CN210323889U

CN210323889U - Following robot trolley

Info

Publication number: CN210323889U
Application number: CN201921694635.0U
Authority: CN
Inventors: 许煜; 汤奇荣; 朱文峰
Original assignee: Luoyang Sende Petrochemical Engineering Co ltd
Current assignee: Luoyang Sende Petrochemical Engineering Co ltd
Priority date: 2019-10-11
Filing date: 2019-10-11
Publication date: 2020-04-14
Anticipated expiration: 2029-10-11

Abstract

A following robot trolley is characterized in that the upper surface and the lower surface of the robot trolley are correspondingly provided with two aluminum alloy plates, bolt supporting columns are uniformly distributed between the carriage plate and the periphery of a vehicle bottom plate, and a cavity is formed between the carriage plate and the vehicle bottom plate; four corners of a bottom plate of the robot trolley are reserved as wheel carrier spaces respectively, and a pair of bidirectional speed regulating motors are symmetrically arranged on two sides of the top plate of the wheel carrier space at the front end; a pair of bolt supports are symmetrically arranged on two sides of the pair of bidirectional speed regulating motors; a pair of 24V direct current power supplies are symmetrically arranged on the upper surfaces of the car bottom plates at the two sides of the robot trolley; an STM32F103 main control board is arranged in the pair of main control board mounting slot racks; a base station A and a base station B are symmetrically arranged on two sides of the lower surface of a carriage plate at the front end of the robot trolley, and a base station C is arranged on the lower surface of the carriage plate in the middle of the rear end of the robot trolley; the utility model discloses a bracelet label or cell-phone APP guide the walking, and article turnover in workshop, large supermarket commodity circulation is simple light, has improved staff's operating mass with rated load.

Description

Following robot trolley

Technical Field

The utility model relates to a turnover dolly of product, article, especially a following robot dolly.

Background

At present, the transportation of the warehouse logistics of most enterprise workshops and large supermarkets in China and the transportation of books in public libraries, such as production lines, assembly lines, conveying lines and the like, realize the transportation of raw materials, conveying tools adopt various types for conveying, the design data of most conveying tools is the bearing capacity, and no professional conveying tool or trolley exists; because some enterprise production workshops, warehouse logistics of large supermarkets and turnover of articles in public libraries still depend on carrying by staffs, the carrying labor intensity is high, the staffs are hard to bear, the manual use and expenditure are increased, and the hands are liberated for saving manpower; for the reasons mentioned above, a following robot trolley is proposed.

SUMMERY OF THE UTILITY MODEL

The utility model aims at overcoming the problems that the transportation of the warehouse logistics of most of enterprises and workshops of large supermarkets in China and the book circulation system of a public library realize the transportation of raw materials, the production line, the assembly line, the conveying line and the like, conveying tools adopt various types for conveying, the design data of most of conveying tools is the bearing capacity, and no professional conveying tool or trolley exists; because some enterprise production workshops, warehouse logistics of large supermarkets and turnover of articles in public libraries still depend on carrying by workers through a manual trolley, the carrying labor intensity is high, the workers are difficult to bear, the manual use and expenditure are increased, and both hands are liberated for saving manpower; through reasonable design, the utility model provides a following robot trolley, which guides walking and loads and unloads articles through a bracelet label or a mobile phone APP, wherein a logic control module in the robot trolley instructs a TIMER first module and a TIMER second module to respectively control a first motor driver and a second motor driver through PMW signals to respectively drive a left motor, a right motor and a driving wheel to go straight or turn and retreat to load and unload the articles for transportation and turnover; the utility model discloses a bracelet label or cell-phone APP follow the walking through PMW signal guide robot dolly, do not carry with artifical dolly, it is big to reduce intensity of labour, reduce artificial use, and the article turnover in the storage commodity circulation of enterprise workshop, supermarket is simple light, has improved staff's operating quality.

In order to achieve the purpose, the following technical scheme is adopted, the following robot trolley is composed of a robot trolley, a carrying frame, a universal wheel carrier, universal wheels, a base baffle, a handle, a driving wheel, a bolt support, a bidirectional speed regulating motor, an STM32F103 main control board, a logic control module, a serial port, an A base station, a B base station, a C base station, a bracelet label, a mobile phone APP, a 12V control circuit direct current power supply, a TIMER first module, a TIMER second module, a 24V direct current power supply, a first motor driver, a second motor driver, a left motor and a right motor; a carrying frame is arranged on the robot trolley, the carrying frame is a mesh plate body formed by injection molding of ABS + PC materials, and a pair of handles is symmetrically arranged above two ends of the carrying frame; the upper side and the lower side of the robot trolley are correspondingly provided with two aluminum alloy plates, the upper aluminum alloy plate is provided with a carriage plate, the lower aluminum alloy plate is provided with a vehicle bottom plate, bolt supporting columns are uniformly distributed between the carriage plate and the periphery of the vehicle bottom plate, and a cavity is formed between the carriage plate and the vehicle bottom plate;

four corners of a bottom plate of the robot trolley are reserved as wheel carrier spaces respectively, a pair of bidirectional speed regulating motors are symmetrically arranged on two sides of the top plate of the wheel carrier space at the front end, motor bases are arranged below the bidirectional speed regulating motors respectively, opposite through screw holes are correspondingly formed between the motor bases and the bottom plate respectively, and fastening bolts are arranged in the opposite through screw holes; a pair of bolt supports are symmetrically arranged on two sides of the pair of bidirectional speed regulating motors, an upper cross beam of the motor is arranged between the pair of bolt supports, driving shafts of the pair of bidirectional speed regulating motors are symmetrically arranged outwards, and driving wheels are respectively arranged on the driving shafts of the pair of bidirectional speed regulating motors; a pair of universal wheel frames are symmetrically arranged on two sides below the carriage plate of the wheel frame space at the rear end, and universal wheels are respectively arranged in the pair of universal wheel frames; a pair of frame power supplies are symmetrically reserved on the upper surfaces of the vehicle bottom plates at two sides of the robot trolley, a pair of 24V direct current power supplies are respectively arranged above the pair of frame power supplies, and base baffles are respectively arranged on the outer sides of the pair of 24V direct current power supplies;

a pair of main control board installation slot frames are arranged below a carriage board between the 24V direct current power supply and the universal wheel frame, and STM32F103 main control boards are arranged in the pair of main control board installation slot frames; a base station A and a base station B are symmetrically arranged on two sides of the lower surface of a carriage plate at the front end of the robot trolley, and a base station C is arranged on the lower surface of the carriage plate in the middle of the rear end of the robot trolley;

a 12V control circuit direct-current power supply is arranged on one side of the STM32F103 main control board, and a power supply circuit is arranged between the 12V control circuit direct-current power supply and the STM32F103 main control board; the middle part of the STM32F103 main control board is provided with a logic control module, one side of the logic control module is respectively provided with a serial port, and a signal transmission line is arranged between the serial port and the logic control module; at least three interfaces are reserved in the serial port, the at least three interfaces are respectively and correspondingly provided with an A base station, a B base station and a C base station, and signal transmission lines are respectively arranged among the at least three interfaces, the A base station, the B base station and the C base station; the base station A, the base station B and the base station C are provided with a bracelet label or a mobile phone APP in a matching way; UWB signals are arranged between the base station A, the base station B and the base station C and the bracelet label or the mobile phone APP in a matching mode respectively; the bracelet label or the mobile phone APP is provided with a touch screen display respectively;

a TIMER first module and a TIMER second module are respectively arranged on the other side of the logic control module, and signal transmission lines are respectively arranged between the logic control module and the TIMER first module and between the logic control module and the TIMER second module;

STM32F103 main control panel one side sets up 24V direct current power supply, 24V direct current power supply one side sets up left motor respectively, right motor, 24V direct current power supply respectively with left motor, set up power supply circuit between the right motor, left motor, the one end of right motor sets up first motor driver respectively, second motor driver, first motor driver, second motor driver respectively with the first module of TIMER, set up PMW signal transmission line between the TIMER second module.

The working principle is as follows: before the robot trolley is used for transporting articles in a turnover mode, the robot trolley needs to be started and debugged, an STM32F103 main control board and a logic control module are started through a 12V control circuit direct-current power supply, then a bracelet label or a mobile phone APP is started, the logic control module carries out positioning search through UWB signals of an A base station, a B base station and a C base station, code data of the bracelet label or the mobile phone APP are automatically stored, the speed of a motor is set to be high speed, medium speed, low speed and turning through a touch screen display by the bracelet label or the mobile phone APP, the tracking range and the tracking distance between the robot trolley and the bracelet label or the mobile phone APP are within a range from meters to meters, and the starting and debugging between the robot trolley and the bracelet label or the mobile phone APP are completed after the meters are within the range from meters to meters; bracelet label or cell-phone APP lead the robot dolly through the PMW signal debugging and walk straight or turn to, retreat.

After the robot trolley is debugged with bracelet label or cell-phone APP, when using the robot trolley, put the robot trolley subaerial loading article, pack into the article that need transport and carry the thing frame, wear bracelet label or handheld cell-phone APP on the staff arm and move towards the place of uninstalling article, when the staff moves towards the place of uninstalling article, bracelet label or handheld cell-phone APP guide robot trolley walks in staff one side.

During the walking process of tracking the bracelet label or the handheld mobile phone APP by the robot trolley, after the bracelet label searched by the UWB through the A base station, the B base station and the C base station or the logic control module sent by the position signal of the handheld mobile phone APP in real time, the logic control module is sent by the position of the bracelet label or the handheld mobile phone APP in time.

The logic control module instructs the TIMER first module and the TIMER second module to control a first motor driver and a second motor driver respectively through a PMW signal transmission line, and the first motor driver and the second motor driver respectively drive a left motor, a right motor and a driving wheel to walk in a straight line or to turn and retreat; the dolly of robot stops when walking to the discharge position, takes out the article completion discharge back that carries in the thing frame, wears bracelet label or handheld cell-phone APP on the staff arm and returns to the place of loading article and load article again, so the article transportation, the turnover of going on of going back and forth.

Has the advantages that: the utility model discloses a robot trolley guides walking, loading and unloading article through bracelet label or cell-phone APP, and logic control module instruction TIMER first module, TIMER second module in the robot trolley drive left motor, right motor and drive wheel respectively through PMW signal control first motor driver, second motor driver and carry out the straight-through or turn to, retreat and load and unload the article that the transportation had enough to meet the need; the utility model discloses a bracelet label or cell-phone APP follow the walking through PMW signal guide robot dolly, do not carry with artifical dolly, it is big to reduce intensity of labour, reduce artificial use, and the article turnover in the storage commodity circulation of enterprise workshop, supermarket is simple light, has improved staff's operating quality.

The UWB (Ultra-Wide Band) is a carrier-free communication technology, and uses nanosecond to microsecond non-sine wave narrow pulses to transmit data. By transmitting very low power signals over a wide frequency spectrum, UWB can achieve data transmission rates of hundreds of Mbit/s to Gbit/s over a range of about 10 meters. The anti-interference performance is strong, the transmission rate is high, the system capacity is large, and the transmission power is very small, so that the working time of a system power supply is greatly prolonged. And the transmitting power is low, the influence of electromagnetic wave radiation on human bodies is small, and the application range is wide.

The utility model discloses a drive wheel and universal wheel are installed respectively on the panel of difference, just so can distribute two boards with holistic load to alleviate the load of monolithic panel, also be convenient for select the material that the texture is lighter. If the driving wheel and the universal wheel are arranged on the same plate, the strength requirement on the plate is high, and the weight of the plate is inevitably increased to meet the requirement. From the light-weight perspective, the driving wheels and the universal wheels are arranged on different plates, so that the overall weight can be effectively reduced.

Drawings

The present invention will be further explained with reference to the accompanying drawings:

FIG. 1 is a schematic view of the assembly structure;

FIG. 2 is a schematic view of the robotic cart frame structure of FIG. 1;

FIG. 3 is a schematic view of the carrier frame of FIG. 1;

FIG. 4 is a schematic view of the robotic cart of FIG. 1;

FIG. 5 is a schematic diagram of the master control panel structure of FIG. 1;

FIG. 6 is a schematic diagram of the base station layout of FIG. 1;

in fig. 1, 2, 3, 4, 5, 6: the robot comprises a robot trolley 1, an object carrying frame 2, a universal wheel frame 3, universal wheels 4, a base baffle plate 5, a handle 6, driving wheels 7, bolt pillars 8, a bidirectional speed regulating motor 9, an STM32F103 main control board 10, a logic control module 11, a serial port 12, an A base station 13, a B base station 13-1, a C base station 13-2, a bracelet label 14, a mobile phone APP14-1, a 12V control circuit direct current power supply 15, a TIMER first module 16, a TIMER second module 17, a 24V direct current power supply 18, a first motor driver 19, a second motor driver 20, a left motor 21 and a right motor 22.

Detailed Description

The present invention will be described in further detail with reference to the following detailed description and accompanying drawings:

the robot trolley 1 is provided with a carrying frame 2, the carrying frame 2 is a mesh plate body made of ABS + PC materials through injection molding, and a pair of handles 6 are symmetrically arranged above two ends of the carrying frame 2; the upper surface and the lower surface of the robot trolley 1 are correspondingly provided with two aluminum alloy plates, the upper aluminum alloy plate is provided with a carriage plate, the lower aluminum alloy plate is provided with a vehicle bottom plate, bolt supporting columns 8 are uniformly distributed between the carriage plate and the periphery of the vehicle bottom plate, and a cavity is formed between the carriage plate and the vehicle bottom plate;

four corners of a vehicle bottom plate of the robot trolley 1 are reserved as wheel carrier spaces respectively, a pair of bidirectional speed regulating motors 9 are symmetrically arranged on two sides of the vehicle bottom plate of the wheel carrier space at the front end, motor bases are arranged below the pair of bidirectional speed regulating motors 9 respectively, opposite through screw holes are correspondingly arranged between the motor bases and the vehicle bottom plate respectively, and fastening bolts are arranged in the opposite through screw holes; a pair of bolt supports 8 are symmetrically arranged on two sides of the pair of bidirectional speed regulating motors 9, an upper cross beam of the motor is arranged between the pair of bolt supports 8, driving shafts of the pair of bidirectional speed regulating motors 9 are symmetrically arranged outwards, and driving wheels 7 are respectively arranged on the driving shafts of the pair of bidirectional speed regulating motors 9; a pair of universal wheel frames 3 are symmetrically arranged on two sides below the carriage plate of the wheel frame space at the rear end, and universal wheels 4 are respectively arranged in the pair of universal wheel frames 3; a pair of frame power supplies are symmetrically reserved on the upper surfaces of the vehicle bottom plates at two sides of the robot trolley 1, a pair of 24V direct current power supplies 18 are respectively arranged above the pair of frame power supplies, and base baffles 5 are respectively arranged on the outer sides of the pair of 24V direct current power supplies 18;

a pair of main control board installation slot frames are arranged below a carriage board between the 24V direct current power supply 18 and the universal wheel carrier 3, and STM32F103 main control boards 10 are arranged in the pair of main control board installation slot frames; base stations A13 and base stations B13-1 are symmetrically arranged on two sides of the lower surface of a carriage plate at the front end of the robot trolley 1, and a base station C13-2 is arranged on the lower surface of the carriage plate in the middle of the rear end of the robot trolley 1;

a 12V control circuit direct-current power supply 15 is arranged on one side of the STM32F103 main control board 10, and a power supply circuit is arranged between the 12V control circuit direct-current power supply 15 and the STM32F103 main control board 10; the middle part of the STM32F103 main control board 10 is provided with a logic control module 11, one side of the logic control module 11 is respectively provided with a serial port 12, and a signal transmission line is arranged between the serial port 12 and the logic control module 11; at least three interfaces are reserved in the serial port 12 and are respectively provided with an A base station 13, a B base station 13-1 and a C base station 13-2, and signal transmission lines are arranged among the at least three interfaces, the A base station 13, the B base station 13-1 and the C base station 13-2; the A base station 13, the B base station 13-1 and the C base station 13-2 are provided with a bracelet label 14 or a mobile phone APP14-1 in a matching way; UWB signals are arranged between the base station A13, the base station B13-1 and the base station C13-2 and the bracelet label 14 or the mobile phone APP14-1 in a matched mode respectively; the bracelet label 14 or the mobile phone APP14-1 are respectively provided with a touch screen display;

a TIMER first module 16 and a TIMER second module 17 are respectively arranged on the other side of the logic control module 11, and signal transmission lines are respectively arranged between the logic control module 11 and the TIMER first module 16 and between the logic control module 11 and the TIMER second module 17;

STM32F103 main control panel 10 one side sets up 24V direct current power supply 18, 24V direct current power supply 18 one side sets up left motor 21 respectively, right motor 22, 24V direct current power supply 18 respectively with left motor 21, set up power supply circuit between the right motor 22, left motor 21, the one end of right motor 22 sets up first motor driver 19 respectively, second motor driver 20, first motor driver 19, second motor driver 20 respectively with TIMER first module 16, set up PMW signal transmission line between TIMER second module 17.

Claims

1. A following robot trolley is composed of: the robot comprises a robot trolley (1), an object carrying frame (2), a universal wheel frame (3), universal wheels (4), a base baffle plate (5), a handle (6), a driving wheel (7), a bolt support (8), a bidirectional speed regulating motor (9), an STM32F103 main control board (10), a logic control module (11), a serial port (12), an A base station (13), a B base station (13-1), a C base station (13-2), a bracelet label (14), a mobile phone APP (14-1), a 12V control circuit direct current power supply (15), a TIMER first module (16), a TIMER second module (17), a 24V direct current power supply (18), a first motor driver (19), a second motor driver (20), a left motor (21) and a right motor (22); the method is characterized in that: the robot trolley (1) is provided with a carrying frame (2), the carrying frame (2) is a mesh plate body made of ABS + PC materials through injection molding, and a pair of handles (6) are symmetrically arranged above two ends of the carrying frame (2); the upper surface and the lower surface of the robot trolley (1) are correspondingly provided with two aluminum alloy plates, the upper aluminum alloy plate is provided with a carriage plate, the lower aluminum alloy plate is provided with a vehicle bottom plate, bolt supporting columns (8) are uniformly distributed between the carriage plate and the periphery of the vehicle bottom plate, and a cavity is formed between the carriage plate and the vehicle bottom plate;

four corners of a vehicle bottom plate of the robot trolley (1) are reserved as wheel carrier spaces respectively, a pair of bidirectional speed regulating motors (9) are symmetrically arranged on two sides of the vehicle bottom plate of the wheel carrier space at the front end, motor bases are arranged below the pair of bidirectional speed regulating motors (9) respectively, opposite through screw holes are correspondingly formed between the motor bases and the vehicle bottom plate respectively, and fastening bolts are arranged in the opposite through screw holes; a pair of bolt supports (8) are symmetrically arranged on two sides of the pair of bidirectional speed regulating motors (9), an upper cross beam of the motors is arranged between the pair of bolt supports (8), driving shafts of the pair of bidirectional speed regulating motors (9) are symmetrically arranged outwards, and driving wheels (7) are respectively arranged on the driving shafts of the pair of bidirectional speed regulating motors (9); a pair of universal wheel frames (3) are symmetrically arranged on two sides below the carriage plate of the wheel frame space at the rear end, and universal wheels (4) are respectively arranged in the pair of universal wheel frames (3); a pair of frame power supplies are symmetrically reserved on the upper surfaces of the vehicle bottom plates at two sides of the robot trolley (1), a pair of 24V direct current power supplies (18) are respectively arranged above the pair of frame power supplies, and base baffles (5) are respectively arranged at the outer sides of the pair of 24V direct current power supplies (18);

a pair of main control board mounting slot frames are arranged below a carriage board between the 24V direct current power supply (18) and the universal wheel carrier (3), and STM32F103 main control boards (10) are arranged in the pair of main control board mounting slot frames; a base station A (13) and a base station B (13-1) are symmetrically arranged on two sides of the lower portion of a carriage plate at the front end of the robot trolley (1), and a base station C (13-2) is arranged on the lower portion of the carriage plate in the middle of the rear end of the robot trolley (1).

2. The follow robot trolley of claim 1, wherein: a 12V control circuit direct-current power supply (15) is arranged on one side of an STM32F103 main control board (10), and a power supply circuit is arranged between the 12V control circuit direct-current power supply (15) and the STM32F103 main control board (10); the middle part of an STM32F103 main control board (10) is provided with a logic control module (11), one side of the logic control module (11) is respectively provided with a serial port (12), and a signal transmission line is arranged between the serial port (12) and the logic control module (11); at least three interfaces are reserved in the serial port (12) and are respectively provided, the at least three interfaces are respectively and correspondingly provided with an A base station (13), a B base station (13-1) and a C base station (13-2), and signal transmission lines are respectively arranged among the at least three interfaces, the A base station (13), the B base station (13-1) and the C base station (13-2); the A base station (13), the B base station (13-1) and the C base station (13-2) are provided with a bracelet label (14) or a mobile phone APP (14-1) in a matching manner; UWB signals are arranged between the base station A (13), the base station B (13-1) and the base station C (13-2) and the bracelet label (14) or the mobile phone APP (14-1) in a matched mode; bracelet label (14) or cell-phone APP (14-1) are equipped with the touch-screen display respectively.

3. The follow robot trolley of claim 1, wherein: the other side of the logic control module (11) is respectively provided with a TIMER first module (16) and a TIMER second module (17), and signal transmission lines are arranged between the logic control module (11) and the TIMER first module (16) and between the logic control module and the TIMER second module (17).

4. The follow robot trolley of claim 1, wherein: STM32F103 main control board (10) one side sets up 24V direct current power supply (18), 24V direct current power supply (18) one side sets up left motor (21) respectively, right motor (22), 24V direct current power supply (18) respectively with left motor (21), set up power supply circuit between right motor (22), left side motor (21), the one end of right motor (22) sets up first motor driver (19) respectively, second motor driver (20), first motor driver (19), second motor driver (20) respectively with first module of TIMER (16), set up PMW signal transmission line between TIMER second module (17).