CN207903351U - A kind of merchandising machine people of autonomous control balance - Google Patents
A kind of merchandising machine people of autonomous control balance Download PDFInfo
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- CN207903351U CN207903351U CN201721876867.9U CN201721876867U CN207903351U CN 207903351 U CN207903351 U CN 207903351U CN 201721876867 U CN201721876867 U CN 201721876867U CN 207903351 U CN207903351 U CN 207903351U
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Abstract
The utility model discloses a kind of merchandising machine people of autonomous control balance, including car-mounted device, power supply, motor, data transmit-receive module, handling control module, balance Control Scheme module and central control module；Wherein, power supply, motor, data transmit-receive module, handling control module, balance Control Scheme module and central control module are mounted on car-mounted device；Balance Control Scheme module is according to the gradient situation of external ramp, the status data obtained in conjunction with itself modules controls the balance of merchandising machine people's article carrying platform, and the situation is fed back into central control module processing, by the control centre that central control module is merchandising machine people, processing controls the working condition of whole each module of merchandising machine people, it solves current robotic conveyance process and be easy to cause loading and fall, unstable phenomenon of climbing.
Description
Technical field
The utility model is related to merchandising machine people fields, more particularly, to a kind of merchandising machine of autonomous control balance
People.
Background technology
Due to having certain speed in merchandising machine people's driving process, if merchandising machine people's travel speed is very fast, or
Because imbalance causes article to fall because of inertia during ascents and descents；And travel speed is slower, and be easy to influence cargo transport
Efficiency.Therefore can not occur what article fell with autonomous control Equilibrium state in transportational process for holding merchandising machine people
Problem can install retractable supports column in merchandising machine people, and logistics machine is controlled by motor driving retractable supports column lifting situation
The equilibrium state of device people.
Utility model content
The utility model is at least one defect overcome described in the above-mentioned prior art, provides a kind of autonomous control balance
Merchandising machine people.
In order to solve the above technical problems, the technical solution of the utility model is as follows：
A kind of merchandising machine people of autonomous control balance, including car-mounted device, power supply, central control module, data transmit-receive
Module, motor, handling control module and balance Control Scheme module；The power supply, central control module, data transmit-receive mould
Block, motor arrangement are mounted on inside car-mounted device；The balance Control Scheme module includes balance sensing device, acceleration sense
Answer device, motor, lifting gear and article carrying platform；The balance sensing device is embedded in article carrying platform；The acceleration
Sensing device balances fixed placement on the surface of car-mounted device；The car-mounted device top is fixedly connected with control with lifting gear
The equilibrium state of article carrying platform；The described data transmit-receive module processing by data that peripheral operation and external environment are fed back with
And the execution data of output central control module；The loading of the handling control module control article carrying platform article and unloading；
The balance Control Scheme module is according to the gradient situation of external ramp, the status data control obtained in conjunction with itself modules
The balance of merchandising machine people article carrying platform processed, and the situation is fed back into central control module processing；The center control
Molding block is the control centre of merchandising machine people, receives the feedback command of autobalance control module and data transmit-receive module, and
Control instruction is exported to motor, data transmit-receive module and handling control module, controls the work feelings of whole each module of merchandising machine people
Condition.
In a kind of preferred scheme, the balance sensing device is weight sensor, model L6H5, for detecting
The weight of article carrying platform article, and the weight data is fed back into balance Control Scheme module, lifting gear shape is controlled by motor
State.
In a kind of preferred scheme, the acceleration sensing be acceleration transducer, model ADXL335,
Transport condition for detecting logistics robot.
In a kind of preferred scheme, the lifting gear is retractable supports column, flat for adjusting simultaneously Lifting carrying
Platform.
In a kind of preferred scheme, the retractable supports column has 2.
In a kind of preferred scheme, the motor has 3；Wherein 2 motors control 2 retractable supports columns respectively
Liter state or drop state；The motion state that another 1 motor control wheel advances, retreats, turns left and turn right.
In a kind of preferred scheme, the power supply is battery module.
In a kind of preferred scheme, the power supply is mobile power.
Compared with prior art, the advantageous effect of technical solutions of the utility model is：A kind of logistics of autonomous control balance
Robot, including car-mounted device, power supply, motor, data transmit-receive module, handling control module, balance Control Scheme module and
Central control module；Wherein, power supply, motor, data transmit-receive module, handling control module, balance Control Scheme module and in
Control module is entreated to be mounted on car-mounted device；Balance Control Scheme module is each in conjunction with itself according to the gradient situation of external ramp
The balance for status data control merchandising machine people's article carrying platform that a module obtains, and the situation is fed back into central control
Resume module, by the control centre that central control module is merchandising machine people, processing controls the work of whole each module of merchandising machine people
Make situation, solves current robotic conveyance process and be easy to cause loading and fall, unstable phenomenon of climbing.
Description of the drawings
Fig. 1 is merchandising machine people's overall work module map of the utility model embodiment 1.
Fig. 2 is the part composition figure of the balance Control Scheme module of the utility model embodiment 1.
Fig. 3 is structure chart when the utility model merchandising machine people climbs.
Wherein：1, article carrying platform；2, shaft；3, weight sensor；4, retractable supports column；5, car-mounted device；6, accelerate
Spend sensor；7, trailing wheel；8, front-wheel；9, power supply；10, central control module；11, data transmit-receive module；12, motor；13, slope
Road.
Specific implementation mode
The attached figures are only used for illustrative purposes and cannot be understood as limitating the patent；
In order to more preferably illustrate that the present embodiment, the certain components of attached drawing have omission, zoom in or out, actual product is not represented
Size；
To those skilled in the art, it is to be appreciated that certain known features and its explanation, which may be omitted, in attached drawing
's.
The technical solution of the utility model is described further with reference to the accompanying drawings and examples.
Embodiment 1
As shown in Figure 1 and 2, a kind of merchandising machine people of autonomous control balance, including car-mounted device 5, power supply 9, center control
Module 10, data transmit-receive module 11, motor 12, handling control module and balance Control Scheme module；The power supply 9, in
Control module 10, data transmit-receive module 11, the arrangement of motor 12 is entreated to be mounted on inside car-mounted device 5；The balance Control Scheme
Module includes balance sensing device, acceleration sensing, motor 12, lifting gear and article carrying platform 1；The sense of equilibrium answers
Device is embedded in article carrying platform 1；The acceleration sensing balances fixed placement on the surface of car-mounted device 5；Described
5 top of car-mounted device is fixedly connected with the equilibrium state of control article carrying platform 1 with lifting gear；At the data transmit-receive module 11
The execution data of data and output central control module 10 that reason peripheral operation and external environment are fed back；The dress
Unload loading and the unloading of control module control 1 article of article carrying platform；The balance Control Scheme module is according to external ramp 13
Gradient situation, in conjunction with the balance for the status data control merchandising machine people article carrying platform 1 that itself modules obtains, and
The situation is fed back to central control module 10 to handle；The central control module 10 is the control centre of merchandising machine people,
Receive the feedback command of autobalance control module 10 and data transmit-receive module 11, and to motor 12,11 and of data transmit-receive module
It loads and unloads control module and exports control instruction, control the working condition of whole each module of merchandising machine people.
In specific implementation process, the balance sensing device is weight sensor 3, and model is not unique, for detecting
The weight of 1 article of article carrying platform, and the weight data is fed back into balance Control Scheme module, lifting gear is controlled by motor 12
State.
In specific implementation process, the acceleration sensing is acceleration transducer 6, and model is not unique, is used for
Detect the transport condition of logistics robot.
In specific implementation process, the lifting gear is retractable supports column 4, for adjusting simultaneously Lifting carrying platform
1。
In specific implementation process, the retractable supports column 4 has 2.
In specific implementation process, the motor 12 has 3；Wherein 2 motors 12 control 2 retractable supports respectively
The liter state or drop state of column 4；The motion state that another 1 motor 12 control wheel advances, retreats, turns left and turn right.
In specific implementation process, the power supply 9 is battery module.
In specific implementation process, the power supply 9 is mobile power.
In specific implementation process, the car-mounted device 5 includes front-wheel 7 and trailing wheel 8.
In level road situation, article carrying platform 1 and 5 horizontal parallel of car-mounted device.Outside data transmit-receive module 11 receives
When portion's instruction needs to carry transport cargo, merchandising machine people/trolley automatic running to loading point, after carrying cargo, center control
Molding block 10 sends instruction and transports cargo to terminal.When merchandising machine people/trolley starts when driving, by effect of inertia, acceleration
When sensor 6 detects inclination, information is fed back into balance Control Scheme module immediately, retractable supports column is controlled by motor 12
4 states, adjust automatically angular balance.When traveling is to ramp 13 as shown in Figure 3, weight sensor 3 detects 1 object of article carrying platform
The weight of product, and the weight data is fed back into balance Control Scheme module, 4 state of retractable supports column is controlled by motor 12,
Keep article carrying platform 1 parallel with 13 road surface of ramp always.After terminating the traveling of ramp 13, motor adjusts retractable supports column 4, restores
To horizontality.After merchandising machine people/trolley is reached home, by brake effect of inertia, cargo is easy to slide article carrying platform 1,
When detecting that article carrying platform tilts by acceleration transducer 6, information is fed back into balance Control Scheme module 10 immediately, by motor
12 control retractable supports column states, adjust automatically angular balance, to smoothly be completed by 10 safety of central control module
Transport task.
The same or similar label correspond to the same or similar components；
The terms describing the positional relationship in the drawings are only for illustration, should not be understood as the limitation to this patent；
Obviously, above-described embodiment of the utility model is only intended to clearly illustrate the utility model example, and
It is not the restriction to the embodiment of the utility model.For those of ordinary skill in the art, in above description
On the basis of can also make other variations or changes in different ways.There is no need and unable to give all embodiments
It is exhaustive.All any modification, equivalent and improvement made within the spirit and principle of the present invention etc., should be included in
Within the protection domain of the utility model claims.
Claims (8)
1. a kind of merchandising machine people of autonomous control balance, which is characterized in that including car-mounted device, power supply, central control module,
Data transmit-receive module, motor, handling control module and balance Control Scheme module；The power supply, central control module, number
It is mounted on inside car-mounted device according to transceiver module, motor arrangement；The balance Control Scheme module include balance sensing device,
Acceleration sensing, lifting gear and article carrying platform；The balance sensing device is embedded in article carrying platform；The acceleration
It spends sensing device and balances fixed placement on the surface of car-mounted device；The car-mounted device top is fixedly connected with control with lifting gear
The equilibrium state of article carrying platform processed；The data transmit-receive module handles the data fed back by peripheral operation and external environment
And the execution data of output central control module；The handling control module controls the loading of article carrying platform article and unloads
It carries；The balance Control Scheme module is according to the gradient situation of external ramp, the status number obtained in conjunction with itself modules
Central control module processing is fed back to according to the balance of control merchandising machine people's article carrying platform, and by the situation；In described
It is the control centre of merchandising machine people to entreat control module, and the feedback for receiving autobalance control module and data transmit-receive module refers to
It enables, and control instruction is exported to motor, data transmit-receive module and handling control module, control the work of whole each module of merchandising machine people
Make situation.
2. the merchandising machine people of autonomous control balance according to claim 1, which is characterized in that the sense of equilibrium should fill
It is set to weight sensor, model L6H5.
3. the merchandising machine people of autonomous control balance according to claim 1, which is characterized in that the acceleration induction
Device is acceleration transducer, model ADXL335.
4. the merchandising machine people of autonomous control according to claim 1 balance, which is characterized in that the lifting gear is
Retractable supports column.
5. the merchandising machine people of autonomous control balance according to claim 4, which is characterized in that the retractable supports
Column has 2.
6. the merchandising machine people of autonomous control balance according to claim 5, which is characterized in that the motor has 3；
Wherein 2 motors control the liter state or drop state of 2 retractable supports columns respectively；Another 1 motor control wheel advances, after
The motion state moved back, turn left and turned right.
7. the merchandising machine people of autonomous control balance according to claim 1, which is characterized in that the power supply is battery
Group module.
8. the merchandising machine people of autonomous control balance according to claim 1, which is characterized in that the power supply is movement
Power supply.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721876867.9U CN207903351U (en) | 2017-12-28 | 2017-12-28 | A kind of merchandising machine people of autonomous control balance |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201721876867.9U CN207903351U (en) | 2017-12-28 | 2017-12-28 | A kind of merchandising machine people of autonomous control balance |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110053960A (en) * | 2019-05-05 | 2019-07-26 | 马千里 | A kind of wheel apparatus of keeping off a car of automobile downhill airborne carrier |
| CN110450857A (en) * | 2019-08-12 | 2019-11-15 | 余长岳 | A kind of automatic ballance regulator of Intelligent carrier |
| CN111085446A (en) * | 2020-01-03 | 2020-05-01 | 华南理工大学 | Logistics robot capable of quickly responding to balance and regulation and control method thereof |
| CN112937725A (en) * | 2021-03-05 | 2021-06-11 | 深圳市井智高科机器人有限公司 | AGV robot capable of automatically adjusting climbing balance |
| CN114291174A (en) * | 2021-12-30 | 2022-04-08 | 中山小神童创新科技有限公司 | Anti-falling adjusting system based on transporting equipment |
| WO2023130824A1 (en) * | 2022-01-07 | 2023-07-13 | 腾讯科技（深圳）有限公司 | Motion control method for under-actuated system robot, and under-actuated system robot |
-
2017
- 2017-12-28 CN CN201721876867.9U patent/CN207903351U/en active Active
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110053960A (en) * | 2019-05-05 | 2019-07-26 | 马千里 | A kind of wheel apparatus of keeping off a car of automobile downhill airborne carrier |
| CN110450857A (en) * | 2019-08-12 | 2019-11-15 | 余长岳 | A kind of automatic ballance regulator of Intelligent carrier |
| CN111085446A (en) * | 2020-01-03 | 2020-05-01 | 华南理工大学 | Logistics robot capable of quickly responding to balance and regulation and control method thereof |
| CN111085446B (en) * | 2020-01-03 | 2023-07-18 | 华南理工大学 | Logistics robot with quick response balance and regulation and control method thereof |
| CN112937725A (en) * | 2021-03-05 | 2021-06-11 | 深圳市井智高科机器人有限公司 | AGV robot capable of automatically adjusting climbing balance |
| CN114291174A (en) * | 2021-12-30 | 2022-04-08 | 中山小神童创新科技有限公司 | Anti-falling adjusting system based on transporting equipment |
| CN114291174B (en) * | 2021-12-30 | 2022-07-26 | 中山小神童创新科技有限公司 | Anti-falling adjusting system based on transporting equipment for transportation |
| WO2023130824A1 (en) * | 2022-01-07 | 2023-07-13 | 腾讯科技（深圳）有限公司 | Motion control method for under-actuated system robot, and under-actuated system robot |
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