CN209648708U - An intelligent handling device - Google Patents

Abstract

The utility model discloses a kind of intelligence Handling devices, including vehicle frame, idler wheel, electrical turntable, pick-and-place mechanism unit and intelligent control unit, idler wheel includes four, the quadrangle of vehicle frame is set, electrical turntable is arranged on vehicle frame, and the pick-and-place mechanism unit for clamping crawl material is provided on electrical turntable；The intelligent control unit being arranged on vehicle frame is connect with idler wheel, electrical turntable and pick-and-place mechanism unit respectively, realizes crawl for controlling vehicle frame, electrical turntable and pick-and-place mechanism unit.The utility model structure is simple, easy to use, suitable for carrying to cargo, pass through clamping device, clamping carrying directly can be carried out to cargo, institute's loaded material will not skid, and meet the function of robot autonomous identification material information, meet complex work environment, accurate crawl cargo can enter complex region and work, not need loading machine and carry out cooperating, the efficiency that cargo carrying will be effectively improved in this way, reduces the transportation cost of cargo.

Description

An intelligent handling device

technical field

The utility model belongs to the technical field of material handling, in particular to an intelligent handling device.

Background technique

The handling robot is a high-tech emerging in the field of modern automatic control. It involves disciplines such as mechanics, mechanics, hydraulic voltage technology, automatic control technology, sensor technology, single-chip microcomputer technology and computer technology. It has become a modern mechanical manufacturing production system. an important component. Its advantage is that it can complete various expected tasks through programming, and has the respective advantages of humans and machines in its own structure and performance, especially reflecting artificial intelligence and adaptability. Of course, most of the existing handling robots do not have the function of scanning the information of the goods and directly clamping and handling them. They need the cooperation of loading machinery to load and unload them, which increases the cost of goods handling and reduces the efficiency.

When the current robot is in an unstable state of the splint, some materials will slip, which cannot satisfy the function of the robot to independently identify material information, and does not meet some complex working environments. The flexibility of the telescopic rod is insufficient, which makes it impossible to accurately grasp the goods or enter complex areas. To pick up the goods, the goods cannot be clamped and transported directly, and a loading machine is required to load the goods, which makes the operation efficiency low and is not conducive to improving the efficiency of goods handling. Based on this, the utility model designs an intelligent handling device. to solve the above problems.

Utility model content

The technical problem to be solved by the utility model is to provide an intelligent handling device for the deficiencies in the above-mentioned prior art, which can realize the function of accurately grabbing materials in a super complex environment.

The utility model adopts the following technical solutions:

An intelligent handling device includes a vehicle frame, rollers, an electric turntable, a pick-and-place mechanism unit and an intelligent control unit. The four rollers are arranged at the four corners of the vehicle frame. The electric turntable is arranged on the vehicle frame. The pick-and-place mechanism unit for clamping and grabbing materials; the intelligent control unit set on the frame is respectively connected with the rollers, electric turntable and pick-and-place mechanism unit, and is used to control the frame, electric turntable and pick-and-place mechanism unit to realize grabbing .

Specifically, the pick-and-place mechanism unit includes a first steering gear, the first steering gear is arranged at the center of the electric turntable, the second mechanical arm and the angle adjustment arm are sequentially connected through the first mechanical arm, and the angle adjustment arm is connected with the clamping device.

Further, a second steering gear is arranged between the first mechanical arm and the second mechanical arm, a third steering gear is arranged between the second mechanical arm and the angle adjustment arm, the first steering gear, the second steering gear and the third steering gear The steering gear is respectively connected with the intelligent control unit.

Further, the clamping part of the clamping device is provided with a rubber pad.

Further, a camera is arranged on the angle adjustment arm, and the camera is electrically connected to the vision module arranged on the vehicle frame, and connected to the intelligent control unit through the vision module.

Furthermore, two laser or ultrasonic distance measuring sensors perpendicular to each other are arranged on the vehicle frame, and the laser or ultrasonic distance measuring sensors are connected with the intelligent control unit through the vision module.

Specifically, the intelligent control unit includes a drive circuit board, a single-chip microcomputer and an expansion circuit board, and the single-chip microcomputer is respectively connected with the roller, the electric turntable and the pick-and-place mechanism unit through the drive circuit board and the expansion circuit board.

Further, the intelligent control unit also includes an external power supply, which is respectively connected to the drive circuit board, the single-chip microcomputer and the expansion circuit board.

Specifically, the four rollers are respectively connected to the motors provided on the top of the inner chamber of the frame, and the rollers are connected to the frame through bearings.

Further, the roller is an omnidirectional wheel.

Compared with the prior art, the utility model has at least the following beneficial effects:

The utility model is an intelligent handling device. The rollers are responsible for the movement of the vehicle. The electric turntable is responsible for rotating the pick-and-place mechanism to a suitable handling angle for the material to be transported. The pick-and-place mechanism unit is responsible for the stable grasping and placement of the material. The intelligent control unit passes After the information collected by the sensor is analyzed and processed by the single-chip computer, the rotation mechanism unit and the pick-and-place mechanism unit are controlled to realize the above functions. The pick-and-place mechanism unit is installed on the rotation mechanism unit, and the rotation mechanism unit is installed on the frame, realizing the integration of handling and grabbing. It greatly reduces manual handling and realizes programmed and intelligent operation.

Further, the pick-and-place mechanism unit is used to accurately grab the goods in a complex environment, and can stably grab the goods at any angle without slipping, and place them stably after reaching the designated position.

Furthermore, multiple steering gears can expand and contract in multiple directions in complex environments, which can meet most complex working environments.

Further, rubber pads are uniformly arranged on the clamping part, which is beneficial to stably clamping the goods.

Further, through the setup of the camera, the cargo information can be video-collected to realize precise clamping operation.

Further, the intelligent control unit controls the rotation mechanism unit and the pick-and-place mechanism unit to realize grasping after the information collected by the sensor is analyzed and processed by the single-chip microcomputer.

Furthermore, setting an external power supply can provide continuous and stable power support for the truck.

Further, the rollers at the four corners of the frame are beneficial to realize the steering function in a narrow space.

In summary, the utility model has a simple structure and is easy to use, and is suitable for handling goods. Through the clamping device, the goods can be directly clamped and transported, and the loaded materials will not slip, which meets the function of the robot to independently identify material information , to meet the complex working environment, accurately grasp the goods, and can work in complex areas, without the need for loading machinery to cooperate with the work, which will effectively improve the efficiency of cargo handling and reduce the transportation cost of goods.

The technical solutions of the present utility model will be further described in detail through the drawings and embodiments below.

Description of drawings

Fig. 1 is the structural representation of the utility model;

Fig. 2 is the utility model side view structure diagram;

Fig. 3 is a schematic view of the structure of the utility model;

Fig. 4 is a structural schematic diagram of the walking mechanism unit and the intelligent control unit of the utility model;

Fig. 5 is a structural schematic diagram of the rotation mechanism unit of the utility model;

Fig. 6 is a structural schematic diagram of the pick-and-place mechanism unit of the present invention.

Among them: 1. Frame; 2. Roller; 3. Motor; 4. Control circuit board; 41. Drive circuit board; 42. SCM; 43. Expansion circuit board; 5. Vision module; 6. Electric turntable; 7. 1. Mechanical arm; 8. First steering gear; 9. Second mechanical arm; 10. Second steering gear; 11. Angle adjustment arm; 12. Third steering gear; 13. Camera; 14. Clamping device.

Detailed ways

In describing the present utility model, it should be understood that the terms "center", "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", The orientation or positional relationship indicated by "vertical", "horizontal", "top", "bottom", "inner", "outer", "side", "end", "side" etc. are based on the drawings The orientation or positional relationship is only for the convenience of describing the utility model and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be interpreted as a reference to the utility model. limits. In addition, the terms "first" and "second" are used for descriptive purposes only, and cannot be interpreted as indicating or implying relative importance or implicitly specifying the quantity of indicated technical features. Thus, a feature defined as "first" and "second" may explicitly or implicitly include one or more of these features. In the description of the present utility model, unless otherwise specified, "plurality" means two or more.

In the description of the present utility model, it should be noted that, unless otherwise clearly stipulated and limited, the terms "installation", "connection" and "connection" should be understood in a broad sense, for example, it can be a fixed connection or a flexible connection. Detachable connection, or integral connection; it can be mechanical connection or electrical connection; it can be direct connection or indirect connection through an intermediary, and it can be the internal communication of two components. Those of ordinary skill in the art can understand the specific meanings of the above terms in the present utility model in specific situations.

Please refer to Fig. 1, Fig. 2 and Fig. 3, a kind of intelligent handling device of the utility model, comprises traveling mechanism unit, rotating mechanism unit, catch and place mechanism unit and intelligent control unit, and rotating mechanism unit is arranged on the traveling mechanism unit, and one end is connected with The pick-and-place mechanism unit is connected, and the walking mechanism unit controls the direction of the roller 2 through the motor 3 at different speeds. The rotating mechanism unit is used to rotate to determine the grabbing direction. The unit is connected to the pick-and-place mechanism unit, and the collected information is transmitted to the circuit board through the sensor for analysis and fed back to the traveling mechanism unit, the rotating mechanism unit and the pick-and-place mechanism unit for image recognition, processing, transmission, single-chip control, and control of different steering gears and fetch.

Please refer to Figure 4, the traveling mechanism unit includes a vehicle frame 1, a roller 2 and a motor 3, the four corners of the vehicle frame 1 rotate and connect the rollers 2, and the four corners of the inner cavity of the vehicle frame 1 are provided with motors whose output ends are fixedly connected to the corresponding rollers 2 respectively 3. The motor 3 is installed on the top of the inner cavity of the frame 1, and the roller 2 is conducive to realizing the steering function in a narrow space.

Please refer to FIG. 5 , the rotation mechanism unit includes an electric turntable 6 fixed at the center of the top of the frame 1 , and feeds back material information through the control circuit board 4 to drive the central electric turntable 6 to rotate.

Please refer to Fig. 6, the grasping mechanism unit comprises the first mechanical arm 7, the first steering gear 8, the second mechanical arm 9, the second steering gear 10, the angle adjustment arm 11 and the third steering gear 12, the first steering gear 8 Set in the center of the electric turntable 6, connected with one end of the first mechanical arm 7, the other end of the first mechanical arm 7 is connected with one end of the second mechanical arm 9 through the second steering gear 10, and the other end of the second mechanical arm 9 The third steering gear 12 is connected to one end of the angle adjustment arm 11 , and the other end of the angle adjustment arm 11 is respectively connected to the camera 13 and the clamping device 14 , and the camera 13 is electrically connected to the vision module 5 .

The vision module adopts OpenMV CAM M7OV7725 vision module, OpenMV is a low-cost, powerful machine vision module. With STM32F427CPU as the core, it integrates the OV7725 camera chip. On the compact hardware module, the core machine vision algorithm is efficiently implemented in C language, and the python programming interface is provided to program the camera through the python language to achieve rapid recognition of specific targets. , and connect the serial port of the OpenMV camera with the single-chip microcomputer to realize serial communication, and send the target characteristics of the identified specific target to the single-chip microcomputer for judgment by the single-chip microcomputer to take subsequent operations.

The first mechanical arm 7 is hinged on the left side of the top of the electric turntable 6, the top center of the electric turntable 6 is equipped with a first steering gear 8 driving the first mechanical arm 7, and the left end of the first mechanical arm 7 is hinged with a second mechanical arm 9 , the hinge of the second mechanical arm 9 and the first mechanical arm 7 is provided with a second steering gear 10 that drives the second mechanical arm 9, the second steering gear 10 is installed on the left end of the second mechanical arm 9, and the second mechanical arm 9 Angle adjustment arm 11 is hinged on the right end of the angle adjustment arm 11, and the third steering gear 12 driving the angle adjustment arm 11 is arranged at the hinge of the angle adjustment arm 11 and the second mechanical arm 9, and the third steering gear 12 is fixedly installed on the left end of the angle adjustment arm 11 A camera electrically connected to the vision module 5 is installed on the upper right part of the angle adjustment arm 11, and a clamping device 14 driven by a mechanical claw servo is installed on the right side of the angle adjustment arm 11.

The motor 3, the electric turntable 6, the first steering gear 8, the second steering gear 10, the third steering gear 12 and the clamping device 14 are all electrically connected to the external power supply through the control circuit board 4, and the camera is connected to the external power supply through the vision module 5 Electrically connected, the visual module 5 is electrically connected with the control circuit board 4 .

The intelligent control unit is the control circuit board 4 installed at the bottom of the inner cavity of the vehicle frame 1. The control circuit board 4 includes a drive circuit board 41, a single-chip microcomputer 42 and an expansion circuit board 43. The drive circuit board is a four-way motor drive circuit board, which can control four motors. The universal wheel 2 is driven and controlled. Since the power of the IO interface of the single chip microcomputer is too small to directly drive the motor to run, it is necessary to drive the circuit board to drive the motor to run indirectly and to control the running state of the motor.

The drive circuit board is powered by the power supply module, and the single-chip microcomputer outputs four PWMs with adjustable duty ratios to the drive module to further realize the control of the wheel speed and forward and reverse rotation by the single-chip microcomputer.

The expansion circuit board provides sufficient power supply interface for relevant sensors, and leads out the relevant single-chip microcomputer IO port separately for easy connection.

The single-chip microcomputer adopts Arduino Mega 2560 single-chip microcomputer, which provides sufficient IO interface for the device.

Preferably, the clamping parts of the clamping device 14 are uniformly provided with rubber pads, which is beneficial to stably clamping the goods.

Preferably, the connection between the rotating shaft of the roller 2 and the vehicle frame 1 is rotationally connected through a bearing, so that the roller 2 can rotate more smoothly. The roller 2 is an omnidirectional wheel, preferably a Mecanum wheel.

An intelligent handling device of the utility model is mainly suitable for carrying goods. When in use, the camera 13 scans the information of the goods to form an electrical signal, and the visual module 5 receives the electrical signal, and transmits the data to the single-chip microcomputer 42 after performing data processing on it. After the program in the single-chip microcomputer 42 can effectively analyze the data, the operation command is transmitted to the drive circuit board 41 and the expansion circuit board 43, and the drive circuit board 41 and the expansion circuit board 43 control the motor 3, the electric turntable 6, the first steering gear 8. The second steering gear 10, the third steering gear 12, and the clamping device 14 are controlled so that the clamping device 14 clamps the goods, and with the rolling of the roller 2, transports the goods to the designated place, as follows:

The vision module scans the item information, detects the surrounding environment and location, and transmits the information to the microcontroller;

Taking the lower left corner of a rectangular area as the origin, and taking the two adjacent sides of the corner as the XY axes to establish a plane Cartesian coordinate system, install two laser or ultrasonic ranging modules that are orthogonal to each other on the vehicle, and place the vehicle on the In this rectangular area, the distance measured by the two mutually orthogonal ranging sensors on the car can be used as the XY coordinates of the car in this plane Cartesian coordinate system, so that the positioning of the car in this area can be realized Function. On this basis, the requirements for precise control of the movement of the trolley to the designated position can be achieved through programming.

According to the received information, the single-chip computer drives the circuit board to drive the steering gear of the mechanical arm in the grasping mechanism unit to rotate. The steering gear of the mechanical arm rotates upward to reach the specified height, and the mechanical claw servo rotates inward to achieve the purpose of grabbing objects. Calculate the distance, drive the circuit board to drive the four omni-directional wheels to rotate, and achieve the purpose of controlling the direction through different speeds (turning left means that the speed of the left wheel is smaller than that of the right wheel, turning right means that the speed of the right wheel is lower than the speed of the left wheel, and going straight means that the four wheels move at the same speed );

After arriving at the designated position, the vision module determines the place where the material is placed, and then transmits the information to the single-chip microcomputer. The single-chip microcomputer drives the steering gear, so that the steering gear of the mechanical arm turns downward to lower the height, and the steering gear of the mechanical claw turns outward to place the item. The action is complete.

The above content is only to illustrate the technical idea of the utility model, and cannot limit the protection scope of the utility model. Any changes made on the basis of the technical solution according to the technical idea proposed by the utility model all fall into the scope of the utility model. within the scope of protection of the claims.

Claims (10)

1. An intelligent handling device, characterized in that it comprises a vehicle frame (1), rollers (2), an electric turntable (6), a pick-and-place mechanism unit and an intelligent control unit, and the rollers (2) include four, arranged on the vehicle At the four corners of the frame (1), the electric turntable (6) is arranged on the vehicle frame (1), and the pick-and-place mechanism unit for clamping and grabbing materials is arranged on the electric turntable (6); The intelligent control unit is respectively connected with the roller (2), the electric turntable (6) and the pick-and-place mechanism unit, and is used to control the vehicle frame (1), the electric turntable (6) and the pick-and-place mechanism unit to realize grabbing. 2. The intelligent handling device according to claim 1, characterized in that, the pick-and-place mechanism unit comprises a first steering gear (8), and the first steering gear (8) is arranged at the center of the electric turntable (6), through the first The mechanical arm (7) is sequentially connected to the second mechanical arm (9) and the angle adjusting arm (11), and the angle adjusting arm (11) is connected to the clamping device (14). 3. The intelligent handling device according to claim 2, characterized in that, a second steering gear (10) is arranged between the first mechanical arm (7) and the second mechanical arm (9), and the second mechanical arm (9) ) and the angle adjusting arm (11) are provided with a third steering gear (12), and the first steering gear (8), the second steering gear (10) and the third steering gear (12) are respectively connected with the intelligent control unit. 4. The intelligent conveying device according to claim 2, characterized in that, the clamping part of the clamping device (14) is provided with a rubber pad. 5. The intelligent handling device according to claim 2, characterized in that, the angle adjustment arm (11) is provided with a camera (13), and the camera (13) and the vision module (5) arranged on the vehicle frame (1) Electrically connected, connected with the intelligent control unit through the vision module (5). 6. The intelligent handling device according to claim 5, characterized in that, the vehicle frame (1) is provided with laser or ultrasonic ranging sensors in two directions orthogonal to each other, and the laser or ultrasonic ranging sensors pass through the vision module (5 ) is connected with the intelligent control unit. 7. According to the intelligent handling device according to any one of claims 1 to 6, it is characterized in that the intelligent control unit comprises a drive circuit board (41), a single-chip microcomputer (42) and an expansion circuit board (43), and the single-chip microcomputer (42) The drive circuit board (41) and the expansion circuit board (43) are respectively connected with the roller (2), the electric turntable (6) and the pick-and-place mechanism unit. 8. The intelligent handling device according to claim 7, characterized in that the intelligent control unit also includes an external power supply connected to the drive circuit board (41), the single-chip microcomputer (42) and the expansion circuit board (43) respectively. 9. The intelligent handling device according to claim 1, characterized in that, the four rollers (2) are respectively connected to the motor (3) provided on the top of the inner cavity of the frame (1), and the rollers (2) are connected to the frame (1) ) are connected by bearings. 10. The intelligent transport device according to claim 9, characterized in that the rollers (2) are omnidirectional wheels.