CN212123280U

CN212123280U - Intelligent manipulator trolley

Info

Publication number: CN212123280U
Application number: CN201922498969.7U
Authority: CN
Inventors: 傅峰峰; 张智军; 江志强; 林俊杰; 林文蔚; 李航; 刘嘉荣; 陈伟俊; 刘楚奇; 赖家斌
Original assignee: South China University of Technology SCUT; Guangzhou Fugang Wanjia Intelligent Technology Co Ltd
Current assignee: South China University of Technology SCUT; Guangzhou Fugang Wanjia Intelligent Technology Co Ltd
Priority date: 2019-12-31
Filing date: 2019-12-31
Publication date: 2020-12-11
Anticipated expiration: 2029-12-31

Abstract

The utility model provides an intelligent mechanical hand dolly, this manipulator dolly arranges radar and camera to automobile body the place ahead, reserves out the top and establishes with the installation manipulator to this manipulator is for can 360 rotatory manipulators, like this, snatchs article behind the rotatory wide-angle of needs or snatchs article after need the wide-angle rotatory time, all need not rotatory automobile body, and direct rotatory manipulator can.

Description

Intelligent manipulator trolley

Technical Field

The utility model relates to an intelligent vehicle technical field, in particular to intelligent manipulator.

Background

In order to rapidly carry objects in scenes such as intelligent workshops and intelligent homes, intelligent trolleys which can automatically navigate and are provided with manipulators capable of grabbing objects are developed in the industry. Such a cart generally includes a body and a robot provided at a front end or both sides of the body. The vehicle body is generally composed of a base and a shell mounted on a bottom shell, and the vehicle body is generally flat.

The intelligent trolley is mature in structure and has more applications. However, since the robot is installed at the front end or both sides of the vehicle body, the robot has a limited working range, and when it wants to grab an object, it needs to move to the vicinity of the object and then rotate to adjust its orientation so that the robot faces the object to be grabbed for grabbing. When the area space where the object to be grabbed is located is narrow and small, and the trolley is not beneficial to turning, the work of the intelligent trolley is limited. Further, when the object is to be placed behind the vehicle body after being gripped, the vehicle body is generally rotated at this time, which also causes inconvenience.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to avoid the weak point among the above-mentioned prior art and provide the intelligent mechanical hand dolly that can 360 snatch article in week side.

The purpose of the utility model is realized through the following technical scheme:

the utility model provides an intelligent mechanical hand dolly, includes the frame, the frame top is provided with the manipulator, and frame the place ahead is provided with radar and camera, the dolly top sets up the manipulator that can 360 rotations, and the dolly middle part sets up navigation radar and camera, and the dolly bottom sets up running gear, and the controller is according to radar signal control running gear, according to camera control the manipulator.

The manipulator comprises a base arm perpendicular to the top of the frame, and a rotating arm is arranged at the top of the base arm and can rotate around a middle shaft of the base arm.

The radar antenna also comprises a shell, wherein a groove is formed in the middle of the shell, and the radar is arranged in the groove.

The groove bottom facing the notch in the groove is a radar guide surface, the radar is installed in the groove, the groove forms an avoidance channel capable of avoiding radar scanning signals, and therefore the radar is smaller than a shadow area formed by the shell on the horizontal plane due to the shadow area formed by the radar guide surface.

Wherein the projection width of the groove in the horizontal plane is equal to the maximum width of the shell.

The radar guide surface comprises a left wing surface and a right wing surface, the projections of the left wing surface and the right wing surface on a horizontal plane are intersected, and a radar mounting area is arranged in front of the intersection of the left wing surface and the right wing surface.

The frame comprises a bottom plate, a middle plate and a top plate, the bottom plate, the middle plate and the top plate are sequentially stacked from bottom to top, wheels are installed on the bottom plate, an energy storage device and a power device are installed on the top surface of the bottom plate, a controller is installed on the middle plate, and the manipulator is installed on the top plate

The utility model has the advantages that: the utility model provides an intelligent mechanical hand dolly, this manipulator dolly arranges radar and camera to automobile body the place ahead, reserves out the top and establishes with the installation manipulator to this manipulator is for can 360 rotatory manipulators, like this, snatchs article behind the rotatory wide-angle of needs or snatchs article after need the wide-angle rotatory time, all need not rotatory automobile body, and direct rotatory manipulator can.

Drawings

The present invention is further explained by using the drawings, but the embodiments in the drawings do not constitute any limitation to the present invention, and for those skilled in the art, other drawings can be obtained according to the following drawings without any inventive work.

Fig. 1 is the schematic diagram of the radar navigation automatic guided vehicle of the utility model under the state of separating the housing from the frame.

Fig. 2 is the schematic cross-sectional view of the radar navigation automated guided vehicle along the middle layer plate.

Fig. 3 is the schematic cross-sectional view of the radar navigation automated guided vehicle along the bottom plate of the utility model.

Fig. 1 to 3 include:

the device comprises a frame 1, a frame 11, a bottom plate 12, a middle plate 13, a top plate 14, a column 15, a driving wheel 16, a driving motor 17, a battery pack 18, a counterweight 18, a driven wheel 19, a shell 2, a groove 21, a left wing surface 22, a right wing surface 23, a manipulator 3, a rotating arm 31, a radar 4, a camera 5 and a controller 6.

Detailed Description

The invention will be further described with reference to the following examples.

The utility model discloses intelligent mechanical hand dolly's embodiment, as shown in fig. 1, including frame 1, shell 2, manipulator 3, radar 4 and camera 5, controller 6 is according to radar signal control running gear, according to the information control that camera 5 was shot the manipulator. In this embodiment, for convenience of description, it is assumed that the mounting surface of the radar 4 is the front surface of the trolley, and generally, the most important scanning area of the trolley is the front surface thereof, so the mounting surface of the radar 4 is generally the front surface of the trolley, and in some special cases, the mounting surface of the radar 4 may also be a side surface or a back surface of the trolley, and the principle is always and will not be described herein again.

Lower part is cylindricly basically in shell 2, intermediate position department at shell 2, be formed with one recess 21, the notch of recess 21 is towards the front of dolly, the tank bottom (the one side towards the notch) of recess 21 is radar 4 spigot surface, radar 4 spigot surface and notch have formed the passageway of dodging that can dodge radar 4 signal within a definite time, radar 4 installs the front end at recess 21, the scanning signal that radar 4 sent can follow this passageway of dodging and radar 4 spigot surface and propagate to the both sides of dolly, finally reach the both sides of dolly and receive the signal of both sides passback, thereby realize the detection to the dolly both sides. Of course, the shape of the guiding surface of the radar 4 must also be required, and the shape of the guiding surface of the radar 4 must block the signal of the radar 4 as little as possible, i.e. must avoid as much as possible in the scanning path of the radar 4, so that the shadow area of the radar 4 in the horizontal plane formed by the guiding surface of the radar 4 is smaller than the shadow area formed by the housing 2. Of course, in order to reduce the obstruction of the vehicle body to the radar 4 signal as much as possible, the projection width of the groove 21 in the horizontal plane is preferably equal to the maximum width of the housing 2, so that the radar 4 signal is not obstructed by the vehicle body on both sides.

In order to ensure the avoidance effect of the radar 4 guide surface to the radar 4, as shown in fig. 2, the radar 4 guide surface comprises a left wing surface 22 and a right wing surface 23, the left wing surface 22 and the right wing surface 23 intersect in a projection of a horizontal plane, and a radar 4 mounting area is arranged in front of the intersection of the left wing surface 22 and the right wing surface 23. Specifically, in the present embodiment, the included angle between the left wing surface 22 and the right wing surface 23 of the guiding surface of the radar 4 is smaller than or equal to 90 °, so that the detection range of the signal of the radar 4 reaches 270 °, and it is found in practice that the groove 21 still does not substantially occupy too much space of the vehicle body, and the detection range of 270 ° already covers the front and the side of the vehicle body, and substantially meets most requirements, so that 90 ° is a relatively good choice. Of course, if a greater range of detection of the radar 4 signal is desired, the included angle may be set smaller, but in this case, the space occupied by the groove 21 may be larger.

Naturally, there are also other ways to make the shadow area of the radar 4 in the horizontal plane, which is formed by the guiding surface of the radar 4, smaller than the shadow area formed by the housing 2. For example, the guiding surface of the radar 4 and the side surface of the shell 2 are both arc cylindrical surfaces, but the arc curvature of the guiding surface of the radar 4 is larger than that of the side surface of the shell 2, and at this time, because the guiding surface of the radar 4 is more curved, and under the condition of the same circle center, the diameter of the guiding surface of the radar 4 is smaller, and the formed shielding on the scanning path of the radar 4 is smaller. Therefore, the shape of the guiding surface of the radar 4 can be flexibly adjusted by a person skilled in the art, as long as the guiding surface of the radar 4 and the side surface of the shell 2 are both arc cylindrical surfaces, and the arc curvature of the guiding surface of the radar 4 is larger than that of the side surface of the shell 2.

In this embodiment, the frame 1 includes three layers: bottom plate 11, middle level class and roof 13, these three-layer boards are punched down to supreme range upon range of setting in proper order, and the area of bottom plate 11 is greater than the area of middle layer board 12, and the area of middle layer board 12 is greater than the area of roof 13, is supported by stand 14 fixed stay between the adjacent plywood for form the accommodation space that can place the part between the adjacent plywood.

Four wheel holes have been seted up to lower floor's board for two sets of wheels of holding: a driving wheel 15 and a driven wheel. The set of driving wheels 15 comprises two driving wheels 15, the two driving wheels 15 are coaxial, i.e. the axles of the two driving wheels are on the same straight line. The number of the driving wheels 15 may be more as needed as long as all the driving wheels 15 are coaxial. The arrangement of the driven wheel is the same as that of the driving wheel 15, however, the driven wheel is an omnidirectional wheel, namely, a sub wheel which is axially vertical to the driven wheel is arranged on the wheel surface of the driven wheel, so that the steering of the vehicle is smoother. In order to control the steering conveniently, each driving wheel 15 is provided with a driving motor 16 as a driving mechanism, the driving motors 16 are arranged on the bottom plate 11, and each driving motor 16 controls one driving wheel 15, so that the steering of the intelligent manipulator 3 trolley can be controlled by controlling the difference of the rotating speeds of the two driving motors 16.

As shown in fig. 3, on the bottom plate 11, the area between the driving wheel 15 set and the driving wheel set is a counterweight area, the counterweight area is provided with a battery pack 17 and a counterweight 18, the battery pack 17 is arranged in the middle of the counterweight area, and the counterweight 18 is symmetrically arranged on two sides of the battery pack 17, so that the counterweight 18 is exactly located in the area between one driving wheel 15 and one driven wheel. In this embodiment, it is required to make the size of the weight block 18 large enough to make the width of the weight block area larger than the width of the driving wheel 15 group and the width of the driven wheel group, so that the weight distribution during the arrangement on the bottom plate 11 is more uniform, the center of gravity is as close as possible to the center of the bottom plate 11, and the probability of side turning is reduced.

The intelligent manipulator 3 trolley also comprises a radar 4 and a camera 5 which are arranged on the shell 2, a controller 6 is provided with a driving motor 16 of a signal control driving wheel 15 of the radar 4, and the manipulator 3 is controlled according to the signal of the camera 5. Wherein the controller 6 is installed at the position of the middle plate 12 so that relatively light control does not occupy the space of the bottom plate 11, so that the bottom plate 11 can be reduced in size as much as possible and the center of gravity is concentrated, and the controller 6 located at the middle plate 12 is also located closer to the radar 4 and the camera 5 for easy wiring.

In this embodiment, the robot 3 is mounted on the top plate 13, and the robot 3 includes a base arm disposed perpendicular to the top plate 13, and a rotating arm 31 is disposed on the top of the base arm, and the rotating arm 31 can rotate around a central axis of the base arm, so that the robot 3 can operate on articles in a surrounding 360 ° area while the vehicle body remains stationary.

It should be finally noted that the above embodiments are only intended to illustrate the technical solutions of the present invention, and not to limit the scope of the present invention, and although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that the technical solutions of the present invention can be modified or replaced with equivalents without departing from the spirit and scope of the technical solutions of the present invention.

Claims

1. Intelligent manipulator dolly, its characterized in that: the robot comprises a frame, the frame top is provided with the manipulator, and frame the place ahead is provided with radar and camera, the dolly top sets up the manipulator that can 360 rotations, and the dolly middle part sets up navigation radar and camera, and the dolly bottom sets up running gear, and the controller is according to radar signal control running gear, according to camera control the manipulator.

2. The intelligent robot cart of claim 1, wherein: the manipulator comprises a base arm perpendicular to the top of the frame, and a rotating arm is arranged at the top of the base arm and can rotate around a middle shaft of the base arm.

3. The intelligent robot cart of claim 1, wherein: the radar antenna also comprises an outer shell, wherein a groove is formed in the middle of the outer shell, and the radar is arranged in the groove.

4. The intelligent robot cart of claim 3, wherein: the bottom of the groove facing the notch is a radar guide surface, the radar is mounted in the groove, and the groove forms an avoidance channel capable of avoiding radar scanning signals, so that the radar is smaller than the shadow area formed by the shell on the horizontal plane due to the shadow area formed by the radar guide surface.

5. The intelligent robot cart of claim 4, wherein: the projection width of the groove in the horizontal plane is equal to the maximum width of the shell.

6. The intelligent robot cart of claim 4, wherein: the radar guide surface comprises a left wing surface and a right wing surface, the left wing surface and the right wing surface are intersected in the projection of a horizontal plane, and a radar mounting area is arranged in front of the intersection of the left wing surface and the right wing surface.

7. The intelligent robot cart of claim 1, wherein: the frame includes bottom plate, median lamina and roof, and the three stacks gradually from supreme down, the wheel is installed to the bottom plate, and energy memory and power device are installed to the top surface of bottom plate, the controller is installed to the median lamina, the manipulator is installed in the roof.