CN214028912U - Dull and stereotyped AGV mobile robot of simple and easy type - Google Patents

Abstract

The utility model relates to a mobile robot technical field, concretely relates to dull and stereotyped AGV mobile robot of simple and easy type, include objective table, robot, control box, operating panel, lift actuating mechanism, keep away barrier system and power supply system, the robot install in the objective table front end, the control box install in the robot is originally internal, just the control box is used for controlling lift actuating mechanism, lift actuating mechanism set up in the bottom of objective table, power supply system set up in the robot is originally internal, keep away barrier system set up in the robot is originally internal. The utility model discloses a robot is in no magnetic stripe track or need not accessible control system under the condition of automatic cruise and switches to manual mode, has that the trackless track all can exert a function, uses in a flexible way, efficient, and still has cost reduce cost, uses extensive advantage.

Description

Dull and stereotyped AGV mobile robot of simple and easy type

Technical Field

The utility model relates to a mobile robot technical field, concretely relates to dull and stereotyped AGV mobile robot of simple and easy type.

Background

With the gradual development of factory automation and computer integrated manufacturing system technology and the wide application of flexible manufacturing system and automated stereoscopic warehouse, the application range and application scale of mobile robot equipment such as AGV automatic guiding vehicle as the necessary automatic handling and loading and unloading means for linking and adjusting discrete logistics system to make the operation continuous are getting bigger and bigger

The AGV car is a mobile robot which is equipped with automatic guiding devices such as electromagnetism and photoelectricity and can automatically run along a formulated track, along with the improvement of the automation degree of China, the AGV car is widely applied to the fields of logistics, assembly and the like, and the safety problems of mobile equipment and personnel are more and more emphasized in the co-operation and complex factory environment of a plurality of AGVs.

The moving AGV robot in the prior art can only operate along with the magnetic stripe track, and is difficult to operate and play a role when no track exists, so that the flexibility is low, and the application of more scenes is limited.

Disclosure of Invention

In order to overcome the defects and shortcomings in the prior art, the utility model aims to provide a simple flat AGV mobile robot, which can be switched to a manual mode through a control system under the condition of no magnetic track or no need of automatic cruising, a driving assembly is lifted and separated from the ground to be converted into an unpowered flat cart, and a person can push the flat robot to move randomly; when the robot needs to autonomously cruise, the robot is only pushed to the middle of the magnetic stripe track and is switched into an automatic mode, the driving assembly automatically descends to contact the ground, the robot can autonomously cruise along with the magnetic stripe track at the moment, and the magnetic stripe track cruise robot has the advantages of being capable of playing a role, flexible in application, high in efficiency, low in manufacturing cost and wide in application.

The purpose of the utility model is realized through the following technical scheme: a simple flat AGV moving robot comprises an object stage, a robot body, a control box, an operation panel, a lifting driving mechanism, an obstacle avoidance system and a power supply system, wherein the lifting driving mechanism comprises a lifting assembly and a driving assembly, the driving assembly and the lifting assembly are arranged at the bottom of the object stage, and the lifting assembly is used for driving the driving assembly to lift; the robot body install in the objective table front end, the control box install in the robot is originally internal, just the control box is used for controlling lift actuating mechanism, power supply system set up in the robot is originally internal, keep away the barrier system set up in the robot is originally internal.

Further, drive assembly includes mount, tracking module, landmark sensor, a set of driving motor and a set of drive wheel, the tracking module set up in the front end of mount, the landmark sensor set up in the bottom of mount, the drive wheel set up respectively in the both sides of mount, driving motor correspond to the drive wheel set up respectively in the both sides of mount, and every driving motor passes through the drive wheel that sprocket feed drive corresponds.

Further, the control box includes main operation control panel and motor drive control panel, main operation control panel with the motor drive control panel is connected through serial port communication, main operation control panel is used for collecting sensor information and carries out the operation processing, controls driving motor through the motor drive control panel and moves, can drive the motor and do differential motion.

Further, the lifting component comprises a lifting frame, a lifting motor, a cam and a shock-proof spring, wherein the lifting motor is arranged on one side of the lifting frame, the lifting motor achieves lifting of the lifting frame through a driving cam, and the shock-proof spring is arranged on the bottom of the lifting frame and located on one side of the driving component.

Furthermore, keep away the barrier system and keep away barrier sensor and mechanical safety anticollision strip by the ultrasonic wave and constitute, the ultrasonic wave keeps away the barrier sensor and installs in the robot front end, mechanical safety anticollision strip fixed set up in the robot front end.

Further, the robot body is also provided with pushing handles, and the pushing handles are mounted on two sides of the upper part of the robot body; furthermore, the bottom of objective table is equipped with a set of universal wheel and a set of directional wheel, just the universal wheel is located the front end of objective table, directional wheel is located the rear end of objective table.

The beneficial effects of the utility model reside in that: the robot can be switched to a manual mode through the control system under the condition of no magnetic track or no need of automatic cruising, the driving assembly is lifted and separated from the ground at the moment and is converted into an unpowered flat-plate cart, and personnel can push the flat-plate robot to move randomly; when needs independently patrol and navigate only need push away the robot to the magnetic stripe track in the middle of, switch into automatic mode, drive assembly is automatic to descend to contact ground, and the robot can independently cruise the operation along with the magnetic stripe track this moment, has that the trackless track all can play a role, uses in a flexible way, efficiency improves greatly, and cost reduce cost, uses extensive advantage.

Drawings

Fig. 1 is a perspective view of the present invention;

fig. 2 is a schematic structural view of another view angle of the present invention;

fig. 3 is a schematic structural diagram of the lift driving mechanism of the present invention.

The reference signs are: 1-object stage, 2-robot body, 3-control box, 4-operation panel, 51-lifting component, 511-lifting rack, 512-lifting motor, 513-cam, 514-shock absorbing spring, 52-driving component, 521-fixing rack, 522-tracking module, 523-landmark sensor, 524-driving motor, 525-driving wheel, 61-ultrasonic obstacle avoidance sensor, 62-mechanical safety anti-collision strip, 7-power supply system, 8-pushing handle, 9-universal wheel and 10-orientation wheel.

Detailed Description

In order to facilitate the understanding of those skilled in the art, the present invention will be further described with reference to the following examples and accompanying fig. 1-3, which are not intended to limit the present invention.

Referring to fig. 1-3, the simple flat AGV moving robot comprises an object stage 1, a robot body 2, a control box 3, an operation panel 4, a lifting driving mechanism, an obstacle avoidance system and a power supply system 7, wherein the lifting driving mechanism comprises a lifting assembly 51 and a driving assembly 52, the driving assembly 52 is arranged at the bottom of the lifting assembly 51, the lifting assembly 51 is fixedly arranged at the bottom of the object stage 1, and the lifting assembly 51 is used for driving the driving assembly 52 to lift; the robot body 2 is mounted at the front end of the objective table 1, the control box 3 is mounted in the robot body 2, the control box 3 is used for controlling a lifting driving mechanism, the operating panel 4 is mounted on the upper end face of the robot body 2, the lifting driving mechanism is arranged at the bottom of the objective table 1, the power supply system 7 is arranged in the robot body 2, and the obstacle avoidance system is arranged in the robot body 2; furthermore, the robot body 2 is further provided with a pushing handle 8, the pushing handle 8 is installed on two sides of the upper portion of the robot body 2, the bottom of the objective table 1 is provided with a group of universal wheels 9 and a group of directional wheels 10, the universal wheels 9 are located at the front end of the objective table 1, and the directional wheels 10 are located at the rear end of the objective table 1.

The robot in the embodiment can be switched to a manual mode through the control system under the condition of no magnetic track or no need of automatic cruising, at the moment, the driving component 52 is lifted and separated from the ground to be converted into an unpowered flat-plate cart, and personnel can push the flat-plate robot to move randomly; when autonomous cruise is needed, the robot is pushed to the middle of the magnetic stripe track and is switched into an automatic mode, the driving component 52 automatically descends to contact the ground, and the robot can autonomously cruise along with the magnetic stripe track, so that the robot can play a role without the magnetic stripe track, is flexible to apply and high in efficiency, and has the advantages of low manufacturing cost and wide application range; the object stage 1 is used for carrying goods, the obstacle avoidance system is used for the robot to stop when meeting obstacles, and in addition, the power supply system 7 is used for providing power for the control system, the operation panel 4, the lifting driving mechanism and the obstacle avoidance system so as to maintain the normal operation of the robot.

In this embodiment, the driving assembly 52 includes a fixing frame 521, a tracking module 522, a landmark sensor 523, a set of driving motors 524 and a set of driving wheels 525, the tracking module 522 is disposed at the front end of the fixing frame 521, the landmark sensor 523 is disposed at the bottom of the fixing frame 521, the driving wheels 525 are respectively disposed at two sides of the fixing frame 521, the driving motors 524 are respectively disposed at two sides of the fixing frame 521 corresponding to the driving wheels 525, and each driving motor 524 drives the corresponding driving wheel 525 through sprocket transmission.

The driving assembly 52 in this embodiment is driven by two driving motors 524 to rotate the driving wheel 525 through sprocket transmission, and is controlled by the control box 3 by a programmable controller to realize driving up-down and differential motion, and transmits ground information through the tracking module 522 and the landmark sensor 523, so that the robot can normally operate without magnetic track or automatic cruise.

In this embodiment, the control box 3 includes a main operation control board (not shown) and a motor drive control board (not shown), the main operation control board is connected with the motor drive control board through serial port communication, the main operation control board is used for collecting sensor information and performing operation processing, and the motor drive control board controls the drive motor 524 to perform differential motion.

The main operation control panel that sets up in control box 3 in this embodiment is connected through serial port communication with the motor drive control panel, the main operation control panel is used for collecting sensor information and carries out the operation processing, controls driving motor 524 differential motion through the motor drive control panel.

In this embodiment, the lifting assembly 51 includes a lifting frame 511, a lifting motor 512, a cam 513 and a shock absorbing spring 514, the lifting motor 512 is disposed on one side of the lifting frame 511, the lifting motor 512 realizes the lifting of the lifting frame 511 through the driving cam 513, and the shock absorbing spring 514 is disposed on the bottom of the lifting frame 511 and is located on one side of the driving assembly 52.

The lifting component 51 in the embodiment is lifted by the lifting motor 512 through the driving cam 513, so that the functions of switching to an automatic mode when the rail is used and switching to a manual mode when the rail is not used are realized, the functions that the rail is not used can be played, the application is flexible, the efficiency is greatly improved, and the lifting component has the advantages of low manufacturing cost and wide application.

In this embodiment, the obstacle avoidance system is composed of an ultrasonic obstacle avoidance sensor 61 and a mechanical safety anti-collision strip 62, the ultrasonic obstacle avoidance sensor 61 is installed at the front end of the robot, and the mechanical safety anti-collision strip 62 is fixedly arranged at the front end of the robot.

In this embodiment, the ultrasonic obstacle avoidance sensor 61 is installed in the front of the robot, and the front obstacle condition is determined by ultrasonic distance measurement, and the mechanical safety anti-collision strip 62 is used for sensing to stop the robot to move when the ultrasonic obstacle avoidance sensor 61 fails, so as to avoid collision.

The above-mentioned embodiment is the utility model discloses the implementation of preferred, in addition, the utility model discloses can also realize by other modes, not deviating from the utility model discloses any obvious replacement is all within the protection scope under the prerequisite of design.

Claims (7)

1. The utility model provides a dull and stereotyped AGV mobile robot of simple and easy type which characterized in that: the robot comprises an object stage, a robot body, a control box, an operation panel, a lifting driving mechanism, an obstacle avoidance system and a power supply system, wherein the lifting driving mechanism comprises a lifting assembly and a driving assembly, the driving assembly and the lifting assembly are both arranged at the bottom of the object stage, and the lifting assembly is used for driving the driving assembly to lift; the robot body install in the objective table front end, the control box install in the robot is originally internal, just the control box is used for controlling lift actuating mechanism, power supply system set up in the robot is originally internal, keep away the barrier system set up in the robot is originally internal.

2. The AGV moving robot of claim 1, further comprising: drive assembly includes mount, tracking module, landmark sensor, a set of driving motor and a set of drive wheel, the tracking module set up in the front end of mount, the landmark sensor set up in the bottom of mount, the drive wheel set up respectively in the both sides of mount, driving motor correspond to the drive wheel set up respectively in the both sides of mount, and every driving motor passes through the drive wheel that sprocket feed drive corresponds.

3. The AGV moving robot of claim 2, further comprising: the control box comprises a main operation control panel and a motor drive control panel, the main operation control panel is connected with the motor drive control panel through serial port communication, the main operation control panel is used for collecting sensor information and carrying out operation processing, and the motor drive control panel controls the operation of the drive motor.

4. The AGV moving robot of claim 1, further comprising: the lifting assembly comprises a lifting frame, a lifting motor, a cam and a shock-proof spring, wherein the lifting motor is arranged on one side of the lifting frame, the lifting motor realizes the lifting of the lifting frame through a driving cam, and the shock-proof spring is arranged on the bottom of the lifting frame and is positioned on one side of the driving assembly.

5. The AGV moving robot of claim 1, further comprising: keep away the barrier system and keep away barrier sensor and mechanical safety anticollision strip by the ultrasonic wave and constitute, the ultrasonic wave is kept away the barrier sensor and is installed in the robot front end, mechanical safety anticollision strip fixed set up in the robot front end.

6. The AGV moving robot of claim 1, further comprising: the robot body is further provided with pushing handles, and the pushing handles are mounted on two sides of the upper portion of the robot body.

7. The AGV moving robot of claim 1, further comprising: the bottom of objective table is equipped with a set of universal wheel and a set of directive wheel, just the universal wheel is located the front end of objective table, the directive wheel is located the rear end of objective table.

Images