CN211198483U - Stacking type omnidirectional mobile robot - Google Patents
Stacking type omnidirectional mobile robot Download PDFInfo
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- CN211198483U CN211198483U CN201921654884.7U CN201921654884U CN211198483U CN 211198483 U CN211198483 U CN 211198483U CN 201921654884 U CN201921654884 U CN 201921654884U CN 211198483 U CN211198483 U CN 211198483U
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Abstract
The utility model discloses a stacking type omnidirectional mobile robot, which comprises an omnidirectional mobile chassis, a handheld remote control unit, a lifting mechanism, an automatic charging assembly, a laser navigation assembly, a laser protection assembly, a controller and a goods shelf; the omnidirectional moving chassis comprises two groups which are arranged in a bilateral symmetry mode, omnidirectional wheel sets are symmetrically arranged at the bottoms of the two groups of moving chassis, and the laser protection assembly is arranged at the rear end of the omnidirectional moving chassis; the goods shelf is arranged between the two groups of omnidirectional moving chassis; the lifting mechanism is arranged on the front end face of the goods shelf, and the automatic charging mechanism is arranged on the rear end face of the goods shelf; the laser navigation assembly and the controller are both arranged at the upper end of the goods shelf.
Description
Technical Field
The utility model discloses the creation relates to intelligent logistics equipment technical field especially relates to a stack formula omnidirectional movement robot.
Background
In a production workshop such as a container, materials need to be frequently distributed to each work station, and due to the narrow logistics channel, the road conditions are complex, the types of the materials are multiple, and the weight is heavy, the materials are generally loaded by adopting trays, and the trays are sequentially placed on the ground of a specified place and then distributed by a manually-driven forklift. The material distribution mode has potential safety hazards, and the intellectualization and informatization of logistics distribution cannot be realized. With the expansion of production scale, the production requirements have not been met by manual work alone.
The utility model discloses can realize high-efficient, accurate, the safe delivery of material delivery on the basis that does not change current production situation.
Disclosure of Invention
In view of this, the utility model provides a material delivery in the narrow passageway, material delivery is high-efficient, accurate, safe, and the mobile robot of material delivery informationization. In order to achieve the above object, the utility model mainly provides the following technical scheme:
the stacking type omnidirectional mobile robot is characterized by comprising an omnidirectional mobile chassis, a handheld remote control unit, a lifting mechanism, an automatic charging assembly, a laser navigation assembly 5, a laser protection assembly, a controller and a goods shelf;
the omnidirectional moving chassis comprises two groups which are arranged in a bilateral symmetry mode, omnidirectional wheel sets are symmetrically arranged at the bottoms of the two groups of moving chassis, and the laser protection assembly is arranged at the rear end of the omnidirectional moving chassis; the goods shelf is arranged between the two groups of omnidirectional moving chassis;
the lifting mechanism is arranged on the front end face of the goods shelf, and the automatic charging assembly is arranged on the rear end face of the goods shelf; the laser navigation assembly and the controller are both arranged at the upper end of the goods shelf.
Further, it includes hand-held remote controller, remote controller stores pylon, wireless transceiver that hand-held remote control unit, wireless transceiver set up the rear end face on the omnidirectional movement chassis of one side, and the remote controller stores pylon sets up in the goods shelves side, install hand-held remote controller on the remote controller stores pylon, hand-held remote controller passes through wireless transceiver and controller communication connection.
Furthermore, the lifting mechanism comprises a gantry, a sliding seat, a jacking electric cylinder, a pallet fork, a whisker sensor, a rear limit sensor, a low-level sensor and a high-level sensor;
the gantry is of a gantry type structure and comprises a front side and a back side, wherein a sliding groove is formed in a vertical frame body of the front side, the sliding seat is slidably and cooperatively installed in the sliding groove, the sliding seat is symmetrically provided with the forks, a rear limit sensor is arranged on the sliding seat between the forks, a whisker sensor is arranged at the top end of the fork, a gantry bottom plate is arranged on the back side of the gantry, a jacking electric cylinder is installed on the gantry bottom plate, and a high-position sensor and a low-position sensor are coaxially arranged beside the jacking electric cylinder;
further, the laser navigation subassembly includes laser scanning sensor and reflection of light post, wherein laser scanning sensor sets up the top surface at the goods shelves, reflection of light post distributes at factory building stand, wall body or the fixed mechanical equipment top of position that the route both sides were traveled to the mobile robot.
Furthermore, the laser protection assembly is arranged on a front end inclined plane of the omnidirectional moving chassis and comprises two laser obstacle avoidance sensors and a mounting support, wherein the two laser obstacle avoidance sensors are assembled on the mounting support, and the two laser obstacle avoidance sensors are arranged diagonally.
Further, the controller comprises a programmable logic controller.
The beneficial effects of the utility model reside in that:
the utility model provides a can carry out material handling's stack formula robot high-efficiently, safely in narrow and small passageway, it can replace current fork truck, changes old and original artifical stack mode, greatly improves stack efficiency, makes the upgrading and reforms transform for later stage mill's intelligence and establishes the basis.
Drawings
Fig. 1 is a front view of a stacking type omnidirectional mobile robot.
Fig. 2 is a schematic diagram of a robot showing a hand-held remote control unit.
Fig. 3 is a front view of the elevating mechanism.
Fig. 4 is a rear view of the elevating mechanism.
FIG. 5 is a schematic view of a robot reflecting a laser navigation assembly.
Fig. 6 is a schematic diagram of a robot showing a laser protection assembly.
FIG. 7 is a diagram of the relationship of the control modules between the controller and the various components.
Detailed Description
The invention is further described with reference to the following specific drawings and examples.
As shown in fig. 1-7: a stacking type omnidirectional mobile robot is characterized by comprising an omnidirectional mobile chassis 1, a handheld remote control unit 2, a lifting mechanism 3, an automatic charging assembly 4, a laser navigation assembly 5, a laser protection assembly 6, a controller 7 and a goods shelf 8;
the omnidirectional moving chassis 1 comprises two groups which are arranged in a bilateral symmetry mode, omnidirectional wheel sets 101 are symmetrically arranged at the bottoms of the two groups of moving chassis, and the laser protection component 6 is arranged at the rear end of the omnidirectional moving chassis 1; the goods shelf 8 is arranged between the two groups of omnidirectional moving chassis 1;
the lifting mechanism 3 is arranged on the front end face of the goods shelf 8, and the automatic charging assembly 4 is arranged on the rear end face of the goods shelf 8; the laser navigation assembly 5 and the controller 7 are both arranged at the upper end of the goods shelf.
The number of the omnidirectional moving chassis 1 is 1, the chassis adopts omnidirectional wheel sets 101 based on 4 sets of Mecanum wheels, each set is driven by a respective servo motor and a planetary reducer, a microcomputer control chip (MCU) or a programmable logic controller (P L C) is used for realizing various motion modes such as straight motion, transverse motion, oblique motion, in-situ rotation, composite motion and the like in a two-dimensional plane through the rotating speed and steering control among the wheel sets, and the motion precision can reach +/-1 mm, so the omnidirectional moving chassis is particularly suitable for material distribution in a narrow channel.
It includes hand-held remote controller 201, remote controller stores pylon 202, wireless transceiver 203 that hand-held remote control unit 2, wireless transceiver 203 sets up the rear end face in the omnidirectional movement chassis 1 of one side, and accuse ware stores pylon 202 sets up in the 8 sides of goods shelves, install hand-held remote controller 201 on the remote controller stores pylon 202, hand-held remote controller 201 passes through wireless transceiver 203 and is connected the communication with controller 7, and wireless transceiver 203 is equipped with 9 pin serial ports, uses the data line with communication system 7's serial ports to be connected, carries out data exchange through RS485 communication mode to realize issuing and the robot state feedback of manual control command.
The hand-held remote controller 201 communicates with the controller 7 through the wireless transceiver 203, so that the manual control of the robot such as moving, lifting and control mode switching can be realized. The remote controller hanger is made of plastic, and 203 is used for storing the handheld remote controller.
The lifting mechanism 3 comprises a gantry 301, a sliding seat 302, a lifting electric cylinder 303, a pallet fork 304, a whisker sensor 305, a rear limit sensor 306, a low-position sensor 307 and a high-position sensor 308, wherein the low-position sensor and the high-position sensor are both ohm dragon E2EM series proximity sensors.
The gantry 301 is of a gantry structure, the gantry 301 comprises a front side and a back side, a sliding groove 309 is formed in a vertical frame body of the gantry on the front side, the sliding base 302 is slidably and cooperatively installed in the sliding groove 309, the forks 304 are symmetrically installed on the sliding base 302, a rear limit sensor 306 is arranged on the sliding base between the forks 304, a whisker sensor 305 is installed at the top end of each fork, a gantry bottom plate 310 is arranged on the back side of the gantry, a jacking electric cylinder 303 is installed on the gantry bottom plate, and a high-position sensor 308 and a low-position sensor 307 are coaxially arranged beside the electric cylinder 303;
the sliding base is driven to move up and down through the stretching of the jacking electric cylinder 303, the two forks 304 are installed on the sliding base, and the distance between the forks is adjusted and locked according to the fork taking position of the tray. In the process of pallet forking, the stacking type omnidirectional mobile robot moves slowly, and the tentacle sensor 305 can monitor whether the pallet fork and the pallet collide in real time; when the tray contacts and presses the rear limit sensor 306, the robot stops moving, and meanwhile, after the controller receives a signal of the limit sensor 306, the jacking electric cylinder starts to extend out to jack the tray. The low sensor 307 and the high sensor 308 are two limit elevation positions, and it is considered that the elevation position is adjusted by adjusting the sensor mounting height. The material distribution is efficient, accurate and safe.
The laser navigation assembly 5 comprises a laser scanning sensor 501 and reflecting columns 502, wherein the laser scanning sensor 501 is arranged on the top surface of the shelf 8, and the reflecting columns 502 are distributed on the positions of plant columns, walls, tops of fixed-position machine equipment and the like on two sides of the traveling path of the mobile robot; and aiming at some open zones, self-made brackets can be adopted for fixing. And a plurality of light reflecting columns are asymmetrically arranged on two sides of the moving path of the robot. In the moving process of the robot, the laser scanning sensor continuously scans the surrounding reflective columns at a certain frequency, and when at least 3 spectral columns are scanned, the current relative position of the laser scanning sensor can be calculated; the current relative position of the robot can be obtained through coordinate conversion, the robot is positioned, and automatic navigation is further completed. The laser scanning sensor uses the Weck TIM310 series.
The laser protection component 6 is arranged on the front end inclined plane of the omnidirectional moving chassis 1, and comprises a laser obstacle avoidance sensor 601 and a mounting bracket 602, wherein the laser obstacle avoidance sensor 601 is assembled on the mounting bracket 602, the laser obstacle avoidance sensor 601 comprises two components, and the two components are arranged diagonally. The scanning angle of the laser obstacle avoidance sensor 601 is 270 degrees, the two sensors are arranged diagonally, and the robot can be safely protected by 360 degrees in real time. The laser obstacle avoidance sensor 601 adopts a doubly fed R2000.
The controller 7 adopts a programmable logic controller (P L C) to realize the control of the stacking type omnidirectional mobile robot, CAN realize the sending and receiving of feedback data of the control instructions of the P L C and each unit in a CAN bus mode, and simultaneously, the controller 7 CAN realize information interaction with the scheduling system software, receive task instructions of the scheduling system software and feed back the task instructions in real time through a Socket programming interface.
Finally, it should be noted that the above embodiments are only used for illustrating the technical solutions of the present invention and not for limiting, and although the present invention has been described in detail with reference to the examples, those skilled in the art should understand that the technical solutions of the present invention can be modified or replaced by equivalents without departing from the spirit and scope of the technical solutions of the present invention, which should be covered by the scope of the claims of the present invention.
Claims (6)
1. A stacking type omnidirectional mobile robot is characterized by comprising an omnidirectional mobile chassis (1), a handheld remote control unit (2), a lifting mechanism (3), an automatic charging assembly (4), a laser navigation assembly (5), a laser protection assembly (6), a controller (7) and a goods shelf (8);
the omnidirectional moving chassis (1) comprises two groups which are arranged in a bilateral symmetry mode, omnidirectional wheel sets (101) are symmetrically arranged at the bottoms of the two groups of moving chassis, and the laser protection component (6) is arranged at the rear end of the omnidirectional moving chassis (1); the goods shelf (8) is arranged between the two groups of omnidirectional moving chassis (1);
the lifting mechanism (3) is installed on the front end face of the goods shelf (8), and the automatic charging assembly (4) is arranged on the rear end face of the goods shelf (8); the laser navigation component (5) and the controller (7) are both arranged at the upper end of the goods shelf (8).
2. The stacking omni-directional mobile robot according to claim 1,
it includes hand-held remote controller (201), remote controller stores pylon (202), wireless transceiver (203) handheld remote control unit (2), and wireless transceiver (203) set up the rear end face in the omnidirectional movement chassis (1) of one side, and remote controller stores pylon (202) sets up in goods shelves (8) side, install hand-held remote controller (201) on remote controller stores pylon (202), hand-held remote controller (201) pass through wireless transceiver (203) and controller (7) communication connection.
3. The stacking omni-directional mobile robot according to claim 1,
the lifting mechanism comprises a gantry (301), a sliding seat (302), a jacking electric cylinder (303), a fork (304), a whisker sensor (305), a rear limit sensor (306), a low sensor (307) and a high sensor (308);
portal (301) are planer-type structure, portal (301) are including the front and the back, wherein are provided with spout (309) on the vertical support body of positive portal, slide (302) slidable cooperation is installed in spout (309), fork (304) are installed to the symmetry on slide (302), be provided with back limit sensor (306) on the slide between fork (304), whisker sensor (305) are installed on the fork top, the portal back has portal bottom plate (310), install jacking electric cylinder (303) on the portal bottom plate, the other coaxial line of jacking electric cylinder (303) is provided with high level sensor (308) and low level sensor (307).
4. The stacking omni-directional mobile robot according to claim 1,
laser navigation subassembly (5) include laser scanning sensor (501) and reflection of light post (502), wherein laser scanning sensor (501) set up the top surface at goods shelves (8), reflection of light post (502) distribute at factory building stand, wall body or the fixed machine equipment top in position that the route both sides were traveled to the mobile robot.
5. The stacking omni-directional mobile robot according to claim 1,
the laser protection assembly (6) is arranged on a front end inclined plane of the omnidirectional moving chassis (1) and comprises a laser obstacle avoidance sensor (601) and a mounting bracket (602), wherein the laser obstacle avoidance sensor (601) is assembled on the mounting bracket (602), the laser obstacle avoidance sensor (601) comprises two components, and the two components are arranged diagonally.
6. The stacking omni-directional mobile robot according to claim 1,
the controller (7) comprises a programmable logic controller.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921654884.7U CN211198483U (en) | 2019-09-30 | 2019-09-30 | Stacking type omnidirectional mobile robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921654884.7U CN211198483U (en) | 2019-09-30 | 2019-09-30 | Stacking type omnidirectional mobile robot |
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| CN211198483U true CN211198483U (en) | 2020-08-07 |
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| CN201921654884.7U Active CN211198483U (en) | 2019-09-30 | 2019-09-30 | Stacking type omnidirectional mobile robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112265942A (en) * | 2020-11-09 | 2021-01-26 | 浙江力普物流技术有限公司 | Novel weighing pallet fork, weighing method thereof and forklift with weighing pallet fork |
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2019
- 2019-09-30 CN CN201921654884.7U patent/CN211198483U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112265942A (en) * | 2020-11-09 | 2021-01-26 | 浙江力普物流技术有限公司 | Novel weighing pallet fork, weighing method thereof and forklift with weighing pallet fork |
| CN112265942B (en) * | 2020-11-09 | 2023-12-22 | 浙江力普物流技术有限公司 | Novel weighing fork, weighing method thereof and forklift with novel weighing fork |
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