CN113277257A - Ground tray type autonomous mobile robot AMR and working method thereof - Google Patents
Ground tray type autonomous mobile robot AMR and working method thereof Download PDFInfo
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- CN113277257A CN113277257A CN202110701909.XA CN202110701909A CN113277257A CN 113277257 A CN113277257 A CN 113277257A CN 202110701909 A CN202110701909 A CN 202110701909A CN 113277257 A CN113277257 A CN 113277257A
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- 230000007246 mechanism Effects 0.000 claims abstract description 199
- 230000005540 biological transmission Effects 0.000 claims abstract description 26
- 239000003638 chemical reducing agent Substances 0.000 claims description 39
- 239000000428 dust Substances 0.000 claims description 24
- 238000005096 rolling process Methods 0.000 claims description 21
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
Abstract
An AMR (automatic repeat request) of a ground tray type autonomous mobile robot and a working method thereof comprise a travelling mechanism, a telescopic mechanism driving part and a telescopic mechanism, wherein the telescopic mechanism driving part is fixedly connected with the travelling mechanism, and the telescopic mechanism is connected with the telescopic mechanism driving part in a sliding manner; the walking mechanism comprises a first driving part and a driving wheel, and the power output end of the first driving part is in transmission connection with the driving wheel; the telescopic mechanism driving part comprises a second driving part, a gear rack assembly and a sliding guide rail, the power output end of the second driving part is in transmission connection with the gear rack assembly, and the gear rack assembly is in sliding connection with the telescopic mechanism through the sliding guide rail; the telescopic mechanism comprises a lifting mechanism, and the lifting mechanism is fixedly connected with the telescopic mechanism. According to the AMR and the working method thereof, when in work, the goods can be driven to move through the traveling mechanism, and can be automatically taken and placed through the telescopic mechanism and the lifting mechanism, so that the labor cost is reduced, and the automatic goods conveying is realized.
Description
Technical Field
The invention belongs to the technical field of warehouse material handling, and particularly relates to a ground tray type Autonomous Mobile Robot (AMR) and a working method thereof.
Background
An Autonomous Mobile Robot (AMR) is a vehicle that uses on-board sensors and processors to automatically move material without physical guides or markers. It can learn about the environment, remember the work location, and dynamically plan a path from one waypoint (a location or destination in the environment) to another waypoint.
In the related art, when the AMR works, the walking device positioned at the bottom of the AMR drives the AMR to move, so that the purpose of conveying goods is achieved. However, in the related art, the AMR only moves by the traveling device when operating, and cannot realize the function of automatically picking and placing the goods.
Disclosure of Invention
The purpose of the invention is as follows: in order to overcome the defects in the prior art, the invention provides an AMR (self-moving robot) of a floor tray type and a working method thereof, and aims to solve the technical problem of how to enable the AMR to drive goods to move through a walking mechanism during working, and to enable the goods to be automatically taken and placed through a telescopic mechanism and a lifting mechanism.
The technical scheme is as follows: in order to achieve the purpose, the invention adopts the technical scheme that:
the invention aims to provide a ground tray type Autonomous Mobile Robot (AMR), which comprises at least two travelling mechanisms, a telescopic mechanism driving part and at least two telescopic mechanisms, wherein the telescopic mechanism driving part is fixedly connected with the travelling mechanisms, and the telescopic mechanisms are connected with the telescopic mechanism driving part in a sliding manner; the travelling mechanism, the telescopic mechanism driving part and the telescopic mechanism are all parallel to each other; the walking mechanism comprises a first driving part, a driving wheel and at least two first driven wheels, wherein the power output end of the first driving part is in transmission connection with the driving wheel, and the at least two first driven wheels are arranged at two ends of the walking mechanism; the telescopic mechanism driving part comprises a second driving part, a gear rack assembly, a sliding guide rail and at least two second driven wheels, the power output end of the second driving part is in transmission connection with the gear rack assembly, the gear rack assembly is in sliding connection with the telescopic mechanism through the sliding guide rail, and the at least two second driven wheels are arranged at two ends of the telescopic mechanism driving part; the telescopic mechanism comprises a lifting mechanism and at least two third driven wheels, the lifting mechanism is fixedly connected with the telescopic mechanism, and the at least two third driven wheels are arranged at the outer parts of the two ends of the telescopic mechanism and are in contact with the ground.
Optionally, the number of the travelling mechanisms is two, and the number of the first driven wheels is two; the travelling mechanism further comprises a first bottom plate and a first dust cover, and the first driving part is positioned in an accommodating space formed by the first bottom plate and the first dust cover; one part of the driving wheel and the first driven wheel is positioned in the accommodating space formed by the first bottom plate and the first dust cover, and the other part of the driving wheel and the first driven wheel is positioned below the first bottom plate and is in contact with the ground; the first driving part comprises a first servo motor and a first speed reducer, the power output end of the first servo motor is connected with the power input end of the first speed reducer, and the power output end of the first speed reducer is in transmission connection with the driving wheel; the ground tray type autonomous mobile robot AMR further comprises a first servo driver, and the first servo driver is electrically connected with the first servo motor.
Optionally, the first driving part further includes a first chain wheel, a second chain wheel, a first chain tensioning device and a roller shaft, the first chain wheel is connected with the power output end of the first speed reducer in a sleeved manner, and the second chain wheel and the driving wheel are respectively connected with the roller shaft in a sleeved manner; the first chain wheel is connected with the second chain wheel through the first chain; the first chain tensioning device is connected with the first chain and is positioned between the first chain wheel and the second chain wheel.
Optionally, the number of the second driven wheels is two; the telescopic mechanism driving part also comprises a second bottom plate and a second dust cover, and the second driving part and the gear rack assembly are both positioned in an accommodating space formed by the second bottom plate and the second dust cover; one part of the second driven wheel is positioned in the accommodating space formed by the second bottom plate and the second dust cover, and the other part of the second driven wheel is positioned below the second bottom plate and is in contact with the ground; the second driving part comprises a second servo motor and a second speed reducer, the gear rack assembly comprises a gear and a rack, the power output end of the second servo motor is connected with the power input end of the second speed reducer, the power output end of the second speed reducer is in transmission connection with the gear, and the gear is in transmission connection with the rack; the telescopic mechanism driving part further comprises a right-angle adapter plate, and the sliding guide rail is respectively in sliding connection with the rack and the telescopic mechanism through the right-angle adapter plate.
Optionally, the second driving part further includes a third sprocket, a fourth sprocket, a second chain tensioning device, and a gear shaft, the third sprocket is connected to the power output end of the second speed reducer in a sleeved manner, and the fourth sprocket and the gear are connected to the gear shaft in a sleeved manner respectively; the third chain wheel is connected with the fourth chain wheel through the second chain; the second chain tensioning device is connected with the second chain and is positioned between the third chain wheel and the fourth chain wheel.
Optionally, the servo controller further comprises a second servo driver, and the second servo driver is electrically connected with the second servo motor.
Optionally, the number of the telescopic mechanisms is two, and the number of the third driven wheels is two; the telescopic mechanism further comprises a U-shaped groove base and a lifting flat plate, and the lifting mechanism is positioned in an accommodating space formed by the U-shaped groove base and the lifting flat plate; the lifting mechanism comprises a third driving part and at least two lifting parts, and the third driving part is in transmission connection with the at least two lifting parts; the third driving part comprises a third servo motor, a third speed reducer, a coupler, a lead screw bearing seat, a ball screw, a lifting driving block and a driving connecting rod, wherein the power output end of the third servo motor is connected with the power input end of the third speed reducer, the power output end of the third speed reducer is connected with one end of the coupler, and the other end of the coupler is connected with the ball screw; the two ends of the ball screw are respectively provided with a screw bearing seat in a matching way, the lifting driving block is rotationally connected with the ball screw and is used for converting rotary motion into linear motion, and the lifting driving block is positioned between the two screw bearing seats; the lifting driving block is in transmission connection with the at least two lifting parts through the driving connecting rod.
Optionally, the number of the lifting parts is two; the lifting part comprises a rolling guide rail groove, a rolling shaft, a long connecting rod, a rotating connecting shaft and a short connecting rod, the rolling shaft is in rolling connection with the rolling guide rail groove, the bottom end of the long connecting rod is in transmission connection with the driving connecting rod through the rolling shaft, and the top end of the long connecting rod is connected with the lifting flat plate; the bottom of short connecting rod with U type groove base is connected, the top of short connecting rod is passed through rotate the connecting axle with long connecting rod rotates and is connected.
Optionally, the servo controller further comprises a third servo driver, and the third servo driver is electrically connected with the third servo motor.
Another object of the present invention is to provide a method for operating an AMR of a floor-based pallet type autonomous mobile robot, comprising the steps of:
step one, starting a first driving part in the traveling mechanism, wherein the first driving part drives a driving wheel to move, and the driving wheel drives a first driven wheel, a second driven wheel and a third driven wheel to move, so that the ground tray type autonomous mobile robot AMR moves to a goods taking position;
secondly, starting the second driving part in the driving part of the telescopic mechanism to drive the rack and pinion assembly to move, wherein the rack and pinion assembly drives the telescopic mechanism to extend into the lower part of the goods through the sliding guide rail;
step three, starting the lifting mechanism in the telescopic mechanism to drive the goods to rise, driving the telescopic mechanism to retract by the telescopic mechanism driving part after the goods leave the ground, and then driving the goods to descend by the lifting mechanism to enable the ground tray type autonomous mobile robot AMR to finish goods taking;
and fourthly, after the traveling mechanism is started to convey the goods to the destination, the lifting mechanism drives the goods to rise, the telescopic mechanism driving part drives the telescopic mechanism to extend out, the lifting mechanism drives the goods to descend, the goods are in contact with the ground, then the telescopic mechanism driving part drives the telescopic mechanism to retract, and the AMR conveying work of the ground tray type autonomous mobile robot is completed.
Has the advantages that: compared with the prior art, the AMR of the ground tray type autonomous mobile robot provided by the invention has the advantages that when the AMR works, not only can the goods be driven to move through the travelling mechanism, but also the goods can be automatically taken and placed through the telescopic mechanism and the lifting mechanism, so that the labor cost is reduced, and the carrying efficiency is improved.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:
fig. 1 is a schematic perspective view of an AMR of a ground tray type autonomous mobile robot according to an exemplary embodiment of the present invention;
fig. 2 is a schematic perspective structural view of an AMR of the floor tray type autonomous mobile robot according to an exemplary embodiment of the present invention;
fig. 3 is a partial schematic diagram of an AMR of the ground tray type autonomous mobile robot according to an exemplary embodiment of the present invention, at a position a in fig. 2;
fig. 4 is a partial schematic diagram at B in fig. 2 of a ground tray type autonomous mobile robot AMR according to an exemplary embodiment of the present invention;
fig. 5 is a partial schematic diagram of an AMR of the floor tray type autonomous mobile robot according to an exemplary embodiment of the present invention, at C in fig. 2;
fig. 6 is a partial schematic view of an elevator mechanism of an AMR of the floor tray type autonomous mobile robot according to an exemplary embodiment of the present invention;
fig. 7 is a partial schematic view of an elevator mechanism of an AMR of the floor tray type autonomous mobile robot according to an exemplary embodiment of the present invention;
fig. 8 is a schematic view illustrating an operation state of an AMR of the floor tray type autonomous mobile robot according to an exemplary embodiment of the present invention;
in the figure:
1. a traveling mechanism; 101. a first base plate; 102. a first dust cover; 103. a first servo motor; 104. a first speed reducer; 105. a first sprocket; 106. a first chain tensioner; 107. a first chain; 108. a second sprocket; 109. a driving wheel; 110. a first driven wheel; 111. a roller shaft;
2. a telescoping mechanism driving part; 201. a second base plate; 202. a second dust cover; 203. a second servo motor; 204. a second speed reducer; 205. a third sprocket; 206. a second chain; 207. a fourth sprocket; 208. a gear shaft; 209. a gear; 210. a rack; 211. a sliding guide rail; 212. a right-angle adapter plate; 213. a second driven wheel; 214. a second chain tensioner;
3. a telescoping mechanism; 301. a U-shaped groove base; 302. lifting the flat plate; 303. a third driven wheel;
4. a lifting mechanism; 401. a third servo motor; 402. a third speed reducer; 403. a coupling; 404. a lead screw bearing seat; 405. a ball screw; 406. a lifting driving block; 407. a rolling guide rail groove; 408. a long connecting rod; 409. a roll axis; 410. a short connecting rod; 411. a drive link; 412. rotating the connecting shaft;
5. a first servo driver; 6. a second servo driver; 7. a third servo driver.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. 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 is to be understood that the terms "center", "longitudinal", "lateral", "length", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc., indicate orientations and positional relationships based on those shown in the drawings, and are used merely for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed in a particular orientation, and be operated, and thus should not be construed as limiting the present invention. Further, in the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.
The invention is further described with reference to the following figures and examples.
As shown in fig. 1, a floor tray type autonomous mobile robot AMR comprises two traveling mechanisms 1, a telescoping mechanism driving part 2 and two telescoping mechanisms 3, wherein the telescoping mechanism driving part 2 is fixedly connected with the traveling mechanisms 1, and the telescoping mechanisms 3 are connected with the telescoping mechanism driving part 2 in a sliding manner; the travelling mechanism 1, the telescopic mechanism driving part 2 and the telescopic mechanism 3 are all parallel to each other; wherein, the telescopic mechanism driving part 2 is positioned at the inner sides of the two travelling mechanisms 1; the two telescoping mechanisms 3 are located on two sides of the telescoping mechanism driving part 2 and are respectively located between the two traveling mechanisms 1 and the telescoping mechanism driving part 2. The running mechanism 1 is used for driving the AMR to displace, and the telescoping mechanism driving part 2 is used for driving the telescoping mechanism 3 to extend and retract. Optionally, in another example, the number of the traveling mechanisms 1 and the telescopic mechanisms 3 is four, the four traveling mechanisms 1 are all fixedly connected with the telescopic mechanism driving portion 2, and the four telescopic mechanisms 3 are all slidably connected with the telescopic mechanism driving portion 2.
As shown in fig. 2 and fig. 3, the traveling mechanism 1 includes a first driving portion, a driving wheel 109 and two first driven wheels 110, wherein a power output end of the first driving portion is in transmission connection with the driving wheel 109 for providing power to the driving wheel 109; two first driven wheels 110 are arranged at two ends of the traveling mechanism 1 so as to move along with the driving wheel 109, and preferably, the first driven wheels 110 are universal wheels so as to make AMR steering more smooth; alternatively, in another example, the number of the first driven wheels 110 is three, and the first driven wheels 110 are provided in the running gear 1.
As shown in fig. 1, 2, 4 and 5, the telescoping mechanism driving part 2 includes a second driving part, a rack and pinion assembly, a sliding guide rail 211 and two second driven wheels 213, a power output end of the second driving part is in transmission connection with the rack and pinion assembly, and the rack and pinion assembly is in sliding connection with the telescoping mechanism 3 through the sliding guide rail 211, so as to convert the rotary motion of the second driving part into the linear motion of the telescoping mechanism 3; two second driven wheels 213 are provided at both ends of the telescopic mechanism driving section 2; alternatively, in another example, the number of the second driven wheels 213 is three, and the second driven wheels 213 are provided in the telescopic mechanism driving part 2.
As shown in fig. 1, 2 and 6, the telescoping mechanism 3 includes a lifting mechanism 4 and two third driven wheels 303, the lifting mechanism 4 is fixedly connected with the telescoping mechanism 3, and the two third driven wheels 303 are disposed at two ends of the telescoping mechanism 3 and are in contact with the ground. Alternatively, in another example, the number of the third driven pulleys 303 is three, and the third driven pulleys 303 are all provided in the telescopic mechanism 3.
In this embodiment, when the first driving part in the traveling mechanism 1 is started, the first driving part drives the driving wheel 109 to move, the driving wheel 109 drives the first driven wheel 110, the second driven wheel 213 and the third driven wheel 303 to move, and the ground tray type autonomous mobile robot AMR moves to the position of picking up goods; further, a second driving part in the driving part 2 of the telescopic mechanism drives the rack and pinion assembly to move, and the rack and pinion assembly drives the telescopic mechanism 3 to extend into the bottom of the goods through the sliding guide rail 211; furthermore, the lifting mechanism 4 in the telescopic mechanism 3 drives the goods to rise, the telescopic mechanism driving part 2 drives the telescopic mechanism 3 to retract after the goods leave the ground, and then the lifting mechanism 4 drives the goods to descend; further, after the traveling mechanism 1 conveys the goods to the destination, the lifting mechanism 4 drives the goods to rise, then the telescopic mechanism driving portion 2 drives the telescopic mechanism 3 to stretch out, the lifting mechanism 4 drives the goods to descend, the telescopic mechanism driving portion 2 drives the telescopic mechanism 3 to retract after the goods contact the ground, and at the moment, the AMR conveying work of the ground tray type autonomous mobile robot is completed, and the next task can be carried out.
In this embodiment, AMR not only can drive the goods shift position through running gear at the during operation, can also independently get goods and place the goods through telescopic machanism and elevating system, has reduced the human cost, has improved handling efficiency, and the practicality is high.
As an alternative embodiment, as shown in fig. 3, the traveling mechanism 1 further includes a first bottom plate 101 and a first dust cover 102, and the first driving portion is located in an accommodating space formed by the first bottom plate 101 and the first dust cover 102; a part of the driving wheel 109 and the first driven wheel 110 is located in the accommodating space formed by the first base plate 101 and the first dust cover 102, and the other part is located below the first base plate 101 and contacts with the ground; the first driving part comprises a first servo motor 103 and a first speed reducer 104, the power output end of the first servo motor 103 is connected with the power input end of the first speed reducer 104, and the power output end of the first speed reducer 104 is in transmission connection with the driving wheel 109 and used for providing power for the driving wheel 109; the ground tray type autonomous mobile robot AMR further comprises a first servo driver 5, and the first servo driver 5 is electrically connected with the first servo motor 103.
In this embodiment, the first dust cover 102 is disposed to effectively prevent dust from entering the inside of the traveling mechanism 1, and after the first servo driver 5 sends a driving signal to the first servo motor 103, the first servo motor 103 adjusts the torque through the first speed reducer 104 and transmits the power to the driving wheel 109, thereby driving the AMR to displace.
As an alternative embodiment, as shown in fig. 3, the first driving portion further includes a first sprocket 105, a second sprocket 108, a first chain 107, a first chain tensioner 106, and a roller shaft 111, the first sprocket 105 is connected to the power output end of the first reducer 104 in a sleeved manner, and the second sprocket 108 and the driver 109 are connected to the roller shaft 111 in a sleeved manner; the first sprocket 105 and the second sprocket 108 are connected by a first chain 107; first chain tensioner 106 is coupled to first chain 107 and is positioned between first sprocket 105 and second sprocket 108.
In this embodiment, the first chain tensioner 106 is disposed to effectively prevent the first chain 107 from dragging, and the roller axle 111 is fixed to the first base plate 101 through the bearing seat. Optionally, the sizes of the first sprocket 105 and the second sprocket 108 can be flexibly adjusted according to the requirements of the driving wheel 109 on the rotating speed and the torque force under the actual working condition.
As an alternative embodiment, as shown in fig. 4 and 5, the telescoping mechanism driving part 2 further includes a second bottom plate 201 and a second dust cover 202, and both the second driving part and the gear rack assembly are located in the accommodating space formed by the second bottom plate 201 and the second dust cover 202; a part of the second driven wheel 213 is located in the accommodating space formed by the second bottom plate 201 and the second dust cover 202, and the other part is located below the second bottom plate 201 and contacts with the ground; the second driving part comprises a second servo motor 203 and a second speed reducer 204, the gear rack assembly comprises a gear 209 and a rack 210, the power output end of the second servo motor 203 is connected with the power input end of the second speed reducer 204, the power output end of the second speed reducer 204 is in transmission connection with the gear 209, and the gear 209 is in transmission connection with the rack 210; the telescopic mechanism driving part 2 further comprises a right-angle adapter plate 212, and the sliding guide rail 211 is respectively connected with the rack 210 and the telescopic mechanism 3 in a sliding manner through the right-angle adapter plate 212; the ground tray type autonomous mobile robot AMR further includes a second servo driver 6, and the second servo driver 6 is electrically connected to the second servo motor 203.
In this embodiment, the second dust cover 202 is arranged to effectively prevent dust from entering the interior of the driving portion 2 of the telescoping mechanism, when the second servo driver 6 sends a driving signal to the second servo motor 203, the second servo motor 203 adjusts the torque through the second speed reducer 204 and transmits the power to the gear 209, and the gear 209 converts the rotary motion into the linear motion of the rack 210, so as to drive the telescoping mechanism 3 to realize the extending and retracting motion through the right-angle adapter plate 212 and the sliding guide rail 211.
As an alternative embodiment, as shown in fig. 4 and 5, the second driving portion further includes a third sprocket 205, a fourth sprocket 207, a second chain 206, a second chain tensioning device 214, and a gear shaft 208, the third sprocket 205 is connected to the power output end of the second reducer 204 in a sleeved manner, and the fourth sprocket 207 and the gear 209 are connected to the gear shaft 208 in a sleeved manner, respectively; the third sprocket 205 and the fourth sprocket 207 are connected by a second chain 206; a second chain tensioner 214 is connected to the second chain 206 and is located between the third sprocket 205 and the fourth sprocket 207.
In the embodiment, the second chain tensioner 214 is arranged to effectively prevent the second chain 206 from dragging, and the gear shaft 208 is fixed on the second base plate 201 through a bearing seat. Optionally, the sizes of the third sprocket 205 and the fourth sprocket 207 may be flexibly adjusted according to actual conditions and requirements on the extending and retracting speed and the torque force of the telescopic mechanism 3.
As an alternative embodiment, as shown in fig. 6 and 7, the telescopic mechanism 3 further includes a U-shaped groove base 301 and a lifting flat plate 302, and the lifting mechanism 4 is located in an accommodating space formed by the U-shaped groove base 301 and the lifting flat plate 302; the lifting mechanism 4 comprises a third driving part and two lifting parts, the two lifting parts are respectively positioned at two sides of the third driving part, and the third driving part is in transmission connection with the two lifting parts; the third driving part comprises a third servo motor 401, a third speed reducer 402, a coupler 403, a screw bearing pedestal 404, a ball screw 405, a lifting driving block 406 and a driving connecting rod 411, wherein the power output end of the third servo motor 401 is connected with the power input end of the third speed reducer 402, the power output end of the third speed reducer 402 is connected with one end of the coupler 403, and the other end of the coupler 403 is connected with the ball screw 405; both ends of the ball screw 405 are respectively provided with a screw bearing pedestal 404 in a matching way, the lifting driving block 406 is rotationally connected with the ball screw 405 and is used for converting rotary motion into linear motion, and the lifting driving block 406 is positioned between the two screw bearing pedestals 404; the lifting driving block 406 is in transmission connection with the two lifting parts through a driving connecting rod 411; the ground tray type autonomous mobile robot AMR further includes a third servo driver 7, and the third servo driver 7 is electrically connected to the third servo motor 401. Alternatively, in another example, the number of the elevating parts is three, and the elevating parts are connected to the driving link 411.
In this embodiment, after the third servo driver 7 sends a driving signal to the third servo motor 401, the third servo motor 401 adjusts the torque through the third speed reducer 402, and then transmits the power to the coupler 403, the coupler 403 drives the ball screw 405 to perform a rotary motion, the ball screw 405 converts the rotary motion into a linear motion of the lifting driving block 406, the lifting driving block 406 drives the driving link 411 to perform a linear motion, and the driving link 411 drives the two lifting portions to achieve a lifting function.
As an optional embodiment, the lifting part comprises a rolling guide rail groove 407, a rolling shaft 409, a long connecting rod 408, a rotating connecting shaft 412 and a short connecting rod 410, the rolling shaft 409 is in rolling connection with the rolling guide rail groove 407, the bottom end of the long connecting rod 408 is in transmission connection with a driving connecting rod 411 through the rolling shaft 409, and the top end of the long connecting rod 408 is connected with the lifting flat plate 302; the bottom end of the short connecting rod 410 is connected with the U-shaped groove base 301, and the top end of the short connecting rod 410 is rotatably connected with the long connecting rod 408 through a rotating connecting shaft 412.
In this embodiment, the driving link 411 drives the rolling shaft 409 to linearly roll in the rolling guide slot 407, and at the same time, drives the long link 408 and the short link 410 to perform opposite-direction tilting motion, thereby realizing the raising and lowering of the lifting plate 302.
For a better understanding of the present invention, reference is made to the following description of the invention taken in conjunction with the accompanying drawings and a specific embodiment. It should be noted that the described embodiments are only a part of the embodiments of the present invention, and do not limit the protection scope of the present invention.
In this embodiment, in order to solve the problem that the AMR can not only drive the goods to move through the traveling mechanism during operation, but also can independently take and place the goods through the telescopic mechanism and the lifting mechanism, the AMR of the ground tray type autonomous mobile robot described in any of the above embodiments is used, and the working method of the AMR of the ground tray type autonomous mobile robot comprises the following steps:
step one, a first driving part in the traveling mechanism 1 is started, the first driving part drives a driving wheel 109 to move, the driving wheel 109 drives a first driven wheel 110, a second driven wheel 213 and a third driven wheel 303 to move, and then the ground tray type autonomous mobile robot AMR moves to a goods taking position;
step two, starting a second driving part in the driving part 2 of the telescopic mechanism to drive the rack and pinion assembly to move, and driving the telescopic mechanism 3 to extend into the lower part of the goods through the sliding guide rail 211;
step three, starting a lifting mechanism 4 in a telescopic mechanism 3 to drive the goods to rise, driving the telescopic mechanism 3 to retract by a telescopic mechanism driving part 2 after the goods leave the ground, and then driving the goods to descend by the lifting mechanism 4 to enable the ground tray type autonomous mobile robot AMR to finish goods taking;
and step four, after the traveling mechanism 1 is started to convey the goods to the destination, the lifting mechanism 4 drives the goods to rise, the telescopic mechanism driving part 2 drives the telescopic mechanism 3 to stretch out, the lifting mechanism 4 drives the goods to descend, the goods are in contact with the ground, then the telescopic mechanism driving part 2 drives the telescopic mechanism 3 to retract, and the AMR conveying work of the ground tray type autonomous mobile robot is completed.
In this embodiment, as shown in fig. 8, the goods are all placed on the tray, and the above-mentioned telescoping mechanism 3 is matched with the size of the bracket below the tray, so that the telescoping mechanism 3 can be extended into the bracket.
In conclusion, the AMR provided by the invention can drive the goods to move through the traveling mechanism and can also automatically take and place the goods through the telescopic mechanism and the lifting mechanism when working, so that the labor cost is reduced, the carrying efficiency is improved, and the practicability is high.
The above description is only of the preferred embodiments of the present invention, and it should be noted that: it will be apparent to those skilled in the art that various modifications and adaptations can be made without departing from the principles of the invention and these are intended to be within the scope of the invention.
Claims (10)
1. The AMR is characterized by comprising at least two traveling mechanisms (1), a telescopic mechanism driving part (2) and at least two telescopic mechanisms (3), wherein the telescopic mechanism driving part (2) is fixedly connected with the traveling mechanisms (1), and the telescopic mechanisms (3) are connected with the telescopic mechanism driving part (2) in a sliding manner; the travelling mechanism (1), the telescopic mechanism driving part (2) and the telescopic mechanism (3) are all parallel to each other;
the walking mechanism (1) comprises a first driving part, a driving wheel (109) and at least two first driven wheels (110), wherein the power output end of the first driving part is in transmission connection with the driving wheel (109), and the at least two first driven wheels (110) are arranged at two ends of the walking mechanism (1);
the telescopic mechanism driving part (2) comprises a second driving part, a gear rack assembly, a sliding guide rail (211) and at least two second driven wheels (213), the power output end of the second driving part is in transmission connection with the gear rack assembly, the gear rack assembly is in sliding connection with the telescopic mechanism (3) through the sliding guide rail (211), and the at least two second driven wheels (213) are arranged at two ends of the telescopic mechanism driving part (2);
telescopic machanism (3) include elevating system (4) and at least two third follow driving wheel (303), elevating system (4) with telescopic machanism (3) link firmly, at least two third follow driving wheel (303) are located telescopic machanism (3)'s both ends outside and ground contact.
2. AMR of a ground pallet type autonomous mobile robot according to claim 1, characterized in that the number of said traveling mechanism (1) is two, the number of said first driven wheels (110) is two;
the travelling mechanism (1) further comprises a first bottom plate (101) and a first dust cover (102), and the first driving part is located in an accommodating space formed by the first bottom plate (101) and the first dust cover (102);
a part of the driving wheel (109) and the first driven wheel (110) is positioned in an accommodating space formed by the first bottom plate (101) and the first dust cover (102), and the other part of the driving wheel and the first driven wheel is positioned below the first bottom plate (101) and is in contact with the ground;
the first driving part comprises a first servo motor (103) and a first speed reducer (104), the power output end of the first servo motor (103) is connected with the power input end of the first speed reducer (104), and the power output end of the first speed reducer (104) is in transmission connection with the driving wheel (109);
the ground tray type autonomous mobile robot AMR further comprises a first servo driver (5), and the first servo driver (5) is electrically connected with the first servo motor (103).
3. The AMR of claim 2, wherein the first driving portion further comprises a first sprocket (105), a second sprocket (108), a first chain (107), a first chain tensioner (106), and a roller shaft (111), the first sprocket (105) is sleeved with the power output end of the first reducer (104), and the second sprocket (108) and the driving wheel (109) are respectively sleeved with the roller shaft (111);
the first chain wheel (105) is connected with the second chain wheel (108) through the first chain (107);
the first chain tensioner (106) is connected to the first chain (107) and is located between the first sprocket (105) and the second sprocket (108).
4. AMR of a ground pallet type autonomous mobile robot according to claim 1, characterized in that said second driven wheels (213) are two in number;
the telescopic mechanism driving part (2) further comprises a second bottom plate (201) and a second dust cover (202), and the second driving part and the gear rack assembly are both positioned in an accommodating space formed by the second bottom plate (201) and the second dust cover (202);
one part of the second driven wheel (213) is positioned in an accommodating space formed by the second bottom plate (201) and the second dust cover (202), and the other part of the second driven wheel is positioned below the second bottom plate (201) and is in contact with the ground;
the second driving part comprises a second servo motor (203) and a second speed reducer (204), the gear and rack assembly comprises a gear (209) and a rack (210), the power output end of the second servo motor (203) is connected with the power input end of the second speed reducer (204), the power output end of the second speed reducer (204) is in transmission connection with the gear (209), and the gear (209) is in transmission connection with the rack (210);
the telescopic mechanism driving part (2) further comprises a right-angle adapter plate (212), and the sliding guide rail (211) is in sliding connection with the rack (210) and the telescopic mechanism (3) through the right-angle adapter plate (212).
5. AMR of a floor tray type autonomous mobile robot as recited in claim 4, wherein said second driving part further comprises a third sprocket (205), a fourth sprocket (207), a second chain (206), a second chain tensioner (214) and a gear shaft (208), said third sprocket (205) is connected with a power output end of said second reducer (204), said fourth sprocket (207) and said gear (209) are respectively connected with said gear shaft (208);
the third sprocket (205) and the fourth sprocket (207) are connected by the second chain (206);
the second chain tensioner (214) is connected to the second chain (206) and is located between the third sprocket (205) and the fourth sprocket (207).
6. AMR of a floor tray type autonomous mobile robot according to claim 4, characterized by further comprising a second servo driver (6), said second servo driver (6) being electrically connected with said second servo motor (203).
7. AMR of a ground pallet type autonomous mobile robot according to claim 1, characterized in that said telescopic mechanisms (3) are two in number and said third driven wheels (303) are two in number;
the telescopic mechanism (3) further comprises a U-shaped groove base (301) and a lifting flat plate (302), and the lifting mechanism (4) is located in an accommodating space formed by the U-shaped groove base (301) and the lifting flat plate (302);
the lifting mechanism (4) comprises a third driving part and at least two lifting parts, and the third driving part is in transmission connection with the at least two lifting parts;
the third driving part comprises a third servo motor (401), a third speed reducer (402), a coupler (403), a screw bearing seat (404), a ball screw (405), a lifting driving block (406) and a driving connecting rod (411), the power output end of the third servo motor (401) is connected with the power input end of the third speed reducer (402), the power output end of the third speed reducer (402) is connected with one end of the coupler (403), and the other end of the coupler (403) is connected with the ball screw (405); the two ends of the ball screw (405) are respectively provided with a screw bearing seat (404) in a matching way, the lifting driving block (406) is rotationally connected with the ball screw (405) and is used for converting rotary motion into linear motion, and the lifting driving block (406) is positioned between the two screw bearing seats (404); the lifting driving block (406) is in transmission connection with the at least two lifting parts through the driving connecting rod (411).
8. The AMR of claim 7, wherein the number of the lifting part is two;
the lifting part comprises a rolling guide rail groove (407), a rolling shaft (409), a long connecting rod (408), a rotating connecting shaft (412) and a short connecting rod (410), the rolling shaft (409) is in rolling connection with the rolling guide rail groove (407), the bottom end of the long connecting rod (408) is in transmission connection with the driving connecting rod (411) through the rolling shaft (409), and the top end of the long connecting rod (408) is connected with the lifting flat plate (302); the bottom end of the short connecting rod (410) is connected with the U-shaped groove base (301), and the top end of the short connecting rod (410) is rotatably connected with the long connecting rod (408) through the rotating connecting shaft (412).
9. AMR of a floor tray type autonomous mobile robot according to claim 7, characterized in that it further comprises a third servo driver (7), said third servo driver (7) being electrically connected to said third servo motor (401).
10. AMR method for operation of a ground pallet type autonomous mobile robot according to claims 1-9, characterized by comprising the following steps:
step one, starting a first driving part in the traveling mechanism (1), wherein the first driving part drives a driving wheel (109) to move, and the driving wheel (109) drives a first driven wheel (110), a second driven wheel (213) and a third driven wheel (303) to move, so that the AMR moves to a goods taking position;
secondly, starting the second driving part in the telescopic mechanism driving part (2) to drive the gear rack assembly to move, wherein the gear rack assembly drives the telescopic mechanism (3) to extend into the lower part of the goods through the sliding guide rail (211);
step three, starting the lifting mechanism (4) in the telescopic mechanism (3) to drive the goods to rise, driving the telescopic mechanism (3) to retract by the telescopic mechanism driving part (2) after the goods leave the ground, and then driving the goods to descend by the lifting mechanism (4) to enable the ground tray type autonomous mobile robot AMR to finish goods taking;
and fourthly, after the traveling mechanism (1) is started to convey the goods to the destination, the lifting mechanism (4) drives the goods to rise, the telescopic mechanism driving part (2) drives the telescopic mechanism (3) to extend out, the lifting mechanism (4) drives the goods to descend, the goods are in contact with the ground, then the telescopic mechanism driving part (2) drives the telescopic mechanism (3) to retract, and the AMR conveying work of the ground tray type autonomous mobile robot is completed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202110701909.XA CN113277257A (en) | 2021-06-23 | 2021-06-23 | Ground tray type autonomous mobile robot AMR and working method thereof |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110701909.XA CN113277257A (en) | 2021-06-23 | 2021-06-23 | Ground tray type autonomous mobile robot AMR and working method thereof |
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| CN113277257A true CN113277257A (en) | 2021-08-20 |
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