CN209008733U - A kind of electronic Omni-mobile AGV trolley of logistics transportation sorting - Google Patents
A kind of electronic Omni-mobile AGV trolley of logistics transportation sorting Download PDFInfo
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- CN209008733U CN209008733U CN201821862584.3U CN201821862584U CN209008733U CN 209008733 U CN209008733 U CN 209008733U CN 201821862584 U CN201821862584 U CN 201821862584U CN 209008733 U CN209008733 U CN 209008733U
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Abstract
The utility model discloses a kind of logistics transportations to sort electronic Omni-mobile AGV trolley, including laser safety sensor, steering wheel and beat seat, the diagonal two sides of car body are arranged in the laser safety sensor, it is distributed in diagonal line, the front end on omnidirectional's driving chassis is arranged in the beat seat, swivel base is arranged on chassis in omnidirectional's driving, the lower section on omnidirectional's driving chassis is arranged in the steering wheel, it is arranged in diagonal line, the utility model structure is simple, cooperated using beat seat and swivel base, deflection mechanism is made by two groups before car body front end, itself deflection angle is adjusted according to ground injustice situation, different ground environments can preferably be adapted to；Gear and fluted disc cooperate, and auxiliary wheel and steering wheel are linked, and compared with other equipment common in material conveying, zone of action is not limited by place, road and space without being laid with the fixed device such as track, support saddle frame, more efficiently, economical, flexibly.
Description
Technical field
The utility model relates to a kind of logistics warehouse equipment technical field, specifically a kind of logistics transportation is sorted with electronic complete
To mobile AGV trolley.
Background technique
Existing robot is all largely fixed position with being, and industrial robot is needed due to secure context
The safeguard procedures such as safe fence are set, the operation in a closed safe space, footprint area is larger, so that robot
With the relatively limit, its service performance cannot be preferably played.
The mobile operation of the robot of fraction uniquely relies on traveling wheel and moves linearly with linear guide, traction drive
It is controlled by robot device centralized control, needs to be laid with tank chain in direction of travel to wear its controlling cable, line cannot be detached from always
The constraint of cable, so can not achieve large-scale movement, and it moves operating direction and can only move in the straight direction, Bu Neng
Movement in region, if region is mobile, it is low in positioning accuracy, can only generally accomplish a centimetre rank, be unable to satisfy robot
Carrying grabbing requirement.
Utility model content
The purpose of this utility model is to provide a kind of logistics transportations to sort electronic Omni-mobile AGV trolley, to solve
The problems mentioned above in the background art.
To achieve the above object, the utility model provides the following technical solutions:
A kind of electronic Omni-mobile AGV trolley of logistics transportation sorting, including car body, laser safety sensor, car body control
Side, industrial camera, robot arm, robot control cabinet, tri coloured lantern, object placing platform, inverter, horizontal pane are touched in center processed, anticollision
Frame, battery pack, omnidirectional driving chassis, optical target sounding device, steering wheel, auxiliary wheel, bearing, gear, fluted disc, circlip, end cap,
The diagonal two sides of car body are arranged in locking nut, wheel shaft, beat seat, limit plate and swivel base, the laser safety sensor, and are in
Diagonal line distribution, and side is touched in the setting anticollision of the bottom of car body, while car body control centre is set in the left side of car body, and in vehicle
Robot control cabinet is arranged in the right side of body, and separately the horizontal frame described in the top of car body setting tri coloured lantern is arranged in vehicle body,
And robot arm is set on horizontal frame, industrial camera is arranged in the front end of robot arm, while setting on the right side of car body
Object placing platform is set, the bottom of horizontal frame is arranged in the battery pack, and inverter is arranged in car body, and battery pack connects inversion
Device, while chassis is driven in the lower section of horizontal frame setting omnidirectional, and the lower section setting optics on omnidirectional's driving chassis is led automatically
Leading-in device, the front end on omnidirectional's driving chassis is arranged in the beat seat, and is arranged swivel base on omnidirectional's driving chassis, swivel base and partially
Swing seat is hinged, and limit plate is arranged in the two sides of swivel base, and the lower section on omnidirectional's driving chassis is arranged in the steering wheel, and is in diagonal line
Setting, while auxiliary wheel is set in the lower section on omnidirectional's driving chassis, auxiliary wheel is corresponding with steering wheel, and interlocks in diagonal line with steering wheel
Setting, the wheel shaft are arranged on steering wheel and auxiliary wheel, are fixedly connected with steering wheel and auxiliary wheel, and bearing is arranged on wheel shaft,
Car body front end bearing corresponding with steering wheel and auxiliary wheel is connect with beat seat, and the bearing of body rear end and omnidirectional's driving chassis connect
It connects, while circlip is set on the wheel shaft above bearing, and driven in omnidirectional and end cap is set on chassis and beat seat, end cap passes through
It is bolted omnidirectional driving chassis and the top of wheel shaft is arranged in beat seat, the gear, and locking nut is set on wheel shaft,
Fluted disc is set on omnidirectional's driving chassis simultaneously, fluted disc is engaged with steering wheel and auxiliary wheel with the gear on wheel shaft respectively.
As a further solution of the present invention: the gear totally four, and it is corresponding with steering wheel and auxiliary wheel respectively.
As a further solution of the present invention: the bearing uses thrust roller bearing, and opposite combination.
As a further solution of the present invention: the auxiliary wheel uses universal wheel, and auxiliary wheel is fixed with wheel shaft
Connection.
As a further solution of the present invention: the horizontal frame is formed using high-quality steel pipe type vehicle welding, install
The upper grinding machine in face processes plane.
As a further solution of the present invention: the battery pack selects the lithium iron battery of high capacity.
Compared with prior art, the utility model has the beneficial effects that the utility model structure is simple, using beat seat with
Swivel base cooperation, and limited by limit plate, it is made into deflection mechanism by two groups before car body front end, when ground part is not flat
It waits, deflection mechanism can adjust itself deflection angle according to ground injustice situation, so that omnidirectional's cooperation machine chassis of four-wheel is whole
It lands, enables cooperation robot, omnidirectional preferably to adapt to different ground environments, increase its service performance；Gear is matched with fluted disc
It closes, auxiliary wheel and steering wheel is linked, to drive auxiliary wheel to carry out identical steering by steering wheel, realize 360 degree of Omni-mobiles, phase
Compared with universal wheel is used alone, when efficiently avoiding steering wheel steering, auxiliary wheel lag generates pause and transition in rhythm or melody phenomenon, has higher steady
It is qualitative, and compared with other equipment common in material conveying, zone of action is without being laid with the fixed dress such as track, support saddle frame
It sets, is not limited by place, road and space, more efficiently, economical, flexibly.
Detailed description of the invention
Fig. 1 is the structural schematic diagram that logistics transportation sorts electronic Omni-mobile AGV trolley.
Fig. 2 is the schematic diagram of internal structure that logistics transportation sorts electronic Omni-mobile AGV trolley.
Fig. 3 is the structural schematic diagram that logistics transportation sorts deflection mechanism in electronic Omni-mobile AGV trolley.
In figure: side 4, industrial camera 5, robot are touched in car body 1, laser safety sensor 2, car body control centre 3, anticollision
Arm 6, robot control cabinet 7, tri coloured lantern 8, object placing platform 9, inverter 10, horizontal frame 11, battery pack 12, omnidirectional drive chassis
13, optical target sounding device 14, steering wheel 15, auxiliary wheel 16, bearing 17, gear 18, fluted disc 19, circlip 20, end cap 21, locking
Nut 22, wheel shaft 23, beat seat 24, limit plate 25 and swivel base 26.
Specific embodiment
The following will be combined with the drawings in the embodiments of the present invention, carries out the technical scheme in the embodiment of the utility model
Clearly and completely describe, it is clear that the described embodiments are only a part of the embodiments of the utility model, rather than whole
Embodiment.Based on the embodiments of the present invention, those of ordinary skill in the art are without making creative work
Every other embodiment obtained, fall within the protection scope of the utility model.
Please refer to Fig. 1~3, in the utility model embodiment, a kind of logistics transportation sorts small with electronic Omni-mobile AGV
Vehicle, including car body 1, laser safety sensor 2, car body control centre 3, anticollision touching side 4, industrial camera 5, robot arm 6, machine
Device people control cabinet 7, tri coloured lantern 8, object placing platform 9, inverter 10, horizontal frame 11, battery pack 12, omnidirectional drive chassis 13, optics
Homing guidance device 14, steering wheel 15, auxiliary wheel 16, bearing 17, gear 18, fluted disc 19, circlip 20, end cap 21, locking nut 22,
The diagonal two sides of car body 1 are arranged in wheel shaft 23, beat seat 24, limit plate 25 and swivel base 26, the laser safety sensor 2, and
It is distributed in diagonal line, and touches side 4 in the setting anticollision of the bottom of car body 1, while car body control centre is set in the left side of car body 1,
And robot control cabinet 7 is set on the right side of car body 1, tri coloured lantern 8 separately is set in the top of car body 1, so passes through laser safety
Sensor 2 can 360 degree without dead angle detection surrounding stop obstacle, after encountering obstacle, alarmed by tri coloured lantern 8, and by vehicle
Body control centre 3 is slowed down, is stopped, and touches the limit protection that side 4 is collided as car body 1 by anticollision, when laser safety passes
2 failure of sensor, or it is artificial it is unexpected enter into robot operation area, side 4 is touched in touching car body anticollision, and robot stops transporting immediately
Row, and alarm.The horizontal frame 11 is arranged inside car body 1, and robot arm 6, machine are arranged on horizontal frame 11
Industrial camera 5 is arranged in the front end of device human arm 6, while object placing platform 9 is arranged on the right side of car body 1, is so controlled by robot
Cabinet 7 carries out centralized control, executes grasping movement, and treat crawl object by industrial camera 5 and shot, calculates after picking up
Object to be grabbed and its home position deviation, and by image transmitting to background controller carry out image procossing, make its machine
Device human arm 6 can more accurately grab object, and the bottom of horizontal frame 11 is arranged in the battery pack 12, and in car body 1
Inverter 10 is set, battery pack 12 connects inverter 10, while driving chassis 13 in the lower section of horizontal frame 11 setting omnidirectional, and
Optical target sounding device 14 is set in the lower section on omnidirectional's driving chassis 13, the setting of beat seat 24 drives chassis 13 in omnidirectional
Front end, and swivel base 26 is set on omnidirectional's driving chassis 13, swivel base 26 and beat seat 24 are hinged, and set in the two sides of swivel base 26
Limit plate 25 is set, the lower section on omnidirectional's driving chassis 13 is arranged in the steering wheel 15, and is arranged in diagonal line, while driving in omnidirectional
Auxiliary wheel 16 is arranged in the lower section on chassis 13, and auxiliary wheel 16 is corresponding with steering wheel 15, and is staggered in diagonal line with steering wheel 15, described
Wheel shaft 23 is arranged on steering wheel 15 and auxiliary wheel 16, is fixedly connected with steering wheel 15 and auxiliary wheel 16, and axis is arranged on wheel shaft 23
17 are held, 1 front end of car body bearing 17 corresponding with steering wheel 15 and auxiliary wheel 16 is connect with beat seat 24, the bearing 17 of 1 rear end of car body
It is connect with omnidirectional's driving chassis 13, while circlip 20 is set on the wheel shaft 23 above bearing 17, and drive chassis 13 in omnidirectional
With setting end cap 21 on beat seat 24, end cap 21 is bolted omnidirectional driving chassis 13 and beat seat 24, so passes through card
Spring 20, end cap 21 and omnidirectional's driving 13 collective effect of chassis guarantee the stabilization of wheel shaft 23, to guarantee steering wheel 15 and auxiliary wheel 16
The stationarity of steering, and when ground part is uneven, beat seat 24 can adjust itself deflection angle according to ground injustice situation
Degree, so that four-wheel all lands, can preferably adapt to different ground environments, and the top of wheel shaft 23 is arranged in the gear 18,
And on wheel shaft 23 be arranged locking nut 22, while omnidirectional driving chassis 13 on be arranged fluted disc 19, fluted disc 19 respectively with steering wheel
15 and auxiliary wheel 16 be engaged with the gear 18 on wheel shaft 23, such steering wheel 15 turn to when, by wheel shaft 23 with moving gear 18
Rotation can successively be engaged by gear 18- fluted disc 19- gear 18 and auxiliary wheel 16 is driven to rotate in same direction, when car body 1 turns to more
Stablize.
The gear 18 totally four, and it is corresponding with steering wheel 15 and auxiliary wheel 16 respectively.
The bearing 17 uses thrust roller bearing, and opposite combination.
The auxiliary wheel 16 uses universal wheel, and auxiliary wheel 16 is fixedly connected with wheel shaft 23.
The horizontal frame 11 is formed using high-quality steel pipe type vehicle welding, and the upper grinding machine of mounting surface processes plane.
The battery pack 12 selects the lithium iron battery of high capacity.
The working principle of the utility model is: in use, by laser safety sensor 2 can 360 degree without dead angle detection
Surrounding stops obstacle, after encountering obstacle, is alarmed by tri coloured lantern 8, and slowed down by car body control centre 3, stopped, together
When the limit protection that collides as car body 1 of side 4 touched by anticollision, when 2 failure of laser safety sensor, or artificially unexpected step on
Enter robot operation area, side 4 is touched in touching car body anticollision, and robot arm 6 stops running immediately, and alarms.
Centralized control is carried out by robot control cabinet 7, executes grasping movement, and crawl object is treated by industrial camera 5
Body is shot, and calculates the deviation of the object to be grabbed after picking up Yu its home position, and image transmitting to backstage is controlled
Device processed carries out image procossing, its robot arm 6 is enable more accurately to grab object,
When car body control centre 3 controls the steering of steering wheel 15 and movement, is rotated, can be passed through with moving gear 18 by wheel shaft 23
Gear 18- fluted disc 19- gear 18, which successively engages, drives auxiliary wheel 16 to rotate in same direction, and car body 1 is more stable when turning to, and local
When face part is uneven, beat seat 24 can adjust itself deflection angle according to ground injustice situation, and make four-wheel by limit plate
It all lands, can preferably adapt to different ground environments.
Although the utility model is described in detail with reference to the foregoing embodiments, come for those skilled in the art
Say, it is still possible to modify the technical solutions described in the foregoing embodiments, or to part of technical characteristic into
Row equivalent replacement, within the spirit and principle of the utility model, any modification, equivalent replacement, improvement and so on should all
It is included within the scope of protection of this utility model.
Claims (6)
1. a kind of logistics transportation sorts electronic Omni-mobile AGV trolley, including the control of car body, laser safety sensor, car body
Center, anticollision touching side, industrial camera, robot arm, robot control cabinet, tri coloured lantern, object placing platform, inverter, horizontal frame,
Battery pack, omnidirectional drive chassis, optical target sounding device, steering wheel, auxiliary wheel, bearing, gear, fluted disc, circlip, end cap, lock
Tight nut, wheel shaft, beat seat, limit plate and swivel base, which is characterized in that the diagonal of car body is arranged in the laser safety sensor
Two sides, and be distributed in diagonal line, and touch side in the setting anticollision of the bottom of car body, while in the left side of car body setting car body controls
The heart, and robot control cabinet is set on the right side of car body, separately the horizontal frame setting described in the top of car body setting tri coloured lantern exists
Vehicle body, and robot arm is set on horizontal frame, industrial camera is arranged in the front end of robot arm, while in car body
Right side be arranged object placing platform, the bottom of horizontal frame is arranged in the battery pack, and inverter is arranged in car body, battery pack connect
Inverter is connect, while driving chassis in the lower section of horizontal frame setting omnidirectional, and optics is set in the lower section on omnidirectional's driving chassis
Homing guidance device, the front end on omnidirectional's driving chassis is arranged in the beat seat, and swivel base is arranged on omnidirectional's driving chassis, turns
Seat is hinged with beat seat, and limit plate is arranged in the two sides of swivel base, and the lower section on omnidirectional's driving chassis is arranged in the steering wheel, and is in
Diagonal line setting, while auxiliary wheel is set in the lower section on omnidirectional's driving chassis, auxiliary wheel is corresponding with steering wheel, and is in diagonal line and rudder
Wheel is staggered, and the wheel shaft is arranged on steering wheel and auxiliary wheel, is fixedly connected with steering wheel and auxiliary wheel, and be arranged on wheel shaft
Bearing, car body front end bearing corresponding with steering wheel and auxiliary wheel are connect with beat seat, and the bearing of body rear end and omnidirectional drive bottom
Disk connection, while circlip is set on the wheel shaft above bearing, and drives in omnidirectional and end cap, end cap is arranged on chassis and beat seat
Omnidirectional driving chassis is bolted and the top of wheel shaft is arranged in beat seat, the gear, and locking is set on wheel shaft
Nut, while fluted disc is set on omnidirectional's driving chassis, fluted disc should be nibbled with steering wheel and auxiliary wheel with the gear mesh on wheel shaft respectively
It closes.
2. logistics transportation according to claim 1 sorts electronic Omni-mobile AGV trolley, which is characterized in that the tooth
Totally four, wheel, and it is corresponding with steering wheel and auxiliary wheel respectively.
3. logistics transportation according to claim 1 sorts electronic Omni-mobile AGV trolley, which is characterized in that the axis
It holds using thrust roller bearing, and opposite combination.
4. logistics transportation according to claim 1 sorts electronic Omni-mobile AGV trolley, which is characterized in that described auxiliary
Help wheel using universal wheel, and auxiliary wheel is fixedly connected with wheel shaft.
5. logistics transportation according to claim 1 sorts electronic Omni-mobile AGV trolley, which is characterized in that the water
Flat frame is formed using high-quality steel pipe type vehicle welding, and the upper grinding machine of mounting surface processes plane.
6. logistics transportation according to claim 1 sorts electronic Omni-mobile AGV trolley, which is characterized in that the electricity
The lithium iron battery of pond group selection high capacity.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821862584.3U CN209008733U (en) | 2018-11-15 | 2018-11-15 | A kind of electronic Omni-mobile AGV trolley of logistics transportation sorting |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821862584.3U CN209008733U (en) | 2018-11-15 | 2018-11-15 | A kind of electronic Omni-mobile AGV trolley of logistics transportation sorting |
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| Publication Number | Publication Date |
|---|---|
| CN209008733U true CN209008733U (en) | 2019-06-21 |
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ID=66842207
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821862584.3U Active CN209008733U (en) | 2018-11-15 | 2018-11-15 | A kind of electronic Omni-mobile AGV trolley of logistics transportation sorting |
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| CN (1) | CN209008733U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110328677A (en) * | 2019-07-29 | 2019-10-15 | 东莞市科研世智能科技有限公司 | A kind of EMU car side detection robot |
| CN111766882A (en) * | 2020-07-03 | 2020-10-13 | 上海振华重工(集团)股份有限公司 | Container detection method suitable for AGV and automatic wharf management system |
-
2018
- 2018-11-15 CN CN201821862584.3U patent/CN209008733U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110328677A (en) * | 2019-07-29 | 2019-10-15 | 东莞市科研世智能科技有限公司 | A kind of EMU car side detection robot |
| CN111766882A (en) * | 2020-07-03 | 2020-10-13 | 上海振华重工(集团)股份有限公司 | Container detection method suitable for AGV and automatic wharf management system |
| CN111766882B (en) * | 2020-07-03 | 2021-04-23 | 上海振华重工(集团)股份有限公司 | Container detection method suitable for AGV and automatic wharf management system |
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