CN212609266U

CN212609266U - Automatic guide transfer robot

Info

Publication number: CN212609266U
Application number: CN202020904210.4U
Authority: CN
Inventors: 吴峻睿; 谢仲铭; 毛贵鹏
Original assignee: Dongguan Shini Electrothermal Machinery Co ltd
Current assignee: Dongguan Shini Electrothermal Machinery Co ltd
Priority date: 2020-05-26
Filing date: 2020-05-26
Publication date: 2021-02-26
Anticipated expiration: 2030-05-26

Abstract

The utility model provides an automatic guide transfer robot, the on-line screen storage device comprises a base, be equipped with lifting module on the base, the lifting module top is fixed with the navigation laser head, lifting module's output is connected with the side shield, side shield front end bottom is connected with transport module, the preceding terminal surface of side shield is equipped with a plurality of vacuum chuck, all vacuum chuck is connected with the vacuum pump jointly, be equipped with front wheel drive module, wireless charging module, circuit board in the base, be equipped with control chip, battery, power on the circuit board, wireless charging module includes spacing frame, fixes magnetism sense coil in the spacing frame, magnetism sense coil with battery electric connection. The utility model provides an automatic guide transfer robot has adopted the navigation laser head as navigation module, has replaced traditional electromagnetic navigation mode, need not to lay and buries the line, and the circuit of marcing is changeable, and application scope is wide.

Description

Automatic guide transfer robot

Technical Field

The utility model relates to a transfer robot technical field, concretely relates to automated guided transfer robot.

Background

With the ever-increasing level of production automation, the traditional manufacturing industry faces tremendous opportunities and challenges. The main equipments in industrial automation production and in the manufacturing process of flexible manufacturing systems are generally: the assembly line robot divides the work of doing all can, and automatic stereoscopic warehouse accesses work piece and material in real time, automatic handling of unmanned transport vehicle etc.. The unmanned transport vehicle is represented by AGV (automatic Guided vehicle), the AGV can automatically run, accurately and timely transport task objects to a destination, the AGV is high in intelligent degree and cannot be exhausted, the labor cost of an enterprise can be greatly saved, and staff can be separated from dangerous posts.

However, the automatic guided transfer robot according to the related art generally uses an electromagnetic wave as a navigation signal, and it is necessary to bury a wire in a travel path of the AGV, load a guidance frequency on the wire, and recognize the guidance frequency to thereby realize navigation of the AGV. The navigation mode is troublesome to change or expand the path, and the guide line is relatively difficult to lay, so that the navigation mode has a large defect.

SUMMERY OF THE UTILITY MODEL

To above problem, the utility model provides an automatic guide transfer robot has adopted the navigation laser head as navigation module, has replaced traditional electromagnetic navigation mode, need not to lay and buries the line, and the circuit of marcing is changeable, and application scope is wide.

In order to achieve the above object, the present invention provides the following technical solutions:

automatic guide transfer robot, the on-line screen storage device comprises a base, be equipped with lifting module on the base, the lifting module top is fixed with the navigation laser head, lifting module's output is connected with the side shield, side shield front end bottom is connected with transport module, the preceding terminal surface of side shield is equipped with a plurality of vacuum chuck, all vacuum chuck is connected with the vacuum pump jointly, be equipped with front wheel drive module, wireless charging module, circuit board in the base, be equipped with control chip, battery, power on the circuit board, wireless charging module includes spacing frame, fixes magnetism induction coil in the spacing frame, magnetism induction coil with battery electric connection.

Specifically, the lifting module comprises a portal frame, screw rods, a first motor, sliding blocks and a mounting plate, wherein the screw rods are positioned at the inner sides of two ends of the portal frame, the first motor is connected to the bottom of the screw rods, the sliding blocks are connected with the screw rods in a sliding manner, the mounting plate is connected between the two sliding blocks, and the mounting plate is the output end of the lifting module.

Specifically, the vacuum pump is fixed on the mounting plate, and the vacuum pump is connected with the vacuum chuck through an air duct.

Specifically, the conveying module comprises two supports fixed to the bottom of the front end of the side baffle, a plurality of roller shafts connected between the supports, a driven gear connected to one end of each roller shaft, a second motor fixed to the supports, and a driving gear connected to an output shaft of the second motor, and the driving gear is connected with the driven gear through a belt.

Specifically, the outer side surface of the roll shaft is further provided with a layer of damping glue.

Specifically, the front wheel drive module is including rotating the motor, connecting rotate the carousel of motor upper end, fix drive motor on the carousel, connect first drive wheel on the drive motor output shaft, with the second drive wheel that first drive wheel meshing is connected, with second drive wheel coaxial coupling's dwang, the dwang both ends all are connected with the front wheel.

Specifically, four anti-collision photoelectric sensors are further arranged in the base and are respectively arranged at four arc-shaped angular positions of the base.

The utility model has the advantages that:

firstly, the automatic guide handling robot of the utility model adopts the navigation laser head as the navigation module, replaces the traditional electromagnetic navigation mode, does not need to lay buried wires, has variable advancing lines and wider application range;

secondly, a wireless charging module is added to replace the traditional wired charging mode, so that the charging is more convenient and the efficiency is higher;

and thirdly, a conveying module is added, so that the conveying module can be moved to one side of the output end of the article conveying channel, the automatic conveying feeding and transferring and conveying functions are realized, articles are not required to be transferred to an automatic guide carrying robot manually, the labor cost is reduced, and the efficiency is higher.

Drawings

Fig. 1 is a schematic structural view of the automated guided transfer robot of the present invention.

Fig. 2 is a cross-sectional view taken along the plane a-a in fig. 1.

Fig. 3 is a cross-sectional view taken along the plane B-B in fig. 1.

The reference signs are: the device comprises a base 1, a lifting module 2, a portal frame 21, a screw rod 22, a first motor 23, a slide block 24, a mounting plate 25, a navigation laser head 3, a side baffle 4, a vacuum chuck 41, a vacuum pump 42, an air guide pipe 43, a conveying module 5, a support 51, a roller shaft 52, a driven gear 53, a second motor 54, a driving gear 55, a front wheel driving module 6, a turntable 61, a driving motor 62, a first driving wheel 63, a second driving wheel 64, a rotating rod 65, a front wheel 601, a wireless charging module 7, a limiting frame 71, a magnetic induction coil 72, a circuit board 8, a control chip 81, a storage battery 82, a power supply 83 and an anti-collision photoelectric sensor 9.

Detailed Description

The present invention will be described in further detail with reference to the following examples and drawings, but the present invention is not limited thereto.

Referring to FIGS. 1-3:

an automatic guidance carrying robot comprises a base 1, wherein a lifting module 2 is arranged on the base 1, a navigation laser head 3 is fixed at the top end of the lifting module 2, the navigation laser head 3 can be a SICK safety laser head or an NDC laser head, And a navigation algorithm is arranged in the navigation laser head 3, the navigation laser head 3 is based on a SLAM (Simultaneous Localization And mapping) navigation principle, synchronous positioning And mapping are carried out by utilizing laser signals sent by the navigation laser head 3 And received laser signals in an unknown environment, positioning is carried out on the navigation laser head 3, namely odometer information is obtained by combining an encoder with an IMU (inertial measurement Unit) in the moving process, initial estimation of the position And posture of the automatic guidance carrying robot is obtained by utilizing a motion model of the automatic guidance carrying robot, then the position And posture of the automatic guidance carrying robot is accurately corrected by combining laser data obtained by the navigation laser head 3 loaded by the automatic guidance carrying robot And an observation model, obtaining the accurate positioning of the automatic guiding and carrying robot, finally adding laser data into the grid map on the basis of the accurate positioning, repeating the steps, moving the automatic guiding and carrying robot in the environment, and finally completing the construction of the whole scene map; after the scene map is constructed, the navigation of the automatic guided transfer robot needs to be realized by planning the position and the path based on the map on the basis of the constructed map. In the process of moving the automatic guide carrying robot, the laser data acquired by combining the odometer information with the navigation laser head 3 is matched with a map, the accurate position and posture of the automatic guide carrying robot in the map are continuously acquired in real time, meanwhile, path planning (dynamic route or fixed route, and routes at each time are slightly different) is carried out according to the current position and a task destination, and a control instruction is sent to the automatic guide carrying robot according to the track obtained by planning, so that the automatic guide carrying robot can automatically run.

In order to enable the automatic guide conveying robot to have a lifting function for conveying articles, the lifting module 2 is additionally arranged, the output end of the lifting module 2 is connected with the side baffle 4, the bottom of the front end of the side baffle 4 is connected with the conveying module 5, in order to enable the articles placed on the conveying module 5 not to easily fall off in the transferring process, the front end surface of the side baffle 4 is provided with a plurality of vacuum chucks 41 for adsorbing the articles, the vacuum chucks 41 of the embodiment are distributed on the planar side baffle 4, therefore, the adsorption function is only suitable for adsorption of rectangular boxes, of course, in order to enable the application to have wider applicability, for example, for conveying cylindrical articles, the shape of the side baffle 4 can be correspondingly adjusted to be circular arc, the placing positions of the vacuum chucks 41 can be correspondingly adjusted, all the vacuum chucks 41 are commonly connected with the vacuum pump 42, and by utilizing the continuous air suction function of the vacuum pump, so that the vacuum chuck 41 has a continuous suction force to the article to prevent the article from falling off due to the over-fast speed of the automatic guided transfer robot during the transfer process.

In addition, a front wheel driving module 6, a wireless charging module 7 and a circuit board 8 are arranged in the base 1, a control chip 81, a storage battery 82 and a power supply 83 are arranged on the circuit board 8, and a control program for regulating and controlling the navigation laser head 3 and a program for adjusting the voltage output of the power supply 83 are arranged in the control chip 81.

Traditional electromagnetic navigation mode is owing to have higher sensitivity to electromagnetic signal, consequently can't add wireless module 7 that charges, this application uses navigation laser head 3 as laser navigation mode, can add wireless module 7 that charges, wireless module 7 that charges includes spacing frame 71, fix the magnetic induction coil 72 in spacing frame 71, magnetic induction coil 72 and battery 82 electric connection, corresponding subaerial copper coil who sets up output, utilize the electromagnetic induction phenomenon of copper coil and magnetic induction coil 72, can realize the wireless function of charging of automatic guide transfer robot, shift the electric energy to storage battery 82 after charging and store, as the removal drive energy or the lift drive energy of automatic guide transfer robot.

Preferably, in order to enable the carried articles to realize a lifting function and facilitate the workers to take down the articles, the lifting module 2 is added, the lifting module 2 comprises a portal frame 21, a screw rod 22 positioned at the inner sides of two ends of the portal frame 21, a first motor 23 connected to the bottom of the screw rod 22, a slider 24 connected with the screw rod 22 in a sliding manner, and a mounting plate 25 connected between the two sliders 24, wherein the mounting plate 25 is an output end of the lifting module 2.

Preferably, the vacuum pump 42 is fixed on the mounting plate 25, and the vacuum pump 42 is connected with the vacuum suction cup 41 through a gas guide pipe 43.

Preferably, the conveying module 5 includes two brackets 51 fixed to the bottom of the front end of the side guard 4, a plurality of roller shafts 52 connected between the two brackets 51, a driven gear 53 connected to one end of the roller shaft 52, a second motor 54 fixed to the brackets 51, and a driving gear 55 connected to an output shaft of the second motor 54, and the driving gear 55 and the driven gear 53 are connected by a belt.

Preferably, a layer of damping glue is further arranged on the outer side face of the roller shaft 52, and the articles can be further prevented from falling off from the roller shaft 52 in the transferring process by utilizing the high damping effect of the damping glue.

Preferably, the front wheel driving module 6 includes a rotation motor, a turntable 61 connected to the upper end of the rotation motor, a driving motor 62 fixed on the turntable 61, a first driving wheel 63 connected to the output shaft of the driving motor 62, a second driving wheel 64 connected to the first driving wheel 63 in a meshed manner, and a rotation rod 65 coaxially connected to the second driving wheel 64, and both ends of the rotation rod 65 are connected to the front wheel 601.

Preferably, in order to further prevent the automatic guided transfer robot from colliding with a wall and colliding with the wall, four anti-collision photoelectric sensors 9 are further arranged in the base 1, and the four anti-collision photoelectric sensors 9 are respectively arranged at four arc-shaped angular positions of the base 1.

The above examples only represent 1 embodiment of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present invention. It should be noted that, for those skilled in the art, without departing from the spirit of the present invention, several variations and modifications can be made, which are within the scope of the present invention. Therefore, the protection scope of the present invention should be subject to the appended claims.

Claims

1. The automatic guide transfer robot is characterized by comprising a base (1), wherein a lifting module (2) is arranged on the base (1), a navigation laser head (3) is fixed at the top end of the lifting module (2), the output end of the lifting module (2) is connected with a side baffle (4), the bottom of the front end of the side baffle (4) is connected with a conveying module (5), a plurality of vacuum chucks (41) are arranged on the front end face of the side baffle (4), all the vacuum chucks (41) are jointly connected with a vacuum pump (42), a front wheel driving module (6), a wireless charging module (7) and a circuit board (8) are arranged in the base (1), a control chip (81), a storage battery (82) and a power supply (83) are arranged on the circuit board (8), the wireless charging module (7) comprises a limiting frame (71) and a magnetic induction coil (72) fixed in the limiting frame (71), the magnetic induction coil (72) is electrically connected with the storage battery (82).

2. The automated guided handling robot according to claim 1, wherein the lifting module (2) comprises a gantry (21), a screw (22) located inside both ends of the gantry (21), a first motor (23) connected to the bottom of the screw (22), a slider (24) slidably connected to the screw (22), and a mounting plate (25) connected between the two sliders (24), wherein the mounting plate (25) is an output end of the lifting module (2).

3. The automated guided handling robot according to claim 2, wherein the vacuum pump (42) is fixed to the mounting plate (25), and the vacuum pump (42) and the vacuum chuck (41) are connected by a gas-guide tube (43).

4. The automated guided transfer robot of claim 1, wherein the transport module (5) comprises two supports (51) fixed to the bottom of the front end of the side guard (4), a plurality of rollers (52) connected between the two supports (51), a driven gear (53) connected to one end of the rollers (52), a second motor (54) fixed to the supports (51), and a driving gear (55) connected to an output shaft of the second motor (54), wherein the driving gear (55) is connected to the driven gear (53) through a belt.

5. The automated guided handling robot of claim 4, wherein the outer side of the roller shaft (52) is further provided with a layer of damping glue.

6. The automated guided handling robot according to claim 1, wherein the front wheel drive module (6) comprises a rotary motor, a turntable (61) connected to an upper end of the rotary motor, a drive motor (62) fixed to the turntable (61), a first drive wheel (63) connected to an output shaft of the drive motor (62), a second drive wheel (64) engaged with the first drive wheel (63), and a rotary rod (65) coaxially connected to the second drive wheel (64), wherein front wheels (601) are connected to both ends of the rotary rod (65).

7. The automated guided handling robot according to claim 1, wherein four anti-collision photoelectric sensors (9) are further provided in the base (1), and the four anti-collision photoelectric sensors (9) are respectively provided at four arc-shaped angular positions of the base (1).