CN210502965U

CN210502965U - Full topography Mecanum wheel AGV

Info

Publication number: CN210502965U
Application number: CN201921511162.6U
Authority: CN
Inventors: 于进杰; 隋凯; 丛敏; 王茂平; 羊依明
Original assignee: Shanghai Laidi Robot Technology Co Ltd
Current assignee: Shanghai Laidi Robot Technology Co Ltd
Priority date: 2019-09-11
Filing date: 2019-09-11
Publication date: 2020-05-12
Anticipated expiration: 2029-09-11

Abstract

The utility model discloses a full topography mecanum wheel AGV, include: frame and shell, running gear, servo driver, navigation sensor, rechargeable battery, controller, running gear constitute by driving motor, gear box, round pin axle, mecanum wheel, running gear has four groups, installs respectively in the bottom four corners of frame and shell, servo driver set up in the inside of frame and shell, servo driver respectively with running gear's driving motor electric connection, navigation sensor set up the front end at frame and shell top, rechargeable battery set up in the inside of frame and shell, rechargeable battery and servo driver electric connection, the controller set up in the inside of frame and shell, the controller pass through the signal line respectively with servo driver, navigation sensor electric connection. The utility model has the advantages of simple structure, convenient use, good use effect and the like.

Description

Full topography Mecanum wheel AGV

Technical Field

The utility model relates to an automatic AGV field of industrial robot specifically is full topography mecanum wheel AGV.

Background

In the fields of manufacturing, logistics, service and special, a lot of work is often finished manually, time and labor are wasted, the effect is difficult to guarantee, especially in the field of special, inspection and the like of some high-risk industries are finished manually, and safety accidents are easy to happen.

The conventional AGV is applied to transportation, and can be applied to an industrial robot by carrying different peripheral equipment such as a mechanical arm, a jacking device, a sensor and the like by utilizing the performance of the AGV so as to replace manpower and improve the production efficiency; however, when the existing AGV is applied, the following disadvantages exist:

1. after the working scene is changed, the AGV cannot work quickly;

2. the positioning precision is difficult to ensure;

3. and the expansibility of different industries is poor in the later period.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide an all-terrain Mecanum wheel AGV to solve the problem that provides among the above-mentioned background art.

In order to achieve the above object, the utility model provides a following technical scheme: all-terrain Mecanum wheel AGV includes: the automatic guided vehicle comprises a rack and a shell, a traveling mechanism, a servo driver, a navigation sensor, a rechargeable battery and a controller, wherein the rack and the shell are of an automatic guided vehicle, the traveling mechanism comprises a driving motor, a gear box, a pin shaft and Mecanum wheels, the four traveling mechanisms are respectively arranged at four corners of the bottom of the rack and the bottom of the shell, the servo driver is arranged inside the rack and the shell and is respectively electrically connected with the driving motor of the traveling mechanism, the navigation sensor is arranged at the front end of the top of the rack and the front end of the top of the shell, the rechargeable battery is arranged inside the rack and the shell and is electrically connected with the servo driver, the controller is arranged inside the rack and the shell and is respectively electrically connected with the servo driver and the navigation sensor through signal lines.

Furthermore, different peripheral equipment, such as different auxiliary working ends of a mechanical arm, a jacking device, a sensor and the like, are carried on the top of the frame and the shell.

Further, the front side of frame and shell be provided with regional safe scanning sensor, regional safe scanning sensor scan outside barrier, feed back to AGV controller, realize independently keeping away the barrier function.

Furthermore, inverters are arranged on the rear sides of the rack and the shell, and the inverters output 220V alternating current.

Furthermore, the side surfaces of the frame and the shell are provided with a charging scrubbing brush, and the charging scrubbing brush is connected with a charging storage battery through a lead.

Compared with the prior art, the beneficial effects of the utility model are that:

1. the detection of the front obstacle is realized through the laser sensor, the autonomous obstacle avoidance is realized, and the obstacle avoidance parameters are adjustable;

2. the automatic driving function is realized by self-building a map through a laser radar of a navigation sensor and matching with an AGV body controller;

3. the peripheral equipment can communicate with the AGV body in a wireless or wired mode, the functions of the AGV are fully expanded, parts such as a mechanical arm, an infrared sensor, a lifting platform and the like can be carried, and the AGV body carries an inverter, can provide a 220V power supply and meets the requirements of carrying equipment on the power supply;

4. the AGV has an automatic charging function, and can control charging time, electric quantity and the like through the AGV body, so that the charging safety is ensured;

5. all wheels are Mecanum wheels (omnibearing wheels), have high flexibility of arbitrary direction and arbitrary rotation, have the characteristics of four-wheel independent drive, precise micromotion, precise positioning and the like, and the AGV can realize omnibearing movement such as straight movement, transverse movement, oblique movement, in-situ rotation and the like without a wheel direction device.

The utility model has the advantages of simple structure, convenient use, good use effect and the like.

Drawings

FIG. 1 is a schematic sectional view of the present invention;

FIG. 2 is a schematic view of the overall structure of the present invention;

FIG. 3 is a schematic side view of the present invention;

fig. 4 is a schematic view of the structure of the present invention.

In the figure: 1-a frame and a shell; 2-a traveling mechanism; 3-a servo driver; 4-a navigation sensor; 5-charging the storage battery; 6-a controller; 7-area security scanning sensor; 8-an inverter; 9-charging scrubbing brush.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

Referring to fig. 1-4, the present invention provides an all-terrain AGV with mecanum wheels, comprising: the automatic guided vehicle comprises a rack and a shell 1, a traveling mechanism 2, a servo driver 3, a navigation sensor 4, a rechargeable battery 5 and a controller 6, wherein the rack and the shell 1 are of an automatic guided vehicle, the traveling mechanism 2 consists of a driving motor, a gear box, a pin shaft and Mecanum wheels, the traveling mechanism 2 is provided with four groups which are respectively arranged at four corners of the bottom of the rack and the shell 1, the servo driver 3 is arranged inside the rack and the shell 1, the servo driver 3 is respectively electrically connected with the driving motor of the traveling mechanism 2, the navigation sensor 4 is arranged at the front end of the top of the rack and the shell 1, the rechargeable battery 5 is arranged inside the rack and the shell 1, the rechargeable battery 5 is electrically connected with the servo driver 3, the controller 6 is arranged inside the rack and the shell 1, and the controller 6 is respectively connected with the servo driver 3 through signal lines, The navigation sensor 4 is electrically connected.

Furthermore, different peripheral equipment, such as different auxiliary working ends of a mechanical arm, a jacking device, a sensor and the like, are carried on the top of the frame and the shell 1.

Further, the front side of frame and shell 1 be provided with regional safe scanning sensor 7, regional safe scanning sensor 7 scan outside barrier, feed back to AGV controller 6, realize independently keeping away the barrier function.

Furthermore, an inverter 8 is arranged on the rear side of the rack and the shell 1, and the inverter 8 outputs 220V alternating current.

Furthermore, the side surfaces of the frame and the shell 1 are provided with a charging scrubbing brush 9, and the charging scrubbing brush 9 is connected with the charging storage battery 5 through a lead.

The working principle is as follows: the utility model provides an all-terrain Mecanum wheel AGV, through the laser radar self-built map of navigation sensor 4, cooperate with the controller 6 of AGV body, realize the automatic function of traveling, the wheel is whole Mecanum wheel (omnidirectional wheel), has arbitrary direction, the high flexibility of arbitrary rotation, and has characteristics such as four-wheel independent drive, accurate fine motion, accurate location, under the device that need not the wheel direction, AGV can realize all-round movements such as straight line, sideslip, skew, original place rotation; meanwhile, a regional safety scanning sensor 7 is arranged to detect the front obstacle, so that autonomous obstacle avoidance is realized, and the obstacle avoidance parameters are adjustable; can carry on peripheral equipment simultaneously, realize through wireless or wired mode with AGV body communication, the fully extended AGV function can carry on parts such as arm, infrared sensor, elevating platform, and AGV body carries on the dc-to-ac converter, can provide the 220V power, satisfies and carries on equipment to the power requirement.

The operator can scan the map, plan the path, set the walking mode and speed, etc., to realize the AGV walking function. The all-dimensional movement such as straight movement, transverse movement, oblique movement, in-situ rotation and the like can be realized without a wheel steering device. Peripheral parts such as the arm, crane can be carried on simultaneously, satisfy the customer to the demand of different projects.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims

1. Full topography mecanum wheel AGV which characterized in that includes: the automatic guiding vehicle comprises a frame and a shell (1), a traveling mechanism (2), a servo driver (3), a navigation sensor (4), a charging storage battery (5) and a controller (6), wherein the frame and the shell (1) are the frame and the shell of the automatic guiding vehicle, the traveling mechanism (2) consists of a driving motor, a gear box, a pin shaft and Mecanum wheels, the traveling mechanism (2) is provided with four groups which are respectively arranged at four corners of the bottom of the frame and the shell (1), the servo driver (3) is arranged inside the frame and the shell (1), the servo driver (3) is respectively electrically connected with the driving motor of the traveling mechanism (2), the navigation sensor (4) is arranged at the front end of the top of the frame and the shell (1), the charging storage battery (5) is arranged inside the frame and the shell (1), and the charging storage battery (5) is electrically connected with the servo driver (3), the controller (6) is arranged in the rack and the shell (1), and the controller (6) is electrically connected with the servo driver (3) and the navigation sensor (4) through signal lines respectively.

2. An all-terrain Mecanum wheel AGV according to claim 1, characterized in that the top of the chassis and housing (1) carry different peripherals.

3. An all-terrain AGV with mecanum wheels as claimed in claim 1, wherein the front side of the frame and the housing (1) is provided with a regional safety scanning sensor (7), and the regional safety scanning sensor (7) scans external obstacles and feeds back the external obstacles to the AGV controller (6) to realize an autonomous obstacle avoidance function.

4. An all-terrain Mecanum wheel AGV according to claim 1, wherein an inverter (8) is provided at the rear side of the frame and housing (1), said inverter (8) outputting 220V AC.

5. An all-terrain Mecanum wheel AGV according to claim 1, characterized in that the side of the frame and the housing (1) is provided with a charging scrubber (9), and the charging scrubber (9) is connected with a charging battery (5) through a wire.