CN218663573U - Goods shelf for laser characteristic recognition - Google Patents

Abstract

The utility model discloses a goods shelves for laser characteristic identification, including the goods shelves body, the internal storehouse body that has of goods shelves, the bottom of goods shelves body sets up the walking wheel, still includes characteristic board and discernment characteristic stick subassembly, the characteristic board has two, two the left and right sides and the symmetric distribution of characteristic board difference fixed mounting at the storehouse body, discernment characteristic stick subassembly is including discernment characteristic stick, discernment characteristic stick rotates towards storehouse internal portion and sets up at storehouse body front end, discernment characteristic stick is located two the intermediate position of characteristic board. The goods shelf body comprises a back plate, a top plate and a wheel carrier, wherein the back plate is vertically fixed with the top plate. The utility model discloses a radar on the robot detects the characteristic board position of discernment characteristic stick and both sides in proper order to realize the robot and to the three point accurate positioning of storehouse body position, the robot is when advancing to storehouse body direction, and the characteristic stick of discernment is rotatory to the inside under the impetus of robot.

Description

Goods shelf for laser characteristic recognition

Technical Field

The utility model relates to a goods shelves specifically are a goods shelves for laser characteristic identification.

Background

The bin changing robot is a robot which can separate a bin goods shelf from a robot body. In the process of changing the warehouse, the butt joint problem between storehouse body goods shelves and the robot is related to, most of the cases is the laser radar through the robot front end, the concrete position of storehouse body goods shelves is fixed a position to the reflection of light strip on the storehouse body goods shelves of scanning the place ahead, thereby accomplish the butt joint between robot and the storehouse body goods shelves, prior art's weak point lies in, the location between robot and the storehouse body goods shelves is only realized through the radar scanning of reflector panel, the top at goods shelves is usually installed to the single and reflector panel of coordinate position of its location, have the difference in height with the radar, lead to measuring error easily, positioning accuracy is lower.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a goods shelves for laser characteristic identification to solve the problem that proposes among the above-mentioned background art.

In order to achieve the above object, the utility model provides a following technical scheme:

the utility model provides a goods shelves for laser feature recognition, includes the goods shelves body, has the storehouse body in the goods shelves body, the bottom of goods shelves body sets up the walking wheel, still includes characteristic board and discernment characteristic stick subassembly, the characteristic board has two, two the characteristic board is fixed mounting respectively in the left and right sides and the symmetric distribution in the storehouse body, discernment characteristic stick subassembly is including discerning the characteristic stick, discernment characteristic stick rotates towards storehouse internal portion and sets up at storehouse body front end, discernment characteristic stick is located two the intermediate position of characteristic board.

As a further aspect of the present invention: the goods shelf body comprises a back plate, a top plate and wheel carriers, the back plate is vertically fixed with the top plate, the wheel carriers are fixedly installed on the inner side of the back plate, and the walking wheels are respectively rotatably arranged on two sides of the bottom of the back plate and at the end parts of the wheel carriers.

As a further aspect of the present invention: the wheel frame is positioned in the middle of the bottom of the back plate and extends forwards.

As a further aspect of the present invention: the two characteristic plates are respectively and fixedly arranged at the left side and the right side of the top plate and are symmetrically distributed.

As a further aspect of the present invention: the identification characteristic rod assembly further comprises a characteristic rod support and a hinged support, the characteristic rod support is fixedly mounted on the top plate, the hinged support is fixedly mounted on the characteristic rod support, the top end of the identification characteristic rod is rotatably mounted on the hinged support, and the bottom end of the identification characteristic rod is penetrated through a mounting groove in the top plate and vertically suspended.

As a further aspect of the present invention: the characteristic stick support is the type structure of protruding, has seted up the fixed orifices on the pterygoid lamina of characteristic stick support both sides, has seted up corresponding through-hole on the roof, and the bolt runs through fixed orifices and through-hole and is fixed through nut locking.

As a further aspect of the present invention: the end part of the identification characteristic rod is provided with a wheel groove, and the roller is rotatably arranged in the wheel groove through a shaft

Compared with the prior art, the beneficial effects of the utility model are that:

the utility model discloses a goods shelves of laser characteristic identification, through two fixed characteristic boards in the storehouse body both sides of goods shelves body, articulated the identification characteristic stick at the front end of the storehouse body, and the identification characteristic stick is located two the intermediate position of characteristic board, thereby make the robot body when docking with the goods shelves body, detect the identification characteristic stick and the characteristic board position of both sides in proper order through the radar on the robot body, thereby realize the robot body and to the three-point accurate positioning of storehouse body position, the accuracy when improving the robot body and goods shelves body and docking, when the robot body is advancing to the storehouse body direction, the identification characteristic stick is rotatory inwards under the impetus of the robot body, in order to avoid causing and block;

the utility model discloses a goods shelves of laser characteristic identification, through with characteristic stick support fixed mounting on the roof, hinged support fixed mounting is on characteristic stick support, and the top of discernment characteristic stick is rotated and is installed on hinged support, and the bottom of discernment characteristic stick is passed and vertical hanging in midair by the mounting groove on the roof. Through the arrangement, the characteristic rod support is fixed with the top plate, and the identification characteristic rod is rotatably connected with the hinged support on the characteristic rod support, so that the identification characteristic rod is convenient to detach and mount;

the utility model discloses a goods shelves of laser characteristic identification, through set up the mounting groove in the bottom of discernment characteristic stick, install the gyro wheel at the mounting groove internal rotation, when the gyro wheel touches robot upper surface, the gyro wheel can be to rolling towards robot's the place ahead. The main function of the roller is to reduce the friction of the identification characteristic rod on the upper surface of the robot body and prevent the upper surface from being scratched.

Drawings

FIG. 1 is a schematic diagram of a shelf for laser signature recognition;

FIG. 2 is a front view of a pallet for laser signature recognition;

FIG. 3 is a side view of a pallet for laser feature recognition;

FIG. 4 is a schematic diagram of a configuration of an identification feature bar assembly in a pallet for laser feature identification;

in the figure: the shelf comprises a shelf body 1, a back plate 11, a top plate 12, a mounting groove 12a, a wheel carrier 13 and traveling wheels 14; a feature plate 2, a first feature plate 21, a second feature plate 22; the identification feature bar assembly 3, the feature bar support 31, the wing plate 31a, the fixing hole 31b, the identification feature bar 32, the wheel groove 32a, the shaft 32b, the roller 33, and the hinge support 34.

Detailed Description

To explain technical contents, structural features, and objects and effects of the technical solutions in detail, the following detailed description is given with reference to the accompanying drawings in conjunction with the embodiments.

Please refer to fig. 1-3, this embodiment, a goods shelves for laser characteristic identification, including goods shelves body 1, characteristic board 2 and discernment characteristic stick subassembly 3, have the storehouse body in the goods shelves body 1, this storehouse body is used for making the robot body (not shown in the figure) get into and dock with goods shelves body 1 to make the robot body move together with goods shelves body 1, and then make the goods on the goods shelves body 1 transport, the bottom of goods shelves body 1 sets up walking wheel 14, so that the removal of goods shelves body 1.

In this embodiment, the shelf body 1 includes a back plate 11, a top plate 12 and a wheel frame 13, the back plate 11 and the top plate 12 are vertically fixed, the wheel frame 13 is fixedly installed inside the back plate 11, the wheel frame 13 is located at the middle position of the bottom of the back plate 11 and extends forward, so that the wheel frame 13 and the back plate 11 are vertically fixed to each other. The traveling wheels 14 are respectively rotatably arranged on two sides of the bottom of the back plate 11 and at the end of the wheel carrier 13, so that the overall movement of the shelf body 1 is facilitated.

The characteristic board 2 has two, two characteristic board 2 includes first characteristic board 21 and second characteristic board 22, and first characteristic board 21 and second characteristic board 22 are respectively fixed mounting in the left and right sides of the storehouse body and symmetric distribution to supply the horizontal position of robot radar detection storehouse body.

In this embodiment, specifically, the first feature plate 21 is fixedly installed on the right side of the top plate 12 and vertically faces downward, and the second feature plate 22 is fixedly installed on the left side of the top plate 12 and vertically faces downward. The first feature plate 21 and the second feature plate 22 are symmetrically distributed.

Enclose synthetic front end open-ended storehouse body jointly through roof 12, backplate 11, when the robot body docks with goods shelves body 1, enter into the storehouse by the front end opening and internal and accomplish the two butt joint to realize removing jointly, its simple structure, convenient to use. Simultaneously, with two characteristic board 2 fixed mounting respectively in the left and right sides of roof 12 and symmetric distribution to make two characteristic board 2 set up the left and right sides at the storehouse body, with demarcate the lateral position of the storehouse body, thereby be convenient for the robot radar to detect the alignment to the lateral position of the storehouse body.

With reference to fig. 4, in this embodiment, the identification feature rod assembly 3 includes an identification feature rod 32, the identification feature rod 32 is rotatably disposed at the front end of the cabin body towards the inside of the cabin body, and the identification feature rod 32 is located at the middle position of the two feature plates 2. Under initial condition, discernment characteristic stick 32 is vertical state of hanging in midair, and when the robot body got into the storehouse body, the radar on the robot body was detected discernment characteristic stick 32 earlier to confirm the axis position of storehouse body front end open-ended, detect two characteristic board 2 positions again, aim at with realization robot body and storehouse body transverse position, thereby accomplish the position calibration of robot body and storehouse body front end and realize aliging. The position of the robot is calibrated and then the robot advances towards the direction of the cabin body, when the robot body touches the identification characteristic rod 32 and continues to advance inwards, the identification characteristic rod 32 rotates towards the inside of the cabin body, and therefore the robot body is prevented from advancing to cause blocking.

In this embodiment, preferably, the end of the identification characteristic rod 32 is provided with a wheel groove 32a, and the roller 33 is rotatably mounted in the wheel groove 32a through a shaft 32 b. When the roller 33 touches the upper surface of the robot body, the roller 33 rolls in the front direction of the robot body. The main function of the roller 33 is to reduce the friction of the identification feature bar 32 on the upper surface of the robot body and prevent scratching of the upper surface.

In this embodiment, in order to facilitate installation of the identification feature bar 32, in this embodiment, the identification feature bar assembly 3 further includes a feature bar support 31 and a hinged support 34, the feature bar support 31 is fixedly installed on the top plate 12, the hinged support 34 is fixedly installed on the feature bar support 31, the top end of the identification feature bar 32 is rotatably installed on the hinged support 34, and the bottom end of the identification feature bar 32 is penetrated by the installation groove 12a on the top plate 12 and vertically suspended. With the arrangement, the characteristic rod support 31 is fixed with the top plate 12, and the identification characteristic rod 32 is rotatably connected with the hinged support 34 on the characteristic rod support 31, so that the identification characteristic rod 32 is convenient to detach and mount.

In this embodiment, the characteristic rod support 31 is preferably in a convex structure, the wing plates 31a on both sides of the characteristic rod support 31 are provided with fixing holes 31b, and the top plate 12 is provided with corresponding through holes. In assembling, the fixing holes 31b of the flanges 31a on both sides of the characteristic bar support 31 are aligned with the through holes of the top plate 12, and bolts are passed through the fixing holes 31b and the through holes and fastened by nuts to fix the characteristic bar support 31, thereby facilitating the integral mounting and dismounting of the identification characteristic bar assembly 3.

It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or terminal that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or terminal. Without further limitation, an element defined by the phrases "comprising 8230; \8230;" or "comprising 8230; \8230;" does not exclude additional elements from existing in a process, method, article, or terminal device that comprises the element. Further, herein, "greater than," "less than," "more than," and the like are understood to exclude the present numbers; the terms "above", "below", "within" and the like are to be understood as including the number.

Although the embodiments have been described, once the basic inventive concept is known, other changes and modifications can be made to the embodiments by those skilled in the art, so that the above embodiments are only examples of the present invention, and not intended to limit the scope of the present invention, and all the modifications of the equivalent structure or equivalent flow path using the contents of the specification and the drawings of the present invention, or directly or indirectly using other related technical fields are also included in the scope of the present invention.

Claims (7)

1. The utility model provides a goods shelves for laser characteristic identification, includes the goods shelves body, this internal storehouse body that has of goods shelves, the bottom of goods shelves body sets up walking wheel, its characterized in that: the bin body is characterized by further comprising two characteristic plates and two identification characteristic rod assemblies, wherein the two characteristic plates are respectively and fixedly arranged on the left side and the right side of the bin body and are symmetrically distributed, each identification characteristic rod assembly comprises an identification characteristic rod, the identification characteristic rods are rotatably arranged at the front end of the bin body towards the inside of the bin body, and the identification characteristic rods are located in the middle positions of the two characteristic plates.

2. The pallet for laser signature recognition of claim 1, wherein: the goods shelf body comprises a back plate, a top plate and a wheel carrier, the back plate is vertically fixed with the top plate, the wheel carrier is fixedly installed on the inner side of the back plate, and the travelling wheels are respectively and rotatably arranged on two sides of the bottom of the back plate and at the end of the wheel carrier.

3. The pallet for laser signature recognition of claim 2, wherein: the wheel frame is positioned in the middle of the bottom of the back plate and extends forwards.

4. The pallet for laser signature recognition of claim 2, wherein: the two characteristic plates are respectively and fixedly arranged at the left side and the right side of the top plate and are symmetrically distributed.

5. The pallet for laser signature recognition of claim 2, wherein: the identification characteristic rod assembly further comprises a characteristic rod support and a hinged support, the characteristic rod support is fixedly mounted on the top plate, the hinged support is fixedly mounted on the characteristic rod support, the top end of the identification characteristic rod is rotatably mounted on the hinged support, and the bottom end of the identification characteristic rod is penetrated through a mounting groove in the top plate and vertically suspended.

6. The pallet for laser signature recognition of claim 5, wherein: the characteristic rod support is of a convex structure, fixing holes are formed in wing plates on two sides of the characteristic rod support, corresponding through holes are formed in the top plate, and bolts penetrate through the fixing holes and the through holes and are locked and fixed through nuts.

7. The pallet for laser signature recognition as claimed in any one of claims 1-6, wherein: the end part of the identification characteristic rod is provided with a wheel groove, and the roller is rotatably arranged in the wheel groove through a shaft.

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