CN108313163B - Automatic discernment ordering transport thing piece dolly - Google Patents
Automatic discernment ordering transport thing piece dolly Download PDFInfo
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- CN108313163B CN108313163B CN201711282350.1A CN201711282350A CN108313163B CN 108313163 B CN108313163 B CN 108313163B CN 201711282350 A CN201711282350 A CN 201711282350A CN 108313163 B CN108313163 B CN 108313163B
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- 210000000078 claw Anatomy 0.000 claims description 9
- 238000010586 diagram Methods 0.000 description 4
- 239000003086 colorant Substances 0.000 description 3
- 230000007547 defect Effects 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
- B62D63/04—Component parts or accessories
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
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Abstract
The automatic identification sorting carrying block trolley comprises a frame module, a grabbing module, a transfer module, an adjusting module, an identification module and a control chip, wherein the grabbing module, the transfer module, the adjusting module, the identification module and the control chip are arranged on the frame module, the adjusting module is used for adjusting the sequence of the blocks, the identification module is connected with the control chip, and the control chip is connected with the grabbing module and the adjusting module; the transfer module comprises three carrying trays for carrying the blocks, and the three carrying trays are arranged in a row at equal intervals in front and back; the adjusting module comprises a fifth steering engine, two sixth steering engines, a cloud disk, an elliptical rotary disk and two triangular rotary disks, wherein the three corners of the two triangular rotary disks are respectively provided with a carrying disk. The invention provides an automatic identification sorting carrying block trolley with higher working efficiency.
Description
Technical Field
The invention relates to the technical field of logistics trolleys, in particular to an automatic identification sorting carrying object trolley.
Background
Mainly aims at EVA material blocks with different shapes and length, width and height not more than 10 cm. The loading area is a two-stage step with a height difference of 50mm, a width of 100mm and a length of 400mm, and is attached with a red, green and blue pure color sticker to form 6 color blocks (three colors of each layer are consistent in color sequence of the upper layer and the lower layer), and the shape and the size are shown in figure 1. The placement area is a two-stage step with a height difference of 50mm, a width of 100mm and a length of 400mm, and is attached with red, green and blue pure color stickers to form 6 color blocks (the pure color stickers in the colors in the 6 are matched randomly and the same color is allowed to appear in each layer), and the shape and the size are shown in figure 1. The traditional transport trolley is usually used for grabbing object blocks after single mechanical arm control mechanical claw is used for single identification, and the defect of lower working efficiency exists.
Disclosure of Invention
In order to overcome the defect of lower working efficiency of the existing logistics trolley, the invention provides the trolley for automatically identifying, sorting and carrying the object blocks, which has higher working efficiency.
The technical scheme adopted for solving the technical problems is as follows:
the automatic identification sorting carrying block trolley comprises a frame module, a grabbing module, a transfer module, an adjusting module, an identification module and a control chip, wherein the grabbing module, the transfer module, the adjusting module, the identification module and the control chip are arranged on the frame module, the adjusting module is used for adjusting the sequence of the blocks, the identification module is connected with the control chip, and the control chip is connected with the grabbing module and the adjusting module;
the frame module comprises a chassis, four wheels and four motors, each wheel corresponds to one motor and is arranged on an output shaft of the corresponding motor, and each motor is fixedly arranged on the bottom of the chassis through a motor frame; the grabbing module is arranged on the left side of the chassis, the transferring module is arranged on the middle of the chassis, and the adjusting module is arranged on the right side of the chassis; the four motors are connected with the control chip;
the transfer module comprises three carrying trays for carrying the blocks, and the three carrying trays are arranged in a row at equal intervals in front and back;
the adjusting module comprises a fifth steering engine, two sixth steering engines, a cloud disc, an elliptic turntable and two triangular turntables, wherein the three corners of the two triangular turntables are respectively provided with a carrying disc, the two triangular turntables are respectively arranged on the steering discs on the output shafts of the two sixth steering engines, the two sixth steering engines are respectively arranged on the front end and the rear end of the elliptic turntable, the elliptic turntable is arranged on a rotor of the cloud disc, the cloud disc is arranged on a chassis, the fifth steering engine is positioned below the cloud disc and is arranged on the chassis, and meanwhile, the steering disc on the output shaft of the fifth steering engine is connected with the rotor of the cloud disc; three carrying discs are arranged in a row front and back each time the two triangular rotary discs rotate for one angle;
the identification module comprises a color sensor for identifying the color of the object block and a gray level sensor for tracking; the grabbing module comprises three mechanical claws, and each mechanical claw is provided with a color sensor; the gray sensor is arranged on the bottom of the front end of the chassis.
Further, snatch the module and still include two first connecting rods, two second connecting rods, two third connecting rods, a fourth connecting rod, two first steering engines, two second steering engines, two third steering engines and three fourth steering engines, two first steering engines are fixed respectively on two left front and back angles of chassis, and the lower extreme of two first connecting rods is installed respectively on two first steering engines output shaft's steering wheel, the upper end of two first connecting rods is equipped with the square hole respectively, and two second steering engines are installed respectively in two first connecting rods's square hole, and the lower extreme of two second connecting rods is installed respectively on two second steering engines output shaft's the dish, the upper end of two second connecting rods is equipped with the square hole respectively, and two third steering engines are installed respectively in two second connecting rod's square hole, and the lower extreme of two third connecting rods is installed respectively on two third steering engines output shaft's steering wheel, and is arranged respectively through the angle frame and is the fourth steering engine and is equipped with the fourth steering engine and is felt on the fourth side at the fourth side of four steering engines, and is equipped with the fourth steering engine is arranged respectively on the fourth steering engine side.
Still further, carry thing dish includes four quarter cylinder walls and a little disc, little disc fixed mounting is on the chassis, little disc is equipped with the slip slot in four mutual 90 degrees directions in the front and back, left and right sides respectively, and four quarter cylinder walls can be horizontally the slip of making a round trip install in corresponding slip slot.
Furthermore, the triangular turntable is an isosceles right triangle turntable, wherein the right angle side corresponding to one isosceles right triangle turntable and the hypotenuse corresponding to the other isosceles right triangle turntable are mutually perpendicular in the steady state of the adjusting module.
The beneficial effects of the invention are mainly shown in the following steps: can automatically identify and sort, and has higher working efficiency.
Drawings
Fig. 1 is a schematic view of a conventional loading area and placement area.
Fig. 2 is a front view of the present invention.
Fig. 3 is a top view of the present invention.
Fig. 4 is a schematic view of a frame module.
Fig. 5 is a schematic diagram of a gripper module.
Fig. 6 is a schematic diagram of a relay module.
Fig. 7 is a schematic diagram of an adjustment module.
Fig. 8 is a schematic diagram of an identification module.
Detailed Description
The invention is further described below with reference to the accompanying drawings.
Referring to fig. 1 to 8, an automatic recognition sorting and carrying object block trolley comprises a frame module, a grabbing module, a transfer module, an adjusting module, a recognition module and a control chip, wherein the grabbing module, the transfer module, the adjusting module, the recognition module and the control chip are arranged on the frame module, the recognition module is connected with the control chip, and the control chip is connected with the grabbing module and the adjusting module;
the frame module comprises a chassis A1, four wheels A2 and four motors A3, wherein each wheel A2 corresponds to one motor A3 and is arranged on an output shaft of the corresponding motor A3, and each motor A3 is fixedly arranged on the bottom of the chassis A1 through a motor frame A4; the grabbing module is arranged on the left side of the chassis A1, the transferring module is arranged on the middle part of the chassis A1, and the adjusting module is arranged on the right side of the chassis A1; the four motors A3 are connected with the control chip;
the transfer module comprises three carrying trays C1 for containing material blocks, and the three carrying trays C1 are arranged in a row at equal intervals in front and back;
the adjusting module comprises a fifth steering engine D1, two sixth steering engines D2 and Yun Pan D3, an elliptic turntable D4 and two triangular turntables D5, wherein a carrying disc C1 is arranged at three corners of each of the two triangular turntables D5, the two triangular turntables D5 are respectively arranged on rudder discs on output shafts of the two sixth steering engines D2, the two sixth steering engines D2 are respectively arranged on front and rear ends of the elliptic turntable D4, the elliptic turntable D4 is arranged on a rotor of a cloud disc D3, the cloud disc D3 is arranged on a chassis A1, the fifth steering engine D1 is positioned below the Yun Pan D3 and is arranged on the chassis A1, and meanwhile, the rudder discs on the output shafts of the two triangular turntables D5 are connected with the rotor of the cloud disc D3; three carrying discs C1 are arranged in a row in front of and behind each other every time the two triangular rotary discs D5 rotate for one angle;
the identification module comprises a color sensor E2 for identifying the color of the object block and a gray sensor E1 for tracking; the grabbing module comprises three mechanical claws B10, and each mechanical claw B10 is provided with a color sensor E2; the gray sensor E1 is mounted on the bottom of the front end of the chassis A1.
Further, snatch the module still including two first connecting rod B5, two second connecting rod B6, two third connecting rod B7, a fourth connecting rod B8, two first steering wheel B1, two second steering wheel B2, two third steering wheel B3 and three fourth steering wheel B4, two first steering wheel B1 are fixed respectively on two angles around chassis A1 left side, and install respectively on the steering wheel on two first steering wheel B1 output shafts at two first connecting rod B5's lower extreme, two first connecting rod B5's upper end is equipped with the square hole respectively, and two second steering wheel B2 are installed respectively in two first connecting rod B5's square hole, and two second steering wheel B6's lower extreme is installed respectively on two second steering wheel B2 output shafts's epaxial dish, two third steering wheel B3 are installed respectively in two second steering wheel B6's square hole, and are equipped with the third steering wheel B7 respectively and are installed respectively on the third steering wheel B4 and are equipped with the third steering wheel B4 and are arranged at the side of four steering wheel B4, and are equipped with the third steering wheel B7 respectively on the fourth steering wheel B4, and the third steering wheel B4 is equipped with the third steering wheel B7 respectively and is equipped with the third steering wheel B4 respectively on the fourth steering wheel B4 output shaft's the side, and is equipped with the third steering wheel B4 respectively.
Still further, carry thing dish C1 includes four quarter cylinder walls and a little disc, little disc fixed mounting is on the chassis, little disc is equipped with the slip slot in four mutual 90 degrees directions in the front and back, left and right sides respectively, and four quarter cylinder walls can be horizontally make a round trip to slide the installation in corresponding slip slot.
Still further, the triangle turntable D5 is an isosceles right triangle turntable, wherein the right-angle side corresponding to one isosceles right triangle turntable and the hypotenuse corresponding to the other isosceles right triangle turntable are mutually perpendicular in the steady state of the adjustment module.
As shown in fig. 4, four motor frames A4 are fixed at corresponding positions below the chassis A1, four motors A3 are respectively fixed on the four motor frames A4, and four wheels A2 are respectively mounted on output shafts of the four motors A3.
As shown in fig. 5, two corner brackets B9 are respectively mounted on two third links B7, the third links B7 are 90 degrees from the corner brackets B9, and the fourth links B8 are fixed on the two corner brackets B9. The six steering engines on the mechanical arm are electrified to drive the connecting rods to swing, so that the positions of the mechanical claws can be accurately controlled; the three steering engines at the free end control the opening and closing of the mechanical claw.
As shown in fig. 6, the carrying tray C1 is mounted in four grooves formed by four quarter cylinder walls on a small disc and forming 90 degrees with each other, and the diameters of different sizes are realized by sliding the four quarter cylinder walls in the grooves, so that the carrying tray C can adapt to the blocks of different sizes.
As shown in fig. 3 and 7, three trays C1 are mounted on each triangular turntable D5. The stable state of the hypotenuses of the two triangular turntables D5 is always kept vertical, if the object blocks need to be reversed in the middle position and the outermost position of the loading area in the placing area, the hypotenuses of the triangular turntables D5 corresponding to the adjusting modules are parallel to the right side edge of the vehicle, the hypotenuses of the other triangular turntables D5 are parallel to the front and rear edges of the vehicle, the object blocks are ready to be loaded, and then the object blocks are loaded, and the exchange of the middle position and the side positions is realized; the rotation of the elliptical turntable D4 can realize the exchange of the positions of the two outermost object blocks.
The working principle of the invention is as follows:
the trolley scans the colors of the placing area through three color sensors E2 at the free end of the grabbing module in the placing area, stores color sequence data in the control chip, and operates the adjusting module to enable the adjusting module to be in a corresponding state of preparing to accept the object blocks; then, the trolley is tracked through a gray sensor E1 under the chassis A1 to reach a loading area to grasp object blocks, and the object blocks are respectively placed in an adjusting module and a transferring module; then the trolley continues to track through the gray sensor E1 under the chassis A1 to reach the placement area, three object blocks on the adjusting module are placed at corresponding positions of the placement area after being sequenced, then the operating adjusting module is ready to accept the three object blocks grasped by the grasping module from the transferring module, the object blocks are placed in the placement area after being sequenced, and the task is completed.
The invention realizes the actions of automatically identifying and storing, grabbing the object blocks, transporting the object blocks, arranging the object blocks, transferring the object blocks, placing the object blocks and the like.
Claims (4)
1. The utility model provides an automatic discernment ordering transport thing piece dolly which characterized in that: the device comprises a frame module, a grabbing module, a transfer module, an adjusting module, an identification module and a control chip, wherein the grabbing module, the transfer module, the adjusting module, the identification module and the control chip are arranged on the frame module, the adjusting module is used for adjusting the sequence of the object blocks, the identification module is connected with the control chip, and the control chip is connected with the grabbing module and the adjusting module;
the frame module comprises a chassis, four wheels and four motors, each wheel corresponds to one motor and is arranged on an output shaft of the corresponding motor, and each motor is fixedly arranged on the bottom of the chassis through a motor frame; the grabbing module is arranged on the left side of the chassis, the transferring module is arranged on the middle of the chassis, and the adjusting module is arranged on the right side of the chassis; the four motors are connected with the control chip;
the transfer module comprises three carrying trays for carrying the blocks, and the three carrying trays are arranged in a row at equal intervals in front and back;
the adjusting module comprises a fifth steering engine, two sixth steering engines, a cloud disc, an elliptic turntable and two triangular turntables, wherein the three corners of the two triangular turntables are respectively provided with a carrying disc, the two triangular turntables are respectively arranged on the steering discs on the output shafts of the two sixth steering engines, the two sixth steering engines are respectively arranged on the front end and the rear end of the elliptic turntable, the elliptic turntable is arranged on a rotor of the cloud disc, the cloud disc is arranged on a chassis, the fifth steering engine is positioned below the cloud disc and is arranged on the chassis, and meanwhile, the steering disc on the output shaft of the fifth steering engine is connected with the rotor of the cloud disc; three carrying discs are arranged in a row front and back each time the two triangular rotary discs rotate for one angle;
the identification module comprises a color sensor for identifying the color of the object block and a gray level sensor for tracking; the grabbing module comprises three mechanical claws, and each mechanical claw is provided with a color sensor; the gray sensor is arranged on the bottom of the front end of the chassis.
2. The automated specimen handling cart of claim 1, wherein: the grabbing module further comprises two first connecting rods, two second connecting rods, two third connecting rods, one fourth connecting rod, two first steering engines, two second steering engines, two third steering engines and three fourth steering engines, wherein the two first steering engines are respectively fixed on front and back corners of the left side of the chassis, the lower ends of the two first connecting rods are respectively arranged on steering wheels on output shafts of the two first steering engines, square holes are respectively formed in the upper ends of the two first connecting rods, the two second steering engines are respectively arranged in the square holes of the two first connecting rods, the lower ends of the two second connecting rods are respectively arranged on the steering wheels on output shafts of the two second steering engines, square holes are respectively formed in the upper ends of the two second connecting rods, the two third steering engines are respectively arranged in the square holes of the two second connecting rods, the lower ends of the two third connecting rods are respectively arranged on the steering wheels on output shafts of the two third steering engines, the upper ends of the two third connecting rods are respectively arranged on the front sides of the four steering engines through angle frames, the four steering engines are respectively arranged on the four side surfaces of the four steering engines, and the four steering engines are respectively arranged on the four side surfaces of the four steering engines respectively.
3. The automated guided vehicle of claim 1 or 2, wherein:
the carrying disc comprises four quarter cylinder walls and a small disc, the small disc is fixedly arranged on the chassis, sliding grooves are respectively formed in the four directions of the small disc, the front side, the rear side, the left side and the right side, which are mutually 90 degrees, and the four quarter cylinder walls can horizontally slide back and forth and are arranged in the corresponding sliding grooves.
4. The automated guided vehicle of claim 1 or 2, wherein:
the triangular turntable is an isosceles right triangle turntable, wherein the right angle side corresponding to one isosceles right triangle turntable and the hypotenuse corresponding to the other isosceles right triangle turntable are mutually perpendicular in the steady state of the adjusting module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711282350.1A CN108313163B (en) | 2017-12-07 | 2017-12-07 | Automatic discernment ordering transport thing piece dolly |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711282350.1A CN108313163B (en) | 2017-12-07 | 2017-12-07 | Automatic discernment ordering transport thing piece dolly |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108313163A CN108313163A (en) | 2018-07-24 |
| CN108313163B true CN108313163B (en) | 2024-02-09 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711282350.1A Active CN108313163B (en) | 2017-12-07 | 2017-12-07 | Automatic discernment ordering transport thing piece dolly |
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| Country | Link |
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| CN (1) | CN108313163B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109048837B (en) * | 2018-08-13 | 2021-06-22 | 无锡城市职业技术学院 | Sorting and carrying robot in complex competition task, control system and sorting and carrying method |
| CN216996556U (en) * | 2022-02-21 | 2022-07-19 | 上海世禹精密机械有限公司 | Semiconductor element transfer apparatus |
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| CN105565211A (en) * | 2015-12-23 | 2016-05-11 | 南京航空航天大学 | Smart carrying trolley capable of automatically identifying cargos |
| CN105936040A (en) * | 2016-06-15 | 2016-09-14 | 浙江理工大学 | Arduino based carrying robot with image recognizing function |
| CN106393053A (en) * | 2016-11-16 | 2017-02-15 | 福州大学 | Carrying robot and carrying work method thereof |
| WO2017035842A1 (en) * | 2015-09-06 | 2017-03-09 | 深圳市大疆创新科技有限公司 | Cradle head, remotely-controlled vehicle and remotely-controlled carrying system |
| CN107215822A (en) * | 2017-07-30 | 2017-09-29 | 西安航空学院 | A kind of electri forklift |
| CN207536020U (en) * | 2017-12-07 | 2018-06-26 | 浙江理工大学 | Object block trolley is carried in automatic identification sequence |
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2017
- 2017-12-07 CN CN201711282350.1A patent/CN108313163B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2017035842A1 (en) * | 2015-09-06 | 2017-03-09 | 深圳市大疆创新科技有限公司 | Cradle head, remotely-controlled vehicle and remotely-controlled carrying system |
| CN107107976A (en) * | 2015-09-06 | 2017-08-29 | 深圳市大疆灵眸科技有限公司 | Head, Remote Control Vehicle and remote control delivery system |
| CN105565211A (en) * | 2015-12-23 | 2016-05-11 | 南京航空航天大学 | Smart carrying trolley capable of automatically identifying cargos |
| CN105936040A (en) * | 2016-06-15 | 2016-09-14 | 浙江理工大学 | Arduino based carrying robot with image recognizing function |
| CN106393053A (en) * | 2016-11-16 | 2017-02-15 | 福州大学 | Carrying robot and carrying work method thereof |
| CN107215822A (en) * | 2017-07-30 | 2017-09-29 | 西安航空学院 | A kind of electri forklift |
| CN207536020U (en) * | 2017-12-07 | 2018-06-26 | 浙江理工大学 | Object block trolley is carried in automatic identification sequence |
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| Publication number | Publication date |
|---|---|
| CN108313163A (en) | 2018-07-24 |
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