CN207631377U - A kind of adaptive high-precision intelligent avoidance material carrier loader - Google Patents
A kind of adaptive high-precision intelligent avoidance material carrier loader Download PDFInfo
- Publication number
- CN207631377U CN207631377U CN201721686534.XU CN201721686534U CN207631377U CN 207631377 U CN207631377 U CN 207631377U CN 201721686534 U CN201721686534 U CN 201721686534U CN 207631377 U CN207631377 U CN 207631377U
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- goods bucket
- degree
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- cargo
- carriage underframe
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Abstract
A kind of adaptive high-precision intelligent avoidance material carrier loader, including carriage underframe and driving device, the driving device is mounted on the bottom of carriage underframe, the trolley further includes goods bucket setter plate, goods bucket, cargo setting device for the cargo that sets right, six degree of freedom manipulator, supersonic range finder, gray-scale sensor for the guiding black line for detecting working environment ground, the six degree of freedom manipulator is mounted on the front of carriage underframe, the goods bucket setter plate is fixedly mounted on the rear portion of carriage underframe, the cargo setting device is mounted in goods bucket setter plate, the supersonic range finder is mounted on the front end of carriage underframe, the gray-scale sensor is mounted on the bottom of carriage underframe, the goods bucket position is in the lower section of cargo setting device and is fixed in goods bucket setter plate.The utility model provides that a kind of intelligence degree, efficient, accuracy is high, and has the adaptive high-precision intelligent avoidance material carrier loader of high degree of adaptability to complex road condition.
Description
Technical field
The utility model is related to a kind of adaptive high-precision intelligent avoidance material carrier loaders.
Background technology
Cargo transport mainly completes cargo transport, people manually to carry or drive Transport Machinery by staff at present
Work transport goods compared to mechanization transportation there is speed it is slow, efficiency is low, of high cost the deficiencies of place, in recent years, with people
Power cost is continuously increased, and replaces manual labor by robotic production, it has also become inevitable trend.Therefore, a satisfy the need is designed
Face has the high-precision full-automatic Intelligent logistics trolley of high degree of adaptability at inevitable trend.
The transport of current existing transportation machines, mostly single-pathway or artificial assistant conveyance, to the adaptability of road conditions compared with
Difference.
Invention content
In order to overcome existing cargo transport there are the higher defect of less efficient, labour cost, the utility model provides
A kind of intelligence degree, efficient, accuracy is high, and there is the adaptive high-precision intelligent of high degree of adaptability to keep away complex road condition
Barrier material carrier loader.
Technical solution adopted by the utility model to solve its technical problems is：
A kind of adaptive high-precision intelligent avoidance material carrier loader, including carriage underframe and driving device, the driving
Device is mounted on the bottom of carriage underframe, and the driving device includes two front-wheels and two trailing wheels, the trolley further include goods
Bucket setter plate, goods bucket, the cargo setting device for the cargo that sets right, six degree of freedom manipulator, supersonic range finder, for examining
The gray-scale sensor of the guiding black line on working environment ground is surveyed, the six degree of freedom manipulator is mounted on the front of carriage underframe
On, the goods bucket setter plate is fixedly mounted on the rear portion of carriage underframe, and the cargo setting device is mounted on goods bucket setter plate
On, the supersonic range finder is mounted on the front end of carriage underframe, and the gray-scale sensor is mounted on the bottom of carriage underframe
Portion, the goods bucket position is in the lower section of cargo setting device and is fixed in goods bucket setter plate；
The cargo setting device includes stepper motor, lead screw, flange and the plate that sets right, the left and right two in the board bottom portion of setting right
Side is respectively fixed with the flange, and lead screw is set on each flange, and the upper end of each lead screw passes through the plate that sets right, each lead screw
Lower end connects a stepper motor, and the stepper motor is mounted on the bottom of goods bucket setter plate；The plate that sets right is equipped with circle
Hole, the circular hole to set right on plate is corresponded with goods bucket and upper end outer diameter of the Circularhole diameter on plate more than goods bucket that set right.
Further, the driving device further includes four direct current generators, and each front-wheel and each trailing wheel pass through shaft coupling
On corresponding direct current generator, the direct current generator is mounted on by motor cabinet on carriage underframe；Two front-wheels are complete
To wheel, two trailing wheels are rubber wheel.
Further, the goods bucket is in up big and down small tubaeform.
Further, the goods bucket is arranged five, and the circular hole to set right on plate is also provided with five, each goods bucket with it is each
The circular hole to set right on plate corresponds.
Further, the six degree of freedom manipulator includes gripper, six 270 degree of steering engines, mechanical arm cloud disk and bilateral
Copper post；Five 270 degree of steering engines are individually fixed on corresponding steering engine frame from top to bottom, 270 degree of steering engines of gripper and top
It is connected by steering engine cross plate, 270 degree of steering engines of the lowermost are mounted in mechanical arm cloud disk, the mechanical arm cloud disk and bilateral copper
Column upper end is bolted, and bilateral copper post lower end is connected to a fixed with carriage underframe, and 270 degree of steering engines connect with microcontroller
It connects.
The direct current generator, supersonic range finder, gray-scale sensor are connected with microcontroller serial port.
The beneficial effects of the utility model are mainly manifested in：
1) it uses four adjustable speed motors by microcontroller independent control to drive, increases the flexibility ratio and upper of speed adjusting
The driving force on slope, is precisely controlled, and improves adaptability of the trolley to complex road condition, and the relatively independent assembly of four direct current generators is easy；
2) the different scheme of both front and back wheel is used, front-wheel uses omni-directional wheel, and convenient for turning, trailing wheel uses common rubber
Rubber tire is that turn inside diameter provides driving force in the process, increases the earth-grasping force of trolley during the turn, is improved when trolley is turned
Precision and flexibility ratio improve its adaptability to complex road surface；
3) cargo setting device is devised, flange is driven by stepper motor drives lead screw after cargo placement and is dialled
Positive plate carries out vertical and straight movement up and down and is aligned to placing more inclined cargo, has ensured placement essence of the cargo in cargo arranging barrel
Degree, ensure that precision and accuracy of this Intelligent logistics trolley to cargo transport；
Therefore, the utility model can guarantee the performance requirements such as the high-adaptability for meeting Intelligent logistics trolley, high-precision.
Description of the drawings
Fig. 1 is the overall structure diagram of the utility model.
Fig. 2 is the structural schematic diagram of the six degree of freedom manipulator of the utility model.
Fig. 3 is the structural schematic diagram of the supersonic range finder of the utility model.
Fig. 4 is the structural schematic diagram of the cargo setting device of the utility model.
Fig. 5 is the structural schematic diagram of the driving device of the utility model.
Specific implementation mode
The utility model is further described below in conjunction with the accompanying drawings.
Referring to Fig.1~Fig. 5, a kind of adaptive high-precision intelligent avoidance material carrier loader, including carriage underframe 8 and driving
Device, the driving device 6 are mounted on the bottom of carriage underframe 8, and the driving device 6 includes two front-wheels and two trailing wheels,
The trolley further include goods bucket setter plate 7, goods bucket 4, the cargo setting device 5 for the cargo that sets right, six degree of freedom manipulator 1,
Supersonic range finder 2, the gray-scale sensor 3 for being oriented to black line for detecting working environment ground, the six degree of freedom machinery
Hand 1 is mounted on the front of carriage underframe 8, and the goods bucket setter plate 7 is fixedly mounted on the rear portion of carriage underframe 8, the goods
Object setting device 5 is mounted in goods bucket setter plate 7, and the supersonic range finder 2 is mounted on the front end of carriage underframe 3, institute
The bottom that gray-scale sensor 3 is mounted on carriage underframe 8 is stated, the goods bucket 4 is located at the lower section of cargo setting device 5 and is fixed on goods
In bucket setter plate 7；
The cargo setting device 5 includes stepper motor 14, lead screw 15, flange 17 and the plate 16 that sets right, the plate 16 that sets right
It is respectively fixed with the flange 17 at left and right sides of bottom, lead screw 15, the upper end of each lead screw 15 are set on each flange 17
Across the plate 16 that sets right, the lower end of each lead screw 15 connects a stepper motor 14, and the stepper motor 14 is disposed mounted on goods bucket
On the bottom of plate 7；The plate 16 that sets right is equipped with circular hole, and the circular hole to set right on plate 16 is corresponded and set right with goods bucket 4
Circularhole diameter on plate 16 is more than the upper end outer diameter of goods bucket 4.
Further, the driving device 6 further includes four direct current generators 18, and each front-wheel and each trailing wheel pass through shaft coupling
Device is mounted on corresponding direct current generator 18, and the direct current generator 18 is mounted on by motor cabinet on carriage underframe 8；Two front-wheels
It is omni-directional wheel 20, two trailing wheels are rubber wheel 19.
Further, the goods bucket 4 is in up big and down small tubaeform.
Further, the goods bucket 4 is arranged five, and the circular hole to set right on plate 16 is also provided with five, each goods bucket 4 with
Each circular hole to set right on plate 16 corresponds.
Further, the six degree of freedom manipulator 1 includes gripper 9, six 270 degree of steering engines 10, mechanical arm cloud disks 12
With bilateral copper post 13；Five 270 degree of steering engines are individually fixed on corresponding steering engine frame 11 from top to bottom, gripper 9 and top
270 degree of steering engines be connected by steering engine cross plate, 270 degree steering engines of the lowermost are in the mechanical arm cloud disk 12, the machinery
Arm cloud disk 12 is bolted with 13 upper end of bilateral copper post, and 13 lower end of bilateral copper post is connected to a fixed with carriage underframe 8, described
270 degree of steering engines 10 are connect with microcontroller.
The direct current generator 18, supersonic range finder 2, gray-scale sensor 3 are connected with microcontroller serial port.
As shown in Figure 1, the mechanical arm cloud disk 12 in six degree of freedom manipulator 1 is connected with carriage underframe 8, ultrasonic ranging dress
It sets 2 by nut bolt to be connected with 8 front end of carriage underframe, gray-scale sensor 3 is equidistantly connected by copper post and 8 front of carriage underframe
It connects, goods bucket 4 is connected with goods bucket setter plate 7, and cargo setting device 5 acts on 4 top of goods bucket, driving device 6 and 8 bottom of carriage underframe
Portion is connected, and trolley controls the driving device 6 by microcontroller and driven, and is carried out using supersonic range finder 2 and gray-scale sensor 3
High-precision tracking and precise positioning accurately capture material by six degree of freedom manipulator 1, are positioned in rear goods bucket 4, finally lead to
Cargo setting device 5 is crossed to being carried out into one in placement process because the interference of extraneous accidentalia causes cargo to place not accurate situation
Step correction, ensures cargo transport precision.
The goods bucket 4, structure upper port is larger, and lower port is smaller, ensures smoothly can just be put in goods bucket 4 when cargo placement
In, it prevents vehicle object block in transportational process from falling, improves serious forgiveness and cargo transport precision.
As shown in Fig. 2, 270 degree of steering engines 10 are controlled by microcontroller, coordinated by six 270 degree of steering engines 10
The accurate crawl to cargo within the scope of certain space is realized in running.
As shown in figure 3, the supersonic range finder 2 includes ultrasonic sensor 21 and ultrasonic sensor fixing bracket
22, the ultrasonic sensor is matched with ultrasonic sensor holder 22, is passed through together with the ultrasonic sensor holder
Bolt and nut is fixed on the front end of carriage underframe 8, and by measuring away from the distance for taking object platform and set-point, the cargo for improving trolley is grabbed
It takes, puts and sets precision.
As shown in figure 4, lead screw 15 and stepper motor 14 are coaxially connected, flange 17 is fixed on 16 downside of plate of setting right, the method
Orchid 17 coordinates with lead screw 15, and the plate 16 that makes to set right moves up and down together with flange 17 with the rotation of the lead screw 15, to putting
Place not because of external interference that accurately cargo is corrected during setting.
As shown in figure 5, the driving device 6 includes four direct current generators, 18, two General Purpose Rubber wheels 19 and Liang Ge omnidirectionals
Wheel 20, direct current generator 18 is fixed by corresponding standard electric rack and 8 phase of carriage underframe, secondly being placed in the direct current generator
The trolley lower layer bottom plate front end both sides are simultaneously connected with two omni-directional wheels 20, and other two is placed in described in the direct current generator
8 rear end both sides of carriage underframe are simultaneously connected with two General Purpose Rubber wheels 19, and the direct current generator is connected with microcontroller serial port respectively, by
Microcontroller control motor being reported and turning to, and realizes accurate tracking and turning.
Trolley is controlled entirely through TSM32 microcontrollers, and detection is used for improving trolley tracking multiple gray-scale sensors jointly
Precision is improved to the adaptability of different road conditions, by ultrasonic ranging, the small spacing of precise positioning take object platform and put at object away from
From improving trolley and take and object and put the precision of object, goods is captured and place using the higher six degree of freedom manipulator of flexibility ratio 1
Object improves precision and efficiency that trolley takes object, puts object.Trolley front wheel, which uses, compares the higher omni-directional wheel 20 of rubber wheel flexibility ratio,
Speed and the flexibility of turning are improved, trailing wheel uses the preferable rubber wheel 19 of earth-grasping force, ensures to possess foot during trolley turning
Enough driving forces improve stationarity of the trolley in transportational process, ensure high-adaptability of the trolley to ground.
Intelligent logistics trolley major function involved by the utility model is grabbed to cargo by six degree of freedom manipulator 1
Take, follow the prescribed course realize cargo carrying and placement, this logistics trolley can realize it is increasingly automated, reduce labour at
This.
Above-mentioned specific implementation mode is used for illustrating the utility model, rather than limits the utility model,
In the spirit and scope of the claims of the utility model, to any modifications and changes that the utility model is made, all fall
Enter the scope of protection of the utility model.
Claims (6)
1. a kind of adaptive high-precision intelligent avoidance material carrier loader, including carriage underframe and driving device, the driving dress
It sets mounted on the bottom of carriage underframe, the driving device includes two front-wheels and two trailing wheels, it is characterised in that：The trolley
Further include goods bucket setter plate, goods bucket, cargo setting device, six degree of freedom manipulator, the ultrasonic ranging dress for the cargo that sets right
It sets, the gray-scale sensor for being oriented to black line for detecting working environment ground, the six degree of freedom manipulator is mounted on car bottom
On the front of disk, the goods bucket setter plate is fixedly mounted on the rear portion of carriage underframe, and the cargo setting device is mounted on goods
In bucket setter plate, the supersonic range finder is mounted on the front end of carriage underframe, and the gray-scale sensor is mounted on car
The bottom on chassis, the goods bucket position is in the lower section of cargo setting device and is fixed in goods bucket setter plate；
The cargo setting device includes stepper motor, lead screw, flange and the plate that sets right, the left and right sides point in the board bottom portion of setting right
It is not fixed with the flange, lead screw is set on each flange, the upper end of each lead screw passes through the plate that sets right, the lower end of each lead screw
A stepper motor is connected, the stepper motor is mounted on the bottom of goods bucket setter plate；The plate that sets right is equipped with circular hole, institute
State the upper end outer diameter that the circular hole to set right on plate is more than goods bucket with goods bucket one-to-one correspondence and the Circularhole diameter on plate that sets right.
2. a kind of adaptive high-precision intelligent avoidance material carrier loader as described in claim 1, it is characterised in that：The drive
Dynamic device further includes four direct current generators, and each front-wheel and each trailing wheel are mounted on corresponding direct current generator by shaft coupling
On, the direct current generator is mounted on by motor cabinet on carriage underframe；Two front-wheels are omni-directional wheel, and two trailing wheels are rubber
Wheel.
3. a kind of adaptive high-precision intelligent avoidance material carrier loader as claimed in claim 1 or 2, it is characterised in that：Institute
Goods bucket is stated in up big and down small tubaeform.
4. a kind of adaptive high-precision intelligent avoidance material carrier loader as claimed in claim 1 or 2, it is characterised in that：Institute
It states goods bucket and is arranged five, the circular hole to set right on plate is also provided with five, and each goods bucket and the circular hole that each sets right on plate are one by one
It is corresponding.
5. a kind of adaptive high-precision intelligent avoidance material carrier loader as claimed in claim 2, it is characterised in that：Described six
Free degree manipulator includes gripper, six 270 degree of steering engines, mechanical arm cloud disk and bilateral copper post；Five 270 degree of rudders from top to bottom
Machine is individually fixed on corresponding steering engine frame, and gripper is connected with 270 degree of steering engines of top by steering engine cross plate, bottom
270 degree of steering engines be mounted on mechanical arm cloud disk on, the mechanical arm cloud disk is bolted with bilateral copper post upper end, bilateral copper
Column lower end is connected to a fixed with carriage underframe, and 270 degree of steering engines are connect with microcontroller.
6. a kind of adaptive high-precision intelligent avoidance material carrier loader as claimed in claim 2, it is characterised in that：It is described straight
Galvanic electricity machine, supersonic range finder, gray-scale sensor are connected with microcontroller serial port.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721686534.XU CN207631377U (en) | 2017-12-07 | 2017-12-07 | A kind of adaptive high-precision intelligent avoidance material carrier loader |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721686534.XU CN207631377U (en) | 2017-12-07 | 2017-12-07 | A kind of adaptive high-precision intelligent avoidance material carrier loader |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207631377U true CN207631377U (en) | 2018-07-20 |
Family
ID=62856101
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721686534.XU Expired - Fee Related CN207631377U (en) | 2017-12-07 | 2017-12-07 | A kind of adaptive high-precision intelligent avoidance material carrier loader |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207631377U (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109129393A (en) * | 2018-08-01 | 2019-01-04 | 安徽信息工程学院 | The automatic offsetting machine device people of carbon-free trolley |
| CN109264638A (en) * | 2018-11-13 | 2019-01-25 | 上海辛格林纳新时达电机有限公司 | A kind of intelligent forklift |
| CN109533965A (en) * | 2018-12-29 | 2019-03-29 | 浙江理工大学 | The logistics trolley of included barcode scanning sorting function |
| CN109573448A (en) * | 2019-01-25 | 2019-04-05 | 丽水学院 | A kind of automatic transporting trolley and its application method |
| CN109571449A (en) * | 2019-01-08 | 2019-04-05 | 上海应用技术大学 | Transfer robot with protection with obstacle avoidance ability |
| CN111605644A (en) * | 2019-02-22 | 2020-09-01 | 苏州悦合智能科技有限公司 | Automatic guide transport vechicle of transport cylinder object |
-
2017
- 2017-12-07 CN CN201721686534.XU patent/CN207631377U/en not_active Expired - Fee Related
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109129393A (en) * | 2018-08-01 | 2019-01-04 | 安徽信息工程学院 | The automatic offsetting machine device people of carbon-free trolley |
| CN109129393B (en) * | 2018-08-01 | 2022-03-04 | 安徽信息工程学院 | Automatic pile placing robot for carbon-free trolley |
| CN109264638A (en) * | 2018-11-13 | 2019-01-25 | 上海辛格林纳新时达电机有限公司 | A kind of intelligent forklift |
| CN109533965A (en) * | 2018-12-29 | 2019-03-29 | 浙江理工大学 | The logistics trolley of included barcode scanning sorting function |
| CN109571449A (en) * | 2019-01-08 | 2019-04-05 | 上海应用技术大学 | Transfer robot with protection with obstacle avoidance ability |
| CN109573448A (en) * | 2019-01-25 | 2019-04-05 | 丽水学院 | A kind of automatic transporting trolley and its application method |
| CN111605644A (en) * | 2019-02-22 | 2020-09-01 | 苏州悦合智能科技有限公司 | Automatic guide transport vechicle of transport cylinder object |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180720 Termination date: 20181207 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |