CN212763484U

CN212763484U - Logistics carrying robot

Info

Publication number: CN212763484U
Application number: CN202021479754.7U
Authority: CN
Inventors: 黄翔
Original assignee: Ningbo Second Technician College
Current assignee: Ningbo Second Technician College
Priority date: 2020-07-23
Filing date: 2020-07-23
Publication date: 2021-03-23
Anticipated expiration: 2030-07-23

Abstract

The utility model discloses a commodity circulation transfer robot, comprising a base plate, install climbing mechanism and four running gear on the bottom plate, every running gear includes first motor and by first motor drive's walking wheel, and elevating system includes the second motor, rotating gear, rack and material backup pad, and first motor, second motor are installed on the bottom plate, install rotating gear on the output shaft of second motor, and the rack meshes with rotating gear mutually, and the rack is movable to be located on the bottom plate with shifting, and the material backup pad is installed on the rack. The robot adopts four-wheel drive, and load capacity is strong, and stability is good, sets up gear and rack on the bottom plate, accomplishes lifting up and putting down action of material through the material backup pad, compact structure, low in manufacturing cost.

Description

Logistics carrying robot

Technical Field

The utility model relates to a commodity circulation transportation technical field, concretely relates to commodity circulation transfer robot.

Background

The logistics handling robot is a transportation device which can complete loading materials and unloading goods at a target position. Along with the high-speed development of manufacturing engineering and logistics, the manufacturing system is mature day by day, and the logistics handling robot has an important effect in the material handling field, and it has the advantages of using manpower sparingly, can show improvement logistics efficiency.

The jacking mechanism of the existing logistics transfer robot is complex in structure and troublesome to process, and can improve the production cost of enterprises.

SUMMERY OF THE UTILITY MODEL

For solving the technical defect, the utility model discloses a technical scheme lie in, provide a commodity circulation transfer robot, comprising a base plate, install climbing mechanism and four running gear on the bottom plate, every running gear includes first motor and by first motor drive's walking wheel, climbing mechanism includes second motor, rotating gear, rack and material backup pad, first motor, second motor are installed on the bottom plate, install rotating gear on the output shaft of second motor, the rack meshes with rotating gear mutually, the rack is movable on the bottom plate with the displacement, the material backup pad is installed on the rack.

Furthermore, a rack supporting block is arranged on the bottom plate, and the rack is arranged on the rack supporting block in a sliding mode.

Furthermore, a guide rod is movably mounted on the rack support block, two ends of the guide rod are respectively connected with two ends of the rack, a limit switch used for limiting the moving stroke of the rack is arranged on the guide rod, and the limit switch is arranged close to the rack support block.

Further, the device also comprises a path planning module for detecting the black identification piece and the position of the material, and the path planning module is installed on the bottom plate.

Further, the device also comprises a position detection module for detecting the distance from the obstacle, and the position detection module is installed on the bottom plate.

And the first motor, the second motor, the limit switch, the path planning module and the position detection module are respectively and electrically connected with the control module.

Furthermore, a limiting block is arranged on the guide rod, the rack is installed on the limiting block in a matched mode, and the limiting switch is arranged on the limiting block.

Furthermore, the traveling wheels are Mecanum wheels, the Mecanum wheels are connected with an output shaft of the first motor through a flange, and a locking screw is arranged between the flange and the output shaft of the first motor.

Compared with the prior art the utility model discloses technical scheme's beneficial effect does:

the utility model provides a commodity circulation transfer robot adopts four wheel drive, and load capacity is strong, and stability is good, sets up gear and rack on the bottom plate, accomplishes lifting up and putting down the action of material through the material backup pad, compact structure, low in manufacturing cost.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.

Fig. 1 is a schematic structural diagram of a logistics handling robot provided by an embodiment of the present invention;

fig. 2 is a perspective view of a material support plate of a logistics handling robot provided by an embodiment of the present invention removed;

FIG. 3 is a cross-sectional view A-A of FIG. 1;

fig. 4 is a schematic circuit diagram of a position detection module according to an embodiment of the present invention;

fig. 5 is a circuit diagram of a control module and a power module of a logistics handling robot according to an embodiment of the present invention;

fig. 6 is a schematic diagram of a reset and crystal oscillation circuit of a logistics handling robot according to an embodiment of the present invention;

fig. 7 is a circuit diagram of a motor driving module and a motor output interface of a logistics handling robot according to an embodiment of the present invention;

fig. 8 is a schematic circuit diagram of a bluetooth module, a gyroscope and a display module of the logistics handling robot according to an embodiment of the present invention;

fig. 9 is a schematic diagram of a peripheral circuit related to a logistics handling robot according to an embodiment of the present invention.

The reference numbers are as follows:

1. the device comprises a base plate, 2, a jacking mechanism, 21, a second motor, 22, a rotating gear, 23, a rack, 24, a material supporting plate, 25, a rack supporting block, 26, a guide rod, 27, a limiting block, 3, a traveling mechanism, 31, a first motor, 32, a traveling wheel, 33, a flange, 34, a locking screw, 4, a limiting switch, 5, a path planning module, 6, a position detection module, 7, a control module, 8, a power supply module, 9, a first supporting seat, 10, a support, 11, a fixed seat, 12 and a linear bearing.

Detailed Description

The invention will be further explained with reference to the drawings and the specific embodiments.

Example 1

Please refer to fig. 1-9, the utility model provides a pair of commodity circulation transfer robot, including bottom plate 1, install climbing mechanism 2 and four running gear 3 on the bottom plate 1, every running gear 3 includes first motor 31 and by first motor 31 driven walking wheel 32, climbing mechanism 2 includes second motor 21, rotating gear 22, rack 23 and material backup pad 24, first motor 31, second motor 21 installs on bottom plate 1, install rotating gear 22 on the output shaft of second motor 21, rack 23 meshes with rotating gear 22 mutually, rack 23 is movable to be located on bottom plate 1 displaceably, material backup pad 24 is installed on rack 23.

Specifically, the first motor 31 is mounted on the base plate 1 through the first support seat 9, the traveling wheels 32 are mecanum wheels, the mecanum wheels are connected with an output shaft of the first motor 31 through a flange 33, a locking screw 34 is arranged between the flange 33 and the output shaft of the first motor 31, and the flange 33 and the mecanum wheels are fixed through screws. The Mecanum wheel can flexibly and conveniently realize all-directional movement without noise on the premise of not changing the direction of the wheel.

Preferably, the bottom plate 1 is provided with a rack support block 25, the rack 23 is slidably disposed on the rack support block 25, and the rack support block 25 is provided with a sliding groove. The rack support block 25 is movably provided with a guide rod 26, two ends of the guide rod 26 are respectively connected with two ends of the rack 23, the guide rod 26 is provided with a limit switch 4 used for limiting the moving stroke of the rack 23, and the limit switch 4 is arranged close to the rack support block 25, so that the structure is compact and the stability is good. Be equipped with stopper 27 on the guide bar 26, rack 23 cooperation is installed on stopper 27, and limit switch 4 sets up on stopper 27.

Specifically, the bottom plate 1 is provided with a fixed seat 11, and the rack support block 25 is installed at the upper end of the fixed seat 11. A support frame is arranged on the rack 23, and a material support plate 24 is arranged on the support frame. The second motor 21 is mounted on the base plate 1 through a second support base. The guide rod 26 is installed on the rack support block 25 through the linear bearing 12, the limit blocks 27 and the limit switches 4 are both provided with two, the two limit blocks 27 are respectively arranged at the upper end and the lower end of the guide rod 26, the limit switches 4 are arranged on the limit blocks 27 in a one-to-one correspondence manner, and the rack support block 25 is located between the two limit blocks 27.

Specifically, the bottom plate 1 is provided with an opening, and the limiting block 27 at the lower end partially penetrates through the opening, so that the ascending stroke of the material supporting plate 24 is improved by fully utilizing the space at the lower part of the bottom plate 1, the vertical height of the robot is not required to be increased, and the robot is convenient to use in the environment with limited space.

Preferably, the system further comprises a power module 8, a control module 7, a path planning module 5 and a detection module 6, wherein the path planning module 5 is used for detecting the black identification piece and the material position and sending the real-time position to the control module 7, the detection module 6 is used for detecting the position of the distance from the obstacle and sending the information to the control module 7, and the path planning module 5 and the position detection module 6 are both arranged on the bottom plate 1. The first motor 31, the second motor 21, the limit switch 4, the path planning module 5, the position detection module 6 and the power module 8 are electrically connected with the control module 7 respectively, and the first motor 31, the second motor 21, the limit switch 4, the path planning module 5 and the position detection module 6 are electrically connected with the power module 8. The black identification member may be a black tape or a black line, etc.

Specifically, limit switch 4 is travel switch, and path planning module 5 includes a plurality of 5 way sensor of seeking marks, and 5 way sensor of seeking marks are equipped with two, are located the front and back end of bottom plate 1 lower surface respectively, and 5 way sensor of seeking marks adopts the conventional product that has on the market, so omit the circuit schematic diagram. The position detection module 6 includes a plurality of PSD (position sensitive detector) infrared sensors, the PSD infrared sensors are mounted on the bottom plate 1 through a bracket 10, and the PSD infrared sensors are four, and the four PSD infrared sensors are respectively located at the front end, the rear end, the left side and the right side of the upper surface of the bottom plate 1. The power module 8 and the control module 7 are respectively positioned at the front end and the rear end of the jacking mechanism 2.

Still can set up gyroscope and bluetooth module on bottom plate 1 on the commodity circulation transfer robot, realize the remote control and information transmission to the robot gesture to improve its pursuit precision, can also prevent that the robot from taking place to turn on one's side. And the logistics transfer robot is also provided with a display module for displaying information. The gyroscope, the Bluetooth module and the display module are respectively and electrically connected with the power supply module 8 and the control module 7.

The logistics transfer robot provided by the utility model can manually transfer materials to the material supporting plate 24 for transportation, and is also suitable for material transfer in the following environment, for example, the two ends of the material are provided with the supporting pieces, a space for the robot to pass through is reserved between the lower surface of the material and the ground, the logistics handling robot moves to the space below the material through the tracing sensor, the second motor 21 drives the rotating gear 22 to rotate, the material supporting plate 24 on the rack 23 is driven to ascend to support the material, the robot carries the material to convey the material to a target area along a pre-pasted black adhesive tape path, then the second motor 21 drives the rotating gear 22 to rotate reversely, the material supporting plate 24 on the rack 23 is driven to descend, the materials are separated from the material supporting plate 24 and are loaded and unloaded under the action of the supporting piece, and the logistics handling robot carries out the next circular loading action.

The utility model provides a commodity circulation transfer robot, can realize the craspedodrome, the turn, back, functions such as stop, adopt trackless formula to have footpath guide, the sensor of seeking mark through the setting of 1 lower surface of bottom plate discerns the black sticky tape pasted in advance, judge the trend of route, accomplish the work of seeking mark, infrared ray sensor through installing in four positions simultaneously detects the distance with near object, keep away the barrier, the appearance is small and exquisite, compact structure, the motion is nimble, noiselessness, it is pollution-free, be applicable to the transport operation of less part in the mill that can not expand the building by the space limit, the labor intensity is reduced, can improve the work efficiency of intelligent manufacturing factory greatly.

It is above only the utility model discloses a preferred embodiment, the utility model discloses a scope of protection does not only confine above-mentioned embodiment, the all belongs to the utility model discloses a technical scheme under the thinking all belongs to the utility model discloses a scope of protection. It should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.

Claims

1. A logistics handling robot, characterized in that: including bottom plate (1), install climbing mechanism (2) and four running gear (3), every on bottom plate (1) running gear (3) include first motor (31) and by first motor (31) driven walking wheel (32), climbing mechanism (2) include second motor (21), rotating gear (22), rack (23) and material backup pad (24), install on bottom plate (1) first motor (31), second motor (21), install rotating gear (22) on the output shaft of second motor (21), rack (23) mesh with rotating gear (22), rack (23) are movable to be located on bottom plate (1) with the displacement, material backup pad (24) are installed on rack (23).

2. The logistics handling robot of claim 1, wherein: the bottom plate (1) is provided with a rack supporting block (25), and the rack (23) is slidably arranged on the rack supporting block (25).

3. The logistics handling robot of claim 2, wherein: the rack supporting block (25) is movably provided with a guide rod (26), two ends of the guide rod (26) are respectively connected with two ends of the rack (23), a limit switch (4) used for limiting the moving stroke of the rack (23) is arranged on the guide rod (26), and the limit switch (4) is arranged close to the rack supporting block (25).

4. The logistics handling robot of claim 3, wherein: the device is characterized by further comprising a path planning module (5) used for detecting the black identification piece and the position of the material, wherein the path planning module (5) is installed on the bottom plate (1).

5. The logistics handling robot of claim 4, wherein: the device is characterized by further comprising a position detection module (6) used for detecting the distance between the device and an obstacle, wherein the position detection module (6) is installed on the bottom plate (1).

6. The logistics handling robot of claim 5, wherein: the intelligent control system is characterized by further comprising a control module (7), wherein the first motor (31), the second motor (21), the limit switch (4), the path planning module (5) and the position detection module (6) are electrically connected with the control module (7) respectively.

7. The logistics handling robot of claim 3, wherein: be equipped with stopper (27) on guide bar (26), rack (23) cooperation is installed on stopper (27), limit switch (4) set up on stopper (27).

8. The logistics handling robot of claim 1, wherein: the traveling wheels (32) are Mecanum wheels, the Mecanum wheels are connected with output shafts of the first motors (31) through flanges (33), and locking screws (34) are arranged between the flanges (33) and the output shafts of the first motors (31).