CN210879628U - Multifunctional transportation composite mobile robot - Google Patents
Multifunctional transportation composite mobile robot Download PDFInfo
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- CN210879628U CN210879628U CN201921444412.9U CN201921444412U CN210879628U CN 210879628 U CN210879628 U CN 210879628U CN 201921444412 U CN201921444412 U CN 201921444412U CN 210879628 U CN210879628 U CN 210879628U
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Abstract
The utility model relates to a transportation robot technical field especially relates to a compound mobile robot of multi-functional transportation. The following technical scheme is adopted: a multifunctional transportation composite type mobile robot comprises an AGV transportation trolley and mechanical arms arranged on the AGV transportation trolley, wherein the mechanical arms are arranged in the middle of the AGV transportation trolley through a base, and conveying rollers are arranged on two sides of each mechanical arm on the AGV transportation trolley; a main controller and a mechanical arm controller are arranged on the AGV, the main controller is in communication connection with the mechanical arm controller, and the mechanical arm controller is connected with a mechanical arm. The utility model has the advantages that: the mechanical arm and the AGV transporting trolley are combined to form the mobile robot, and the conveying rollers are arranged on two sides of the mechanical arm, so that the mobile robot can complete actions and simultaneously realize bidirectional conveying of materials; meanwhile, the mechanical arm controller is adopted to independently control the mechanical arm, and the precision of the action of the mechanical arm is improved by combining the visual correction device on the mechanical arm.
Description
Technical Field
The utility model relates to a transportation robot technical field especially relates to a compound mobile robot of multi-functional transportation.
Background
With the continuous development of industrial automation and the demand of market development, enterprises put forward higher requirements on robot intellectualization. In smart manufacturing, there is a great demand for the functionality of the robot. An automatic guided Vehicle (AGV cart) is an automatic transport Vehicle capable of traveling along a predetermined guide path, and a mobile robot for transportation, which is generated by combining a robot arm and the AGV cart, is increasingly used in production along with the development of an intelligent robot. However, in the actual use process, because the dispatching system directly controls the movement of the AGV and the movement of the robot arm, the errors formed by the two are easy to accumulate and cause inaccurate movement, and the dispatching system has certain limitation in the aspect of transporting parts. There is therefore a need for improvement.
Disclosure of Invention
An object of the utility model is to provide a mobile robot of multi-functional transportation specifically lies in providing one kind and utilizes AGV dolly and arm to combine and realize the mobile robot of multi-functional transportation.
In order to achieve the above purpose, the utility model adopts the following technical scheme: a multifunctional transportation composite type mobile robot comprises an AGV transportation trolley and mechanical arms arranged on the AGV transportation trolley, wherein the mechanical arms are arranged in the middle of the AGV transportation trolley through a base, and conveying rollers are arranged on two sides of each mechanical arm on the AGV transportation trolley; a main controller and a mechanical arm controller are arranged on the AGV, the main controller is in communication connection with the mechanical arm controller, and the mechanical arm controller is connected with a mechanical arm.
Further, arm end-to-end connection is provided with end instrument, still is provided with end controller on the AGV travelling bogie, and arm controller is connected with end controller communication, and end instrument is connected to end controller.
Furthermore, a mechanical arm vision correcting device is arranged on a tool at the tail end of the mechanical arm and is in communication connection with a mechanical arm controller.
Furthermore, the conveying rollers on two sides of the mechanical arm are driven to rotate synchronously by a synchronous belt.
Furthermore, both ends all are provided with anticollision detection mechanism around the AGV travelling bogie, anticollision detection mechanism is connected with main control unit.
Further, the anti-collision detection mechanism comprises a non-contact anti-collision detection mechanism and a contact anti-collision detection mechanism.
Furthermore, the AGV transporting trolley is a two-dimensional code navigation AGV trolley, and a two-dimensional code interpreter is arranged at the bottom of the AGV transporting trolley.
Furthermore, a trolley vision correcting device is arranged at the front end of the AGV transportation trolley and connected with the main controller.
The utility model has the advantages that: the mechanical arm and the AGV transporting trolley are combined to form the mobile robot, and the conveying rollers are arranged on two sides of the mechanical arm, so that the mobile robot can complete actions and simultaneously realize bidirectional conveying of materials; meanwhile, the mechanical arm controller is adopted to independently control the mechanical arm, and the precision of the action of the mechanical arm is improved by combining the visual correction device on the mechanical arm.
Drawings
FIG. 1 is an overall structure diagram of a multifunctional transportation composite mobile robot in an embodiment;
FIG. 2 is a structural diagram of the mobile robot with the mechanical arm removed in the embodiment;
FIG. 3 is a schematic structural diagram of a front end of a mobile robot in an embodiment;
fig. 4 is a schematic structural diagram of the bottom of the mobile robot in the embodiment.
Detailed Description
Example 1: referring to fig. 1-4, the multifunctional transportation composite type mobile robot comprises an AGV transportation trolley 3 and a mechanical arm 1 arranged on the AGV transportation trolley, wherein the mechanical arm 1 is arranged in the middle of the AGV transportation trolley 3 through a base 10, and two sides of the mechanical arm 1 on the AGV transportation trolley 3 are provided with a conveying roller 2; a main controller 31 and a mechanical arm controller 11 are arranged on the AGV transporting trolley 3, the main controller 31 is in communication connection with the mechanical arm controller 11, and the mechanical arm controller 11 is connected with the mechanical arm 1.
In this embodiment, the AGV transport trolley 3 is an existing automatic guided transport trolley, the main controller 31 on the AGV transport trolley 3 is connected with the dispatching system, the dispatching system is generally connected with the main controller 31 on the AGV transport trolley 3 through a wireless network based on TCP/IP communication, the starting, stopping, dispatching to specific positions and the like of the AGV transport trolley 3 are controlled through the dispatching system, and meanwhile, data such as the state, position and the like of the AGV transport trolley 3 are monitored, wherein the main controller 31 of the AGV transport trolley 3 is a PLC controller; in the embodiment, on the basis of the AGV transport trolley 3, the mechanical arm 1 is arranged in the middle of the AGV transport trolley 3, the mechanical arm 1 can adopt mechanical arms 1 with different degrees of freedom according to actual use requirements, generally six mechanical arms are adopted, meanwhile, the mechanical arm 1 is controlled by the mechanical arm controller 11, the mechanical arm controller 11 is connected with the main controller 31, the dispatching system sends an instruction of the mechanical arm 1 to the main controller 31, the main controller 31 sends an instruction of the mechanical arm 1 to the mechanical arm controller 11, and the mechanical arm controller 11 controls the mechanical arm 1 according to the instruction; in addition, set up conveying roller 2 in 1 both sides of arm, can carry the material, carry the material from AGV travelling bogie 3 to processing equipment or production line on, perhaps transfer the material from the production line to AGV travelling bogie 3 on, the conveying roller 2 of 1 both sides of arm can carry simultaneously, can realize simultaneously one-way transport or two-way transport simultaneously, combine arm 1 simultaneously, can accomplish most material processing and shift the operation, improve production efficiency.
Specifically, the tail end of the mechanical arm 1 is connected with a tail end tool 4, the AGV transport trolley 3 is further provided with a tail end controller 41, the mechanical arm controller 11 is in communication connection with the tail end controller 41, and the tail end controller 41 is connected with the tail end tool 4. The end tool 4 arranged at the end of the mechanical arm 1 is used for processing and transferring materials, and particularly, the end tool 4 can be replaced according to the shape of the materials, for example, the end tool 4 can adopt a clamp or a suction cup. The end controller 41 is configured to control the end tool 4, typically a servo motor, a pneumatic switch, or another control switch, in cooperation with the end tool 4, and the arm controller 11 transmits a control signal to the end controller 41, and the end controller 41 controls the operation of the end tool 4 according to the control signal, thereby completing the operation corresponding to the end tool 4.
Further, a mechanical arm vision correcting device 5 is arranged on the end tool 4 of the mechanical arm 1, and the mechanical arm vision correcting device 5 is in communication connection with the mechanical arm controller 11. Through set up arm vision correcting unit 5 on terminal instrument 4 of arm 1, can rectify the position and the state of arm 1, the camera of arm vision correcting unit 5 is installed in terminal instrument 4 one side, arm vision correcting unit 5 is through being connected with arm controller 11 with terminal instrument 4's positional information transmission to arm controller 11, arm controller 11 compares with the assigned position according to the positional information that arm vision correcting unit 5 transmitted again, thereby control arm 1 adjusts the position of terminal instrument 4 and reaches the assigned position, thereby play the effect of correcting terminal instrument 4 position, improve the precision of arm 1 action.
Specifically, the conveying rollers 2 on the two sides of the mechanical arm 1 are driven to rotate synchronously by a synchronous belt. The conveying rollers 2 on two sides of the mechanical arm 1 are used for conveying materials, in order to guarantee accurate conveying of the materials, the conveying rollers 2 are synchronously driven by synchronous belts, and preferably driven to rotate by servo motors; the conveying rollers 2 on both sides of the robot arm 1 are controlled separately, and the conveying rollers 2 are driven by a timing belt, which means that the conveying rollers 2 on the same side are driven by a timing belt, and the conveying rollers 2 on both sides are also driven by servo motors to rotate.
Furthermore, the front end and the rear end of the AGV transporting trolley 3 are both provided with anti-collision detection mechanisms 6, and the anti-collision detection mechanisms 6 are connected with the main controller 31; the collision avoidance detection mechanism 6 includes a non-contact collision avoidance detection mechanism 61 and a contact collision avoidance detection mechanism 62. The anti-collision detection mechanism 6 is used for preventing the AGV transporting trolley 3 from colliding with obstacles, wherein the non-contact anti-collision detection mechanism 61 can specifically adopt an ultrasonic obstacle avoidance module or a radar obstacle avoidance module and the like, the non-contact anti-collision detection mechanism 61 is arranged at the front end and the rear end of the AGV transporting trolley 3, the obstacles are detected in the moving process of the AGV transporting trolley 3, when the obstacles are detected within a set distance range, signals are transmitted to the main controller 31, the main controller 31 controls the speed reduction and stop of the trolley, the contact anti-collision detection mechanism 62 can adopt a structure that a bumper or a collision strip is matched with a pressure sensor, the bumper or the collision strip is arranged on the AGV transporting trolley 3, the pressure sensor is arranged between the bumper or the collision strip and the AGV transporting trolley 3, the contact anti-collision detection mechanism 62 is arranged and surrounds the front end and the rear end of the AGV transporting trolley 3, when the bumper or the collision bar hits an obstacle and the pressure sensor is subjected to a certain pressure, a signal is transmitted to the main controller 31, and the AGV transporting carriage 3 is controlled to stop by the main controller 31.
Specifically, the AGV transporting trolley 3 adopts a two-dimensional code navigation AGV trolley, and the two-dimensional code interpreter 32 is arranged at the bottom of the AGV transporting trolley 3. The AGV trolley using the two-dimensional code navigation enables the moving route of the AGV transporting trolley 3 to be more flexible, and the route is relatively easy to change. Therefore, the requirement for flexible movement of the mobile robot in the embodiment is better met. Because the AGV dolly of two-dimensional code navigation is the technique commonly used at present, the AGV dolly of here adoption two-dimensional code navigation is in order to adapt to mobile robot's user demand better, and does not regard this as main technical essential, consequently does not give unnecessary detail to the relevant technical content of two-dimensional code navigation here.
Further, a trolley vision correcting device 33 is arranged at the front end of the AGV transporting trolley 3, and the trolley vision correcting device 33 is connected with the main controller 31. Dolly vision correcting unit 33's camera installation sets up in AGV travelling bogie 3 front end for rectify AGV travelling bogie 3's position, improve the accuracy that AGV travelling bogie 3 removed. Simultaneously, AGV travelling bogie 3 in this embodiment adopts the differential wheel to drive, through setting up two differential wheels 34 in AGV travelling bogie 3 bottom, realizes AGV travelling bogie 3's removal through the rotation of controlling two differential wheels 34, sets up four unpowered universal wheels 35 as the auxiliary wheel in the four corners of AGV travelling bogie 3 bottom simultaneously, ensures mobile robot moving as a whole stationarity.
Of course, the above is only the preferred embodiment of the present invention, and the application range of the present invention is not limited thereto, so all the equivalent changes made in the principle of the present invention should be included in the protection range of the present invention.
Claims (8)
1. The utility model provides a compound mobile robot of multi-functional transportation which characterized in that: the automatic guided vehicle comprises an AGV transporting trolley and mechanical arms arranged on the AGV transporting trolley, wherein the mechanical arms are arranged in the middle of the AGV transporting trolley through a base, and conveying rollers are arranged on two sides of each mechanical arm on the AGV transporting trolley; be provided with main control unit and mechanical arm controller on the AGV travelling bogie, main control unit is connected with the communication of mechanical arm controller, and mechanical arm controller connects the arm.
2. The multifunctional transportation composite type mobile robot of claim 1, wherein: arm end-to-end connection is provided with end instrument, still is provided with end controller on the AGV travelling bogie, and arm controller is connected with end controller communication, and end controller connects end instrument.
3. The multifunctional transportation composite type mobile robot of claim 2, wherein: and a mechanical arm vision correcting device is arranged on a tool at the tail end of the mechanical arm and is in communication connection with a mechanical arm controller.
4. The multifunctional transportation composite type mobile robot according to claim 3, wherein: and the conveying rollers on two sides of the mechanical arm are synchronously driven to rotate by a synchronous belt.
5. The multifunctional transportation composite type mobile robot of claim 4, wherein: both ends all are provided with anticollision detection mechanism around the AGV travelling bogie, anticollision detection mechanism is connected with main control unit.
6. The multifunctional transportation composite type mobile robot of claim 5, wherein: the anti-collision detection mechanism comprises a non-contact anti-collision detection mechanism and a contact anti-collision detection mechanism.
7. The multifunctional transportation composite type mobile robot according to any one of claims 1 to 6, wherein: the AGV transport trolley is a two-dimensional code navigation AGV trolley, and a two-dimensional code interpreter is arranged at the bottom of the AGV transport trolley.
8. The multifunctional transportation composite type mobile robot of claim 7, wherein: AGV transportation dolly front end is provided with dolly vision correcting unit, and dolly vision correcting unit is connected with main control unit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921444412.9U CN210879628U (en) | 2019-09-02 | 2019-09-02 | Multifunctional transportation composite mobile robot |
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| CN201921444412.9U CN210879628U (en) | 2019-09-02 | 2019-09-02 | Multifunctional transportation composite mobile robot |
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| CN210879628U true CN210879628U (en) | 2020-06-30 |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114620448A (en) * | 2022-01-26 | 2022-06-14 | 云南电网有限责任公司 | Automatic sampling inspection system and electric energy meter verification, carving and labeling method |
| CN114939879A (en) * | 2022-05-31 | 2022-08-26 | 天津市山石机器人有限责任公司 | Multifunctional composite AGV robot and implementation method thereof |
| CN114939879B (en) * | 2022-05-31 | 2024-10-29 | 天津市山石机器人有限责任公司 | Implementation method of multifunctional composite AGV robot |
-
2019
- 2019-09-02 CN CN201921444412.9U patent/CN210879628U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114620448A (en) * | 2022-01-26 | 2022-06-14 | 云南电网有限责任公司 | Automatic sampling inspection system and electric energy meter verification, carving and labeling method |
| CN114620448B (en) * | 2022-01-26 | 2023-11-17 | 云南电网有限责任公司 | Automatic spot check system and electric energy meter verification, engraving and labeling method |
| CN114939879A (en) * | 2022-05-31 | 2022-08-26 | 天津市山石机器人有限责任公司 | Multifunctional composite AGV robot and implementation method thereof |
| CN114939879B (en) * | 2022-05-31 | 2024-10-29 | 天津市山石机器人有限责任公司 | Implementation method of multifunctional composite AGV robot |
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