CN209737595U - Mobile mechanical arm trolley capable of being charged wirelessly - Google Patents
Mobile mechanical arm trolley capable of being charged wirelessly Download PDFInfo
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- CN209737595U CN209737595U CN201920328010.6U CN201920328010U CN209737595U CN 209737595 U CN209737595 U CN 209737595U CN 201920328010 U CN201920328010 U CN 201920328010U CN 209737595 U CN209737595 U CN 209737595U
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Abstract
The utility model discloses a portable arm dolly that wireless charges, including the dolly body, the AGV chassis, the arm, station locking mechanism, wireless charging module and remote management system, wherein, be equipped with the controller on the AGV chassis, the chassis motor, two mesh cameras, ultrasonic sensor, power battery and 4G communication module etc. cooperate the supporting facility on station ground, realized long-range receipt operation task instruction, carry out the operation to new station according to operation instruction moving platform to can 24 hours do not have intermittent work.
Description
Technical Field
the utility model belongs to the technical field of mechanized production equipment, especially, portable arm dolly that can wirelessly charge.
Background
(1) The reason is that when the electric quantity of the mechanical arm moving platform is about to be exhausted, the manual work is needed to charge the moving mechanical arm platform, the utilization rate of the platform is seriously reduced, and meanwhile, the manpower burden is increased.
(2) At present, most of mobile mechanical arm platforms move by adopting tracks. The mechanical arm moves on a fixed track, and has the obvious defects of occupying a large amount of area in a factory, being limited in action and being incapable of freely moving and changing among stations for operation.
(3) The current trackless mobile mechanical arm platform also adopts an AGV chassis as a mobile platform, but the AGV chassis does not have a wireless charging function, so that the AGV chassis needs to be manually charged before the electric quantity is exhausted, and the operation is continued after the AGV chassis is fully charged. This not only occupies the manpower, also consumes a large amount of charging time, seriously reduces the rate of utilization of arm, also can not really realize unmanned automated production.
the disadvantages of the prior art are as follows: the existing mobile mechanical arm platform is not completely separated from both hands of people, when the electric quantity of the platform is about to be exhausted, people are required to perform charging work, the manpower is occupied, a large amount of charging time is consumed, the utilization rate of the mechanical arm is seriously reduced, and unmanned automatic production cannot be really realized.
Disclosure of Invention
In order to solve the above-mentioned one or more problem, the utility model provides a portable arm dolly that can wirelessly charge, the utility model discloses can long-range receipt operation task instruction, carry out the operation to new station according to operation instruction moving platform to can 24 hours work without intermission.
the utility model discloses a realize like this:
A wireless portable arm dolly that charges includes:
The dolly body, the dolly body is equipped with the workstation, and the workstation top is equipped with the arm, and the below is equipped with the AGV chassis, wherein:
The AGV comprises an AGV chassis, a controller and a control module, wherein the AGV chassis is provided with the controller and is used for controlling the movement of the AGV chassis; driving an AGV chassis to perform wheel type traveling through a chassis motor; the system is provided with a binocular camera for identifying external objects and navigating, and is provided with a left ultrasonic sensor and a right ultrasonic sensor for detecting obstacles, so that the system can stop immediately once the obstacles are found, and collision is avoided; the power battery is also used for providing power supply; the 4G communication module is arranged and can automatically move to a new station for operation according to a task instruction issued by the remote management system;
the mechanical arm is arranged on the AGV chassis, and the tail end of the mechanical arm is provided with a mechanical arm/sucker to complete the grabbing and placing of articles for operation; the mechanical arm is powered by a power battery of the AGV chassis, and the movement of the mechanical arm and the grabbing/sucking/placing actions of the mechanical arm/sucker are controlled by a controller arranged on the AGV chassis in a unified manner;
Further comprising:
The station locking mechanism comprises a locking hole arranged at the bottom of the AGV chassis and a locking block arranged on the ground, and is used for locking the AGV chassis and the ground after the AGV chassis moves to a new station;
the ground motor is connected with the locking block, and when the AGV chassis moves to a new station, the ground motor drives the locking block to ascend and butt with the locking hole;
the ground two-dimensional code navigation bar is attached to the ground, and the binocular camera acquires navigation information by identifying the two-dimensional code information;
the wireless charging module is arranged at the bottom of the AGV chassis and charges the power battery in real time after the AGV chassis moves to a new station and starts to work;
The ground wireless charging transmitting module is arranged on the ground of each station to be matched with the wireless charging module to complete wireless charging;
the remote management system realizes remote management of the mobile mechanical arm trolley, including remote task issuing and remote state monitoring.
Preferably, the bottom of the AGV chassis is provided with 2 front wheels and 2 rear wheels, wherein the 2 front wheels are universal wheels; the 2 rear wheels are driving wheels and are respectively driven by the 2 chassis motors, and the rear wheel differential control is added into a control algorithm to realize the steering control in the wheel type traveling process.
preferably, a binocular camera is used for shooting a ground two-dimensional code navigation bar to identify two-dimensional code information for navigation, wherein the two-dimensional code information comprises straight going, turning and turning around; meanwhile, the binocular camera is also used for measuring the relative position of the AGV chassis and the ground two-dimensional code navigation bar, and position correction is carried out in the advancing process.
Preferably, the ultrasonic sensor is a piezoelectric ultrasonic sensor, and the detection range is 25 cm-200 cm.
preferably, the method further comprises the following steps: 2 cameras installed on the horizontal and vertical planes of the work table, the precise movement of the robot arm and the precise grasping/sucking of the robot arm/suction cup are guided by the 2 cameras.
Preferably, the wireless charging module adopts a 1kw power level wireless charging module, and the charging air gap reaches more than 20 mm.
Preferably, the method further comprises the following steps: and an indicator lamp arranged on the workbench slowly flashes when the AGV chassis advances.
Compared with the prior art, the beneficial effects of the utility model are that:
(1) the utility model discloses have the wireless function of charging, can realize really unmanned, the work of whole day time.
(2) The utility model is provided with a binocular camera, an ultrasonic sensor and a ground two-dimensional code navigation bar, and can move to an appointed station according to an operation instruction;
(3) The utility model discloses be equipped with station locking mechanism, can guarantee the arm operation in-process, the AGV chassis can not shift.
(4) The utility model discloses have the remote control function, but remote receipt operation task instruction carries out the operation to new station according to operation instruction moving platform.
drawings
Fig. 1 is a schematic view of the overall structure of the present invention.
Fig. 2 is the schematic diagram of the station locking mechanism of the present invention.
Description of the labeling: 100-a trolley body, 200-a workbench, 1-a mechanical arm, 2-an AGV chassis, 3-a controller, 4-front wheels, 5-rear wheels, 6-a binocular camera, 7-an ultrasonic sensor, 8-a power battery, 9-an end execution mechanism, 10-a station locking mechanism, 11-a locking hole, 12-a locking block, 13-a ground motor, 14-a wireless charging module, 15-a ground wireless charging transmitting module and 16-an indicator light.
Detailed Description
in order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the present invention is further described below with reference to the accompanying drawings and specific embodiments.
As shown in fig. 1, the mobile robot trolley for wireless charging includes:
1. A cart body 100. The dolly body is equipped with workstation 200, and workstation 200 top is equipped with arm 1, and the below is equipped with AGV chassis 2.
AGV Chassis 2.
The AGV chassis 2 is equipped with a controller 3 for movement control of the AGV chassis 2.
The AGV chassis 2 is also provided with a chassis motor, and the chassis motor drives the AGV chassis 2 to move in a wheel type. Preferably, the bottom of the AGV chassis 2 is provided with 2 front wheels 4 and 2 rear wheels 5, wherein the 2 front wheels 4 are universal wheels and can change direction by 360 degrees; the 2 rear wheels 5 are driving wheels and can only travel in a straight line. The 2 rear wheels 5 are respectively driven by the 2 chassis motors, and rear wheel differential control is added into a control algorithm to realize steering control in the wheel type traveling process.
AGV chassis 2 still is equipped with two mesh cameras 6, and two mesh cameras 6 are in the dead ahead of dolly body 100, the top of AGV chassis 2, and mainly used discerns external object and navigates, will combine the ground two-dimensional code navigation bar to introduce working method in detail in the following.
AGV chassis 2 still is equipped with 2 ultrasonic sensor 7, and 2 ultrasonic sensor 7 are in the dead ahead left and right sides of dolly body 100, the top of AGV chassis 2 for the barrier is surveyed, in case find the barrier and park immediately, avoids bumping. Generally, a piezoelectric ultrasonic sensor is adopted, specifically, a super electronic QF30U ultrasonic sensor can be used, and the detection range is 25 cm-200 cm.
The AGV chassis 2 is also provided with a power battery 8 which is used for providing power for the whole trolley, and the power battery can be charged through a wireless charging module.
the AGV chassis 2 is also provided with a 4G communication module which can automatically move to a new station for operation according to a task instruction issued by a remote management system.
3. a robot arm 1. The robotic arm is mounted on the AGV chassis 2 with the end equipped with an end effector 9 to complete the grasping and placement of the items for operation. The end executing mechanism is an executing mechanism in a mechanical arm mode, a sucking disc mode or the like. The mechanical arm 1 is powered by a power battery 8 of the AGV chassis, and the movement of the mechanical arm 1 and the grabbing/sucking/placing actions of the mechanical arm/sucker are controlled by a controller 3 installed on the AGV chassis.
Preferably, the precise movement of the robot arm 1 requires the cooperation of a plurality of axial motors, and in addition, it comprises: the 2 cameras installed on the horizontal and vertical planes of the work table 200, the precise movement of the robot arm 1 and the precise grasping/sucking of the robot arm/suction cup are guided by the 2 cameras. The camera may be a conventional CCD camera.
4. Station locking mechanism 10. The station locking mechanism 10 comprises a locking hole 11 arranged at the bottom of the AGV chassis and a locking block 12 arranged on the ground, and is used for locking the AGV chassis 2 with the ground after the AGV chassis 2 moves to a new station;
5. A ground motor 13. The ground motor 13 is connected with the locking block 12, and after the AGV chassis 2 moves to a new station, the ground motor 13 drives the locking block 12 to ascend and butt with the locking hole 11.
the cooperation of the station locking mechanism 10 and the ground motor 13 is shown in fig. 2. When the AGV chassis 2 moves to a target position, the AGV chassis 2 is in neutral gear, the ground motor 13 is started to drive the locking block 12 to move upwards, when the locking block 12 is completely coincided with the locking hole 11, the AGV chassis 2 is in parking gear, so far, the locking work is completed, and the station locking mechanism 10 can prevent the AGV chassis 2 from moving when the mechanical arm 1 works, so that the mechanical arm 1 works and makes mistakes. And a corresponding locking mechanism is arranged on the ground of each station so as to complete the butt joint and locking of the trolley and the locking mechanism.
6. ground two-dimensional code navigation strip. The ground two-dimensional code navigation bar is attached to the ground, and the binocular camera 6 acquires navigation information by recognizing the two-dimensional code information.
The cooperation relation of binocular camera 6 and ground two-dimensional code navigation strip is: the binocular camera 6 is used for shooting a ground two-dimensional code navigation bar to identify two-dimensional code information for navigation, wherein the two-dimensional code information comprises straight going, turning and turning around; meanwhile, the binocular camera 6 is also used for measuring the relative position of the AGV chassis 2 and the ground two-dimensional code navigation bar, and position correction is carried out in the advancing process.
7. The wireless charging module 14. The wireless charging module 14 is installed at the bottom of the AGV chassis 2, and charges the power battery 8 in real time after the AGV chassis 2 moves to a new station and starts working.
8. And a ground wireless charging transmitting module 15. The ground wireless charging transmitting module 15 is installed on the ground of each station to cooperate with the wireless charging module 14 to complete wireless charging.
9. A remote management system. The remote management system realizes remote management of the mobile mechanical arm trolley platform, including remote task issuing and remote state monitoring.
10. And an indicator lamp 16 provided on the table 200. When the AGV chassis 2 slowly flashes, surrounding workers are informed of the passing of vehicles, and safety is noticed. The power supply of the indicator light 16 is provided by the power battery 8, and the control is completed by the controller 3.
compared with the prior art, the utility model has the advantages that the utility model is a mobile mechanical arm platform, which has wireless charging function and can realize real unmanned and all-day work; the utility model is also provided with a binocular camera, an ultrasonic sensor and a ground two-dimensional code navigation bar, which can be moved to an appointed station according to an operation instruction; the utility model is also provided with a station locking mechanism, which can ensure that the AGV chassis can not shift in the operation process of the mechanical arm; the utility model discloses still have the remote control function, but remote receipt operation task instruction carries out the operation to new station according to operation instruction moving platform.
The above description is only exemplary of the present invention and should not be taken as limiting the scope of the present invention, as any modifications, equivalents, improvements and the like made within the spirit and principles of the present invention are intended to be included within the scope of the present invention.
Claims (7)
1. The utility model provides a portable arm dolly that can wirelessly charge which characterized in that includes:
the dolly body, the dolly body is equipped with the workstation, and the workstation top is equipped with the arm, and the below is equipped with the AGV chassis, wherein:
the AGV comprises an AGV chassis, a controller and a control module, wherein the AGV chassis is provided with the controller and is used for controlling the movement of the AGV chassis; driving an AGV chassis to perform wheel type traveling through a chassis motor; the system is provided with a binocular camera for identifying external objects and navigating, and is provided with a left ultrasonic sensor and a right ultrasonic sensor for detecting obstacles, so that the system can stop immediately once the obstacles are found, and collision is avoided; the power battery is also used for providing power supply; the 4G communication module is arranged and can automatically move to a new station for operation according to a task instruction issued by the remote management system;
The mechanical arm is arranged on the AGV chassis, and the tail end of the mechanical arm is provided with a mechanical arm/sucker to complete the grabbing and placing of articles for operation; the mechanical arm is powered by a power battery of the AGV chassis, and the movement of the mechanical arm and the grabbing/sucking/placing actions of the mechanical arm/sucker are controlled by a controller arranged on the AGV chassis in a unified manner;
Further comprising:
the station locking mechanism comprises a locking hole arranged at the bottom of the AGV chassis and a locking block arranged on the ground, and is used for locking the AGV chassis and the ground after the AGV chassis moves to a new station;
The ground motor is connected with the locking block, and when the AGV chassis moves to a new station, the ground motor drives the locking block to ascend and butt with the locking hole;
the ground two-dimensional code navigation bar is attached to the ground, and the binocular camera acquires navigation information by identifying the two-dimensional code information;
The wireless charging module is arranged at the bottom of the AGV chassis and charges the power battery in real time after the AGV chassis moves to a new station and starts to work;
The ground wireless charging transmitting module is arranged on the ground of each station to be matched with the wireless charging module to complete wireless charging;
The remote management system realizes remote management of the mobile mechanical arm trolley, including remote task issuing and remote state monitoring.
2. The wirelessly chargeable mobile robotic arm cart of claim 1, wherein the AGV chassis has 2 front wheels and 2 rear wheels at the bottom, wherein 2 front wheels are universal wheels; the 2 rear wheels are driving wheels and are respectively driven by the 2 chassis motors, and the rear wheel differential control is added into a control algorithm to realize the steering control in the wheel type traveling process.
3. The wirelessly chargeable mobile mechanical arm trolley is characterized in that a binocular camera is used for shooting a ground two-dimensional code navigation bar to identify two-dimensional code information for navigation, wherein the two-dimensional code information comprises straight movement, turning and turning around; meanwhile, the binocular camera is also used for measuring the relative position of the AGV chassis and the ground two-dimensional code navigation bar, and position correction is carried out in the advancing process.
4. The mobile mechanical arm trolley capable of being charged wirelessly as claimed in claim 1, wherein the ultrasonic sensor is a piezoelectric ultrasonic sensor, and the detection range is 25 cm-200 cm.
5. The wirelessly chargeable mobile robotic arm cart of claim 1, further comprising: 2 cameras installed on the horizontal and vertical planes of the work table, the precise movement of the robot arm and the precise grasping/sucking of the robot arm/suction cup are guided by the 2 cameras.
6. the mobile mechanical arm trolley capable of being charged wirelessly as claimed in claim 1, wherein the wireless charging module is a 1kw power level wireless charging module, and the charging air gap is more than 20 mm.
7. the wirelessly chargeable mobile robotic arm cart of claim 1, further comprising: and an indicator lamp arranged on the workbench slowly flashes when the AGV chassis advances.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920328010.6U CN209737595U (en) | 2019-03-14 | 2019-03-14 | Mobile mechanical arm trolley capable of being charged wirelessly |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201920328010.6U CN209737595U (en) | 2019-03-14 | 2019-03-14 | Mobile mechanical arm trolley capable of being charged wirelessly |
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| CN209737595U true CN209737595U (en) | 2019-12-06 |
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| CN201920328010.6U Active CN209737595U (en) | 2019-03-14 | 2019-03-14 | Mobile mechanical arm trolley capable of being charged wirelessly |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111638718A (en) * | 2020-06-09 | 2020-09-08 | 安徽意欧斯物流机器人有限公司 | Differential drive AGV control system |
| CN113078743A (en) * | 2021-04-06 | 2021-07-06 | 山东大学 | Movable wireless charging device and method |
| CN113928146A (en) * | 2021-11-09 | 2022-01-14 | 武汉科技大学 | Moving double-arm robot for automatic charging of electric automobile |
| CN114918455A (en) * | 2022-06-21 | 2022-08-19 | 国营芜湖机械厂 | Automatic hole making equipment and method for surface of large aviation component |
-
2019
- 2019-03-14 CN CN201920328010.6U patent/CN209737595U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111638718A (en) * | 2020-06-09 | 2020-09-08 | 安徽意欧斯物流机器人有限公司 | Differential drive AGV control system |
| CN113078743A (en) * | 2021-04-06 | 2021-07-06 | 山东大学 | Movable wireless charging device and method |
| CN113928146A (en) * | 2021-11-09 | 2022-01-14 | 武汉科技大学 | Moving double-arm robot for automatic charging of electric automobile |
| CN113928146B (en) * | 2021-11-09 | 2024-01-26 | 武汉科技大学 | Mobile double-arm robot for automatic charging of electric automobile |
| CN114918455A (en) * | 2022-06-21 | 2022-08-19 | 国营芜湖机械厂 | Automatic hole making equipment and method for surface of large aviation component |
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