Robot

Abstract

The utility model relates to a robot, which comprises a machine body, a code reader and a controller, the tray is rotationally connected to the machine body; the calibration device is detachably connected to the tray, and the calibration device is provided with a calibration code; the driving device is arranged on the machine body and used for driving the tray to rotate relative to the machine body; the code reader is configured to scan the calibration code when the calibration code corresponds to the code reader in position. Therefore, the code reader scans the calibration code, and then the actual pulse number required by actual rotation for a circle is calculated according to the data before and after the calibration device rotates. And the driving device is controlled subsequently, the actual pulse number required by actual rotation for one circle is sent to the driving device, so that the driving device can drive the tray to rotate for a complete circle, and the tray is prevented from rotating too much or too little. In conclusion, the robot can conveniently calibrate the rotating position of the tray, and is simple in structure, low in cost and convenient and fast to use.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, in particular to a robot. Background Art

[0002] In the field of robotics, lifting robots with top rotating and rising have been widely used. When the top of such robots rotates and rises, the top tray is usually rotated by the motor. However, after long-term use of the robot, the gear ratio may be different from the original setting due to wear, which may cause the motor to rotate the tray according to the initial setting, but the position it rotates to may be different from the required position, affecting its use. Utility Model Content

[0003] In view of the above existing situation, the present invention provides a robot which can facilitate the calibration of the rotation position of a tray, has a simple structure, low cost, and is convenient and quick to use.

[0004] To this end, the utility model provides a robot, comprising: a body, on which a code reader is provided; a tray, rotatably connected to the body; a calibration device, detachably connected to the tray, the calibration device being provided with a calibration code; a driving device, provided on the body, the driving device being used to drive the tray to rotate relative to the body, so that the tray drives the calibration device to rotate; the code reader is configured to scan the calibration code when the calibration code corresponds to the position of the code reader.

[0005] In the robot involved in the utility model, optionally, a rotation center is provided on the top of the body, and the code reader is arranged in the area where the rotation center is located; the tray rotates around the rotation center, and the tray is provided with a through slot corresponding to the area where the rotation center is located, and the code reader scans the calibration code through the through slot.

[0006] In the robot involved in the utility model, optionally, the calibration device includes a mounting member, a connecting member and a calibration member, and the mounting member and the calibration member are respectively connected to opposite ends of the connecting member; the connecting member includes a first side and a second side opposite to the first side, and when the calibration code corresponds to the position of the code reader, the second side faces the rotation center; the mounting member extends in the direction of the first side, and the mounting member is detachably connected to the tray; the calibration member extends in the direction of the second side, and the calibration code is arranged on the calibration part.

[0007] In the robot involved in the utility model, optionally, the bottom surface of the mounting member is detachably connected to the top surface of the tray; the connecting member is perpendicular to the top surface of the tray; the calibration member includes a calibration surface parallel to the top surface of the tray, and the calibration code is arranged on the calibration surface.

[0008] In the robot involved in the utility model, optionally, the calibration surface is provided with a groove, the groove is recessed in a direction away from the code reader, and the calibration code is provided in the groove.

[0009] In the robot involved in the utility model, optionally, the mounting member is detachably connected to the area on the top of the tray close to the through slot.

[0010] In the robot involved in the utility model, optionally, the connecting member includes a side provided with a plurality of reinforcing ribs, and the reinforcing ribs are respectively connected to the mounting member and the calibration member.

[0011] In the robot involved in the utility model, optionally, a plurality of the reinforcing ribs are evenly distributed on the second side.

[0012] In the robot involved in the utility model, optionally, the mounting part, the connecting part and the calibration part are integrally formed.

[0013] In the robot involved in the utility model, optionally, the mounting piece is threadedly connected to the pallet.

[0014] The robot involved in the utility model includes a body, a tray, a calibration device and a driving device, wherein a code reader is provided on the body, the calibration device is detachably connected to the tray, and the tray can rotate relative to the body under the action of the driving device of the body. In this way, when the calibration device is connected to the tray, it drives the calibration device to rotate. When the tray drives the calibration device to rotate through the code reader, when the calibration code corresponds to the position of the code reader, the calibration code is scanned, and then the actual number of pulses required for one rotation is calculated based on the data before and after the rotation of the calibration device. In the subsequent control of the driving device, the actual number of pulses required for one rotation is sent to the driving device, so that the driving device can drive the tray to rotate a full circle, thereby avoiding the tray from rotating too much or too little, and avoiding the deviation between the required position of the tray and the actual position. In summary, the robot involved in the utility model can facilitate the calibration of the rotation position of the tray, and has a simple structure, low cost, and is convenient and quick to use. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Embodiments of the present invention will now be explained in further detail by way of example only with reference to the accompanying drawings, in which:

[0016] Figure 1It is a schematic diagram showing the overall structure of the robot involved in the present application.

[0017] Figure 2 is an exploded view showing the robot involved in the present application.

[0018] Figure 3 is another exploded view showing the robot involved in the present application.

[0019] Figure 4 is a side view showing the calibration device involved in the present application.

[0020] Figure 5 It is a schematic diagram showing the overall structure of the calibration device involved in the present application.

[0021] Figure numerals: 1. body; 11. code reader; 12. rotation center; 2. tray; 3. calibration device; 31. mounting member; 32. connecting member; 321. first side; 322. second side; 323. reinforcing rib; 33. calibration member; 331. calibration surface; 332. groove; 34. calibration code. DETAILED DESCRIPTION

[0022] Hereinafter, with reference to the accompanying drawings, the preferred embodiments of the present invention are described in detail. In the following description, the same symbols are assigned to the same components, and repeated descriptions are omitted. In addition, the accompanying drawings are only schematic diagrams, and the ratio of the dimensions of the components to each other or the shapes of the components may be different from the actual ones. It should be noted that all directional indications (such as up, down, left, right, front, back...) in the embodiments of the present invention are only used to explain the relative position relationship, movement status, etc. between the components in a certain specific posture. If the specific posture changes, the directional indication will also change accordingly.

[0023] It should also be noted that when an element is referred to as being "fixed on" or "disposed on" another element, it may be directly on the other element or there may be an intermediate element at the same time. When an element is referred to as being "connected to" another element, it may be directly connected to the other element or there may be an intermediate element at the same time.

[0024] In addition, the descriptions of "first", "second", etc. in the present utility model are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in this field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by the present utility model.

[0025] After long-term use, the existing top rotating and rising lifting robot will have a gear ratio error compared to the original setting due to wear between the gears, which will cause the motor to still drive the tray 2 to rotate according to the initial setting, but the rotated position will be different from the required position, such as the tray 2 rotates too much or does not rotate into place, which affects its use.

[0026] The first aspect of the utility model provides a robot, comprising: a body 1, on which a code reader 11 is provided; a tray 2, rotatably connected to the body 1; a calibration device 3, detachably connected to the tray 2, the calibration device 3 being provided with a calibration code 34; a driving device (not shown in the figure), provided on the body 1, the driving device being used to drive the tray 2 to rotate relative to the body 1, so that the tray 2 drives the calibration device 3 to rotate; the code reader 11 is configured to scan the calibration code 34 when the calibration code 34 corresponds to the position of the code reader 11.

[0027] The robot involved in the utility model includes a body 1, a tray 2, a calibration device 3 and a driving device, wherein a code reader 11 is provided on the body 1, the calibration device 3 is detachably connected to the tray 2, and the tray 2 can rotate relative to the body 1 under the action of the driving device of the body 1. In this way, when the calibration device 3 is connected to the tray 2, the calibration device 3 is driven to rotate. When the tray 2 drives the calibration device 3 to rotate through the code reader 11, when the calibration code 34 corresponds to the position of the code reader 11, the calibration code 34 is scanned, and then the actual number of pulses required for one rotation is calculated according to the data before and after the rotation of the calibration device 3. In the subsequent control of the driving device, the actual number of pulses required for one rotation is sent to the driving device, so that the driving device can drive the tray 2 to rotate a full circle, thereby avoiding the tray 2 from rotating too much or too little, and avoiding the deviation between the required position of the tray 2 and the actual position. In summary, the robot involved in the utility model can facilitate the calibration of the rotation position of the tray 2, and has a simple structure, low cost, and is convenient and quick to use.

[0028] Specifically, the driving device can be a motor, and the motor controls the movement of the rotor according to the number of pulses, thereby driving the tray 2 to move to a preset position. Among them, the calibration code 34 can be a two-dimensional code or a barcode, and the code reader 11 can read not only the calibration code 34, but also other two-dimensional codes on the shelf. In addition, the calibration device 3 is detachably connected to the tray 2. When the relative position of the tray 2 and the body needs to be calibrated, the calibration device 3 is installed on the top of the tray 2. After the calibration is completed, the calibration device 3 is detached, and then the tray 2 can be rotated and lifted. Among them, according to the data before and after the rotation of the calibration device 3, the actual number of pulses required for one rotation can be calculated as follows: before the robot is started, the tray 2 is stationary, and the staff records the first pulse value of the current motor and the first angle of the calibration code 34 at this time. Then, the robot is started and the motor drives the tray 2 to rotate until the code reader 11 scans the calibration code 34, and the second pulse value of the current motor and the second angle are recorded again at this time. Finally, the pulse difference of the current rotation, that is, the number of angle action pulses, is calculated according to the first pulse value and the second pulse value, and the angle difference of rotation is calculated according to the first angle and the second angle. Then, specifically, the calculation formula is "angle percentage = angle difference / 360° (i.e. one circle)", "total number of pulses in one circle = number of angle action pulses / angle percentage". Thus, the total number of pulses used for one rotation can be calculated.

[0029] Reference Figure 1 to Figure 2 , a rotation center 12 is provided on the top of the machine body 1, and a code reader 11 is provided in the area where the rotation center 12 is located; the tray 2 rotates around the rotation center 12, and a through slot is provided on the tray 2 corresponding to the area where the rotation center 12 is located, and the code reader 11 scans the calibration code 34 through the through slot. Figure 1 and Figure 5 When the calibration code 34 corresponds to the position of the code reader 11, the calibration code 34 is located directly above the code reader 11. At this time, the code reader 11 can scan the calibration code 34 through the through slot.

[0030] Reference Figure 4 and Figure 5As an embodiment, the calibration device 3 includes a mounting member 31, a connecting member 32 and a calibration member 33, wherein the mounting member 31 and the calibration member 33 are respectively connected to opposite ends of the connecting member 32; the connecting member 32 includes a first side 321 and a second side 322 opposite to the first side 321, and when the calibration code 34 corresponds to the position of the code reader 11, the second side 322 faces the rotation center 12; the mounting member 31 extends in the direction of the first side 321, and the mounting member 31 is detachably connected to the tray 2; the calibration member 33 extends in the direction of the second side 322, and the calibration code 34 is arranged on the calibration part. In this way, when the calibration code 34 corresponds to the position of the code reader 11, the calibration member 33 also extends in the direction of the rotation center 12, that is, the code reader 11 can scan the calibration code 34 on the calibration member 33 in a replaceable manner.

[0031] As an embodiment, the bottom surface of the mounting member 31 is detachably connected to the top surface of the tray 2; the connecting member 32 is perpendicular to the top surface of the tray 2; the calibration member 33 includes a calibration surface 331 parallel to the top surface of the tray 2, and the calibration code 34 is provided on the calibration surface 331. According to this structure, the calibration surface 331 is parallel to the top surface of the tray 2, and when the calibration code 34 is located directly above the code reader 11, the calibration code 34 can be completely within the area that can be scanned by the code reader 11, so that the calibration code can be better scanned.

[0032] Reference Figure 5 As an embodiment, the calibration surface 331 is provided with a groove 332, the groove 332 is recessed in the direction away from the code reader 11, and the calibration code 34 is arranged in the groove 332. Therefore, the groove 332 can play a certain protective role for the calibration code 34. Specifically, when the calibration device 3 is used, the staff can remove the calibration device 3 from the tray 2. When the calibration code 34 is placed in other external areas, it is easy to be scratched by external objects, affecting the use, and the setting of the groove 332 can block the calibration code 34, so that the calibration code 34 is not easily touched by external objects.

[0033] As an embodiment, the mounting member 31 is detachably connected to the area near the through slot on the top of the tray 2. Thus, the entire calibration device 3 can be brought closer to the code reader 11, making it easier for the code reader 11 to scan the calibration code 34.

[0034] Reference Figure 4 and Figure 5 As an embodiment, the connecting member 32 includes a plurality of reinforcing ribs 323 on one side, and the reinforcing ribs 323 are respectively connected to the mounting member 31 and the calibration member 33. Therefore, the provision of the reinforcing ribs 323 can improve the rigidity and strength of the calibration device 3, and prevent the calibration device 3 from being deformed and affecting the accuracy of scanning.

[0035] Reference Figure 4As an embodiment, a plurality of reinforcing ribs 323 are evenly distributed on the second side 322. Specifically, since the calibration member 33 extends toward the second side 322, the reinforcing ribs 323 are arranged on the second side 322, which can better strengthen the strength of the connecting member 32 on the second side 322, thereby effectively preventing the calibration member 33 from being deformed or skewed.

[0036] As an embodiment, the mounting member 31, the connecting member 32 and the calibration member 33 are integrally formed. Thus, the structure of the calibration device 3 can be made stronger and more solid. In some examples, the mounting member 31, the connecting member 32 and the calibration member 33 can also be welded, and in other examples, they can also be connected by gluing.

[0037] As an embodiment, the mounting member 31 is threadedly connected to the tray 2. Thus, the connection between the calibration device 3 and the tray 2 is stable and reliable, and is convenient for the staff to assemble and disassemble, and the operation is convenient and fast.

[0038] In summary, the robot involved in the utility model can facilitate the calibration of the rotation position of the tray 2 through the provision of the calibration device 3, and has a simple structure, low cost, and is convenient and quick to use.

[0039] Although the utility model is specifically described above in conjunction with the accompanying drawings and embodiments, it is to be understood that the above description does not limit the utility model in any form. Those skilled in the art can modify and change the utility model as needed without departing from the essential spirit and scope of the utility model, and these modifications and changes all fall within the scope of the utility model.

Claims

1. A robot, characterized in that: include: A machine body, wherein a code reader is provided on the machine body; A tray, rotatably connected to the body; A calibration device, detachably connected to the tray, the calibration device being provided with a calibration code; A driving device, disposed on the machine body, and used for driving the tray to rotate relative to the machine body, so that the tray drives the calibration device to rotate; The code reader is configured to scan the calibration code when the calibration code corresponds to the position of the code reader.

2. The robot according to claim 1, characterized in that: A rotation center is provided on the top of the machine body, and the code reader is provided in the area where the rotation center is located; The tray rotates around the rotation center, and a through slot is provided on the tray corresponding to the area where the rotation center is located, and the code reader scans the calibration code through the through slot.

3. The robot according to claim 2, characterized in that: The calibration device comprises a mounting member, a connecting member and a calibration member, wherein the mounting member and the calibration member are respectively connected to two opposite ends of the connecting member; The connecting member includes a first side and a second side opposite to the first side, and when the calibration code corresponds to the position of the code reader, the second side faces the rotation center; The mounting member extends in the direction of the first side, and the mounting member is detachably connected to the tray; The marking piece extends toward the second side, and the marking code is arranged on the marking piece.

4. The robot according to claim 3, characterized in that: The bottom surface of the mounting member is detachably connected to the top surface of the tray; The connecting member is perpendicular to the top surface of the tray; The calibration member comprises a calibration surface parallel to the top surface of the tray, and the calibration code is arranged on the calibration surface.

5. The robot according to claim 4, characterized in that: The calibration surface is provided with a groove, the groove is recessed in a direction away from the code reader, and the calibration code is arranged in the groove.

6. The robot according to claim 3, characterized in that: The mounting piece is detachably connected to the top of the tray in an area close to the through slot.

7. The robot according to claim 3, characterized in that: The connecting member includes a side on which a plurality of reinforcing ribs are provided, and the reinforcing ribs are respectively connected to the mounting member and the marking member.

8. The robot according to claim 7, characterized in that: A plurality of the reinforcing ribs are evenly distributed on the second side.

9. The robot according to claim 3, characterized in that: The mounting part, the connecting part and the calibration part are integrally formed.

10. The robot according to claim 3, characterized in that: The mounting piece is threadedly connected to the tray.

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