CN107934334A - Automatic supermarket tally machine - Google Patents
Automatic supermarket tally machine Download PDFInfo
- Publication number
- CN107934334A CN107934334A CN201711332557.5A CN201711332557A CN107934334A CN 107934334 A CN107934334 A CN 107934334A CN 201711332557 A CN201711332557 A CN 201711332557A CN 107934334 A CN107934334 A CN 107934334A
- Authority
- CN
- China
- Prior art keywords
- transporting freight
- mechanical arm
- transporting
- freight
- tooth
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/0407—Storage devices mechanical using stacker cranes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/0492—Storage devices mechanical with cars adapted to travel in storage aisles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
- B65G1/1373—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/04—Detection means
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Loading Or Unloading Of Vehicles (AREA)
Abstract
The present invention provides a kind of automatic supermarket tally machine, including：Loading platform, workbench, scanning means, mechanical arm, load-carrying device, apparatus for transporting freight, movable pulley, storage battery and microcontroller etc..The technical problem to be solved in the present invention is to provide one kind to improve get in stocks accuracy and work efficiency, and can use manpower and material resources sparingly and then cost-effective supermarket tally machine automatically.
Description
Technical field
The present invention relates to a kind of intelligent machine device, especially a kind of automatic supermarket tally machine.
Background technology
The cargo of supermarket needs special tally-man to go to get in stocks, this process repeats, and labor intensive, virtually adds
The operation cost of supermarket, while type of merchandize is various, it is necessary to be equipped with many tally-mans in supermarket, and using tally-man it is artificial on
This mode of goods, error rate is high, and work efficiency is low.
State Intellectual Property Office discloses a utility model for applying for entitled " tally machine " on February 06th, 2014
Patent（Publication No.：CN 203451173 U）, a kind of tally machine provided by the utility model, it belongs to category haulage equipment, is
It is a kind of to integrate horizontal transport, vertical lift and the tally special-purpose machinery with corresponding tally working space, can be with loading pocket
Warehousing thing, completes cargo transfer in the coverage of goods yard, and warehoused cargo is given rise to tally position together with tally-man, or
Conversion arranges the cargo of storage.Equipment is with hydraulic motor or wheel rim motor driving running gear, the space shared by reduction transmission,
Make and bring convenience for entire vehicle design；Scissor-type strut hydraulicefficiency elevation structure can more fully meet what lifting was placed with cargo
Need, the workbench of branch support, taken into account the different needs that the transhipment of cargo is placed from cargo lifting.Plan plot is reasonable
Exquisiteness, equipment making is simple and feasible, takes into account goods yard cargo transfer, lifting is placed and the multiple needs of tally operating space, raising
Goods yard circulation of goods and the work efficiency moved up, the clean low charcoal discharge of the energy.The tally machine needs tally-man's cooperating, can not
Realize automation tally, and human cost can not be saved completely.
The content of the invention
The technical problem to be solved in the present invention is to provide one kind can improve get in stocks accuracy and work efficiency, and can save people
Power material resources and then cost-effective automatic supermarket tally machine.
In order to solve the above technical problems, the present invention provides a kind of automatic supermarket tally machine, including：Loading platform, workbench,
Scanning means, mechanical arm, load-carrying device, apparatus for transporting freight, movable pulley, storage battery and microcontroller；The workbench is lived
It is dynamic to be connected in the top of the loading platform and centrally located；The movable pulley carries driving motor and steering motor
And it is arranged at the loading platform lower part；The scanning means is by fixed seat and is fixed in the fixed seat and direction phase
Anti- scanning means A and scanning means B compositions, scanning means include camera, the range sensor and red being connected with microcontroller
External detector, picking and gets in stocks the gripping of precise positioning and mechanical arm is carried out with hand and eye calibrating principle, when driving by away from
From sensor, infrared detector and microcontroller cooperate to realize avoiding barrier and people；Microcontroller is integrated with and supermarket
The wireless network module that database connects in real time, in order to allow tally machine preferably to travel, be additionally provided with the workbench with
The navigation module of microcontroller connection, automatically can plan route；The workbench top be fixedly installed supporting rod and
Apparatus for transporting freight supporting rod, the fixed seat of the scanning means are fixed on the top of the supporting rod, the support
Bar is provided with rotary electric machine A with workbench joint, fixed seat joint is provided with rotary electric machine B, the rotary electric machine A
Tooth-shaped conveying belt and rail plate are provided between rotary electric machine B, outside supporting rod；The apparatus for transporting freight supporting rod
Workbench joint is provided with apparatus for transporting freight rotary electric machine A, apparatus for transporting freight supporting bar top is provided with cargo biography
Send device rotary electric machine B, between the apparatus for transporting freight rotary electric machine A and apparatus for transporting freight rotary electric machine B, cargo pass
Send and apparatus for transporting freight tooth-shaped conveying belt and apparatus for transporting freight rail plate are provided with outside device supporting rod；The machinery
Arm includes sliding case, tooth form sliding shoe, mechanical arm A and mechanical arm B, and described slides case by the supporting rod, tooth form biography
Send band and rail plate indulged and wears and can move up and down along the rail plate, the sliding shoe be arranged at slide in case and with
The tooth-shaped conveying belt engagement, the mechanical arm A and mechanical arm B are respectively arranged at the slip case both sides and are provided with
Matched mechanical arm driving motor A and mechanical arm driving motor B, mechanical arm driving motor A and mechanical arm driving
Motor B is arranged in the slip case；The mechanical arm A and mechanical arm B is all made of postbrachium, middle arm, forearm and paw,
Postbrachium is flexibly connected with middle arm and is provided with steering-engine, and middle arm is flexibly connected with forearm and is provided with steering-engine, forearm with
Paw connects and is provided with steering-engine；The apparatus for transporting freight includes apparatus for transporting freight and slides case, cargo transmission dress
Sliding shoe, two apparatus for transporting freight fixed links and belt conveyor are put, the apparatus for transporting freight slides case by described
Apparatus for transporting freight supporting rod, apparatus for transporting freight tooth-shaped conveying belt and apparatus for transporting freight rail plate, which are indulged, to be worn and can be along described
Apparatus for transporting freight rail plate move up and down, the apparatus for transporting freight sliding shoe be arranged at apparatus for transporting freight slip
Engaged in case and with the apparatus for transporting freight tooth-shaped conveying belt, the activity respectively of described two apparatus for transporting freight fixed links
The apparatus for transporting freight is connected to slide case both sides and be provided with direction adjustment steering engine, the belt conveyor and cargo
Transmission device fixed link is flexibly connected and sets angled adjustment steering engine；The load-carrying device includes hydraulic pressure load-carrying box A and liquid
Ballast container B, is arranged on the loading platform；The storage battery is arranged inside the loading platform, the monolithic
Machine is arranged in the fixed seat, and storage battery provides electric power for the tally machine, and microcontroller is used to automatically control the tally machine
Each electric elements, steering engine and the operating, stalling and the job order that drive motor.
The each shelf of supermarket and warehouse are designed with identification code, and identical cargo is in shelf with warehouse stock region equipped with identical
Identification code, and every kind of cargo has and is stored in fixed region, facilitates automatic supermarket's tally machine to work, automatic supermarket's tally machine is set
Scanning result can be matched just know it is that cargo with the result in its database by some scanning means with identification marking code.
Meanwhile the also detectable surrounding environment of scanning means, programme path, avoids bumping against pedestrian in the process of walking.In addition, scanning means
Mechanical arm can also be helped to position, it is accurately captured cargo.The main effect of mechanical arm is crawl cargo, in picking
When, the cargo crawl of storage is put on apparatus for transporting freight by paw；When getting in stocks, the cargo crawl in hydraulic pressure load-carrying box is put
Onto shelf.The multiple joints of mechanical arm considerably increase its flexibility, it can be achieved that the movement of multiple directions, ensure that paw can be into
The crawl of the multiple angles of row.The hydraulic device that hydraulic pressure load-carrying box A and hydraulic pressure load-carrying box B can be located at bottom by it adjusts load-carrying box
Height, so as to meet picking and the needs got in stocks., will be corresponding by rotating loading platform when needing to use a load-carrying box
Babinet go to front, after use, by the load-carrying box for rotating loading platform switch operating.Movable pulley is equipped with to be connected with microcontroller
The steering motor connect and driving motor, steering motor can control the direction of travel of automatic supermarket's tally machine, and driving motor is should be certainly
Dynamic supermarket tally machine provides power.
The rotation of apparatus for transporting freight flat-toothed belt drives the movement of apparatus for transporting freight slip case.Apparatus for transporting freight
Slide case to be connected with apparatus for transporting freight fixed link, belt conveyor is controlled by the rotation of apparatus for transporting freight fixed link
Pack up and open.The rotation of steering engine is adjusted by direction, can control the angle of belt conveyor, so that convenient transmission cargo.
During picking, cargo is put on belt conveyor by mechanical arm, is operated by belt conveyor, so that cargo is sent into load-carrying box
In, picking process is completed, accelerates picking speed.
Preferably, in order to allow the work of automatic supermarket's tally function higher efficiency, as further Optimal improvements, also set
It is equipped with positioned at the chassis of the loading platform lower part, chassis is the support zone of whole tally machine, the chassis and loading platform
Be flexibly connected, can 360 degree rotate, loading platform can relatively rotate with chassis, and workbench is not rotatable, and the movable pulley is set
The lower part on chassis is placed in, the chassis lower part is additionally provided with 2 universal wheels.
Preferably, in order to increase the job stability of automatic supermarket's tally machine, as further Optimal improvements, by machinery
The steering-engine of arm replaces with hydraulic telescopic rod, and the postbrachium is flexibly connected with middle arm and is provided with hydraulic telescopic rod, in
Arm is flexibly connected with forearm and is provided with hydraulic telescopic rod, and forearm is connected with paw and is provided with hydraulic telescopic rod, described above
Hydraulic telescopic rod be connected with the microcontroller, the job stability of hydraulic telescopic rod is more preferable.
Preferably, as further Optimal improvements, the belt conveyor is by feed belt driving motor A, transmission
Belt driving motor B, feed belt and apparatus for transporting freight connecting shaft composition, the apparatus for transporting freight fixed link and cargo
Transmission device connecting shaft is flexibly connected, and angle adjustment steering engine is arranged at apparatus for transporting freight connecting shaft.
Preferably, as further Optimal improvements, 2 sectional areas are offered in the slip case slightly larger than described
Rail plate sectional area slip slot, the rail plate passes through the slip slot, slides case in rail plate
Preferably move up and down with the double action of tooth-shaped conveying belt.
Preferably, as further Optimal improvements, the apparatus for transporting freight, which slides, offers sectional area summary in case
Apparatus for transporting freight more than the apparatus for transporting freight rail plate sectional area slides slot, the apparatus for transporting freight
Rail plate slides slot through the apparatus for transporting freight, and apparatus for transporting freight slides case and led in apparatus for transporting freight slip
Preferably move up and down under the double action of rail and apparatus for transporting freight tooth-shaped conveying belt.
Preferably, as further Optimal improvements, driving motor and steering motor that the movable pulley carries are to watch
Take motor, the characteristic of servomotor enable movable pulley real-time motion, stop and precisely turn to.
Preferably, as further Optimal improvements, the fixed sliding shoe is additionally provided with the slip case
Sliding shoe fixed frame.
Preferably, slide in case as further Optimal improvements, the apparatus for transporting freight and be additionally provided with fixed institute
The apparatus for transporting freight sliding shoe fixed frame for the apparatus for transporting freight sliding shoe stated.
Compared with prior art, it is an advantage of the invention that：, can be with using steering-engine or the mechanical arm of hydraulic telescopic rod
Accurately grip cargo；The setting of tooth-shaped conveying belt and tooth form sliding shoe, can make slip case easier realize up and down motion；
Rail plate and the setting for sliding slot, can make slip case preferably move up and down along rail plate, without departing from running track,
Increase the service life of tooth-shaped conveying belt and tooth form sliding shoe；Cargo, can easier be put into by the setting of belt conveyor
In hydraulic pressure load-carrying box；The setting of universal wheel and automatic driving motor and the movable pulley of steering motor so that the tally machine can be with
Preferably perform go to action.
Brief description of the drawings
The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.
Fig. 1 is the overall structure schematic diagram of the present invention.
Fig. 2 is the overall structure side diagrammatic top view of the present invention.
Fig. 3 is the scanning means and mechanical arm schematic diagram of the present invention.
Fig. 4 is the slip box structure schematic diagram of the present invention.
Fig. 5 is the apparatus for transporting freight schematic diagram of the present invention.
Fig. 6 is the belt conveyor collapsed state schematic diagram of the present invention.
Fig. 7 is the mechanical arm schematic diagram of the present invention.
Fig. 8 is the mechanical arm schematic diagram of the present invention.
Fig. 9 is the chassis backsight schematic diagram of the present invention.
Figure 10 is the chassis diagrammatic front view of the present invention.
Figure 11 is the belt conveyor schematic diagram of the present invention.
Embodiment
To enable the above objects, features and advantages of the present invention to become apparent, automatic supermarket reason of the invention hereafter
Cargo aircraft, will be with preferred embodiment, and relevant drawings appended by cooperation, elaborate.
In the description of the present invention, it is necessary to explanation, term " on ", " under ", " vertical ", " level ", " interior ", " outer "
Orientation or position relationship Deng instruction be based on orientation shown in the drawings or position relationship, be for only for ease of the description present invention and
Simplify description, rather than the device or element of instruction or hint meaning there must be specific orientation, with specific azimuth configuration
And operation, therefore be not considered as limiting the invention.
Automatic supermarket's tally machine of the present embodiment, as shown in Figure 1 to 11, including：Loading platform 1, workbench 2, scanning dress
Put 3, mechanical arm 4, load-carrying device 5, apparatus for transporting freight 6, movable pulley 7, storage battery and microcontroller；Workbench 2 is flexibly connected
In the top of the loading platform 1 and centrally located；Movable pulley 7 carries driving motor 71 and steering motor 72 and is arranged at
1 lower part of loading platform；Scanning means 3 by fixed seat 31 be fixed on scanning means A32 that in fixed seat 31 and direction is opposite and sweep
Imaging apparatus B33 is formed；2 top of workbench is fixedly installed supporting rod 21 and apparatus for transporting freight supporting rod 61, scanning means 3
Fixed seat 31 is fixed on the top of supporting rod 21, and supporting rod 21 is provided with rotary electric machine A22, with fixing with 2 joint of workbench
31 joints of seat are provided with rotary electric machine B23, are set between rotary electric machine A22 and rotary electric machine B23, outside supporting rod 21 with teeth
Shape conveyer belt 24 and rail plate 25；Apparatus for transporting freight supporting rod 61 is provided with apparatus for transporting freight with 2 joint of workbench
Rotary electric machine A62,61 top of apparatus for transporting freight supporting rod are provided with apparatus for transporting freight rotary electric machine B63, cargo transmission dress
Put between rotary electric machine A62 and apparatus for transporting freight rotary electric machine B63, be provided with cargo outside apparatus for transporting freight supporting rod 61
Transmission device tooth-shaped conveying belt 64 and apparatus for transporting freight rail plate 65；Mechanical arm 4 includes sliding case 41, tooth form sliding shoe
42nd, mechanical arm A43 and mechanical arm B44, slip case 41 are indulged by the supporting rod 21, tooth-shaped conveying belt 24 and rail plate 25 and worn
And can move up and down along tooth-shaped conveying belt 24 and rail plate 25, sliding shoe 42 is arranged in slip case 41 and and tooth-shaped conveying belt
24 engagements, mechanical arm A43 and mechanical arm B44 are respectively arranged to slide 41 both sides of case and be provided with matched mechanical arm and drive
Motor A45 and mechanical arm driving motor B46, mechanical arm driving motor A45 and mechanical arm driving motor B46 are arranged at and slide case 41
It is interior；Mechanical arm A43 and mechanical arm B44 is all made of postbrachium 47, middle arm 48, forearm 49 and paw 50, and postbrachium 47 is lived with middle arm 48
Dynamic to connect and be provided with steering-engine, middle arm 48 is flexibly connected with forearm 49 and is provided with steering-engine, forearm 49 and paw 50
Connect and be provided with steering-engine；Apparatus for transporting freight 6 includes apparatus for transporting freight and slides case 66, apparatus for transporting freight sliding shoe
67, two apparatus for transporting freight fixed links 68 and belt conveyor 69, apparatus for transporting freight slide case 66 by apparatus for transporting freight
Supporting rod 61, apparatus for transporting freight tooth-shaped conveying belt 64 and apparatus for transporting freight rail plate 65 are vertical to be worn and can transmit dress along cargo
Put tooth-shaped conveying belt 64 and apparatus for transporting freight rail plate 65 moves up and down, apparatus for transporting freight sliding shoe 67 is arranged at cargo
Transmission device is slided in case 66 and engaged with apparatus for transporting freight tooth-shaped conveying belt 64, and two apparatus for transporting freight fixed links 68 are divided
Apparatus for transporting freight is not movably connected on and slides 66 both sides of case, and belt conveyor 69 connects with the activity of apparatus for transporting freight fixed link 68
Connect and be provided with direction adjustment steering engine；Load-carrying device 5 includes hydraulic pressure load-carrying box A51 and hydraulic pressure load-carrying box B52, is arranged at loading platform
On 1.Be additionally provided with the chassis 8 positioned at 1 lower part of loading platform, chassis 8 is flexibly connected with loading platform 1, can 360 degree rotate, loading platform 1
It can relatively rotate with chassis 8, workbench 2 is not rotatable, and movable pulley 7 is arranged at the lower part on chassis 8, and 8 lower part of chassis is also set
It is equipped with 2 universal wheels 9.
Specific operation principle：Automatic supermarket's tally machine is connected with supermarket marketing system, when detecting some commodity shelf
When surplus is insufficient, automatic supermarket's tally machine just goes warehouse picking, when walking, by scanning means disturbance in judgement thing, and relies on
Projected route reasonably avoiding barrier；After reaching warehouse, according to required cargo, the corresponding position of the cargo, scanning dress are reached
Searching identification code is put, after determining cargo, in fixed seat under the adjusting of microcontroller, automatic supermarket's tally machine expansion cargo transmission dress
Put, then adjust the height of hydraulic pressure load-carrying box, and adjust the angle of belt conveyor, cargo is fallen into load-carrying box.So
Start feed belt driving motor A and feed belt driving motor B afterwards, drive feed belt to rotate.At this time, mechanical arm is scanning
Fast positioning cargo under the action of device, and pick up and be put into apparatus for transporting freight, cargo enters under the drive of belt conveyor
Load-carrying box.After one load-carrying box is piled, loading platform is rotated, another empty load-carrying box is gone into front, continues goods putting.
After the completion of picking, automatic supermarket's tally machine reaches shelf, scanning means is by scanning identification code according to projected route
Fast positioning shelf.After determining shelf, by the rotation of flat-toothed belt, the height of adjusting mechanical arm then as needed, can
Corresponding load-carrying box is raised, easy to grip, then, cargo is taken out and is put on shelf by mechanical arm from load-carrying box.When one
When acquisition in load-carrying box takes, loading platform is rotated, another load-carrying box is gone into front, continues to get in stocks.After the completion of getting in stocks, then
Warehouse picking is gone, repeats the work.
In conclusion the present invention fills loading platform, workbench, scanning means, mechanical arm, load-carrying device, cargo transmission
Put, tooth-shaped conveying belt, tooth form sliding shoe, steering engine, movable pulley, storage battery and microcontroller, wait integrated use to be managed to the automatic supermarket
On cargo aircraft, it is not mentioned in existing field, and the utilization of correlation technique, make automatic supermarket's tally equipment standby many excellent
Point, as being automatically performed picking and getting in stocks, uses manpower and material resources sparingly.Therefore, the present invention has prominent substantive distinguishing features and shows
The progress of work.
The foregoing is merely the preferred embodiment of the present invention, is not intended to limit the invention, for those skilled in the art
For member, the invention may be variously modified and varied.Any modification within the spirit and principles of the invention, being made,
Equivalent substitution, improvement etc., should all be included in the protection scope of the present invention.
Claims (9)
1. a kind of automatic supermarket tally machine, including：Loading platform（1）, workbench（2）, scanning means（3）, mechanical arm（4）, carry
Goods device（5）, apparatus for transporting freight（6）, movable pulley（7）, storage battery and microcontroller；The workbench（2）It is movably connected on
The loading platform（1）Top and centrally located；The movable pulley（7）Carry driving motor（71）And steering motor
（72）And it is arranged at the loading platform（1）Lower part；It is characterized in that：The scanning means（3）By fixed seat（31）With it is solid
Due to the fixed seat（31）Upper and opposite direction scanning means A（32）With scanning means B（33）Composition, including shooting
Head, range sensor and infrared detector；The workbench（2）Top is fixedly installed supporting rod（21）Transmit and fill with cargo
Put supporting rod（61）, the scanning means（3）Fixed seat（31）It is fixed on the supporting rod（21）Top, it is described
Supporting rod（21）With workbench（2）Joint is provided with rotary electric machine A（22）With fixed seat（31）Joint is provided with rotation electricity
Machine B（23）, the rotary electric machine A（22）With rotary electric machine B（23）Between, supporting rod（21）Outside is provided with tooth-shaped conveying belt
（24）And rail plate（25）；The apparatus for transporting freight supporting rod（61）With workbench（2）Joint is provided with cargo biography
Send device rotary electric machine A（62）, apparatus for transporting freight supporting rod（61）Top is provided with apparatus for transporting freight rotary electric machine B
（63）, the apparatus for transporting freight rotary electric machine A（62）With apparatus for transporting freight rotary electric machine B（63）Between, cargo transmission
Device supporting rod（61）Outside is provided with apparatus for transporting freight tooth-shaped conveying belt（64）With apparatus for transporting freight rail plate（65）；
The mechanical arm（4）Including sliding case（41）, tooth form sliding shoe（42）, mechanical arm A（43）With mechanical arm B（44）, it is described
Slip case（41）By the supporting rod（21）, tooth-shaped conveying belt（24）And rail plate（25）It is vertical to wear and be along the tooth
Shape conveyer belt（24）And rail plate（25）Move up and down, the sliding shoe（42）It is arranged at slip case（41）It is interior and with it is described
Tooth-shaped conveying belt（24）Engagement, the mechanical arm A（43）With mechanical arm B（44）It is respectively arranged at the slip case（41）
Both sides are simultaneously provided with matched mechanical arm driving motor A（45）With mechanical arm driving motor B（46）, the mechanical arm drives
Dynamic motor A（45）With mechanical arm driving motor B（46）It is arranged at the slip case（41）It is interior；The mechanical arm A（43）With
Mechanical arm B（44）All by postbrachium（47）, middle arm（48）, forearm（59）And paw（50）Composition, postbrachium（47）With middle arm（48）It is living
It is dynamic to connect and steering-engine, middle arm are set（48）With forearm（49）It is flexibly connected and steering-engine is set, forearm（49）With paw
（50）It is flexibly connected and steering-engine is set；The apparatus for transporting freight（6）Case is slided including apparatus for transporting freight（66）, goods
Thing transmission device sliding shoe（67）, two apparatus for transporting freight fixed links（68）And belt conveyor（69）, the cargo passes
Device is sent to slide case（66）By the apparatus for transporting freight supporting rod（61）, apparatus for transporting freight tooth-shaped conveying belt（64）And goods
Thing transmission device rail plate（65）It is vertical to wear and be along the apparatus for transporting freight tooth-shaped conveying belt（64）Transmit and fill with cargo
Put rail plate（65）Move up and down, the apparatus for transporting freight sliding shoe（67）It is arranged at apparatus for transporting freight and slides case
（66）It is interior and with the apparatus for transporting freight tooth-shaped conveying belt（64）Engagement, described two apparatus for transporting freight fixed links
（68）It is movably connected with and slides case in the apparatus for transporting freight（66）Both sides and setting direction adjustment steering engine, the skin
Belt conveyor（69）With apparatus for transporting freight fixed link（68）It is flexibly connected and angled adjustment steering engine is set；The loading dress
Put（5）Including hydraulic pressure load-carrying box A（51）With hydraulic pressure load-carrying box B（52）, it is arranged at the loading platform（1）On；The work
The navigation module being connected with the microcontroller is additionally provided with platform, the microcontroller is also integrated with wireless network module；Institute
The storage battery stated is arranged at the loading platform（1）Inside, the microcontroller are arranged at the fixed seat（31）It is interior, electric power storage
Pond provides electric power for the tally machine, and microcontroller is used to automatically control each electric elements of the tally machine, steering engine and driving motor
Operating, stalling and job order.
2. automatic supermarket tally machine according to claim 1, it is characterised in that：It is additionally provided with and is located at the loading platform
（1）The chassis of lower part（8）, the chassis（8）With loading platform（1）It is flexibly connected, the workbench（2）Directly with it is described
Chassis（8）Connection, the movable pulley（7）It is arranged at chassis（8）Lower part, the chassis（8）Lower part is additionally provided with 2 ten thousand
To wheel（9）.
3. automatic supermarket tally machine according to claim 1, it is characterised in that：The postbrachium（47）With middle arm（48）It is living
It is dynamic to connect and be provided with hydraulic telescopic rod, middle arm（48）With forearm（49）It is flexibly connected and is provided with hydraulic telescopic rod, forearm
（49）With paw（50）Connect and be provided with hydraulic telescopic rod, above-described hydraulic telescopic rod is connected with the microcontroller.
4. automatic supermarket's tally machine according to Claims 2 or 3, it is characterised in that：The belt conveyor（69）By
Feed belt driving motor A（691）, feed belt driving motor B（692）, feed belt（693）Connected with apparatus for transporting freight
Axis（694）Composition, the apparatus for transporting freight fixed link（68）With apparatus for transporting freight connecting shaft（694）It is flexibly connected, institute
The angle adjustment steering engine stated is arranged at apparatus for transporting freight connecting shaft（694）Place.
5. automatic supermarket tally machine according to claim 4, it is characterised in that：The slip case（41）Inside offer 2
A sectional area is slightly larger than the rail plate（25）The slip slot of sectional area（251）, the rail plate（25）Pass through
The slip slot（251）.
6. automatic supermarket tally machine according to claim 4, it is characterised in that：The apparatus for transporting freight slides case
（66）Inside offer sectional area and be slightly larger than the apparatus for transporting freight rail plate（65）The apparatus for transporting freight of sectional area is slided
Dynamic slot（651）, the apparatus for transporting freight rail plate（65）Slot is slided through the apparatus for transporting freight
（651）.
7. automatic supermarket's tally machine according to claim 5 or 6, it is characterised in that：The movable pulley（7）The drive carried
Dynamic motor（71）And steering motor（72）For servomotor.
8. automatic supermarket's tally machine according to claim 5 or 6, it is characterised in that：The slip case（41）Inside also set
It is equipped with the fixed sliding shoe（42）Sliding shoe fixed frame（421）.
9. automatic supermarket's tally machine according to claim 5 or 6, it is characterised in that：The apparatus for transporting freight slides
Case（66）Inside it is additionally provided with the fixed apparatus for transporting freight sliding shoe（67）Apparatus for transporting freight sliding shoe fixed frame
（671）.
Priority Applications (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711332557.5A CN107934334B (en) | 2017-12-13 | 2017-12-13 | Automatic supermarket tally machine |
| CN201811357260.9A CN109649905A (en) | 2017-12-13 | 2017-12-13 | Automatic supermarket tally machine |
| CN201811357261.3A CN109649906A (en) | 2017-12-13 | 2017-12-13 | Automatic supermarket tally machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711332557.5A CN107934334B (en) | 2017-12-13 | 2017-12-13 | Automatic supermarket tally machine |
Related Child Applications (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811357261.3A Division CN109649906A (en) | 2017-12-13 | 2017-12-13 | Automatic supermarket tally machine |
| CN201811357260.9A Division CN109649905A (en) | 2017-12-13 | 2017-12-13 | Automatic supermarket tally machine |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107934334A true CN107934334A (en) | 2018-04-20 |
| CN107934334B CN107934334B (en) | 2019-01-04 |
Family
ID=61942990
Family Applications (3)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811357260.9A Pending CN109649905A (en) | 2017-12-13 | 2017-12-13 | Automatic supermarket tally machine |
| CN201811357261.3A Pending CN109649906A (en) | 2017-12-13 | 2017-12-13 | Automatic supermarket tally machine |
| CN201711332557.5A Expired - Fee Related CN107934334B (en) | 2017-12-13 | 2017-12-13 | Automatic supermarket tally machine |
Family Applications Before (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811357260.9A Pending CN109649905A (en) | 2017-12-13 | 2017-12-13 | Automatic supermarket tally machine |
| CN201811357261.3A Pending CN109649906A (en) | 2017-12-13 | 2017-12-13 | Automatic supermarket tally machine |
Country Status (1)
| Country | Link |
|---|---|
| CN (3) | CN109649905A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109335431A (en) * | 2018-09-12 | 2019-02-15 | 刘丽娜 | A kind of tally robot of supermarket of the computer long-distance control based on wireless network |
| CN109719716A (en) * | 2018-06-20 | 2019-05-07 | 深圳市太惠科技有限公司 | A kind of manipulator for unmanned shop |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110039529A (en) * | 2019-05-16 | 2019-07-23 | 湖北工业大学 | A kind of more servo driving mechanical arms |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0967003A (en) * | 1995-08-30 | 1997-03-11 | Takigen Mfg Co Ltd | Carrying vehicle having elevating/lowering cargo carrying device |
| CN102658542A (en) * | 2012-05-07 | 2012-09-12 | 上海电机学院 | Rail type intelligent machine transporting truck |
| CN104924288A (en) * | 2015-05-08 | 2015-09-23 | 江苏大学 | Full-automatic picking car for warehouse and control method of full-automatic picking car |
| CN105598937A (en) * | 2016-02-01 | 2016-05-25 | 湖北工业大学 | Automatic tallying robot for supermarket |
| CN107414850A (en) * | 2017-07-31 | 2017-12-01 | 青岛万祥如光机械技术研究有限公司 | It is a kind of can automatic neatening book robot |
| CN206705054U (en) * | 2017-01-24 | 2017-12-05 | 无锡城市职业技术学院 | Enterprise's warehouse materials handling robot system based on radio frequency identification |
-
2017
- 2017-12-13 CN CN201811357260.9A patent/CN109649905A/en active Pending
- 2017-12-13 CN CN201811357261.3A patent/CN109649906A/en active Pending
- 2017-12-13 CN CN201711332557.5A patent/CN107934334B/en not_active Expired - Fee Related
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0967003A (en) * | 1995-08-30 | 1997-03-11 | Takigen Mfg Co Ltd | Carrying vehicle having elevating/lowering cargo carrying device |
| CN102658542A (en) * | 2012-05-07 | 2012-09-12 | 上海电机学院 | Rail type intelligent machine transporting truck |
| CN104924288A (en) * | 2015-05-08 | 2015-09-23 | 江苏大学 | Full-automatic picking car for warehouse and control method of full-automatic picking car |
| CN105598937A (en) * | 2016-02-01 | 2016-05-25 | 湖北工业大学 | Automatic tallying robot for supermarket |
| CN206705054U (en) * | 2017-01-24 | 2017-12-05 | 无锡城市职业技术学院 | Enterprise's warehouse materials handling robot system based on radio frequency identification |
| CN107414850A (en) * | 2017-07-31 | 2017-12-01 | 青岛万祥如光机械技术研究有限公司 | It is a kind of can automatic neatening book robot |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109719716A (en) * | 2018-06-20 | 2019-05-07 | 深圳市太惠科技有限公司 | A kind of manipulator for unmanned shop |
| CN109335431A (en) * | 2018-09-12 | 2019-02-15 | 刘丽娜 | A kind of tally robot of supermarket of the computer long-distance control based on wireless network |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107934334B (en) | 2019-01-04 |
| CN109649906A (en) | 2019-04-19 |
| CN109649905A (en) | 2019-04-19 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111620024B (en) | Transfer robot, container taking method and container placing method | |
| CN205852774U (en) | Multifunctional finishing robot | |
| CN107934334A (en) | Automatic supermarket tally machine | |
| CN209480472U (en) | A kind of transfer robot and products storage circulation system | |
| CN106185151B (en) | A kind of intelligent warehousing system | |
| CN109005923A (en) | A kind of full-automatic fruit picking device | |
| CN106429483A (en) | Automatic stacking and truck-loading system and truck-loading method thereof | |
| CN104828446B (en) | Intelligent carrier lifting body, intelligent carrier and intelligent handling system | |
| CN103625877B (en) | A kind of Mobile rotary Expansion belt conveyor | |
| CN104521434B (en) | A kind of facility leaf vegetables gather automatically switch tracks walking chassis and the method that switches tracks of robot | |
| CN110406993A (en) | The automatic Load System of intelligence and method | |
| CN203714715U (en) | Mobile rotatable telescopic belt conveyor | |
| CN207046205U (en) | A kind of AGV tears zero sorting trolley open | |
| CN108455160A (en) | A kind of loading robot and cold chain transportation combination | |
| CN106315096A (en) | Intelligent control device for warehousing system | |
| CN106171651A (en) | A kind of robot for agricultural greenhouse booth goes through transition system automatically | |
| CN106354131B (en) | A kind of medical robot that plugs into | |
| CN206360438U (en) | Trackless vehicle conveying equipment | |
| CN105438814B (en) | Automatic feeding | |
| CN109383966A (en) | A kind of intelligent warehousing system and its control method | |
| CN210557460U (en) | Rail mounted discharge apparatus based on image recognition automatic positioning | |
| CN109911655A (en) | A kind of material loading system | |
| CN112193540B (en) | Packing box board assembly device with self-align material loading function | |
| CN204938141U (en) | Novel movable feeding and conveying device | |
| CN107390687A (en) | A kind of Automatic Track Finding dolly and autonomous tracing in intelligent vehicle |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB02 | Change of applicant information | ||
| CB02 | Change of applicant information |
Address after: 361100 Xiamen Tongtian road automation equipment Co., Ltd. 1878 Tonghui South Road, Tongan District, Xiamen, Fujian Applicant after: Zhou Mo Address before: 271026 the third middle school of Da Wen Kou Town, Daiyue District, Tai'an, Shandong Applicant before: Zhou Mo |
|
| CB02 | Change of applicant information | ||
| CB02 | Change of applicant information |
Address after: 271026 the third middle school of Da Wen Kou Town, Daiyue District, Tai'an, Shandong Applicant after: Zhou Mo Address before: 361100 Xiamen Tongtian road automation equipment Co., Ltd. 1878 Tonghui South Road, Tongan District, Xiamen, Fujian Applicant before: Zhou Mo |
|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20190104 Termination date: 20191213 |