CN211278387U - Logistics carrying robot device - Google Patents
Logistics carrying robot device Download PDFInfo
- Publication number
- CN211278387U CN211278387U CN201922413563.4U CN201922413563U CN211278387U CN 211278387 U CN211278387 U CN 211278387U CN 201922413563 U CN201922413563 U CN 201922413563U CN 211278387 U CN211278387 U CN 211278387U
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- vehicle body
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- laminate
- arm
- motor
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Abstract
The utility model belongs to the field of robot equipment, and discloses a logistics carrying robot device, which is provided with a driving vehicle, wherein the driving vehicle is sequentially provided with a third laminate of a vehicle body, a second laminate of the vehicle body and a first laminate of the vehicle body from top to bottom; the front end of a first laminate of the vehicle body is provided with a plurality of infrared sensors, and the infrared sensors are connected with the gyroscope module; the rear end of a first laminate of the vehicle body is provided with a plurality of ultrasonic modules, a motor driving plate is fixedly arranged on the first laminate of the vehicle body, and the motor driving plate is connected with a motor; the infrared sensor, the ultrasonic module and the motor driving board are all connected with the control board, the control board is connected with the power supply module through the power distribution board, and the expansion board is further installed on the control board. The logistics transfer robot device is suitable for logistics transfer, warehousing and the like by autonomously driving, loading and unloading an axle, grabbing articles, avoiding obstacles, identifying left and right turning marks, sending the articles back to a designated position, identifying parking and stopping the marks and then autonomously parking the articles in the position.
Description
Technical Field
The utility model belongs to the robot equipment field especially relates to a commodity circulation transfer robot device.
Background
At present, logistics transfer robots are divided in advance by adopting a rail mode, positions, types and the like of warehouse goods, electromagnetic and path lines are laid on the ground in advance by means of electromagnetic tracking or black and white line tracking, and trolleys run by means of recognizing specified line marks. In the prior art, when the geomagnetic traffic line detection device is used, people are required to investigate geomagnetism or identification lines at variable time, and when obstacles exist above the geomagnetism or the specified driving route, a vehicle body cannot be found, and the geomagnetic traffic line detection device must be manually cleaned, so that inconvenience is brought to users.
The problems existing in the prior art are as follows:
(1) personnel are required to investigate geomagnetism or identification lines at irregular times.
(2) When the earth magnetism or the obstacle exists above the specified driving route, the vehicle body can not be found, and the obstacle must be manually cleaned, which causes inconvenience to users.
Disclosure of Invention
Problem to prior art existence, the utility model provides a commodity circulation transfer robot device.
The utility model is realized in such a way that a logistics transfer robot device is provided with a driving vehicle which is provided with a third layer plate of the vehicle body, a second layer plate of the vehicle body and a first layer plate of the vehicle body from top to bottom in sequence;
the front end of the first laminate of the vehicle body is provided with a plurality of infrared sensors, and the infrared sensors are connected with the gyroscope module; the rear end of the first laminate of the vehicle body is provided with a plurality of ultrasonic modules, a motor driving plate is fixedly arranged on the first laminate of the vehicle body, and the motor driving plate is connected with a motor; the infrared sensor, the ultrasonic module and the motor driving board are all connected with a control board, the control board is connected with the power supply module through a power supply distribution board, and an expansion board is further mounted on the control board;
a first digital steering engine is arranged on a second layer plate of the vehicle body and connected with a camera steering engine distribution plate;
a motor rotating disc mounting position is arranged in the middle of a third layer plate of the vehicle body, and a one-key starting button, a vehicle body power switch and a mechanical arm switch are further mounted on the third layer plate of the vehicle body; the one-key starting button is connected with the control panel, the vehicle body power switch is connected with the power distribution plate, the mechanical arm switch is connected with the bearing body, and the middle of a third layer plate of the vehicle body is provided with a wire passing hole.
Further, arm body internally mounted has the heavy guide rail of damping, movable mounting has the linking bridge on the heavy guide rail of damping, the linking bridge passes through the rack and connects the installation with the gear tooth on the first claw mounting bracket.
Further, the outer side of the mechanical arm body is respectively and fixedly provided with an upper mechanical arm plate, a lower mechanical arm plate, a rear mechanical arm baffle, a left mechanical arm baffle and a right mechanical arm baffle.
Further, fixed mounting has first arm spread groove on the arm upper plate, fixed mounting has second arm spread groove on the arm left side baffle.
Further, the bottom of the first laminate of the vehicle body passes through a motor reduction box, a direct current motor is mounted at the front end of the motor reduction box, a code disc device circuit board is mounted on the direct current motor, an encoder is mounted on the code disc device circuit board, and a data interface is mounted on the encoder;
the rear end of the motor reduction gearbox is movably connected with a rubber tire through a first connecting piece.
Further, all be provided with the support hole on first plywood of automobile body and the automobile body second plywood, the downthehole support frame that runs through of support is installed.
Further, the upper end of a third layer plate of the vehicle body is fixedly provided with a mechanical arm body through a second connecting plate, the mechanical arm body is fixedly provided with a steering engine body, and the front end of the mechanical arm body is fixedly provided with a collision switch; the front end of arm body installs hand claw steering wheel and camera through second hand claw mounting bracket and lamp plate respectively, the front end fixed mounting of hand claw steering wheel has the hand claw body.
Further, a lower bearing fixing plate is mounted on the bearing body, an upper bearing fixing plate is mounted on the lower bearing fixing plate, a second connecting plate is mounted on the upper bearing fixing plate, and a third connecting plate is movably mounted on the second connecting plate; the lower extreme of bearing body installs arm swivel bearing bracket, the first connecting plate is installed through the second connecting piece to the lower extreme of arm swivel bearing bracket, the second digital steering wheel is installed to the lower extreme of first connecting plate.
In summary, the advantages and positive effects of the invention are: the logistics transfer robot device is suitable for logistics transfer, warehousing and the like by autonomously driving, loading and unloading an axle, grabbing articles, avoiding obstacles, identifying left and right turning marks, sending the articles back to a designated position, identifying parking and stopping the marks and then autonomously parking the articles in the position.
Drawings
Fig. 1 is a schematic structural diagram of a logistics handling robot apparatus provided by an embodiment of the present invention.
Fig. 2 is a schematic view of a front structure of a mechanical arm provided by an embodiment of the present invention.
Fig. 3 is a schematic structural diagram of a hand grip according to an embodiment of the present invention.
Fig. 4 is a schematic side view of a robot arm according to an embodiment of the present invention.
Fig. 5 is a schematic structural view of a second laminate of a vehicle body according to an embodiment of the present invention.
Fig. 6 is a schematic structural diagram of a dc motor according to an embodiment of the present invention.
Fig. 7 is a schematic structural view of a second laminate of a vehicle body according to an embodiment of the present invention.
Fig. 8 is a schematic structural view of a third floor of a vehicle body according to an embodiment of the present invention.
Fig. 9 is a schematic structural diagram of a mechanical arm rotation bearing provided by an embodiment of the present invention.
In the figure: 1. the mechanical arm is arranged on the plate; 2. a mechanical arm lower plate; 3. a mechanical arm rear baffle; 4. a mechanical arm left baffle; 5. a baffle plate at the right side of the mechanical arm; 6. a steering engine body; 7. a bump switch; 8. a damped heavy duty rail; 9. connecting a bracket; 10. a rack; 11. a gear; 12. a first jaw mounting bracket; 13. a second gripper mounting bracket; 14. a lamp panel; 15. a camera; 16. a paw steering engine; 17. a gripper body; 18. a first mechanical arm connecting groove; 19. a second mechanical arm connecting groove; 20. an infrared sensor; 21. a gyroscope module; 22. a motor; 23. a control panel; 24. an expansion board; 25. a bracket hole; 26. a power supply module; 27. a power distribution board; 28. a motor drive plate; 29. an ultrasonic module; 30. a first laminate of the vehicle body; 31. a motor reduction box; 32. a code wheel device circuit board; 33. an encoder; 34. a first connecting member; 35. a rubber tire; 36. a data interface; 37. a second laminate of the vehicle body; 38. a first digital steering engine; 39. a camera steering engine distribution plate; 40. a third laminate of the vehicle body; 41. a key start button; 42. a vehicle body power switch; 43. a mechanical arm switch; 44. a wire passing hole; 45. a motor rotating disc mounting position; 46. a second digital steering engine; 47. a first connecting plate; 48. the mechanical arm rotates the bearing bracket; 49. a bearing body; 50. a bearing lower fixing plate; 51. a bearing upper fixing plate; 52. a second connecting plate; 53. a third connecting plate; 54. a second connecting member.
Detailed Description
In order to further understand the contents, features and effects of the present invention, the following embodiments are illustrated and described in detail with reference to the accompanying drawings.
In view of the problems in the prior art, the present invention provides a logistics handling robot apparatus, which is described in detail below with reference to fig. 1 to 9.
The utility model provides a commodity circulation transfer robot device to the solution can independently travel by equipment under the unmanned on duty's the condition, meets the automatic barrier of dodging under the condition of barrier, can go up the downhill path automatically, thereby can differentiate the direction of turning left and right and place the exact position with article, and according to the parking sign automatic parking under the condition that need not transport in the parking stall.
The driving vehicle is sequentially provided with a third vehicle body layer plate 40, a second vehicle body layer plate 37 and a first vehicle body layer plate 30 from top to bottom;
the front end of the first vehicle body floor 30 is provided with a plurality of infrared sensors 20, and the infrared sensors 20 are connected with a gyroscope module 21; a plurality of ultrasonic modules 29 are mounted at the rear end of the first vehicle body floor 30, a motor drive plate 28 is fixedly mounted on the first vehicle body floor 30, and the motor drive plate 28 is connected with a motor 22; the infrared sensor 20, the ultrasonic module 29 and the motor driving board 28 are all connected with the control board 23, the control board 23 is connected with the power supply module 26 through the power supply distribution board 27, and the control board 23 is further provided with an expansion board 24;
a first digital steering engine 38 is arranged on a second layer plate 37 of the vehicle body, and the first digital steering engine 38 is connected with a camera steering engine distributing plate 39;
a motor rotating disc mounting position 45 is arranged in the middle of the third layer plate 40 of the vehicle body, and a one-key starting button 41, a vehicle body power switch 42 and a mechanical arm switch 43 are further mounted on the third layer plate 40 of the vehicle body; the one-key starting button 41 is connected with the control panel 23, the vehicle body power switch 42 is connected with the power distribution board 27, the mechanical arm switch 43 is connected with the bearing body 49, and the middle part of the third layer board 40 of the vehicle body is provided with a wire passing hole 44.
The heavy guide rail of arm body internally mounted has the damping 8, movable mounting has linking bridge 9 on the heavy guide rail of damping 8, linking bridge 9 passes through rack 10 and the gear 11 joggle installation on the first claw mounting bracket 12.
The outer side of the mechanical arm body is respectively and fixedly provided with an upper mechanical arm plate 1, a lower mechanical arm plate 2, a rear mechanical arm baffle plate 3, a left mechanical arm baffle plate 4 and a right mechanical arm baffle plate 5.
A first mechanical arm connecting groove 18 is fixedly mounted on the mechanical arm upper plate 1, and a second mechanical arm connecting groove 19 is fixedly mounted on the mechanical arm left side baffle 4.
The bottom of the first vehicle body floor 30 passes through a motor reduction box 31, a direct current motor is mounted at the front end of the motor reduction box 31, a code disc device circuit board 32 is mounted on the direct current motor, an encoder 33 is mounted on the code disc device circuit board 32, and a data interface 36 is mounted on the encoder 33;
the rear end of the motor reduction box 31 is movably connected with a rubber tire 35 through a first connecting piece 34.
Support holes 25 are formed in the first layer plate 30 and the second layer plate 37 of the vehicle body, and support frames penetrate through the support holes 25.
A mechanical arm body is fixedly mounted at the upper end of the third layer plate 40 of the vehicle body through a second connecting plate 52, a steering engine body 6 is fixedly mounted on the mechanical arm body, and a collision switch 7 is fixedly mounted at the front end of the mechanical arm body; the front end of arm body installs hand claw steering wheel 16 and camera 15 through second hand claw mounting bracket 13 and lamp plate 14 respectively, the front end fixed mounting of hand claw steering wheel 16 has hand claw body 17.
A lower bearing fixing plate 50 is mounted on the bearing body 49, an upper bearing fixing plate 51 is mounted on the lower bearing fixing plate 50, a second connecting plate 52 is mounted on the upper bearing fixing plate 51, and a third connecting plate 53 is movably mounted on the second connecting plate 52; a mechanical arm rotating bearing bracket 48 is mounted at the lower end of the bearing body 49, a first connecting plate 47 is mounted at the lower end of the mechanical arm rotating bearing bracket 48 through a second connecting piece 54, and a second digital steering engine 46 is mounted at the lower end of the first connecting plate 47.
The rubber tire 35 is fixedly connected with the motor 22 through screws, the motor 22 is connected with the lower surface of a bottom plate of the vehicle body through a motor reduction box 31, a motor protection frame is arranged at the lower part of the motor 22, and the motor 22 is provided with a rotary encoder 33 which can record the revolution number of the motor 22. The driving vehicle bottom plate is connected with a second layer plate 37 of the vehicle body through an I-shaped connecting support 9, the bottom plate is provided with a control plate 23, an expansion plate 24, motor driving plates 28, a power distribution plate 27 and a power module 26, the control plate 23 is connected with the expansion plate 24 through I/O pins, I/O ports of the control plate 23 are fully connected to the expansion plate 24, the expansion plate 24 defines the I/O of each sensor and leads out through an anti-plugging reverse interface, and the two motor driving plates 28 are stacked to respectively control motors 22 on the left side and the right side of the vehicle body. Two infrared sensors 20 are placed on the lower portion of the front face of a first vehicle body layer 30, a gyroscope module 21 is placed on the upper portion of the first vehicle body layer 30, and two ultrasonic modules 29 are placed on the rear face of the first vehicle body layer 30. Two ultrasonic wave modules 29 are respectively placed on the left side and the right side of the front of the second layer plate 37 of the vehicle body, a first digital steering engine 38 with 270 degrees is placed in the middle of the front ultrasonic wave module 29, a camera 15 is installed on the first digital steering engine 38, and marks such as left-right turning marks, parking forbidding and stopping in a field can be identified through the camera 15. The middle of the third layer plate 40 of the vehicle body is a circular hollow, a second digital steering engine 46 rotating by 270 degrees is placed, a motor rotating disk mounting position 45 is mounted above the second digital steering engine 46, and the motor rotating disk mounting position 45 is connected with a mechanical arm body for grabbing objects.
The mechanical arm body is internally provided with a damping heavy guide rail 8, a gear 11 and a rack 10, the extension and retraction of the mechanical arm body are controlled through a 360-degree steering engine body 6, a collision switch 7 is arranged above the extension of the mechanical arm body, when the mechanical arm body returns to a specified position, the mechanical arm body stops returning when the collision switch 7 is collided, the claw body 17 is arranged in front of the mechanical arm body, the claw body 17 is controlled by a second digital steering engine 46 with 270 degrees, the camera 15 is arranged above the claw body 17, the camera 15 can identify the shape, color, mark, two-dimensional code and other product information of an object, the position of the object to be grabbed is determined through the identification of the camera 15, therefore, the mechanical arm body is controlled to grab objects, the LED high-brightness lamp panel 14 is arranged at the back of the camera 15 above the paw body 17, if the light is insufficient, correctly identify the object to be grabbed after supplementing light for the camera 15 through the LED lamp panel 14.
In the process of driving the vehicle to move, the motor driving plates 28 respectively correspond to the motors on the two sides of the vehicle body to adjust data, the error of the motors is adjusted to be minimum, a control plate 23 on the driving vehicle adopts a 2560 chip, the 2560 control plate 23 is connected with an expansion plate 24 to lead out all I/O interfaces for controlling the gyroscope module 21, the steering engine body 6, the ultrasonic module 29, the infrared sensor 20 and the camera 15, the distance between the ultrasonic wave and the object can be detected through control to judge whether an obstacle exists in front or not so as to determine whether the automobile turns or not, whether the automobile turns correctly according to the angle or not is corrected through controlling the gyroscope module 21, when the motor can not be completely rotated by 90 degrees, the correction is carried out through the gyroscope module 21, the infrared sensor 20 is controlled through the control panel 23, when the vehicle is driven to go up the bridge or pass through a road with a narrow road surface, the vehicle body can be ensured not to fall off the bridge when the vehicle is driven to go straight through infrared detection. The manipulator is stretched and grabbed by controlling the steering engine body 6, the control panel 23 identifies the color, size and shape of an object by controlling the camera 15 to judge whether the object to be grabbed is correct and select the position where the object is placed by identifying the left and right marks of a route, and the object is correctly placed at a specified position.
The above description is only for the preferred embodiment of the present invention, and is not intended to limit the present invention in any way, and all the modifications and equivalents of the technical spirit of the present invention to any simple modifications of the above embodiments are within the scope of the technical solution of the present invention.
Claims (8)
1. The logistics transfer robot device is characterized by being provided with a driving vehicle, wherein the driving vehicle is sequentially provided with a third vehicle body laminate, a second vehicle body laminate and a first vehicle body laminate from top to bottom;
the front end of the first laminate of the vehicle body is provided with a plurality of infrared sensors, and the infrared sensors are connected with the gyroscope module; the rear end of the first laminate of the vehicle body is provided with a plurality of ultrasonic modules, a motor driving plate is fixedly arranged on the first laminate of the vehicle body, and the motor driving plate is connected with a motor; the infrared sensor, the ultrasonic module and the motor driving board are all connected with a control board, the control board is connected with the power supply module through a power supply distribution board, and an expansion board is further mounted on the control board;
a first digital steering engine is arranged on a second layer plate of the vehicle body and connected with a camera steering engine distribution plate;
a motor rotating disc mounting position is arranged in the middle of a third layer plate of the vehicle body, and a one-key starting button, a vehicle body power switch and a mechanical arm switch are further mounted on the third layer plate of the vehicle body; the one-key starting button is connected with the control panel, the vehicle body power switch is connected with the power distribution plate, the mechanical arm switch is connected with the bearing body, and the middle of a third layer plate of the vehicle body is provided with a wire passing hole.
2. The logistics handling robot apparatus of claim 1, wherein the damping heavy-duty rail is mounted inside the robot arm body, the damping heavy-duty rail is movably mounted with a connecting bracket, and the connecting bracket is mounted with the gear on the first claw mounting frame in a toothed manner through a rack.
3. The physical distribution handling robot apparatus according to claim 1, wherein a robot arm upper plate, a robot arm lower plate, a robot arm rear fender, a robot arm left fender, and a robot arm right fender are fixedly mounted to an outer side of the robot arm body, respectively.
4. The robotic device of claim 3, wherein said arm top plate has a first arm attachment slot fixedly mounted thereon, and said arm left side barrier has a second arm attachment slot fixedly mounted thereon.
5. The logistics handling robot device of claim 1, wherein the bottom of the first layer board of the vehicle body passes through a motor reduction box, a direct current motor is mounted at the front end of the motor reduction box, a code disc device circuit board is mounted on the direct current motor, an encoder is mounted on the code disc device circuit board, and a data interface is mounted on the encoder;
the rear end of the motor reduction gearbox is movably connected with a rubber tire through a first connecting piece.
6. The logistics handling robot apparatus of claim 1, wherein each of the first deck and the second deck of the vehicle body is provided with a bracket hole, and a support bracket is installed in the bracket hole.
7. The logistics handling robot device according to claim 1, wherein a robot arm body is fixedly mounted at the upper end of a third layer plate of the vehicle body through a second connecting plate, a steering engine body is fixedly mounted on the robot arm body, and a collision switch is fixedly mounted at the front end of the robot arm body; the front end of arm body installs hand claw steering wheel and camera through second hand claw mounting bracket and lamp plate respectively, the front end fixed mounting of hand claw steering wheel has the hand claw body.
8. The logistics handling robot apparatus of claim 1, wherein the bearing body is provided with a lower bearing fixing plate, the lower bearing fixing plate is provided with an upper bearing fixing plate, the upper bearing fixing plate is provided with a second connecting plate, and the second connecting plate is movably provided with a third connecting plate; the lower extreme of bearing body installs arm swivel bearing bracket, the first connecting plate is installed through the second connecting piece to the lower extreme of arm swivel bearing bracket, the second digital steering wheel is installed to the lower extreme of first connecting plate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922413563.4U CN211278387U (en) | 2019-12-29 | 2019-12-29 | Logistics carrying robot device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922413563.4U CN211278387U (en) | 2019-12-29 | 2019-12-29 | Logistics carrying robot device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN211278387U true CN211278387U (en) | 2020-08-18 |
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ID=72034633
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201922413563.4U Expired - Fee Related CN211278387U (en) | 2019-12-29 | 2019-12-29 | Logistics carrying robot device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN211278387U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110919623A (en) * | 2019-12-29 | 2020-03-27 | 天津芯慧鸿业科技发展有限公司 | Logistics carrying robot system |
-
2019
- 2019-12-29 CN CN201922413563.4U patent/CN211278387U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110919623A (en) * | 2019-12-29 | 2020-03-27 | 天津芯慧鸿业科技发展有限公司 | Logistics carrying robot system |
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Legal Events
| Date | Code | Title | Description |
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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: 20200818 Termination date: 20211229 |
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| CF01 | Termination of patent right due to non-payment of annual fee |