with the controller.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920553101.XU CN209833823U (en) | 2019-04-22 | 2019-04-22 | Novel storage robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920553101.XU CN209833823U (en) | 2019-04-22 | 2019-04-22 | Novel storage robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209833823U true CN209833823U (en) | 2019-12-24 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920553101.XU Expired - Fee Related CN209833823U (en) | 2019-04-22 | 2019-04-22 | Novel storage robot |
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| Country | Link |
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| CN (1) | CN209833823U (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111169561A (en) * | 2020-02-13 | 2020-05-19 | 常州机电职业技术学院 | High-stability universal transfer cart |
| CN112549004A (en) * | 2020-12-25 | 2021-03-26 | 深圳优地科技有限公司 | Robot |
| CN114800479A (en) * | 2021-01-28 | 2022-07-29 | 丰田自动车株式会社 | Opening/closing control device, system, method, task system, and computer-readable medium |
| CN114852909A (en) * | 2021-02-03 | 2022-08-05 | 丰田自动车株式会社 | Conveyance system, control method, and storage medium |
| CN114940226A (en) * | 2021-02-15 | 2022-08-26 | 丰田自动车株式会社 | Conveyance system, method of moving operation object, and storage medium |
-
2019
- 2019-04-22 CN CN201920553101.XU patent/CN209833823U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111169561A (en) * | 2020-02-13 | 2020-05-19 | 常州机电职业技术学院 | High-stability universal transfer cart |
| CN112549004A (en) * | 2020-12-25 | 2021-03-26 | 深圳优地科技有限公司 | Robot |
| CN114800479A (en) * | 2021-01-28 | 2022-07-29 | 丰田自动车株式会社 | Opening/closing control device, system, method, task system, and computer-readable medium |
| CN114852909A (en) * | 2021-02-03 | 2022-08-05 | 丰田自动车株式会社 | Conveyance system, control method, and storage medium |
| CN114940226A (en) * | 2021-02-15 | 2022-08-26 | 丰田自动车株式会社 | Conveyance system, method of moving operation object, and storage medium |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20191224 Termination date: 20200422 |
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| CF01 | Termination of patent right due to non-payment of annual fee |