CN110155831A - A kind of device of the upper and lower elevator of auxiliary robot - Google Patents
A kind of device of the upper and lower elevator of auxiliary robot Download PDFInfo
- Publication number
- CN110155831A CN110155831A CN201810156745.5A CN201810156745A CN110155831A CN 110155831 A CN110155831 A CN 110155831A CN 201810156745 A CN201810156745 A CN 201810156745A CN 110155831 A CN110155831 A CN 110155831A
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- horizontal
- step motor
- box
- stepper motor
- elevator
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B1/00—Control systems of elevators in general
- B66B1/02—Control systems without regulation, i.e. without retroactive action
- B66B1/06—Control systems without regulation, i.e. without retroactive action electric
- B66B1/14—Control systems without regulation, i.e. without retroactive action electric with devices, e.g. push-buttons, for indirect control of movements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B1/00—Control systems of elevators in general
- B66B1/34—Details, e.g. call counting devices, data transmission from car to control system, devices giving information to the control system
- B66B1/3415—Control system configuration and the data transmission or communication within the control system
- B66B1/3446—Data transmission or communication within the control system
- B66B1/3453—Procedure or protocol for the data transmission or communication
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B1/00—Control systems of elevators in general
- B66B1/34—Details, e.g. call counting devices, data transmission from car to control system, devices giving information to the control system
- B66B1/3415—Control system configuration and the data transmission or communication within the control system
- B66B1/3446—Data transmission or communication within the control system
- B66B1/3461—Data transmission or communication within the control system between the elevator control system and remote or mobile stations
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Computer Networks & Wireless Communication (AREA)
- Toys (AREA)
Abstract
The invention discloses a kind of devices of elevator above and below auxiliary robot, it includes host box, frame box, horizontal box, ejecting mechanism, wireless communication module, vertical step motor, horizontal step motor, control module.Vertical step motor rotation drives ring chain to rotate clockwise to move from top to bottom to take horizontal box to, horizontal step motor, which rotates forward, drives ring chain to rotate clockwise that ejecting mechanism is driven from left to right to move, ejecting mechanism stepper motor rotates forward band needle of moving and sends out and play needle syringe needle and withstand elevator hand control panel number of floor levels key and hit the key, and respective storey number press key lamp is bright.Main control module receives the request of logistics robot by wireless communication module, controls vertical step motor, horizontal step motor, ejecting mechanism stepper motor step by step and rotates forward, and finally allows bullet needle syringe needle to withstand control board for elevator number of floor levels key and reaches operation elevator purpose.The present invention can help express delivery and take out robot disengaging elevator, make the logistics last one kilometer new situation.
Description
Technical field
It is more specifically to be related to a kind of use wirelessly the present invention relates to a kind of device of elevator above and below auxiliary robot
The communication technology, stepper motor positive and negative rotation, automatic control technology operation elevator hand control panel floor key device.
Background technique
E-commerce, online shopping, take-away have become one of consumption mode of social most mainstream.
Logistics company courier is the indispensable link connected between buyer and seller, this link is actual physical row under line
For that need to be delivered to another place from a place by article, need in person to send article in buyer family in hand.When buyer stays out
Courier places items within cell logistics cabinet when middle, is come off duty voluntarily to take on the way by buyer and be gone home.But cell logistics cabinet is after all
Limited, courier's delivery is got home according to being exactly mainstream, and especially carryout must be sent in buyer's hand in limiting time, courier
Taking a lift upstairs is downstairs necessary.
Green hand's network, Jingdone district logistics are hungry and have all issued merchandising machine people, and unmanned automatic running is merchandising machine
People's common feature.
The merchandising machine people issued at present, vehicle body have both freight house function, there is multiple interval storage articles, warehouse door in freight house
By password code open and close.When loading staff by article storage in merchandising machine people's freight house, take goods when buyer personally
It takes article self from merchandising machine people's freight house, such design causes current merchandising machine people not configure mechanical arm.
As shown in Figure 1, elevator be also it is unattended, pressed in elevator hand control panel in person by the people of seating elevator
Reach number of floor levels key, the number of floor levels press key lamp is bright, and elevator is run up and down to stop automatically when reaching designated floor, and passenger walks out
Elevator.Press that reach number of floor levels key this movement simple for pedestrian.Merchandising machine people must be as courier
It takes a lift and goes downstairs upstairs, expect that elevator is transformed in elevator producer currently without the merchandising machine people of configuration robotic arm, it is electric after transformation
Between ladder and merchandising machine people in a manner of wireless telecommunications, number of floor levels is sent to elevator by merchandising machine people, and elevator is run up and down
Merchandising machine people is notified to leave by wireless communication path again when reaching designated floor.
Elevator is national security operation Special Products, and it is downstairs a kind of for expecting Retrofit of Elevator to meet merchandising machine people upstairs
Temporary technical solution is the technical solution in merchandising machine people enterprise ideal, difficult in project implementing process, serious to drop
Low merchandising machine people's efficiency effect.
Therefore, under the conditions of holding elevator status, retentate stream robot current version, how to allow and do not configure mechanical hand
Elevator above and below the merchandising machine people of arm is problem in the urgent need to address at present.
Summary of the invention
Place in view of above-mentioned deficiencies of the prior art, the present invention relates to a kind of dresses of elevator above and below auxiliary robot
Set, be more specifically be related to it is a kind of with wireless communication technique, stepper motor positive and negative rotation, automatic control technology operation elevator hand
The device of control panel floor key.
In order to achieve the above object, this invention takes following technical schemes:
A kind of device of the upper and lower elevator of auxiliary robot, it includes
Host box is mounted at the top of elevator hand control panel, including wireless module, control module, battery, two vertical steps
Into motor, chain chuck；
Frame box is mounted on edge at left and right sides of elevator hand control panel, including vertical ring-shaped chain and its fixing piece chain
Stick is the fixed horizontal box of support with the fixing piece chain stick.Frame box top is connect with host box, and frame box bottom is
Chain chuck；
Horizontal box, including horizontal annular chain and two customization chain sticks, the fixed Dan Zhen mechanism of described two customization chain sticks；
It is characterized in that, it further includes wireless communication module, vertical step motor A, vertical step motor B, horizontal stepping
Motor, ejecting mechanism, stepper motor driver, vertical limit stick, Horizontal limiting stick, control module；
The wireless communication module includes wifi module and zigbee module, passes through serial data circuit and control module electricity
Gas connection；
The vertical step motor A rotary shaft is connect with left border box chain chuck, the vertical step motor B rotation
Axis is connect with Right Border box chain chuck；
The vertical limit stick is inserted among vertical ring-shaped one section of chain；
The horizontal step motor rotation arbor is connect with chain chuck；
Among Horizontal limiting stick insertion one section of horizontal annular chain；
The ejecting mechanism includes shell, stepper motor, turns to connector, plays needle, plays needle pedestal, plays needle syringe needle, wiring
Terminal block；
Ejecting mechanism stepper motor rotary shaft is connect with connector snap ring is turned to, and is played needle pedestal and is turned to connector linear axis
It is fixed；
The control module is made of single-chip microcontroller or embedded controller；
The control module pluse output circuit is connect with stepper motor driver, and the stepper motor starter connection is defeated
Circuit is connect with vertical step motor A, vertical step motor B, horizontal step motor, ejecting mechanism stepper motor out；
The control module is configured to execute following operation:
The request for being intended to arrival floor number is sent come merchandising machine human hair by wireless module receiving,
Control vertical step motor A reversion, vertical step motor B rotate forward so that horizontal box reach specified level position,
Controlled level stepper motor rotate forward so that ejecting mechanism reach elevator hand control panel number of floor levels corresponding position,
It controls the rotating forward of bullet needle mechanism stepper motor and allows bullet needle syringe needle to withstand elevator hand control panel number of floor levels bullet needle submitting
Key makes corresponding number of floor levels press key lamp bright,
Control ejecting mechanism stepper motor reversion allows play needle and shrink and return, and the reversion of controlled level stepper motor allows ejecting mechanism
Initial position is returned,
Control control vertical step motor A is rotated forward, vertical step motor B reversion allows horizontal box to be returned to initial position,
It waits and goes out to be intended to arrival floor request by merchandising machine human hair from wireless module next time.
Preferably, the stepper motor driver output loop is 4 groups, every group of three cables are to rotate forward line, anti-respectively
Turn line, common end, 4 groups of output loops respectively drive vertical step motor A, vertical step motor B, horizontal step motor, pop-up
Mechanism stepper motor.
Preferably, the vertical step motor A, vertical step motor B, horizontal step motor, ejecting mechanism stepping electricity
Machine is miniature, 5VDC power supply, rotary shaft radius 2cm is interior, per second 5 to 20 turn low speed stepper motor.
Preferably, the ejecting mechanism connecting terminal block is 5 cables of connection, it is power positive line, power ground respectively
Line rotates forward line, reversed line, common end.
Preferably, the vertical limit stick is between long 1cm to 3cm, cylindrical body steel between radius 0.2cm to 0.5cm
Part, two vertical limit sticks of vertical ring-shaped chain arrangement, vertical ring-shaped chain only controls two and half after configuring vertical limit stick
Operation in the arc of garden.
Preferably, the Horizontal limiting stick is between long 1cm to 3cm, cylindrical body steel between radius 0.2cm to 0.5cm
Part, two Horizontal limiting sticks of horizontal annular chain arrangement, horizontal annular chain only up and down two and half after configuration level limit stick
Operation in the arc of garden.
Preferably, control module wireless communication interface agreement is modbus agreement, protocol data content is upstream and downstream
Byte, number of floor levels byte execute delay byte, logistics company code byte.
The advantages and positive effects of the present invention are: kinetic energy very little required for point touching elevator floor key, therefore,
It does not influence pedestrian completely to be manually operated under the premise of control elevator, the horizontal box of host box frame box of the present invention and ejecting mechanism are all micro-
Type lightweight component is easy to be fixedly mounted with elevator hand control panel, and open agreement can be dispatched by various brands merchandising machine people, on
Descending elevator up and down no longer becomes merchandising machine people's short slab, allows seller, consumer and each side, express company income.
Detailed description of the invention
Fig. 1 is resident's elevator hand control panel schematic diagram
Fig. 2 is host box, horizontal box, ejecting mechanism Boulez schematic diagram
Fig. 3 is ejecting mechanism composition figure
Fig. 4 is horizontal box schematic diagram
Fig. 5 is frame box schematic diagram
Fig. 6 is control system composition figure
Fig. 7 is control module flow chart figure
In figure: 100- control module, 120-WIFI module, the short wireless module of 130-, 210- spring mechanism, 220- are vertically walked
Into motor, 230- horizontal step motor, the active chuck of 301-, the passive chuck of 302-, 303- dual-gripper part, 305- supporting element,
306- limit stick, 307- stepper motor and the vertical ring-shaped chain of chuck, 308-.
Specific embodiment
For that can further appreciate that summary of the invention of the invention, feature and function, the following examples are hereby given, and cooperates attached drawing
Detailed description are as follows:
FIG. 1 to FIG. 7 is please referred to,
Pedestrian's finger, hard object crawl elevator manual operating disk number of floor levels key, corresponding number of floor levels press key lamp is bright, continues
Shutdown key is pressed, operation elevator high and low target is completed.
As shown in figure 3, one ejecting mechanism of design, including shell, stepper motor, steering connector, it plays needle, play needle bottom
Seat plays needle syringe needle, 5 connecting terminals.
Stepper motor rotates arbor and connect with connector snap ring is turned to, and the movement of stepper motor positive and negative rotation is changed into steering
The movement of connector tandem；It plays needle pedestal and is fixed with connector linear axis is turned to, thus stepper motor positive and negative rotation moves band
Needle reduction of moving linear motion；In order to avoid playing needle syringe needle by soft to the excessive impact force of elevator manual operating disk number of floor levels key
Material is shaped to hemispherical.
Ejecting mechanism shell is only provided with syringe needle reduction a side and goes out aperture.
Stepper motor turns to connector, plays needle, bullet needle pedestal, bullet needle syringe needle whole component and is encapsulated in ejecting mechanism shell
It is interior.5 cables are also drawn after the size ejecting mechanism sealing such as match box, such as red-black both threads are respectively power supply line, blue yellow
Bai Sangen line is respectively to rotate forward line, reversed line, common end.Ejecting mechanism stepper motor arrangement is 5VDV power supply, and low speed per second 5 arrives
20 turns, the long 1cm of size is interior, width 1cm is interior, in high 1cm.Needle overall length is played in 2cm.
Distance is in 1cm or so between ejecting mechanism and elevator operation disk.
It is normality initial state, ejecting mechanism stepping that the reversion of ejecting mechanism stepper motor, which allows and plays needle to shrink back ejecting mechanism shell,
Motor just transfer the possession of play needle emersion be then transition condition, from normality initial state to transition condition, then from transition condition return normality at the beginning of
Primary state is complete action flow.
As shown in Figure 1, elevator operating board can have 2 column 3 column or even 4 column, that is, can at most go out in same horizontal line
Existing 4 number of floor levels keys, ejecting mechanism need level to move left and right to be directed at one of number of floor levels key.
For this purpose, as shown in figure 4, design level box, is fixed at left and right sides of elevator frame on supporting point, horizontal box includes water
Flat stepper motor, horizontal annular chain, chain chuck and wherein two customize chain stick, thus the fixed peace of two customization chain sticks
Shoot needle mechanism part.
Horizontal step motor rotary shaft passes through left side chain chuck and forms active chuck, and chain chuck is nothing on the right side of horizontal box
Source chuck,
Left side active card disc spins are followed, horizontal box horizontal step motor rotation drives horizontal annular chain to rotate together；
Limit stick is arranged in horizontal annular chain upper half arc lower half arc, away from the fixed branch of the close two chain sticks of upper half arc limit stick
Support ejecting mechanism.
Horizontal box box body immobilizes under situation, and only rotating forward reversion with horizontal step motor can allow ejecting mechanism from left end
It moves about to right end.
Package level stepper motor, horizontal annular chain, upper half arc limit stick, lower half arc limit stick, 5 in horizontal box box body
Root cable is red-black both threads power supply line respectively, and blue yellowish-white rotating forward line reversed line is held jointly.
As shown in Figure 1, there are many rows for elevator operating board floor key, therefore it is required that horizontal box box body is run up and down to be reached
To corresponding row.
Host box is set at the top of elevator operating board, frame box is set on elevator operating board both sides.
Vertical step motor A rotary shaft is passed through vertical ring-shaped chain upper end chuck with vertical step motor B rotary shaft and is formed
Active chuck,
Vertical ring-shaped chain lower end chuck is passive chuck.
If left border box rotates clockwise, Right Border box is rotated counterclockwise；If left border box is counterclockwise
Rotation, then Right Border box rotates clockwise；Vertical step motor A and B with model same parameter with the same installation steps of size, vertically
Stepper motor A is consistent with vertical step motor B control pulse width but low and high level inverts.
Limit stick is set, it is ensured that vertical ring-shaped chain is operated according to half arc of left and right.
One special chain stick is set with horizontal box described in support bar.Support bar 2cm to 3cm, support bar one end are fixed on
Vertical ring-shaped chain limit stick faces side chain stick, the fixed horizontal box of the support bar other end.
Vertical step motor A is rotated forward to be inverted with vertical step motor B, is drawn and is arrived horizontal box high and low, and horizontal box is mobile most
Up at the top of elevator manual operating disk, horizontal box is minimum to be moved to elevator manual operating pan bottom.
Frame box encapsulates vertical ring-shaped chain, passive chuck, limit stick, support bar, and only support bar exposes horizontal box table
Face.
Host box includes WIFI wireless module and zigbee wireless module, and 4 road stepper motor drivers respectively drive vertically
Stepper motor A, vertical step motor B, horizontal box stepper motor, ejecting mechanism stepper motor, 5V battery, control module.
Vertical step motor A, vertical step motor B, horizontal box stepper motor, ejecting mechanism stepper motor are all that 5VDC is supplied
In electric, miniature, rotary shaft radius 2cm, 5 to 20 turn low speed stepper motor.
Control module is host box core component.
WIFI wireless module and zigbee wireless module are connect by serial line interface with control module；
It is electrically connected between stepper motor driver and control module by pluse output circuit；
5V battery provides work to control module, WIFI wireless module and zigbee wireless module, stepper motor driver
And operation power.
Vertical step motor A and with active chuck, the active chuck of vertical step motor B is all fixed on host box mainboard
On.
Host box frame box is fixedly mounted on elevator operating board disk.
Vertical step motor A reversion vertical step motor B is rotated forward so that horizontal box moves upwards until limit stick, horizontal box
Close to host box；
Horizontal step motor inverts so that ejecting mechanism rests in the horizontal box leftmost side.
Ejecting mechanism stepper motor inverts to be shunk so that playing needle.
Cumulative errors can be eliminated by returning to initial state, improve the accuracy and accuracy of operation.
Control module adjusts stepper motor positive and negative rotation and velocity of rotation by output pulse width and frequency.
Control module is communication from identity, and merchandising machine people is host identities,
Control module monitors serial data line data variation, waits for the request calling of merchandising machine people.
After serial data mouth, which connects number section, is greater than 6 bytes, solution data message obtains merchandising machine people request and reaches building
The number of plies and upper and lower line command,
The control module first step controls vertical step motor A reversion and vertical step motor B is rotated forward, so that horizontal box reaches
Specified level position,
Control module second step controlled level stepper motor turns left so that ejecting mechanism reaches control board for elevator frame number of floor levels
Corresponding position,
Thus control module third step, which controls the rotating forward of bullet needle mechanism stepper motor, allows bullet needle syringe needle to withstand electricity bullet needle submitting
Ladder manually controls disk frame number of floor levels key and makes respective storey number press key lamp bright.
Control module finally realizes return operation:
Control ejecting mechanism stepper motor reversion allows play needle and shrink and return, and the reversion of controlled level stepper motor allows ejecting mechanism
Initial position is returned,
Control control vertical step motor A is rotated forward, vertical step motor B reversion allows horizontal box to be returned to initial position,
Control module, which is transferred to, listens to inspection serial data mouth, and waiting is gone out by wireless module by merchandising machine human hair next time
It is intended to arrival floor request, carries out new round operation.
Horizontal box stepper motor working power control loop embodiment two:
Horizontal box separate configurations 5V battery, horizontal box control module, 2 road stepper motor driver of horizontal box, zigbeee are logical
Interrogate module；
Host box control module passes through Zigbee module and the horizontal mutual communication data transmission of box control module.
Output loop connects horizontal box stepper motor, horizontal 2 tunnel stepping electricity of box to horizontal 2 road stepper motor driver of box all the way
Machine driver another output circuit connects ejecting mechanism stepper motor.
Horizontal box 5V battery to horizontal box control module, 2 road stepper motor driver of horizontal box, zigbeee communication module,
Ejecting mechanism stepper motor provides power supply.
Host box control module monitors serial data line data variation, the request calling of merchandising machine people is waited for, when serial
After data port connects greater than 6 bytes of number section, solution data message obtains merchandising machine people request and reaches number of floor levels and uplink and downlink life
It enables, the host box control module first step controls vertical step motor A reversion and vertical step motor B is rotated forward, so that horizontal box arrives
Up to specified level position, host box control module second step assigns data command to horizontal box control module, and command content is will
Ejecting mechanism move right one be spaced or two interval or three interval it is most four interval；The corresponding elevator hand in the interval
Operation panel row-column layout column pitch.
Horizontal box control module pluse output circuit and horizontal 2 road stepper motor driver of box are electrically connected,
Horizontal box control module output pulse signal passes through horizontal 2 road stepper motor driver controlled level box stepping electricity of box
Machine turn left so that ejecting mechanism move right one be spaced or two interval or three interval it is most four interval, reach elevator hand
Dynamic operation panel number of floor levels corresponding position.
Embodiment two ensures do not have cable connection between horizontal box and frame box host box.
Horizontal box increases 5V battery, horizontal box control module, 2 road stepper motor driver of horizontal box, zigbeee communication
Under the conditions of module,
Cable high and low linkage measure need not be considered in operational process, greatly simplify horizontal box and frame box host box
Between cable connection.
The horizontal box control module of embodiment two is only communicated with host box control module, to the interaction of physical machine people according to just by
Host box control module is completed alone.
The device of elevator is fixed on elevator manual operating by host box frame box above and below a kind of auxiliary robot of the present invention
Disk, horizontal box are supported on frame box, and ejecting mechanism is supported on horizontal box, and moving parts is horizontal box and pop-up machine
Structure.Elevator manual operating disk number of floor levels key effectively clicks range about 2cm square, as long as clicking the key effective coverage
Key is lighted, the mobile ejecting mechanism bullet needle movement of horizontal box need to take return initial state measure further to mention in tolerance band
It has risen mobile accurate.Therefore, the present invention, which can allow, helps all kinds of merchandising machine people high and low's elevators, allows seller, consumer and fast
It passs each side, company income and forms win-win.
Although preferred implementation of the invention is described above in conjunction with attached drawing, the invention is not limited to above-mentioned
Specific embodiment, above-mentioned specific embodiment be only illustrate, be not restrictive, the ordinary skill of this field
Personnel are under inspiration of the invention, without breaking away from the scope protected by the purposes and claims of the present invention, can also do
Many forms out, these all fall within the protection scope of the present invention.
Claims (7)
1. the device of elevator above and below a kind of auxiliary robot, it includes
Host box is mounted at the top of elevator hand control panel, including wireless module, control module, battery, two vertical stepping electricity
Machine, chain chuck；
Frame box is mounted on edge at left and right sides of elevator hand control panel, including vertical ring-shaped chain and fixing piece chain stick, with
The fixing piece chain stick is the fixed horizontal box of support.Frame box top is connect with host box, and frame box bottom is chain card
Disk；
Horizontal box, including horizontal annular chain and two customization chain sticks, the fixed Dan Zhen mechanism of described two customization chain sticks；
It is characterized in that, it further includes wireless communication module, and vertical step motor A, vertical step motor B, horizontal step motor,
Ejecting mechanism, stepper motor driver, vertical limit stick, Horizontal limiting stick, control module；
The wireless communication module includes wifi module and zigbee module, is electrically connected by serial data circuit with control module
It connects；
The vertical step motor A rotary shaft is connect with left border box chain chuck, the vertical step motor B rotary shaft with
The connection of Right Border box chain chuck；
The vertical limit stick is inserted among vertical ring-shaped one section of chain；
The horizontal step motor rotation arbor is connect with chain chuck；
Among Horizontal limiting stick insertion one section of horizontal annular chain；
The ejecting mechanism includes shell, stepper motor, turns to connector, plays needle, plays needle pedestal, plays needle syringe needle, connecting terminal
Row；
Ejecting mechanism stepper motor rotary shaft is connect with connector snap ring is turned to, and is played needle pedestal and is turned to connector linear axis and consolidates
It is fixed,
The control module is made of single-chip microcontroller or embedded controller；
The control module pluse output circuit is connect with stepper motor driver, the stepper motor driver output loop with
Vertical step motor A, vertical step motor B, horizontal step motor, the connection of ejecting mechanism stepper motor；
The control module is configured to execute following operation:
The request for being intended to arrival floor number is sent come merchandising machine human hair by wireless module receiving,
Control vertical step motor A reversion, vertical step motor B rotate forward so that horizontal box reach specified level position,
Controlled level stepper motor rotate forward so that ejecting mechanism reach elevator hand control panel number of floor levels corresponding position,
It controls the rotating forward of bullet needle mechanism stepper motor and allows bullet needle syringe needle to withstand elevator hand control panel number of floor levels key bullet needle submitting
So that corresponding number of floor levels press key lamp is bright,
Control ejecting mechanism stepper motor reversion, which allows, plays needle contraction return, and the reversion of controlled level stepper motor allows ejecting mechanism to return
Initial position,
Control control vertical step motor A is rotated forward, vertical step motor B reversion allows horizontal box to be returned to initial position,
It waits and goes out to be intended to arrival floor request by merchandising machine human hair from wireless module next time.
2. the device of the upper and lower elevator of auxiliary robot according to claim 1, it is characterised in that: the stepper motor driver
Output loop is 4 groups, and every group of three cables are to rotate forward line, reversed line, common end respectively, and 4 groups of output loops respectively drive vertically
Stepper motor A, vertical step motor B, horizontal step motor, ejecting mechanism stepper motor.
3. the device of the upper and lower elevator of auxiliary robot according to claim 1, it is characterised in that: the vertical step motor A,
Vertical step motor B, horizontal step motor, ejecting mechanism stepper motor are miniature, 5VDC power supply, rotation arbor radius 2cm is interior,
Per second 5 to 20 turn low speed stepper motor.
4. the device of the upper and lower elevator of auxiliary robot according to claim 1, it is characterised in that: the ejecting mechanism terminals
Son row is 5 cables of connection, is power positive line respectively, and power ground rotates forward line, reversed line, common end.
5. the device of the upper and lower elevator of auxiliary robot according to claim 1, it is characterised in that: the vertical limit stick is length
Cylindrical body steel part, two vertical limit sticks of vertical ring-shaped chain arrangement are matched between 1cm to 3cm, between radius 0.2cm to 0.5cm
Set after vertical limit stick the only operation in the arc of the garden left and right Liang Geban of vertical ring-shaped chain.
6. the device of the upper and lower elevator of auxiliary robot according to claim 1, it is characterised in that: the Horizontal limiting stick is length
Cylindrical body steel part, two Horizontal limiting sticks of horizontal annular chain arrangement are matched between 1cm to 3cm, between radius 0.2cm to 0.5cm
Set after Horizontal limiting stick the only operation in the arc of the garden Liang Geban up and down of horizontal annular chain.
7. the device of the upper and lower elevator of auxiliary robot according to claim 1, it is characterised in that: control module wireless telecommunications connect
Mouth agreement is modbus agreement, and protocol data content is upstream and downstream byte, number of floor levels byte, executes delay byte, logistics public affairs
Take charge of code byte.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810156745.5A CN110155831A (en) | 2018-02-24 | 2018-02-24 | A kind of device of the upper and lower elevator of auxiliary robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810156745.5A CN110155831A (en) | 2018-02-24 | 2018-02-24 | A kind of device of the upper and lower elevator of auxiliary robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110155831A true CN110155831A (en) | 2019-08-23 |
Family
ID=67635694
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810156745.5A Pending CN110155831A (en) | 2018-02-24 | 2018-02-24 | A kind of device of the upper and lower elevator of auxiliary robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110155831A (en) |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN206142569U (en) * | 2016-08-31 | 2017-05-03 | 重庆威斯特电梯有限公司 | Operating panel for car |
| CN107337035A (en) * | 2017-08-10 | 2017-11-10 | 华南理工大学 | One kind can apposition formula elevator control gear and method |
| CN107639638A (en) * | 2017-09-27 | 2018-01-30 | 广东工业大学 | A kind of keyboard mechanical arm based on machine vision |
-
2018
- 2018-02-24 CN CN201810156745.5A patent/CN110155831A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN206142569U (en) * | 2016-08-31 | 2017-05-03 | 重庆威斯特电梯有限公司 | Operating panel for car |
| CN107337035A (en) * | 2017-08-10 | 2017-11-10 | 华南理工大学 | One kind can apposition formula elevator control gear and method |
| CN107639638A (en) * | 2017-09-27 | 2018-01-30 | 广东工业大学 | A kind of keyboard mechanical arm based on machine vision |
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Application publication date: 20190823 |