CN111872917A

CN111872917A - Intelligent logistics carrying trolley

Info

Publication number: CN111872917A
Application number: CN202010853159.3A
Authority: CN
Inventors: 甘雨露; 朱燚鋆; 吴伦比; 夏宁; 蔡姚杰
Original assignee: Zhejiang University of Technology ZJUT
Current assignee: Zhejiang University of Technology ZJUT
Priority date: 2020-08-22
Filing date: 2020-08-22
Publication date: 2020-11-03

Abstract

The invention discloses an intelligent logistics carrying trolley which comprises a moving chassis, wherein a manipulator is arranged on the top of the moving chassis, a group of material collecting boxes is arranged on the top of the moving chassis, a code scanning device is arranged on the manipulator, an infrared tracking device and an ultrasonic obstacle avoidance device are arranged on the front portion of the moving chassis, the code scanning device scans codes and identifies materials, the manipulator grabs the materials and places the materials into the corresponding material collecting boxes, after the materials reach a target place through tracking, a corresponding material storage area is identified through the codes, and the manipulator grabs the materials from the vehicle body material collecting boxes and places the materials into the corresponding positions. The invention has the beneficial effects that: through removing the anterior infrared tracking device and the ultrasonic wave obstacle avoidance device that sets up in chassis, can move according to predetermined route, can carry out automatic identification to article through setting up the manipulator and sweeping yard device simultaneously and snatch, the demand of the small-size material handling of laminating mill more.

Description

Intelligent logistics carrying trolley

Technical Field

The invention relates to the technical field of intelligent logistics carrying robots, in particular to an intelligent logistics carrying trolley.

Background

At present, under the environment that the production technology of enterprises is continuously improved and the requirement on the automation technology is continuously deepened, intelligent vehicles and products developed on the basis of the intelligent vehicles become key equipment of systems such as automatic logistics transportation, flexible production organization and the like. Research and development design of intelligent vehicles is actively conducted in many countries of the world. The mobile robot is an important branch in robotics, is widely applied to carrying goods in discrete manufacturing industry, greatly reduces the labor cost, improves the carrying efficiency, and has wide application value and benefit.

Disclosure of Invention

Aiming at the problems in the prior art, the invention provides an intelligent logistics carrying trolley with a reasonable structural design.

The technical scheme of the invention is as follows:

the utility model provides an intelligence commodity circulation floor truck, its characterized in that, includes and removes the chassis, it is equipped with the manipulator to remove the chassis top, it is equipped with a set of material and collects the box to remove the chassis top, be equipped with on the manipulator and sweep a yard device, it is equipped with infrared tracking device and ultrasonic wave and keeps away the barrier device to remove the chassis front portion, sweep yard device and sweep yard discernment material, the manipulator snatchs the material and places corresponding material and collect the box in, reachs the target location through the tracking and reachs the material storage area that the sign indicating number discernment corresponds, and the manipulator snatchs the material from the automobile body material is collected the box and is placed the relevant position, accomplishes the material handling.

The intelligent logistics carrying trolley is characterized in that the movable chassis comprises a chassis, a rubber wheel, a stepping motor and a motor driving plate, the chassis is of a two-layer platform structure, a power source and a single chip microcomputer are arranged on a first layer platform, an infrared tracking device and an ultrasonic obstacle avoidance device are arranged on the front portion of the first layer platform, a manipulator and a material collecting box are respectively arranged on a second layer platform, the stepping motor is in transmission connection with the rubber wheel through a coupler, and the motor driving plate is used for controlling the stepping motor.

The intelligent logistics carrying trolley is characterized in that the mechanical arm is a five-axis mechanical arm, the mechanical arm comprises a mechanical arm and a mechanical claw arranged at the top of the mechanical arm, and the code scanning device is arranged at the top of the mechanical arm and close to the mechanical claw.

The utility model provides an intelligence commodity circulation floor truck, a characterized in that, the box is collected to the material includes bottom plate and four sides baffle, the four sides baffle leans out the setting respectively to box open area is collected to the increase material.

The intelligent logistics carrying trolley is characterized in that the infrared tracking device adopts an infrared sensor, the ultrasonic obstacle avoidance device adopts an ultrasonic sensor, and the infrared sensor and the ultrasonic sensor are respectively controlled by a single chip microcomputer.

The invention has the beneficial effects that: through removing the anterior infrared tracking device and the ultrasonic wave obstacle avoidance device that sets up in chassis, can move according to predetermined route, can carry out automatic identification to article through setting up the manipulator and sweeping yard device simultaneously and snatch, the demand of the small-size material handling of laminating mill more.

Drawings

FIG. 1 is a schematic diagram of the overall structure of the invention;

FIG. 2 is a schematic bottom view of the present invention;

FIG. 3 is a schematic view of the inventive material collection box;

in the figure: the method comprises the following steps of 1-moving a chassis, 2-collecting a material box, 3-a mechanical arm, 4-an ultrasonic obstacle avoidance device, 5-an infrared tracking device and 6-a code scanning device.

Detailed Description

The invention is further described below with reference to the accompanying drawings.

As shown in fig. 1-3, an intelligent logistics carrying trolley comprises a moving chassis 1, a material collecting box 2, a manipulator 3, an ultrasonic obstacle avoidance device 4, an infrared tracking device 5 and a code scanning device 6.

The top of the moving chassis 1 is provided with a manipulator 3, the top of the moving chassis 1 is provided with a group of material collecting boxes 2, the manipulator 3 is provided with a code scanning device 6, and the front part of the moving chassis 1 is provided with an infrared tracking device 5 and an ultrasonic obstacle avoidance device 4; the infrared tracking device 5 adopts eight infrared sensors, is arranged at the front end of the intelligent logistics carrying trolley and is used for tracking, namely black absorbs infrared rays, no reflected light is '0', no black line is '1', and the tracking can be always kept by adjusting the speed of the motor through condition judgment. The ultrasonic obstacle avoidance device 4 adopts an ultrasonic sensor, the ultrasonic obstacle avoidance device 4 prevents the trolley from being collided to cause damage, and the infrared sensor and the ultrasonic sensor are respectively controlled by a single chip microcomputer.

The mobile chassis 1 comprises a chassis 101, a rubber wheel 102, a stepping motor 103 and a motor drive plate 104, the chassis 101 is of a two-layer platform structure, a power source and a single chip microcomputer are arranged on a first layer platform, an infrared tracking device 5 and an ultrasonic obstacle avoidance device 4 are arranged in the front of the first layer platform, a mechanical arm 3 and a material collection box 2 are respectively arranged on a second layer platform, the stepping motor is in transmission connection with the rubber wheel through a coupler 105, and the motor drive plate 104 is used for controlling the stepping motor 103.

The manipulator 3 adopts a five-axis manipulator, the manipulator comprises a manipulator 301 and a gripper 302 arranged at the top of the manipulator 301, and the code scanning device 6 is arranged at the top of the manipulator 301 and close to the gripper 302; the end gasket of the mechanical claw is used for increasing the frictional resistance with materials and increasing the holding power.

The material collecting box 2 comprises a bottom plate 201 and four-side baffles 202, the four-side baffles 202 are respectively arranged in an outward inclining mode to increase the opening area of the material collecting box 2, so that articles entering the material collecting box can automatically return.

The working process is as follows:

the intelligent logistics carrying trolley is mainly applied to discrete manufacturing scenes, can adapt to more complex terrains such as uphill and downhill, rough ground and the like, identifies materials through code scanning, a manipulator grabs the materials to be placed in a material collecting box corresponding to a trolley body, identifies a corresponding material storage area through code scanning after the materials reach a target location through tracking, and grabs the materials from the material collecting box of the trolley body to be placed at a corresponding position through the manipulator, so that the material carrying function is completed.

Claims

1. The utility model provides an intelligence commodity circulation floor truck, its characterized in that, is including removing chassis (1), it is equipped with manipulator (3) to remove chassis (1) top, it is equipped with a set of material and collects box (2) to remove chassis (1) top, be equipped with on manipulator (3) and sweep yard device (6), it keeps away barrier device (4) to remove chassis (1) front portion and be equipped with infrared tracking device (5) and ultrasonic wave, sweep yard device (6) and sweep yard discernment material, during manipulator (3) snatch the material and place corresponding material collection box, reach the target location through the tracking and arrive the target location after, deposit the district through sweeping the material that yard discernment corresponds, manipulator (3) snatch the material from automobile body material collection box and place the relevant position, accomplish the material transport function.

2. The intelligent logistics carrying trolley of claim 1, wherein the moving chassis (1) comprises a chassis (101), a rubber wheel (102), a stepping motor (103) and a motor driving plate (104), the chassis (101) is of a two-layer platform structure, a power supply and a single chip microcomputer are arranged on a first layer platform, an infrared tracking device (5) and an ultrasonic obstacle avoidance device (4) are arranged at the front of the first layer platform, the manipulator (3) and the material collecting box (2) are respectively arranged on a second layer platform, the stepping motor and the rubber wheel are in transmission connection through a coupler (105), and the motor driving plate (104) is used for controlling the stepping motor (103).

3. An intelligent logistics handling trolley according to claim 1, wherein the manipulator (3) is a five-axis manipulator, the manipulator comprises a mechanical arm (301) and a mechanical claw (302) arranged on the top of the mechanical arm (301), and the code scanning device (6) is arranged on the top of the mechanical arm (301) and close to the mechanical claw (302).

4. An intelligent logistics handling trolley according to claim 1, wherein the material collection box (2) comprises a bottom plate (201) and four side baffles (202), the four side baffles (202) are respectively arranged to be inclined outwards to increase the opening area of the material collection box (2).

5. The intelligent logistics carrying trolley according to claim 1, wherein the infrared tracking device (5) adopts an infrared sensor, the ultrasonic obstacle avoidance device (4) adopts an ultrasonic sensor, and the infrared sensor and the ultrasonic sensor are respectively controlled by a single chip microcomputer.