CN116730257A - Mecanum wheel omnidirectional carrying intelligent robot - Google Patents

Mecanum wheel omnidirectional carrying intelligent robot Download PDF

Info

Publication number
CN116730257A
CN116730257A CN202311005956.6A CN202311005956A CN116730257A CN 116730257 A CN116730257 A CN 116730257A CN 202311005956 A CN202311005956 A CN 202311005956A CN 116730257 A CN116730257 A CN 116730257A
Authority
CN
China
Prior art keywords
balancing weight
weight assembly
fork
intelligent
robot
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.)
Granted
Application number
CN202311005956.6A
Other languages
Chinese (zh)
Other versions
CN116730257B (en
Inventor
林伟
邓晓强
杨小龙
陈煜�
吴桦奎
卢喜涛
王淳智
杜和钢
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.)
Xiamen Longhe Intelligent Technology Co ltd
Longhe Intelligent Equipment Manufacturing Co Ltd
Original Assignee
Xiamen Longhe Intelligent Technology Co ltd
Longhe Intelligent Equipment Manufacturing 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 Xiamen Longhe Intelligent Technology Co ltd, Longhe Intelligent Equipment Manufacturing Co Ltd filed Critical Xiamen Longhe Intelligent Technology Co ltd
Priority to CN202311005956.6A priority Critical patent/CN116730257B/en
Publication of CN116730257A publication Critical patent/CN116730257A/en
Application granted granted Critical
Publication of CN116730257B publication Critical patent/CN116730257B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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
    • B66F9/075—Constructional features or details
    • B66F9/20—Means for actuating or controlling masts, platforms, or forks
    • B66F9/22—Hydraulic devices or systems
    • 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
    • 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
    • B66F9/08—Masts; Guides; Chains
    • B66F9/082—Masts; Guides; Chains inclinable
    • 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
    • B66F9/12—Platforms; Forks; Other load supporting or gripping members
    • B66F9/14—Platforms; Forks; Other load supporting or gripping members laterally movable, e.g. swingable, for slewing or transverse movements
    • B66F9/142—Movements of forks either individually or relative to each other
    • B66F9/144—Movements of forks relative to each other - independent

Landscapes

  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Structural Engineering (AREA)
  • Civil Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Forklifts And Lifting Vehicles (AREA)

Abstract

The application relates to an omnidirectional carrying intelligent robot for Mecanum wheels, which comprises the following components: the car body is provided with four Mecanum wheels; the door frame is fixedly connected to the front end of the vehicle body and comprises a longitudinal driving mechanism; the side shifting frame is connected to the front end of the portal frame, is driven by the longitudinal driving mechanism to move up and down along the portal frame, and comprises two transverse driving mechanisms; the number of the fork frames is the same as that of the transverse driving mechanisms, the fork frames are transversely arranged at the front ends of the side shifting frames in parallel, and the fork frames can be driven by one of the transverse driving mechanisms to move left and right along the side shifting frames; and the counterweight component is used for adjusting the gravity centers of the intelligent carrying robot and the goods when the fork frames fork the goods, so that the gravity centers of the intelligent carrying robot and the goods are balanced.

Description

Mecanum wheel omnidirectional carrying intelligent robot
Technical Field
The application relates to the field of intelligent robots of carriers, in particular to an omnidirectional intelligent robot for carrying Mecanum wheels.
Background
In automated material handling, shipping, materials are loaded from a supply location into a container, and from the container to a destination, the handling and loading functions are required to meet user requirements. In the logistics process, loading and unloading are very important links, and along with the rapid development of the modern cargo loading and transporting technology, more and more users need to realize rapid loading and transporting of materials.
The existing intelligent transfer robot is realized by a forklift driving forklift clamp. In order to realize quick handling, for example, chinese patent application CN201110286751.0, two stacks of goods can be simultaneously fork-handled by arranging two forks on the same vertical plane. Or as in chinese patent application CN201510473468.7, it can be moved left and right by two arms respectively, so that it can be aligned better into the carrier at the bottom of the goods. The prior art does not realize the intelligent robot for simultaneously carrying left and right cargoes, and the applicant finds that when simultaneously carrying left and right cargoes, the existing intelligent robot does not have the structural foundation, and when carrying two cargoes, the conditions of inclination, rollover and the like are easily caused by uneven stress of the intelligent robot due to the left and right unbalance of the cargoes or the gravity center deviation of the cargoes.
The application aims at solving the problems existing in the prior art and designs an intelligent Mecanum wheel omnidirectional carrying robot.
Disclosure of Invention
Aiming at the problems in the prior art, the application aims to provide an omnidirectional carrying intelligent robot for Mecanum wheels, which can effectively solve at least one problem in the prior art.
The technical scheme of the application is as follows:
an omnidirectional transfer intelligent robot for Mecanum wheels, the transfer intelligent robot comprising:
the car body is provided with four Mecanum wheels;
the door frame is fixedly connected to the front end of the vehicle body and comprises a longitudinal driving mechanism;
the side shifting frame is connected to the front end of the portal frame, is driven by the longitudinal driving mechanism to move up and down along the portal frame, and comprises two transverse driving mechanisms;
the number of the fork frames is the same as that of the transverse driving mechanisms, the fork frames are transversely arranged at the front ends of the side shifting frames in parallel, and the fork frames can be driven by one of the transverse driving mechanisms to move left and right along the side shifting frames;
and the counterweight component is used for adjusting the gravity centers of the intelligent carrying robot and the goods when the fork frames fork the goods, so that the gravity centers of the intelligent carrying robot and the goods are balanced.
Further, the portal is provided with the automobile body connecting seat, pitch the connecting seat, the automobile body connecting seat articulates to the automobile body, the automobile body is provided with first actuating cylinder, the flexible direction of first actuating cylinder is the fore-and-aft direction, the piston cylinder of first actuating cylinder articulates to pitch the connecting seat, thereby drive the portal leans forward or leans backward, and then drives the fork frame leans forward or leans backward.
Further, the counterweight assembly comprises a front counterweight assembly and a rear counterweight assembly, and the front and rear barycenters of the intelligent transfer robot and the cargoes are adjusted when the intelligent transfer robot forks the cargoes, so that the front and rear barycenters of the intelligent transfer robot and the cargoes are balanced.
Further, the counter weight subassembly around including the front and back movable balancing weight, the automobile body is provided with front and back balancing weight movable groove, front and back balancing weight movable groove runs through the left and right central line of automobile body, be provided with in the front and back balancing weight movable groove the front and back movable balancing weight, the automobile body is provided with the second driving cylinder, the flexible direction of second driving cylinder is the front and back direction, the piston cylinder of second driving cylinder is connected the front and back movable balancing weight.
Further, the front and rear movable balancing weights are provided with movable wheels at the bottoms thereof, and the front and rear balancing weights movable grooves are provided with side limit plates matched with the movable wheels.
Further, the front and rear counterweight components comprise an even number of fixed counterweights, and the fixed counterweights are respectively and symmetrically arranged at the rear end of the vehicle body.
Further, the counterweight assembly comprises a left counterweight assembly and a right counterweight assembly, and the counterweight assembly is used for adjusting the left and right barycenters of the intelligent transfer robot and the cargoes when the intelligent transfer robot forks the cargoes, so that the left and right barycenters of the intelligent transfer robot and the cargoes are balanced.
Further, the left counterweight assembly and the right counterweight assembly are arranged in the side shifting frame, the left counterweight assembly and the right counterweight assembly are arranged on the guide rail of the side shifting frame in a driving mode, the guide rail is provided with a synchronous belt driven by a motor, and the synchronous belt is driven to be provided with a left movable counterweight and a right movable counterweight.
Further, the left and right movable balancing weights are of L-shaped structures, the transverse parts of the left and right movable balancing weights are connected to the synchronous belt, and the vertical parts of the left and right movable balancing weights are shielded and arranged in front of the vertical parts of the fork frame.
Further, the vehicle body is provided with pressure sensors at four corners of the vehicle body respectively, the pressure sensors are used for acquiring the pressure of each Mecanum wheel, the omnidirectional intelligent transfer robot comprises a control system, the control system acquires data of each pressure sensor, and the gravity centers of the intelligent transfer robot and cargoes are adjusted through a counterweight component.
Accordingly, the present application provides the following effects and/or advantages:
according to the application, after the intelligent carrying robot forks the goods, the weight of the goods is large, and the gravity center of the intelligent carrying robot can be changed. The traditional intelligent transfer robot is only provided with one fork frame, so that the intelligent transfer robot only needs to be provided with a fixed balancing weight simply. The number of the goods which can be forked in the application is two or more, and the goods which can be forked in the embodiment are transversely arranged side by side. The gravity center of the intelligent carrying robot and the goods can be adjusted through the front, back, left and right counterweight assemblies, so that the purpose of balancing the gravity center of the intelligent carrying robot and the goods is achieved.
According to the application, the fork frame is used for taking multiple cargoes and multiple conditions of single cargoes, and the gravity center is regulated through multiple working states, so that better gravity center balance is realized.
The application adjusts the pitch angle of the fork frames to assist in balancing the front and rear gravity centers, and adjusts the two fork frames and the left and right counterweight devices to comprehensively balance the left and right gravity centers.
It is to be understood that both the foregoing general description and the following detailed description of the present application are exemplary and explanatory and are intended to provide further explanation of the application as claimed.
Drawings
Fig. 1 is a schematic structural diagram of an embodiment of the present application.
Fig. 2 is a schematic structural view of the portal.
Fig. 3 is a schematic view of a part of the structure of the side shift frame.
Fig. 4 is a schematic structural view of the front and rear weight assembly.
Fig. 5 is a schematic view of the installation of the left and right weight assemblies.
Fig. 6 is a side view of fig. 1.
Detailed Description
For the convenience of understanding by those skilled in the art, the structure of the present application will now be described in further detail with reference to the accompanying drawings:
referring to fig. 1 to 6, a Mecanum wheel omnidirectional carrying intelligent robot, the carrying intelligent robot includes:
the car body 1 is provided with a plurality of Mecanum wheels 101;
in the present embodiment, the vehicle body 1 may be a four-wheeled vehicle, or may be another vehicle, and is not limited thereto. The Mecanum wheel 101 is prior art based on the principle of a center wheel having a plurality of wheel axles located at the periphery of the wheel, the angled peripheral wheel axles translating a portion of the wheel steering force onto a wheel normal force. The omnibearing motion equipment based on the Mecanum wheel technology can realize motion modes such as forward motion, transverse motion, oblique motion, rotation and the like. The specific structure and operation principle of the mecanum wheel 101 are not described in detail herein. By providing the Mecanum wheel 101, an omnidirectional displacement can be achieved.
A door frame 2 fixedly connected to the front end of the vehicle body 1, wherein the door frame 2 comprises a longitudinal driving mechanism 204;
referring to fig. 2, a door frame 2 is fixedly connected to the front end of the vehicle body 1 so as to be driven by the vehicle body 1 to move along with the vehicle body 1. Meanwhile, the portal 2 comprises a longitudinal driving mechanism 204, and the longitudinal driving mechanism 204 can be a group of chain transmission mechanisms and an oil cylinder to stretch and drive chain transmission to realize as shown in the figure. Wherein the gantry 2 and the longitudinal driving mechanism 204 are of prior art. The longitudinal driving mechanism 204 can drive the mechanism with the front end connected to realize up-and-down movement. One end of the portal frame 2 is fixed with the vehicle body 1.
The side shifting frame 3 is connected to the front end of the portal 2, the side shifting frame 3 is driven by the longitudinal driving mechanism to move up and down along the portal 2, and the side shifting frame 3 comprises two transverse driving mechanisms 303;
referring to fig. 3, in the present embodiment, a side shift frame 3 is attached to the front end of a portal frame 2 so as to be able to follow the movement of a vehicle body 1, and is driven by the portal frame 2 to realize the up-and-down movement of the entire side shift frame 3. The side shift frame 3 includes a fixing member 301 and a side shift member 302, wherein the fixing member 301 is fixedly connected to the portal 2, the side shift member 302 is movably connected to the fixing member 301, and the side shift member 302 and the fixing member 301 are driven by an oil cylinder. The cylinder body of the oil cylinder is fixed on the fixed part, the piston of the oil cylinder drives the piston cylinder to move left and right, and the piston cylinder is connected to the side moving part 302, so that the side moving part 302 can be driven to move left and right on the fixed part 301.
Further, the side shift frame 3 includes two lateral driving mechanisms 303, and the number of lateral driving mechanisms 303 in the present embodiment is two. The lateral driving mechanism 303 is used to connect the forks 4 and drive one fork 4 to move left and right, respectively. The transverse driving mechanism 303 drives the fork frame 4 to move left and right, and is used for searching fork holes of trays with different specifications to fork.
The number of the fork frames 4 is the same as that of the transverse driving mechanisms 303, the fork frames 4 are transversely arranged at the front ends of the side shifting frames 3 in parallel, and the fork frames 4 can be driven by one transverse driving mechanism 303 to move left and right along the side shifting frames 3;
in this embodiment, a single fork carriage 4 is known in the art. The number, arrangement and driving of the side frames 3 to the forks 4 are one of the core of the present embodiment. The number of the fork carriages 4 in the embodiment is two, and the fork carriages 4 of the application are transversely arranged in parallel. Therefore, the fork frame 4 of this embodiment can simultaneously and respectively fork a plurality of cargos which are laterally arranged side by side, or can respectively fork a single cargos and then further fork another cargos, and after simultaneously fork a plurality of cargos, the cargos are in a laterally arranged structure instead of a structure which is vertically arranged.
And the counterweight component is used for adjusting the gravity centers of the intelligent carrying robot and the cargoes when the cargoes are forked by the fork frames 4, so that the gravity centers of the intelligent carrying robot and the cargoes are balanced.
After the intelligent transfer robot forks the goods, the weight of the goods is large, and the gravity center of the intelligent transfer robot can change. The traditional intelligent transfer robot is only provided with one fork frame, so that the intelligent transfer robot only needs to be provided with a fixed balancing weight simply. The number of goods that can be forked in this embodiment is two or more, and the goods that can be forked in this embodiment are horizontal side by side, can produce following problem: 1. when two cargoes are forked side by side, the weights of the two cargoes may be different, and at the moment, the left and right barycenters of the two cargoes are unbalanced, so that an operator can operate the Mecanum robot to walk, eccentricity occurs, and the situation of deviating trend occurs; 2. when only one fork frame is used for taking goods, the weight of the goods is concentrated on one fork frame, and the same problems as the problem 1 are caused; 3. when two cargoes are forked side by side, under the condition that the weight of the two cargoes is great, the unbalanced condition of front and back barycenter can appear between automobile body and the cargoes, and the automobile body can appear leaning forward or back etc..
To solve the above problems, the present embodiment incorporates a weight assembly. The counterweight assembly is realized by a counterweight block capable of moving back and forth and a counterweight block capable of moving left and right.
Referring to fig. 4, specifically, the counterweight assembly includes a front-rear counterweight assembly 51 for adjusting front-rear barycenters of the transfer robot and the cargo when the plurality of transfer robot fork the cargo, so that the front-rear barycenters of the transfer robot and the cargo are balanced.
The front-rear counterweight assembly 51 comprises a front-rear movable counterweight 513, the vehicle body 1 is provided with a front-rear counterweight movable groove 511, the front-rear counterweight movable groove 511 penetrates through the left-right center line of the vehicle body 1, the front-rear movable counterweight 513 is arranged in the front-rear counterweight movable groove 511, the vehicle body is provided with a second driving cylinder 514, the expansion direction of the second driving cylinder 514 is the front-rear direction, and the piston cylinder of the second driving cylinder 514 is connected with the front-rear movable counterweight 513.
In this embodiment, the front-rear movable weight 513 is disposed on the left-right center line of the vehicle body 1, so that the front-rear center of gravity of the vehicle body 1 can be better adjusted. The front-rear balancing weight moving groove 511 provides a structural foundation for the front-rear moving balancing weight 513 to move forward and backward, and the front-rear moving balancing weight 513 can be driven to move by the driving of the second driving cylinder 514, so that the center of gravity of the vehicle body 1 in the front-rear direction is adjusted.
Specifically, the front and rear movable balancing weights 513 are provided with movable wheels at bottoms thereof, and the front and rear balancing weight movable grooves 511 are provided with side limit plates matched with the movable wheels. The position of the front and rear movable balancing weight 513 can be limited by the side limiting plates.
Specifically, the front-rear counterweight assembly 51 includes an even number of fixed counterweights 512, and the fixed counterweights 512 are respectively and symmetrically disposed at the rear end of the vehicle body 1.
Since the weight is concentrated in front of the vehicle body 1 when the fork carriage 4 forks the goods, the present embodiment is well balanced with the fixed weight 512 by the fixed arrangement. Meanwhile, in order to adapt to cargoes with different weights, the embodiment further realizes front-rear gravity center balance by adjusting the positions of the front-rear movable balancing weights 513.
Referring to fig. 5, specifically, the weight assembly includes a left and right weight assembly 52 for adjusting left and right centers of gravity of the transfer robot and the cargo when the plurality of transfer robot fork the cargo, so that the left and right centers of gravity of the transfer robot and the cargo are balanced.
Specifically, the left and right counterweight assemblies 52 are disposed at the upper ends of the side-moving frames 3, the left and right counterweight assemblies 52 include a guide rail 521 disposed on the side-moving frames 3, the guide rail 521 is provided with a synchronous belt 523 driven by a motor 522, and the synchronous belt 523 is provided with a left and right movable counterweight 524.
The left and right movable counter weight 524 is of an L-shaped structure, a transverse portion of the left and right movable counter weight 524 is connected to the synchronous belt 523, and a vertical portion of the left and right movable counter weight 524 is shielded and arranged in front of a vertical portion of the fork frame 4.
In this embodiment, through the L-shaped structure of the left and right movable counterweights 524, firstly, the left and right movable counterweights 524 can be conveniently connected to the synchronous belt 523, and secondly, a certain gap remains between the cargo and the front end of the vertical portion of the fork frame 4 after the cargo is forked, and this embodiment fully utilizes this gap as the movement space of the left and right movable counterweights 524. Meanwhile, the structure of the left and right movable weights 524 and the position of the left and right movable weights 524 can reduce the gravity center change caused by the introduction of the left and right movable weights 524 to the greatest extent.
When two cargoes are forked side by side, the weights of the two cargoes may be different, so that the left and right centers of gravity of the intelligent robot and the cargoes need to be adjusted. In this embodiment, the left and right movable balancing weights 524 can be moved left and right, and the setting positions of the left and right movable balancing weights 524 are on the side shift frame 3, and the left and right center of gravity of the side shift frame 3 can be adjusted by adjusting the positions of the left and right movable balancing weights 524 left and right.
Further, the vehicle body 1 is respectively provided with a pressure sensor at four corners thereof for obtaining the pressure of each Mecanum wheel, the omnidirectional intelligent robot comprises a control system, the control system obtains the data of each pressure sensor, and the gravity center of the intelligent robot and the cargoes is adjusted through a counterweight component.
According to the embodiment, the pressure conditions of the four corners of the vehicle body 1 can be obtained by reading the data of the pressure sensors at the four corners of the vehicle body 1, and then the front, back, left and right weight components are respectively adjusted, so that the front, back, left and right adjustment of the gravity center is realized, and finally the balance of the gravity center is realized.
Further, the mast 2 is provided with a body connecting seat 201 and a tilt-and-pitch connecting seat 202, the body connecting seat 201 is hinged to the body 1, the body 1 is provided with a first driving cylinder 203, the telescopic direction of the first driving cylinder 203 is the front-back direction, and a piston cylinder of the first driving cylinder 203 is hinged to the tilt-and-pitch connecting seat 202, so that the mast 2 is driven to tilt forwards or backwards, and the fork carriage 4 is driven to tilt forwards or backwards.
In this embodiment, by driving the first driving cylinder 203 to extend and retract, the mast 2 can be tilted forward or backward, and the fork carriage 4 can be further driven to tilt forward or backward. When fork frame 4 leans forward, can be convenient for fork frame 4 insert the goods bottom, when the goods are forked and are got on fork frame 4, fork frame 4 leans back, can make the goods berth on fork frame 4 better, places the goods and falls down from fork frame 4, still adjustable goods focus on fork frame 4.
The embodiment comprises the following working states:
when the fork frame 4 only forks one cargo, the fork frame 4 with the cargo is adjusted to move to the position closest to the middle of the side shifting frame 3, then the left and right positions of the left and right counterweight assemblies 52 are adjusted, the left and right positions of other fork frames 4 are adjusted, meanwhile, the data of each pressure sensor are read, so that the values of the pressure sensors on the left side and the right side reach balance, finally, the positions of the front and rear movable balancing weights 513 are adjusted, the elevation angle of the fork frame 4 is adjusted, and the values of the pressure sensors on the front side and the rear side reach balance;
when the fork frame 4 forks a plurality of cargoes, the fork frame 4 with the cargoes is gathered towards the middle, then the left and right positions of the left and right weight assemblies 52 are adjusted, the data of each pressure sensor are read at the same time, and if the values of the pressure sensors at the left and right sides can reach balance by only adjusting the left and right positions of the left and right weight assemblies 52, the values of the pressure sensors at the left and right sides can reach balance by adjusting the left and right positions of the left and right weight assemblies 52; if the values of the pressure sensors on the left and right sides cannot be balanced by adjusting the left and right positions of the left and right weight assemblies 52, the values of the pressure sensors on the left and right sides are balanced by adjusting the left and right positions of the left and right weight assemblies 52 and the pallet fork 4 after being combined, and finally the values of the pressure sensors on the front and rear sides are balanced by adjusting the position of the front and rear movable weight blocks 513 and adjusting the elevation angle of the pallet fork 4.
The control method of the intelligent carrying robot comprises the following steps:
when two parallel cargos need to be forked by the fork frame 4, the intelligent carrying robot is driven to face the two parallel cargos, the Mecanum wheels 101 are controlled to align the left and right central lines of the intelligent carrying robot with the central lines of the two parallel cargos, the position of the fork frame 4 is adjusted to be matched with the two cargos by the transverse driving mechanism, the two fork frames 4 of the intelligent carrying robot are driven to be inserted below the two parallel cargos, the two cargos are initially lifted simultaneously by the longitudinal driving mechanism 204, the two fork frames 4 are driven to be stacked by the transverse driving mechanism 303, the counterweight assembly is adjusted, and the two cargos are further lifted simultaneously after the centers of gravity of the intelligent carrying robot and the cargos are balanced;
when the fork frame 4 needs to fork and get a goods, the intelligent carrying robot is driven to be close to the goods, the Mecanum wheel 101 is controlled to enable one of the fork frames 4 of the intelligent carrying robot to be aligned with the goods, the intelligent carrying robot is driven to enable one of the fork frames 4 of the intelligent carrying robot to be inserted below the goods, the goods are initially lifted through the longitudinal driving mechanism 204, the fork frames 4 with the goods are adjusted to move to the position closest to the middle of the side moving frame 3, the counterweight assembly is adjusted, and after the centers of gravity of the intelligent carrying robot and the goods are balanced, the goods are further lifted.
Further, by adjusting the position of the front and rear movable weights 512, the front and rear center of gravity of the intelligent robot and/or cargo is adjusted.
This step can achieve front-to-back center of gravity balancing by adjusting the position of the front-to-back movable weight 512 alone.
Further, when the fork carriage 4 needs to fork two parallel cargoes, after adjusting the weight assembly, before balancing the center of gravity of the intelligent robot and the cargoes, the following steps are performed:
if the front-rear center of gravity cannot be balanced by adjusting the position of the front-rear movable counterweight 512, the elevation angle of the fork frame 4 and the position of the front-rear movable counterweight 512 are adjusted, so that the center of gravity of the cargo and the intelligent robot is moved backward and the front-rear center of gravity is balanced.
Because the weight of the goods is large when a plurality of goods are forked, the front and rear gravity centers can not be balanced by simply adjusting the positions of the front and rear movable balancing weights 512, and at this time, the front and rear gravity centers are balanced by adjusting the elevation angle of the fork frame 4 and the positions of the front and rear movable balancing weights 512 to be matched together.
Further, by adjusting the position of the left and right movable weights 524, the left and right center of gravity of the intelligent robot and/or cargo is adjusted.
This step can achieve balancing of the left and right center of gravity by adjusting the position of the left and right movable weights 524 alone.
Further, when the fork carriage 4 needs to fork two parallel cargoes, after adjusting the weight assembly, before balancing the center of gravity of the intelligent robot and the cargoes, the following steps are performed:
if the left and right center of gravity cannot be balanced by adjusting the positions of the left and right movable weights 524, the left and right positions of the fork carriage 4 and the positions of the left and right movable weights 524 after stacking are adjusted, so that the left and right center of gravity of the cargo and the intelligent robot is balanced.
In this step, if the fork frame 4 is used for fork-taking a load with a large weight and a small weight, namely, two loads with a large weight difference, the center lines of the two loads are simply aligned for fork-taking, and then the two loads are combined together, so that the requirement of gravity center balance of the two loads cannot be met. At this time, the left and right positions of the two fork carriages 4 and the left and right positions of the left and right movable weights 524 after being adjusted and piled up in this step are adjusted, so that further left and right gravity center balance is realized.
Further, when the fork carriage 4 needs to fork a load, after adjusting the weight assembly, before balancing the center of gravity of the intelligent robot and the load, the following steps are performed:
if the left and right center of gravity cannot be balanced by adjusting the positions of the left and right movable weights 524, the left and right center of gravity of the cargo and the intelligent robot can be balanced by adjusting the positions of the left and right movable weights 524 and the positions of the fork carriages 4 for not fork-taking the cargo.
This step considers the case where the fork carriage 4 forks only one load.
In this step, the fork frame 4 with the goods being forked is firstly adjusted to move to the position closest to the middle of the side shift frame 3, then the fork frame 4 without the goods being forked is extended outwards, and the position of the left and right movable balancing weights 524 is adjusted, so that the left and right gravity center balance is realized through the fork frame 4 without the goods being forked and the left and right movable balancing weights 524.
It should be noted that in the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The word "comprising" does not exclude the presence of elements or steps not listed in a claim. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The application may be implemented by means of hardware comprising several distinct elements, and by means of a suitably programmed computer. In the unit claims enumerating several means, several of these means may be embodied by one and the same item of hardware. The use of the words first, second, third, etc. do not denote any order. These words may be interpreted as names.
While preferred embodiments of the present application have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. It is therefore intended that the following claims be interpreted as including the preferred embodiments and all such alterations and modifications as fall within the scope of the application.
In the present application, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art according to the specific circumstances.
In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present application. In this specification, schematic representations of the above terms should not be understood as necessarily being directed to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, the different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those skilled in the art without contradiction.

Claims (5)

1. An intelligent robot for omnidirectionally carrying Mecanum wheels, which is characterized in that: the transport intelligent robot includes:
the car body is provided with four Mecanum wheels;
the door frame is fixedly connected to the front end of the vehicle body and comprises a longitudinal driving mechanism;
the side shifting frame is connected to the front end of the portal frame, is driven by the longitudinal driving mechanism to move up and down along the portal frame, and comprises two transverse driving mechanisms;
the number of the fork frames is the same as that of the transverse driving mechanisms, the fork frames are transversely arranged at the front ends of the side shifting frames in parallel, and the fork frames can be driven by one of the transverse driving mechanisms to move left and right along the side shifting frames;
the counterweight assembly is used for adjusting the gravity centers of the intelligent carrying robot and the cargoes when the cargoes are forked by the fork frames, so that the gravity centers of the intelligent carrying robot and the cargoes are balanced; the balancing weight assembly comprises a front balancing weight assembly and a rear balancing weight assembly, wherein the front balancing weight assembly and the rear balancing weight assembly are used for adjusting the front and rear centers of gravity of the carrying intelligent robot and cargoes when the carrying intelligent robot forks cargoes, the front balancing weight assembly and the rear balancing weight assembly are balanced, the front balancing weight assembly and the rear balancing weight assembly are respectively arranged on the front balancing weight assembly and the rear balancing weight assembly, the front balancing weight assembly and the rear balancing weight assembly penetrate through the left and right center line of the car body, the front balancing weight assembly and the rear balancing weight assembly are arranged in the front balancing weight assembly and the rear balancing weight assembly, the car body is provided with a second driving cylinder, the telescopic direction of the second driving cylinder is the front and rear direction, the piston cylinder of the second driving cylinder is connected with the front balancing weight assembly and the rear balancing weight assembly, the front balancing weight assembly and the rear balancing weight assembly are respectively arranged on the side limiting plates matched with the movable wheels, and the front balancing weight assembly and the rear balancing weight assembly comprise an even number of fixed balancing weights, the fixed balancing weights are respectively arranged at the rear ends of the car body, and the balancing weight assembly comprises a left balancing weight assembly and a right balancing weight assembly, and a left balancing weight assembly and a right balancing weight of the intelligent robot and a right balancing robot.
2. The Mecanum wheel omni-directional transfer intelligent robot according to claim 1, wherein: the portal is provided with automobile body connecting seat, pitch connecting seat, the automobile body connecting seat articulates to the automobile body, the automobile body is provided with first actuating cylinder, the flexible direction of first actuating cylinder is the fore-and-aft direction, the piston cylinder of first actuating cylinder articulates to pitch connecting seat, thereby drive the portal leans forward or leans backward, and then drives the fork frame leans forward or leans backward.
3. The Mecanum wheel omni-directional transfer intelligent robot according to claim 1, wherein: the left counterweight assembly and the right counterweight assembly are arranged on the side-shifting frame, the left counterweight assembly and the right counterweight assembly are arranged on the guide rail of the side-shifting frame in a sliding way, the guide rail is provided with a synchronous belt driven by a motor, and the synchronous belt is driven to be provided with a left movable counterweight and a right movable counterweight.
4. The Mecanum wheel omni-directional transfer intelligent robot according to claim 3, wherein: the left and right movable balancing weights are of L-shaped structures, the transverse parts of the left and right movable balancing weights are connected to the synchronous belt, and the vertical parts of the left and right movable balancing weights are shielded and arranged in front of the vertical parts of the fork frame.
5. The Mecanum wheel omni-directional transfer intelligent robot according to claim 1, wherein: the vehicle body is provided with pressure sensors at four corners of the vehicle body, the pressure sensors are used for acquiring the pressure of each Mecanum wheel, the omnidirectional intelligent transfer robot comprises a control system, the control system acquires data of each pressure sensor, and the gravity centers of the intelligent transfer robot and cargoes are adjusted through a counterweight component.
CN202311005956.6A 2023-08-10 2023-08-10 Mecanum wheel omnidirectional carrying intelligent robot Active CN116730257B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202311005956.6A CN116730257B (en) 2023-08-10 2023-08-10 Mecanum wheel omnidirectional carrying intelligent robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202311005956.6A CN116730257B (en) 2023-08-10 2023-08-10 Mecanum wheel omnidirectional carrying intelligent robot

Publications (2)

Publication Number Publication Date
CN116730257A true CN116730257A (en) 2023-09-12
CN116730257B CN116730257B (en) 2023-10-31

Family

ID=87909928

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202311005956.6A Active CN116730257B (en) 2023-08-10 2023-08-10 Mecanum wheel omnidirectional carrying intelligent robot

Country Status (1)

Country Link
CN (1) CN116730257B (en)

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107188095A (en) * 2017-07-18 2017-09-22 湖北先行专用汽车有限公司 A kind of multi-functional side fork lifts Working mechanism
CN209853658U (en) * 2019-05-16 2019-12-27 上海汇聚自动化科技有限公司 Balanced heavy fork truck of clamping tire
KR20200120312A (en) * 2019-04-12 2020-10-21 장진만 Weight balance adjustable agricultural forklift
CN114105049A (en) * 2022-01-25 2022-03-01 江苏翔盟精密铸造有限公司 Forklift balancing weight with adjustable size
CN217578216U (en) * 2021-11-04 2022-10-14 广州金升阳科技有限公司 Counter weight structure and three-way fork truck

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107188095A (en) * 2017-07-18 2017-09-22 湖北先行专用汽车有限公司 A kind of multi-functional side fork lifts Working mechanism
KR20200120312A (en) * 2019-04-12 2020-10-21 장진만 Weight balance adjustable agricultural forklift
CN209853658U (en) * 2019-05-16 2019-12-27 上海汇聚自动化科技有限公司 Balanced heavy fork truck of clamping tire
CN217578216U (en) * 2021-11-04 2022-10-14 广州金升阳科技有限公司 Counter weight structure and three-way fork truck
CN114105049A (en) * 2022-01-25 2022-03-01 江苏翔盟精密铸造有限公司 Forklift balancing weight with adjustable size

Also Published As

Publication number Publication date
CN116730257B (en) 2023-10-31

Similar Documents

Publication Publication Date Title
CN116715176B (en) Control method of Mecanum wheel omnidirectional carrying intelligent robot
EP2159185B1 (en) Industrial truck comprising two load carriages
KR20200044590A (en) AGV with lifting apparatus and AGV operating system
US10961094B2 (en) Driverless transport system
US20070289798A1 (en) Sideloader forklift with all wheel steering
US20230264934A1 (en) Forklift, cargo handling system, loading method, and forklift control device
CN113184438A (en) Lifting type reversing position intelligent adjusting track carrier
CN115744741A (en) Transport fork truck capable of loading multiple goods
CN116730257B (en) Mecanum wheel omnidirectional carrying intelligent robot
CN111792571A (en) A stabilize fork device and fork truck for fork truck
KR20210026927A (en) Unmanned Carrier for Forklift
JP7203714B2 (en) Trailer for transportation of large circular goods
US11919751B2 (en) Transport vehicle, method for receiving a load by means of a transport vehicle, and system comprising a transport vehicle and a load
CN211470672U (en) Articulated fork truck
EP3560793B1 (en) Material handling vehicle
KR20210014032A (en) Module type platform for transportation
CN216272963U (en) Balanced AGV heavy stacking vehicle body with brand new structure
CN113816305B (en) Portable flexible tray piling car
CN116062656B (en) Fork truck loading attachment and unmanned fork truck
CN215048416U (en) Novel forklift
CN219949345U (en) Lifting robot, combined robot and warehousing system
KR102294901B1 (en) Shock absorber for agv wheel
CN117550302B (en) Automatic loading and unloading device for embedded container with balanced stress and control method
CN220684586U (en) Dynamic counterweight device suitable for side forklift
CN217778753U (en) Automatic guide transport vechicle chassis and automatic guide transport vechicle

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant
PE01 Entry into force of the registration of the contract for pledge of patent right
PE01 Entry into force of the registration of the contract for pledge of patent right

Denomination of invention: A McNamm Wheel Omni directional Moving Intelligent Robot

Granted publication date: 20231031

Pledgee: Industrial Commercial Bank of China Ltd. Longyan Xinluo branch

Pledgor: LONGHE INTELLIGENT EQUIPMENT MANUFACTURING Co.,Ltd.

Registration number: Y2024990000010