CN112828874A

CN112828874A - Mobile robot

Info

Publication number: CN112828874A
Application number: CN202110210908.5A
Authority: CN
Inventors: 朱春雷; 储晓明
Original assignee: NINGBO WANJIN MODERN SHEET METAL CO Ltd
Current assignee: NINGBO WANJIN MODERN SHEET METAL CO Ltd
Priority date: 2021-02-25
Filing date: 2021-02-25
Publication date: 2021-05-25

Abstract

The invention discloses a mobile robot, which comprises an AGV trolley, a lifting platform and six mechanical arms, wherein a controller is installed on the AGV trolley, a mounting groove is formed in the AGV trolley, the lifting platform is fixedly installed in the mounting groove, the upper end of the lifting platform is exposed relative to the AGV trolley, the six mechanical arms are fixedly installed at the top end of the lifting platform, electric claws and cameras are installed on the six mechanical arms, and the AGV trolley, the lifting platform, the six mechanical arms, the electric claws and the cameras are respectively and electrically connected with the controller; the invention provides a mobile robot, wherein six mechanical arms are fixedly arranged at the top end of a lifting platform, the whole gravity center of the six mechanical arms falls on the lifting platform, and the situation that the gravity center of a mechanical arm deviates when goods are taken is avoided.

Description

Mobile robot

Technical Field

The invention relates to the field of manipulators, in particular to a mobile robot.

Background

With the increase of manpower cost, the large-scale logistics warehousing industry is pushing unmanned and intelligent. The AGV trolley is used as an unmanned carrier and widely applied to the intelligent logistics industry.

In prior art, the side of the electronic slide rail of manipulator installation for take away the goods, the vertical setting of electronic slide rail. Because the center of manipulator and the center of electronic slide rail no longer are on same straight line, when the manipulator took the goods, the condition of focus skew often takes place for the manipulator.

Disclosure of Invention

In order to solve the problems, the invention provides a mobile robot, six mechanical arms of the mobile robot are fixedly arranged at the top end of a lifting platform, the gravity center of the whole six mechanical arms falls on the lifting platform, and the situation that the gravity center of a mechanical arm is shifted when goods are taken is avoided.

The technical scheme adopted by the invention is as follows: the utility model provides a mobile robot, including AGV dolly, lift platform and six arms, install the controller on the AGV dolly, be equipped with the mounting groove on the AGV dolly, lift platform fixed mounting is in the mounting groove, and the relative AGV dolly in lift platform upper end exposes, six arms fixed mounting are on lift platform's top, install electric claw and camera on the six arms, AGV dolly, lift platform, six arms, electric claw and camera are connected with the controller electricity respectively.

By adopting the structure, the lifting platform is installed in the installation groove, and the installation groove is a sinking structure arranged on the AGV trolley, so that the volume occupied by the lifting platform can be greatly reduced, and the volume of the whole structure is reduced; the six-axis mechanical arm is fixedly arranged at the top end of the lifting platform, and drives the six-axis mechanical arm to integrally move up and down when the lifting platform moves up and down; the holistic focus of six arms is direct to fall on lift platform's upper end, and when six arms were taken the heavy object, the whole gravity direct action that six arms and heavy object are constituteed was on the face of being connected between six arms and the lift platform, and gravity is on lift platform's axial transmission to the AGV dolly, and the side direction at lift platform can not be applyed to this gravity, and then can not lead to the fact wearing and tearing to the lift platform of operation.

Preferably, the lifting platform is provided with a limiting cover, and the limiting cover is used for limiting the distance between the top end of the lifting platform and the upper surface of the AGV; spacing cover not only plays spacing effect, and when the goods weight that six robotic arm took exceeded its upper limit, spacing cover can also be with the gravity transmission to AGV dolly of goods on the surface, reaches the effect of bearing.

Preferably, the upper edge and the lower edge of the limit cover have intervals, and the lower edge of the limit cover abuts against the opening edge of the mounting groove to limit the interval between the top end of the lifting platform and the upper surface of the AGV trolley.

Preferably, the six-axis mechanical arm comprises a base, a first joint, a second joint, a third joint, a fourth joint, a fifth joint and a sixth joint, the base is fixedly mounted at the top end of the lifting platform, a first driving motor for driving the first joint to rotate along the base is arranged on the base, a second driving motor for driving the second joint to rotate along the first joint is arranged on the first joint, a third driving motor for driving the third joint to rotate along the second joint is arranged on the second joint, a third driving motor for driving the fourth joint to rotate along the third joint is arranged on the third joint, a fourth driving motor for driving the fifth joint to rotate along the fourth joint is arranged on the fourth joint, a fifth driving motor for driving the sixth joint to rotate along the fifth joint is arranged on the fifth joint, and a sixth driving motor for driving the electric claw to rotate along a sixth joint is arranged on the sixth joint, and the first rotating motor, the second rotating motor, the third rotating motor, the fourth rotating motor, the fifth rotating motor and the sixth rotating motor are respectively and electrically connected with the controller.

Preferably, the central axis of the base is collinear with the central axis of the lifting platform; the gravity of the whole six-axis mechanical arm is transmitted downwards along the vertical direction through the lifting platform by the arrangement, and the gravity center offset generated when the six-axis mechanical arm takes the goods can be effectively reduced.

Preferably, an audible and visual alarm is arranged on the AGV trolley and electrically connected with the controller; audible and visual alarm provides audible and visual alarm's function for the AGV dolly, reminds the pedestrian of coming and going to pay attention to dodging the AGV dolly.

Preferably, a signal receiver is arranged on the AGV and electrically connected with the controller; and the signal receiver is used for wirelessly controlling the AGV.

Preferably, the lifting platform comprises an electric telescopic column, a hydraulic telescopic column or a pneumatic telescopic column; the function of oscilaltion is realized through the mode of deformation to electronic flexible post, hydraulic stretching post or pneumatic flexible post homoenergetic, can accept its space volume that occupies when lift platform contracts, and this kind of structure compares in traditional screw rod drive's mode, and its cost is lower, and gravity can not be used in the screw rod transmission during the delivery, and then can not aggravate the lead screw wearing and tearing.

Drawings

FIG. 1 is a schematic structural view in example 1 of the present invention;

FIG. 2 is a schematic structural view of the lifting platform of FIG. 1 after being lifted;

fig. 3 is a schematic structural view of a lifting platform in embodiment 1 of the present invention;

fig. 4 is a schematic structural view of a six-axis robot arm according to embodiment 1 of the present invention.

The reference numbers in the figures illustrate:

1. an AGV trolley; 11. mounting grooves; 2. a lifting platform; 3. a six-axis mechanical arm; 31. a base; 32. a first joint; 33. a second joint; 34. a third joint; 35. a fourth joint; 36. a fifth joint; 37. a sixth joint; 4. an electric claw; 5. an audible and visual alarm; 6. a limiting cover; 7. a signal receiver; 8. a camera is provided.

Detailed Description

The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it should be understood that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

Example 1

As shown in fig. 1, the embodiment provides a mobile robot, it is including AGV dolly 1, lifting platform 2 and six arms 3, install the controller on the AGV dolly 1, be equipped with mounting groove 11 on the AGV dolly 1, 2 fixed mounting of lifting platform is in

mounting groove

11, and 2 upper ends of lifting platform expose for AGV dolly 1, 3 fixed mounting of six arms are on lifting platform 2's top, install electric claw 4 and camera 8 on the six arms 3, AGV dolly 1, lifting platform 2, six arms 3, electric claw 4 and camera 8 are connected with the controller electricity respectively.

Specifically, mounting groove 11 undercut sets up on AGV dolly 1's upper surface, and lift platform 2 and mounting groove 11 phase-match, and its fixed mounting is inside mounting groove 11, and lift platform 2's upper end is the effect end, and its 1 surperficial archs of AGV dolly, and lift platform 2's upper end is relative AGV dolly 1 and is exposed promptly. The six-shaft mechanical arm 3 is arranged at the top end of the lifting platform 2 and used for transmitting the gravity center of the upper part of the six-shaft mechanical arm 3 along the axial direction of the lifting platform 2. Electric claw 4 and camera 8 are all installed on the effect of six arms 3 is served to in order to take the goods. The controller is used as the integral nerve center of the AGV, and respectively controls the AGV trolley 1, the lifting platform 2, the six-axis mechanical arm 3, the electric claw 4 and the camera 8 to run.

As shown in fig. 3, in the present embodiment, a limiting cover 6 is disposed on the lifting platform 2, and the limiting cover 6 is used for limiting the distance between the top end of the lifting platform 2 and the upper surface of the AGV cart 1; specifically, there is the interval along the border about 6 spacing covers, offsets through 6 lower borders of spacing cover and 11 opening edges of mounting groove, prescribes a limit to the interval between 2 tops of lift platform and 1 upper surfaces of AGV dolly. When the lower edge of the limit cover 6 is abutted against the opening edge of the mounting groove 11, the limit cover 6 can not only limit the position between the action end of the lifting platform 2 and the upper surface of the AGV trolley 1, but also play a role in bearing, and avoid the damage caused by the upper limit of the bearing capacity of the lifting platform 2.

As shown in fig. 4, in the present embodiment, the six-axis robot arm 3 includes a base 31, a first joint 32, a second joint 33, a third joint 34, a fourth joint 35, a fifth joint 36 and a sixth joint 37, the base 31 is fixedly installed at the top end of the lifting platform 2, the base 31 is provided with a first driving motor for driving the first joint 32 to rotate along the base 31, the first joint 32 is provided with a second driving motor for driving the second joint 33 to rotate along the first joint 32, the second joint 33 is provided with a third driving motor for driving the third joint 34 to rotate along the second joint 33, the third joint 34 is provided with a third driving motor for driving the fourth joint 35 to rotate along the third joint 34, the fourth joint 35 is provided with a fourth driving motor for driving the fifth joint 36 to rotate along the fourth joint 35, the fifth joint 36 is provided with a fifth driving motor for driving the sixth joint 37 to rotate along the fifth joint 36, a sixth driving motor for driving the electric claw 4 to rotate along the sixth joint 37 is arranged on the sixth joint 37, and the first rotating motor, the second rotating motor, the third rotating motor, the fourth rotating motor, the fifth rotating motor and the sixth rotating motor are respectively and electrically connected with the controller.

As shown in fig. 2, in the present embodiment, the central axis of the base 31 is collinear with the central axis of the lifting platform 2, and the central axis of the base 31 is collinear with the central axis of the lifting platform 2; an audible and visual alarm 5 is arranged on the AGV trolley 1, and the audible and visual alarm 5 is electrically connected with the controller; the AGV trolley 1 is provided with a signal receiver 7, and the signal receiver 7 is electrically connected with the controller.

In the embodiment, the lifting platform 2 adopts an electric telescopic column; in another embodiment, the lifting platform 2 is a hydraulic telescopic column or a pneumatic telescopic column. The lifting device realizes the function of lifting up and down through an integral type transformation mode, and does not comprise a screw rod which is arranged in a penetrating way along the axial direction of the screw rod. Therefore, the whole gravity of the six-axis mechanical arm 3 and the goods transported by the six-axis mechanical arm does not act on the threaded connection part on the screw rod, and therefore the loss of the threads on the screw rod is not increased.

The foregoing has described preferred embodiments of the present invention and is not to be construed as limiting the claims. The present invention is not limited to the above embodiments, and the specific structure thereof is allowed to vary, and various changes made within the scope of the independent claims of the present invention are within the scope of the present invention.

Claims

1. A mobile robot, characterized in that: including AGV dolly (1), lift platform (2) and six arms (3), install the controller on AGV dolly (1), be equipped with mounting groove (11) on AGV dolly (1), lift platform (2) fixed mounting is in mounting groove (11), and lift platform (2) upper end relative AGV dolly (1) exposes, six arms (3) fixed mounting are on the top of lift platform (2), install electric claw (4) and camera (8) on six arms (3), AGV dolly (1), lift platform (2), six arms (3), electric claw (4) and camera (8) are connected with the controller electricity respectively.

2. A mobile robot as claimed in claim 1, wherein: be equipped with spacing cover (6) on lift platform (2), spacing cover (6) be used for injecing lift platform (2) top with interval between AGV dolly (1) upper surface.

3. A mobile robot as claimed in claim 2, wherein: there is the interval in border about spacing cover (6), through spacing cover (6) down the border with mounting groove (11) opening edge offsets, inject lift platform (2) top with interval between AGV dolly (1) upper surface.

4. A mobile robot as claimed in claim 3, wherein: the six-axis mechanical arm (3) comprises a base (31), a first joint (32), a second joint (33), a third joint (34), a fourth joint (35), a fifth joint (36) and a sixth joint (37), the base (31) is fixedly installed at the top end of the lifting platform (2), a first driving motor used for driving the first joint (32) to rotate along the base (31) is arranged on the base (31), a second driving motor used for driving the second joint (33) to rotate along the first joint (32) is arranged on the first joint (32), a third driving motor used for driving the third joint (34) to rotate along the second joint (33) is arranged on the second joint (33), a third driving motor used for driving the fourth joint (35) to rotate along the third joint (34) is arranged on the third joint (34), be equipped with on fourth joint (35) and be used for the drive fifth joint (36) are along the rotatory fourth driving motor of fourth joint (35), be equipped with on fifth joint (36) and be used for the drive sixth joint (37) are along the rotatory fifth driving motor of fifth joint (36), be equipped with on sixth joint (37) and be used for the drive electricity claw (4) are along the rotatory sixth driving motor of sixth joint (37), first rotating electrical machines, second rotating electrical machines, third rotating electrical machines, fourth rotating electrical machines, fifth rotating electrical machines, sixth rotating electrical machines respectively with the controller electricity is connected.

5. A mobile robot as claimed in claim 4, wherein: the central axis of the base (31) is collinear with the central axis of the lifting platform (2).

6. A mobile robot as claimed in claim 5, wherein: be equipped with audible-visual annunciator (5) on AGV dolly (1), audible-visual annunciator (5) with the controller electricity is connected.

7. A mobile robot as claimed in claim 6, wherein: be equipped with signal receiver (7) on AGV dolly (1), signal receiver (7) with the controller electricity is connected.

8. A mobile robot as claimed in any one of claims 1 to 7, wherein: the lifting platform (2) comprises an electric telescopic column, a hydraulic telescopic column or a pneumatic telescopic column.