CN116654822A - High working range composite mobile robot - Google Patents

High working range composite mobile robot Download PDF

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Publication number
CN116654822A
CN116654822A CN202310103226.3A CN202310103226A CN116654822A CN 116654822 A CN116654822 A CN 116654822A CN 202310103226 A CN202310103226 A CN 202310103226A CN 116654822 A CN116654822 A CN 116654822A
Authority
CN
China
Prior art keywords
mobile robot
working range
high working
compound mobile
working
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN202310103226.3A
Other languages
Chinese (zh)
Inventor
刘苗苗
张丰华
李昌臣
王新宇
冯松
周宇
吴恒
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Jike Science and Technology Co Ltd
Original Assignee
Jike Science and Technology Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Jike Science and Technology Co Ltd filed Critical Jike Science and Technology Co Ltd
Priority to CN202310103226.3A priority Critical patent/CN116654822A/en
Publication of CN116654822A publication Critical patent/CN116654822A/en
Pending legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/063—Automatically guided
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F11/00—Lifting devices specially adapted for particular uses not otherwise provided for
    • B66F11/04—Lifting devices specially adapted for particular uses not otherwise provided for for movable platforms or cabins, e.g. on vehicles, permitting workmen to place themselves in any desired position for carrying out required operations
    • B66F11/042—Lifting devices specially adapted for particular uses not otherwise provided for for movable platforms or cabins, e.g. on vehicles, permitting workmen to place themselves in any desired position for carrying out required operations actuated by lazy-tongs mechanisms or articulated levers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F17/00—Safety devices, e.g. for limiting or indicating lifting force
    • B66F17/003—Safety devices, e.g. for limiting or indicating lifting force for fork-lift trucks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F17/00—Safety devices, e.g. for limiting or indicating lifting force
    • B66F17/006—Safety devices, e.g. for limiting or indicating lifting force for working platforms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/07504—Accessories, e.g. for towing, charging, locking
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/0755—Position control; Position detectors
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
    • F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
    • F16M11/12—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction
    • F16M11/121—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction constituted of several dependent joints
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M13/00—Other supports for positioning apparatus or articles; Means for steadying hand-held apparatus or articles
    • F16M13/02—Other supports for positioning apparatus or articles; Means for steadying hand-held apparatus or articles for supporting on, or attaching to, an object, e.g. tree, gate, window-frame, cycle
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/70—Energy storage systems for electromobility, e.g. batteries

Abstract

The invention discloses a high-working-range composite mobile robot, and relates to an AGV trolley for projection irradiation or workpiece conveying. The purpose is to provide a wide applicability, convenient to use's compound mobile robot of high working range. The invention discloses a high-working-range compound mobile robot, which comprises a vehicle body, wherein a scissor lifting mechanism is arranged on the vehicle body and comprises an electric push rod with a hand wheel, a platform is arranged at the top of the electric push rod, a manipulator is arranged on the platform, and a projector is arranged on the manipulator. The scissor lifting mechanism of the high-working-range compound mobile robot adopts the electric push rod with the self-locking function, comprises the manual operation hand wheel, can start the manual operation function of the hand wheel when the electric push rod fails, adjusts the height of the lifting platform, and ensures the safety of personnel maintenance operation. The scissor lifting mechanism can drive the manipulator to move, so that the lifting range of the manipulator is wide, the working range is large, and the scissor lifting mechanism can be suitable for different working scenes with larger working ranges.

Description

High working range composite mobile robot
Technical Field
The invention relates to the technical field of robots, in particular to a high-working-range composite mobile robot.
Background
AGVs, also commonly referred to as AGV carts, are a type of mobile industrial robot that can travel along a prescribed navigation path and are widely used for automated transport of various loads.
Currently, composite AGVs in the industry typically employ platform transport to deliver products to a designated location based on a given path. However, the transportation mode of the fixed platform has a certain limitation, namely, the transportation range of the AGV is limited, and the AGV cannot adapt to the operation of a high place or a special position. In the existing product, the working range of the AGV is expanded by adding the mechanical arm, but for different working scenes with larger working range, the mechanical arm is difficult to be compatible to meet the use requirement.
Disclosure of Invention
The invention aims to solve the technical problem of providing a high-working-range composite mobile robot which is wide in applicability, safe and convenient to use.
The invention discloses a high-working-range compound mobile robot, which comprises a vehicle body, wherein a scissor lifting mechanism is arranged on the vehicle body and comprises an electric push rod with a hand wheel, a platform is arranged at the top of the electric push rod, a manipulator is arranged on the platform, and a projector is arranged on the manipulator.
The invention discloses a high-working-range composite mobile robot, which further comprises an electric control system for controlling electric equipment.
The invention relates to a high-working-range composite mobile robot, wherein a vehicle body comprises a framework, a two-dimensional code navigation positioning system is arranged on the framework, and a travelling gear train is arranged below the framework.
The invention relates to a high-working-range compound mobile robot, wherein a travelling gear train comprises wheels and a motor for driving the wheels to move.
The invention relates to a high-working-range compound mobile robot, wherein a power system is arranged on a framework, and the power system comprises an automatic charging system and a manual charging system.
The invention relates to a high-working-range compound mobile robot, wherein the opposite angle of a framework is provided with a photoelectric safety protection system,
the invention relates to a high-working-range compound mobile robot, wherein the lower part of a framework is provided with a contact type safety protection system,
the invention relates to a high-working-range compound mobile robot, wherein a scissor lifting mechanism comprises a scissor rack, and an electric push rod is arranged on the scissor rack.
The invention relates to a high-working-range compound mobile robot, wherein a height distance sensor and a limiting system are arranged on a scissor fork frame.
The invention relates to a high-working-range compound mobile robot, wherein the limiting system comprises photoelectric limiting and mechanical limiting.
The high-working-range compound mobile robot is different from the prior art in that the scissor lifting mechanism of the high-working-range compound mobile robot adopts the electric push rod with a self-locking function and comprises the manual operation hand wheel, the electric driving mode avoids hydraulic oil leakage caused by a hydraulic system, the clean environment requirement of a workshop is met, when the electric push rod fails, the electric push rod screw rod has the self-locking function, the lifting platform cannot suddenly descend, the manual operation function of the hand wheel can be started, the height of the lifting platform is adjusted, and the maintenance operation safety of personnel is ensured. The scissor lifting mechanism can drive the manipulator to move, so that the lifting range of the manipulator is wide, the working range is large, and the scissor lifting mechanism can be suitable for different working scenes with larger working ranges.
The high working range compound mobile robot of the present invention will be further described with reference to the accompanying drawings.
Drawings
FIG. 1 is a perspective view of a high working range compound mobile robot of the present invention in a forward looking direction;
FIG. 2 is a perspective view of the rear view of the high working range compound mobile robot of the present invention;
FIG. 3 is a bottom view of the high working range compound mobile robot of the present invention;
FIG. 4 is a schematic structural view of a fork lift mechanism in the high working range compound mobile robot of the present invention;
FIG. 5 is a schematic diagram illustrating a structure of a side view of a scissor lift mechanism in a high working range composite mobile robot according to the present invention;
the labels in the figures are: 1-a vehicle body; 11-skeleton; 12-a travelling gear train; 13-a two-dimensional code navigation positioning system; 14-an automatic charging system; 15-a manual charging system; 16-an optoelectronic safety protection system; 17-contact safety protection system; 2-a scissor lifting mechanism; 21-a scissors fork frame; 22-an electric push rod; 23-height distance sensor; 24-photoelectric upper limit switch; 25-photoelectric lower limit switch; 26-a mechanical upper limit switch; 27-a mechanical lower limit switch; 3-a manipulator; 4-projector.
Description of the embodiments
The following examples are illustrative of the invention and are not intended to limit the scope of the invention.
As shown in fig. 1 to 3, the high-working-range composite mobile robot of the invention comprises a vehicle body 1, a scissor lifting mechanism 2 is arranged on the vehicle body 1, a manipulator 3 is arranged on the scissor lifting mechanism 2, and a projector 4 is arranged on the manipulator 3. In addition, the robot also comprises an electric control system for controlling the electric equipment.
The car body 1 is an AGV car body and comprises a framework 11, and a travelling gear train 12 is arranged below the framework 11. The running gear 12 includes wheels and a motor that drives the wheels. The two-dimensional code navigation positioning system 13 is installed on the framework 11, and the two-dimensional code navigation positioning system 13 comprises a camera to identify the two-dimensional code on the ground and control the vehicle body 1 to move along a set route.
The skeleton 11 is provided with a power system, the power system comprises an automatic charging system 14 and a manual charging system 15, and the automatic charging system 14 and the manual charging system 15 are respectively positioned on two sides of the skeleton 11. The automatic charging system 14 includes a charging brush plate electrically connected to the battery, and when the battery consumes a set amount of remaining power, the AGV automatically moves to a charging area, and automatically charges by contact of the charging brush plate on the side of the AGV with a charging brush block on the charger. The manual charging system 15 includes a manual charging plug, and when the automatic charging system 14 fails, manual charging can be performed by manual plugging.
The opposite angle of the framework 11 is provided with a photoelectric safety protection system 16, the photoelectric safety protection system 16 comprises a scanner, the scanner can scan a sector area around, and when the reflection result is that an obstacle exists, the vehicle body 1 stops running to play a role in safety protection.
The lower part of the framework 11 is provided with a contact type safety protection system 17, and the contact type safety protection system 17 comprises a contact belt which is arranged around the vehicle body 1. In this embodiment, the contact strip is made of rubber. When the rubber contact belt arranged on the periphery of the vehicle body 1 collides with an obstacle, the rubber contact belt is extruded, and the internal circuit is conducted, which is equivalent to the fact that the vehicle body 1 presses down to stop suddenly, and the AGV stops running immediately.
As shown in fig. 4 and 5, the fork lift mechanism 2 is mounted on the frame 11 of the vehicle body 1, and the fork lift mechanism 2 includes a fork frame 21 and an electric push rod 22 including a hand wheel, the electric push rod 22 being mounted on the fork frame 21. The electric push rod 22 pushes the scissors fork to move, the scissors fork can achieve the lifting function, the platform is arranged at the top of the scissors fork, the scissors fork can push the platform to move up and down, and in the embodiment, the lifting range of the platform is 700-2600mm. The electric push rod 22 adopts a trapezoidal screw rod, and has a self-locking function. When the electric push rod 22 fails, the platform cannot suddenly descend, so that the safety of the operation of the platform is ensured, meanwhile, the manual operation function of the hand wheel can be started, the height of the lifting platform is adjusted, and the safety of personnel maintenance operation is ensured. The electric push rod 22 adopts an electric driving mode, so that hydraulic oil leakage caused by a hydraulic system is avoided, and the clean environment requirement of a workshop is met.
The scissor frame 21 is provided with a height distance sensor 23 and a limiting system, wherein the height distance sensor 23 is used for sensing the lifting height of the platform, and the limiting system is used for limiting the movement displacement of the electric push rod 22.
The limiting system comprises photoelectric limiting and mechanical limiting. The photoelectric limit comprises a photoelectric upper limit switch 24 and a photoelectric lower limit switch 25. The photoelectric upper limit switch 24 and the photoelectric lower limit switch 25 are both positioned on one side of the scissors frame 21, wherein the photoelectric upper limit switch 24 is closer to the middle of the scissors frame 21. The photoelectric upper limit switch 24 and the photoelectric lower limit switch 25 are used for detecting the position of the scissor moving end roller in the scissor lifting mechanism 2, and detecting that the scissor moving end roller moves when the scissor lifting mechanism 2 lifts. When the scissor moving end roller moves to two sides of the scissor rack 21, the platform descends, and when the scissor moving end roller moves to the position of the photoelectric lower limit switch 25, the photoelectric lower limit switch 25 detects a signal and judges that the photoelectric lower limit is reached; when the scissor moving end roller moves to the middle of the scissor rack 21, the platform rises, and when the scissor moving end roller moves to the position of the photoelectric upper limit switch 24, the photoelectric upper limit switch 24 detects a signal, and the signal is judged to reach the photoelectric upper limit. The mechanical limit comprises a mechanical upper limit switch 26 and a mechanical lower limit switch 27. The mechanical limit comprises a mechanical upper limit switch 26 and a mechanical lower limit switch 27, wherein the mechanical upper limit switch 26 and the mechanical lower limit switch 27 are used for limiting the maximum movement position of the scissors and the mechanical lower limit switch 27 are arranged at the middle part of the scissors and the fork frame 21, and the mechanical lower limit switch 27 is arranged at one side of the scissors and the fork frame 21.
When the scissors descend and miss the detection signal of the photoelectric lower limit switch 25 and continue descending, the platform reaches the position of the mechanical lower limit switch 27 and contacts with the mechanical lower limit switch 27, so that the platform can not descend any more; when the scissor rises and misses the detection signal of the photoelectric upper limit switch 24 and continues to rise, the movable end roller reaches the position of the mechanical upper limit switch 26 and contacts with the mechanical upper limit switch 26, so that the movable end roller cannot rise any more.
The manipulator 3 is installed on the platform, adopts multiaxis arm, increases the flexibility of manipulator 3. In this embodiment, the working range of the manipulator 3 is a sphere with a radius of 1650 mm.
The projector 4 is mounted on the robot arm 3, and the projector 4 can move along with the robot arm 3 to project and irradiate a desired workpiece part.
The electric control system comprises a traveling gear train 12 in the vehicle body 1, an electric power system, an electric push rod 22 in the scissor lifting mechanism 2, a manipulator 3 and a projector 4.
When the high-working-range composite mobile robot works, the high-working-range composite mobile robot automatically moves to a station site according to the two-dimensional code navigation positioning system 13, the scissor lifting mechanism 2 is lifted to a certain height, then the manipulator 3 acts, and the projector 4 at the tail end of the manipulator 3 is operated to project and irradiate a required workpiece position.
According to the high-working-range composite mobile robot, the lifting range of the mechanical arm 3 mounting platform is 700-2600mm, the working range of the mechanical arm 3 is a spherical surface with the radius of 1650mm, the scissor lifting mechanism 2 adopts the electric push rod 22 with a self-locking function and comprises a manual operation hand wheel, the electric driving mode avoids hydraulic oil leakage caused by a hydraulic system, the clean environment requirement of a workshop is met, when the electric push rod 22 fails, a screw rod of the electric push rod 22 has the self-locking function, the lifting platform cannot suddenly descend, meanwhile, the manual operation function of the hand wheel can be started, the height of the lifting platform is adjusted, and the maintenance operation safety of personnel is guaranteed.
While the invention has been described in detail in the foregoing general description and specific examples, it will be apparent to those skilled in the art that modifications and improvements can be made thereto. Accordingly, such modifications or improvements may be made without departing from the spirit of the invention and are intended to be within the scope of the invention as claimed.

Claims (10)

1. A high working range compound mobile robot is characterized in that: the automatic scissors comprise a vehicle body, wherein a scissors lifting mechanism is arranged on the vehicle body and comprises an electric push rod with a hand wheel, a platform is arranged at the top of the electric push rod, a manipulator is arranged on the platform, and a projector is arranged on the manipulator.
2. The high working range compound mobile robot of claim 1 wherein: the system also comprises an electric control system for controlling the electric equipment.
3. The high working range compound mobile robot of claim 1 wherein: the car body comprises a framework, a two-dimensional code navigation positioning system is arranged on the framework, and a travelling gear train is arranged below the framework.
4. A high working range compound mobile robot according to claim 3, characterized in that: the travelling gear train comprises wheels and a motor for driving the wheels to move.
5. A high working range compound mobile robot according to claim 3, characterized in that: and the framework is provided with a power system, and the power system comprises an automatic charging system and a manual charging system.
6. A high working range compound mobile robot according to claim 3, characterized in that: and a photoelectric safety protection system is arranged on the opposite angle of the framework.
7. A high working range compound mobile robot according to claim 3, characterized in that: the lower part of the framework is provided with a contact type safety protection system.
8. The high working range compound mobile robot of claim 1 wherein: the scissors lifting mechanism comprises a scissors frame, and the electric push rod is arranged on the scissors frame.
9. The high working range compound mobile robot of claim 8 wherein: and a height distance sensor and a limiting system are arranged on the scissor fork frame.
10. The high working range compound mobile robot of claim 9 wherein: the limiting system comprises photoelectric limiting and mechanical limiting.
CN202310103226.3A 2023-02-13 2023-02-13 High working range composite mobile robot Pending CN116654822A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202310103226.3A CN116654822A (en) 2023-02-13 2023-02-13 High working range composite mobile robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202310103226.3A CN116654822A (en) 2023-02-13 2023-02-13 High working range composite mobile robot

Publications (1)

Publication Number Publication Date
CN116654822A true CN116654822A (en) 2023-08-29

Family

ID=87719522

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202310103226.3A Pending CN116654822A (en) 2023-02-13 2023-02-13 High working range composite mobile robot

Country Status (1)

Country Link
CN (1) CN116654822A (en)

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