CN103568009A - Front positioning device for storage type robot for competition - Google Patents
Front positioning device for storage type robot for competition Download PDFInfo
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- CN103568009A CN103568009A CN201310542777.6A CN201310542777A CN103568009A CN 103568009 A CN103568009 A CN 103568009A CN 201310542777 A CN201310542777 A CN 201310542777A CN 103568009 A CN103568009 A CN 103568009A
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Abstract
The invention discloses a front positioning device for a storage type robot for competition, and relates to an auxiliary device of a robot. The front positioning device comprises a positioning fork mounted at the front end of a bottom frame of the storage type robot, and an opening of the positioning fork adopts an opened circular arc structure; the bottom of the opening is an inner circular arc section which is matched with the excircle surface of a poisoning column of a goods shelf; two tentacle edges of the opening are outer circular arc sections which are in smooth transition connection with the inner circular arc section of the bottom of the opening; the upper parts of the two side edges of the positioning fork are inclined edges which are inclined inwards by an angle alpha ranging from 30 degrees to 75 degrees respectively; and a positioning baffle is further mounted below the positioning fork. According to the front positioning device, deformation design of the positioning fork is performed, and one positioning baffle is added below the positioning fork, so that the reliable positioning range of the robot can be enlarged, the requirement for robot tracking can be reduced, the right positioning probability is improved, and the robot is parallel to a goods shelf after each positioning; and although the structure is simpler, the performance is very reliable, and the front positioning device is easy to popularize and apply.
Description
Technical field
The present invention relates to the warehouse style robot front positioner for servicing unit, particularly a kind of contest of a kind of small-sized storage robot, contest robot.
Background technology
Contest requires robot by certain rule, on shelf, to capture or deposit goods with warehouse style robot conventionally, and along certain route, be transported to the position of appointment, in this process, the devices such as the tracking device of the generally dependence robot of advancing of robot, CPU the location that coordinates certain software algorithm to come the rotating speed of control left and right sides motor to realize ，Er robot complete by being arranged on the locating fork in robot front (front end) and the locating dowel of shelf conventionally.It is the locating fork of V-structure that existing locating fork structure adopts opening mostly, the opening of this locating fork is directly proportional to the length of feeler, what obviously the locating fork opening of contest robot can not be done is too large, virtually just require the tracking level of robot to want high, otherwise location that can not be correct, and the locating dowel of locating fork and shelf only has 2 contact points, locating dowel discontinuity.And shelf structure as shown in Figure 3, conventionally by locating dowel 501 and shelf body 502 two parts, formed, shelf body 502 is generally made by aluminium section bar or other materials, and rigidity is higher, and anti-mechanical impact ability is strong, conventionally be fixed on place, and locating dowel 501 is general, of lucite pipe, make, anti-mechanical impact ability a little less than, therefore, if discontinuity when locating fork contacts with locating dowel, easily damages locating dowel.
Summary of the invention
The technical problem to be solved in the present invention is: provide warehouse style robot front positioner for a kind of contest, to solve the weak point that the tracking level that requires robot existing in above-mentioned prior art is high, easily damage locating dowel.
The technical scheme solving the problems of the technologies described above is: warehouse style robot front positioner for a kind of contest, the locating fork that comprises the underframe front end that is installed on warehouse style robot, the opening of described locating fork is uncovered convex structure, the interior arc section that the bottom of this opening matches for the locating dowel outer round surface with shelf, the cylindrical segmental arc that two feeler limits of opening are connected smoothly for the interior arc section with open bottom.
Further technical scheme of the present invention is: described locating fork dual-side top is respectively the hypotenuse of α=30～75 degree that slopes inwardly.
Further technical scheme more of the present invention is: positioning baffle is also installed below described locating fork, and this location plate washer is fixed on the underframe bottom of warehouse style robot.
Owing to adopting said structure, the present invention's contest with warehouse style robot front positioner compared with prior art, has following beneficial effect:
1. reduced the injury of locating fork to locating dowel:
Because the opening of locating fork of the present invention is uncovered convex structure, the interior arc section that the bottom of this opening matches for the locating dowel outer round surface with shelf, the cylindrical segmental arc that two feeler limits of opening are connected smoothly for the interior arc section with open bottom.This design shortens the feeler of locating fork, and it is large that opening becomes, and increased the contact area of locating fork and locating dowel, thereby reduced the injury of locating fork to locating dowel.
2. can guarantee that locating fork contacts with locating dowel reliably:
The present invention is by the dual-side top of locating fork be designed to respectively the to slope inwardly hypotenuse of α=30～75 degree, object be if robot in tracking process, the larger center of having departed from, in the process of advancing, will encounter the fixed leg of shelf both sides, in the process of now advancing due to the guide effect ， robot of hypotenuse, by machinery, correct, guided robot is got back to correct tracking route;
In addition, the present invention is designed to by two feeler limits of opening the cylindrical segmental arc that the interior arc section with open bottom is connected smoothly, even if its objective is that robot tracking has little deviation, cause locating fork center not aim at locating dowel, also can rely on the guide effect of locating fork opening circular arc, guided robot locating fork contacts locating dowel reliably, greatly reduced the probability of robot positioned off-center post, thereby the locating fork that guarantees robot contacts with shelf locating dowel reliably, reduce the requirement of Liao Dui robot tracking level.
3. can protect the goods that warehouse style robot can correctly capture shelf:
Warehouse style robot will identify and capture shelf goods, just require robot front end must with shelf keeping parallelism, but in most of the cases, only depend on locating fork cannot guarantee that robot is parallel with shelf, even if there is very little deviation, also can affect the correct crawl of goods, for this reason, the present invention is also provided with positioning baffle below locating fork, and this location plate washer is fixed on the underframe bottom of warehouse style robot, can coordinate to reach the object that makes shelf parallel with the fixed frame of shelf bottom.Concrete methods of realizing is: after robot locating fork and locating dowel collision, allow robot the right and left wheel rotate forward several seconds with certain speed, if now robot and shelf are not parallel, positioning baffle has at least between one end and shelf fixed frame and has gap, and now, robot is subject to motor pushing effect, travel forward, positioning baffle is contacted with shelf fixed frame, reach the object parallel with shelf, thereby guaranteed that warehouse style robot can correctly capture the goods of shelf.
4. simple and reliable for structure, be easy to apply:
Because this device is by the deformation design to locating fork, and below locating fork, increase a positioning baffle, both can expand the scope of the reliable location of robot, reduced the requirement of robot to tracking, improved the probability of correct location, can also guarantee that the rear robot in each location is parallel with shelf, although its structure is fairly simple, but performance is very reliable, be easy to apply.
Below, in conjunction with the accompanying drawings and embodiments the present invention's contest is further described with the technical characterictic of warehouse style robot front positioner.
Accompanying drawing explanation
Fig. 1: the structural representation of warehouse style robot front positioner for the present invention's contest,
The structural representation of locating fork (overlooking) described in Fig. 2: embodiment mono-,
Fig. 3: the structural representation of two-sided shelf,
Fig. 4: the combination schematic diagram of locating fork and locating dowel.
In above-mentioned accompanying drawing, each label is as follows:
1-locating fork, 101-opening, 1011-bottom, 1012-feeler limit,
102-side, 2-positioning baffle, 3-fixed head, the warehouse style robot of 4-,
401-underframe, 5-shelf, 501-locating dowel, 502-shelf body.
The specific embodiment
Embodiment mono-:
Warehouse style robot front positioner (referring to Fig. 1) for a kind of contest, comprise locating fork 1, positioning baffle 2, described locating fork 1 is installed on underframe 401 front ends of warehouse style robot 4 by fixed head 3 and bolt, the opening 101 of locating fork 1 is uncovered convex structure (referring to Fig. 2), the interior arc section that the bottom 1011 of this opening 101 matches for locating dowel 501 outer round surface with shelf 5, the cylindrical segmental arc that two feeler limits 1012 of opening 101 are connected smoothly for the interior arc section with open bottom, dual-side 102 tops of described locating fork 1 are respectively the hypotenuse of α=30 degree that slopes inwardly, described location plate washer 2 is fixed on underframe 401 bottoms of warehouse style robot 4.
As a kind of conversion of the present embodiment one, described α angle can also be the arbitrary value between 30～75 degree such as 45 degree, 50 degree, 60 degree, 65 degree, 70 degree, 75 degree.
Claims (3)
1. a warehouse style robot front positioner for contest, the locating fork (1) that comprises underframe (401) front end that is installed on warehouse style robot (4), it is characterized in that: the opening (101) of described locating fork (1) is uncovered convex structure, the interior arc section that the bottom (1011) of this opening (101) matches for locating dowel (501) outer round surface with shelf (5), the cylindrical segmental arc that two feeler limits (1012) of opening (101) are connected smoothly for the interior arc section with open bottom.
2. warehouse style robot front positioner for contest according to claim 1, is characterized in that: described locating fork (1) dual-side (102) top is respectively the hypotenuse of α=30～75 degree that slopes inwardly.
3. warehouse style robot front positioner for contest according to claim 1 and 2, it is characterized in that: in described locating fork (1) below, positioning baffle (2) is also installed, this location plate washer (2) is fixed on underframe (401) bottom of warehouse style robot (4).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310542777.6A CN103568009A (en) | 2013-03-22 | 2013-11-05 | Front positioning device for storage type robot for competition |
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320134828.7 | 2013-03-22 | ||
| CN201320134828 | 2013-03-22 | ||
| CN201310542777.6A CN103568009A (en) | 2013-03-22 | 2013-11-05 | Front positioning device for storage type robot for competition |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN103568009A true CN103568009A (en) | 2014-02-12 |
Family
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Family Applications (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310542777.6A Pending CN103568009A (en) | 2013-03-22 | 2013-11-05 | Front positioning device for storage type robot for competition |
| CN201320694075.5U Expired - Fee Related CN203680321U (en) | 2013-03-22 | 2013-11-05 | Front positioning device for competition warehouse-type robot |
Family Applications After (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201320694075.5U Expired - Fee Related CN203680321U (en) | 2013-03-22 | 2013-11-05 | Front positioning device for competition warehouse-type robot |
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| Country | Link |
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| CN (2) | CN103568009A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111582529A (en) * | 2019-02-18 | 2020-08-25 | 北京京东尚科信息技术有限公司 | Shelf scheduling method and device and computer readable storage medium |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103568009A (en) * | 2013-03-22 | 2014-02-12 | 柳州铁道职业技术学院 | Front positioning device for storage type robot for competition |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201002258Y (en) * | 2006-10-25 | 2008-01-09 | 哈尔滨工程大学 | Colliding type automatic grasping mechanical arm |
| US20080025831A1 (en) * | 2006-07-31 | 2008-01-31 | Yoshiteru Ikehata | Load positioning apparatus |
| KR101019534B1 (en) * | 2008-08-05 | 2011-03-07 | 주식회사 에스에프에이 | Probe Card Stocker System |
| CN102887320A (en) * | 2012-11-05 | 2013-01-23 | 长沙丰达智能科技有限公司 | Intelligent warehouse robot with function of self adaption of coordinate position |
| CN203680321U (en) * | 2013-03-22 | 2014-07-02 | 柳州铁道职业技术学院 | Front positioning device for competition warehouse-type robot |
-
2013
- 2013-11-05 CN CN201310542777.6A patent/CN103568009A/en active Pending
- 2013-11-05 CN CN201320694075.5U patent/CN203680321U/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20080025831A1 (en) * | 2006-07-31 | 2008-01-31 | Yoshiteru Ikehata | Load positioning apparatus |
| CN201002258Y (en) * | 2006-10-25 | 2008-01-09 | 哈尔滨工程大学 | Colliding type automatic grasping mechanical arm |
| KR101019534B1 (en) * | 2008-08-05 | 2011-03-07 | 주식회사 에스에프에이 | Probe Card Stocker System |
| CN102887320A (en) * | 2012-11-05 | 2013-01-23 | 长沙丰达智能科技有限公司 | Intelligent warehouse robot with function of self adaption of coordinate position |
| CN203680321U (en) * | 2013-03-22 | 2014-07-02 | 柳州铁道职业技术学院 | Front positioning device for competition warehouse-type robot |
Non-Patent Citations (1)
| Title |
|---|
| 梁德坚: "我院荣获2012年全国职业院校技能大赛机器人技术应用项目一等奖", 《柳铁新闻网》, 19 June 2012 (2012-06-19) * |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111582529A (en) * | 2019-02-18 | 2020-08-25 | 北京京东尚科信息技术有限公司 | Shelf scheduling method and device and computer readable storage medium |
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|---|---|
| CN203680321U (en) | 2014-07-02 |
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| C02 | Deemed withdrawal of patent application after publication (patent law 2001) | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20140212 |