CN216030878U - Intelligent forking robot - Google Patents
Intelligent forking robot Download PDFInfo
- Publication number
- CN216030878U CN216030878U CN202121927871.XU CN202121927871U CN216030878U CN 216030878 U CN216030878 U CN 216030878U CN 202121927871 U CN202121927871 U CN 202121927871U CN 216030878 U CN216030878 U CN 216030878U
- Authority
- CN
- China
- Prior art keywords
- rod
- mechanical
- end data
- robot
- intelligent
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000012545 processing Methods 0.000 claims abstract description 26
- 230000007246 mechanism Effects 0.000 claims description 17
- 230000000007 visual effect Effects 0.000 claims description 4
- 238000000034 method Methods 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 230000002146 bilateral effect Effects 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 2
- 238000004891 communication Methods 0.000 description 2
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 239000012636 effector Substances 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 230000033001 locomotion Effects 0.000 description 2
- 206010063385 Intellectualisation Diseases 0.000 description 1
- 239000000956 alloy Substances 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000002955 isolation Methods 0.000 description 1
- 229910001234 light alloy Inorganic materials 0.000 description 1
- 238000007726 management method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000004148 unit process Methods 0.000 description 1
Images
Landscapes
- Manipulator (AREA)
Abstract
The utility model discloses an intelligent forking robot, which comprises a positioning navigation system, a central control system, a bottom moving unit and a mechanical gripper, the positioning navigation system comprises a front-end data acquisition unit and a back-end data processing unit, the front-end data acquisition unit is in signal connection with the back-end data processing unit, used for collecting data signals and transmitting the data signals to the back end data processing unit for signal processing, the back end data processing unit is in signal connection with the central control system, the central control system is in signal connection with the bottom mobile unit and the mechanical gripper and is used for controlling the bottom mobile unit to move to a corresponding position and then controlling the mechanical gripper to work according to signals transmitted by the rear-end data processing unit; the article can be moved to the placing position autonomously; and can be operated in complex path, multi-station reliable tracking.
Description
Technical Field
The utility model belongs to the technical field of intelligent robots, and particularly relates to an intelligent forking robot.
Background
The speed is increased rapidly by observing the development of the whole forklift industry. In recent years, because the intelligent forklift has great advantages in the aspects of sorting speed, management software platform, warehouse-in and warehouse-out speed, management efficiency and user experience, the intelligent forklift is guided into more and more in an intelligent carrying scene, and the intelligent forklift does not need manual driving. By combining a bar code technology, a wireless local area network technology and a data acquisition technology, the intelligent forklift has the basic characteristics of intellectualization, flexibility, low cost, high efficiency and safe operation. The customized requirements of enterprises can be met, and the advantages of manual carrying or manual forklifts are obviously replaced.
Aiming at the existing intelligent forklift, a plurality of places which can be optimized exist, if a positioning system of the intelligent forklift needs to be improved so that the intelligent forklift can run on a complex path and can reliably track multiple stations, the fork teeth of the intelligent forklift cannot well meet the requirements of close fitting, and the problems of falling and deformation caused by mechanical vibration exist.
SUMMERY OF THE UTILITY MODEL
Aiming at the defects in the prior art, the utility model provides an intelligent forking robot.
The specific technical scheme of the utility model is as follows:
an intelligent forking robot comprises a positioning navigation system, a central control system, a bottom mobile unit and a mechanical gripper, wherein the positioning navigation system comprises a front-end data acquisition unit and a rear-end data processing unit, the front-end data acquisition unit is in signal connection with the rear-end data processing unit and is used for acquiring data signals and transmitting the data signals to the rear-end data processing unit for signal processing, the rear-end data processing unit is in signal connection with the central control system, and the central control system is in signal connection with the bottom mobile unit and the mechanical gripper and is used for controlling the bottom mobile unit to move to a corresponding position and then controlling the mechanical gripper to work according to signals transmitted by the rear-end data processing unit;
the front-end data acquisition unit comprises a depth sensor, a visual sensor, an inertial sensor and a GPS module;
the mechanical gripper comprises a bottom plate, the upper portion of the bottom plate is provided with a sliding groove, a moving rod is slidably arranged in the sliding groove, one end of the moving rod is connected with a motor driving mechanism used for driving the moving rod to slide, a motor in the motor driving mechanism is connected with a central control system through signals, the other end of the moving rod is connected with a first mechanical rod and a second mechanical rod, the first mechanical rod and the second mechanical rod are centrosymmetric, the first mechanical rod is hinged with a third mechanical rod, the second mechanical rod is hinged with a fourth mechanical rod, the third mechanical rod and the fourth mechanical rod are respectively rotatably arranged on the bottom plate, and the tail portion of the third mechanical rod and the tail portion of the fourth mechanical rod are respectively provided with a first clamping portion and a second clamping portion.
As a preferable technical solution, the third mechanical rod and the fourth mechanical rod are respectively installed on the bottom plate in a limited manner through screws or bolts.
As an optimal technical scheme, in the working process of the intelligent robot mechanical gripper, a working current signal is collected, and if the working current signal is over-current, a motor power supply is closed.
As a preferable technical solution, the motor driving mechanism includes a dc motor and a link mechanism, and the dc motor drives the moving rod to move back and forth through the link mechanism.
Preferably, the direct current motor drives the link mechanism through a screw.
Preferably, the depth sensor includes a laser radar sensor and a stereo vision sensor.
As a preferred technical solution, the visual sensor includes a camera and a beacon sensor.
Preferably, the inertial sensor includes a gyroscope.
Has the advantages that:
the intelligent forking robot can automatically move to an article to be grabbed from an idle position; the article can be moved to the placing position autonomously; and can be operated in complex path, multi-station reliable tracking.
In addition, the mechanical gripper adopts a bilateral linkage mechanism to clamp the container, so that the center of gravity can be always kept on the central axis of the end effector (flange), and the container can be kept stable in the clamping and moving process.
Drawings
In order to more clearly illustrate the detailed description of the utility model or the technical solutions in the prior art, the drawings that are needed in the detailed description of the utility model or the prior art will be briefly described below. Throughout the drawings, like elements or portions are generally identified by like reference numerals. In the drawings, elements or portions are not necessarily drawn to scale.
Fig. 1 is a connection block diagram of structural units of the intelligent forking robot of the present invention.
Fig. 2 is a schematic structural diagram of a mechanical gripper of the intelligent forking robot of the utility model.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely below, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that all the directional indicators (such as upper, lower, left, right, front and rear … …) in the embodiment of the present invention are only used to explain the relative position relationship between the components, the movement situation, etc. in a specific posture (as shown in the drawing), and if the specific posture is changed, the directional indicator is changed accordingly.
In addition, the descriptions related to "first", "second", etc. in the present invention are only for descriptive purposes and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the utility model and are not intended to limit the utility model.
The utility model will now be further described with reference to the accompanying drawings.
The embodiment of the utility model relates to an intelligent forking robot, which is shown in fig. 1 and comprises a positioning navigation system, a central control system, a bottom mobile unit and a mechanical gripper, wherein the positioning navigation system comprises a front-end data acquisition unit and a rear-end data processing unit, the front-end data acquisition unit is in signal connection with the rear-end data processing unit and is used for acquiring data signals and transmitting the data signals to the rear-end data processing unit for signal processing, the rear-end data processing unit is in signal connection with the central control system, and the central control system is in signal connection with the bottom mobile unit and the mechanical gripper and is used for controlling the bottom mobile unit to move to a corresponding position according to signals transmitted by the rear-end data processing unit and then controlling the mechanical gripper to work.
In the embodiment of the utility model, the positioning navigation system can be divided into a front-end data acquisition unit and a back-end data processing unit, wherein the front-end data acquisition unit mainly acquires related signal information through sensors, and the related signal information comprises a depth sensor (laser radar, stereoscopic vision and the like), a visual sensor (a camera and a beacon), an inertial sensor (a gyroscope, an encoder and an electronic compass), absolute coordinates (WUB and GPS) and the like. The rear end data processing unit processes the collected signals, amplifies, filters, converts the mode electricity and the like according to actual needs, transmits the signals to the central control system, controls the bottom moving unit to drive the intelligent forking robot to move to a corresponding position according to the positioning information, controls the mechanical gripper to grab the object, and then carries the object to the corresponding position, so that full-automatic intelligent carrying is realized.
Referring to fig. 2, the intelligent robot gripper includes a base plate 1, a sliding slot 2 is disposed on an upper portion of the base plate 1, a moving rod 3 is slidably mounted in the sliding slot 2, one end of the moving rod 3 is connected to a motor driving mechanism (not shown) for driving the moving rod to slide, the other end of the moving rod 3 is connected to a first mechanical rod 4 and a second mechanical rod 5, wherein the first mechanical rod 4 and the second mechanical rod 5 are symmetric about a center of the moving rod 3, the first mechanical rod 4 is hinged to a third mechanical rod 6, the second mechanical rod 5 is hinged to a fourth mechanical rod 7, the third mechanical rod 6 and the fourth mechanical rod 7 are respectively rotatably mounted on the base plate 1 through bolts 10, and a first clamping portion 8 and a second clamping portion 9 are disposed at a tail portion of the third mechanical rod 6 and the fourth mechanical rod 7, respectively.
In the embodiment of the utility model, the mechanical gripper clamps the container by adopting the bilateral linkage mechanism, so that the center of gravity can be always kept on the central axis of the end effector (flange), and the container can be kept stable in the clamping and moving process. The opening and closing of the two clamping parts are controlled by adopting a direct current motor to drive a connecting rod mechanism, which is different from common cylinder control, and the direct current motor drive has the advantages of convenience in control, low noise, adjustable speed, safety, large self-locking force and the like. A direct current motor can be used to drive the connecting rod mechanism by combining with a screw rod, so as to achieve the opening and closing control of the paw. The mechanical paw can be processed by adopting light alloy materials, so that the mechanical strength of the paw is ensured.
The control method of the mechanical paw is mainly used for driving a mechanical paw motor according to the working mode of the mechanical paw, collecting signals of the mechanical paw, and receiving instructions of a robot controller and feeding back information of the mechanical paw. Specifically, the motor control driver adopts a potentiometer to adjust the voltage difference between the output ports OUT + and OUT-, so as to adjust the moving speed of the screw rod; a direction control port of a motor control driver for controlling the opening and closing of a mechanical gripper is used for optically coupling and isolating an I/O signal of a motion controller in control to be converted into a 5V signal through a level converter from 24V to 5V, and a pull-down resistor R1 at the direction control end enables the mechanical gripper to be always kept in a normally open state. An overcurrent protection circuit is arranged in a controller of the mechanical gripper, the current of the motor can be detected automatically, and if the current is overcurrent, the driving of the motor is stopped, so that the effect of protecting an original element, a direct current motor or a mechanical structure in a driver is achieved.
In the embodiment of the utility model, the control driver module of the mechanical gripper is supposed to adopt an AQMD2410NS direct current motor control driver, the signal conversion module adopts an optical coupling level conversion module, and the external power supply adopts a 24V8A direct current power supply. The AQMD2410NS direct current motor driving unit adopts an H-bridge design, analog quantity can be input through a motor speed adjusting port to control the rotating speed of a direct current motor, and a controller controls the steering of the motor by inputting a motor direction signal.
A safer and more stable gripper control actuator may also be used, preferably one that can be incorporated into the control cabinet of the robot. The same power supply in the robot control cabinet is used for saving cost, and meanwhile, the mechanical gripper control driver can be protected, and the communication distance between controllers is shortened. The driving mode of the direct current motor is applied to an H-bridge circuit made of 4 high-power MOS circuits, so that the forward and reverse rotation of the motor and the speed regulation of the motor can be realized; an interlocking circuit is designed between the control unit and the motor driver to improve the safety; the communication between the robot controller and the paw controller is converted into corresponding I/O feedback and instruction signals of each controller by using a photoelectric isolation circuit, so that safe and rapid transmission can be realized.
The above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the utility model has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the present invention, and they should be construed as being included in the following claims and description.
Claims (7)
1. The utility model provides an intelligence fork robot which characterized in that: the positioning navigation system comprises a front-end data acquisition unit and a rear-end data processing unit, the front-end data acquisition unit is in signal connection with the rear-end data processing unit and is used for acquiring data signals and transmitting the data signals to the rear-end data processing unit for signal processing, the rear-end data processing unit is in signal connection with the central control system, and the central control system is in signal connection with the bottom mobile unit and the mechanical gripper and is used for controlling the bottom mobile unit to move to a corresponding position according to signals transmitted by the rear-end data processing unit and then controlling the mechanical gripper to work;
the front-end data acquisition unit comprises a depth sensor, a visual sensor, an inertial sensor and a GPS module;
the mechanical gripper comprises a bottom plate, the upper portion of the bottom plate is provided with a sliding groove, a moving rod is slidably arranged in the sliding groove, one end of the moving rod is connected with a motor driving mechanism used for driving the moving rod to slide, a motor in the motor driving mechanism is connected with a central control system through signals, the other end of the moving rod is connected with a first mechanical rod and a second mechanical rod, the first mechanical rod and the second mechanical rod are centrosymmetric, the first mechanical rod is hinged with a third mechanical rod, the second mechanical rod is hinged with a fourth mechanical rod, the third mechanical rod and the fourth mechanical rod are respectively rotatably arranged on the bottom plate, and the tail portion of the third mechanical rod and the tail portion of the fourth mechanical rod are respectively provided with a first clamping portion and a second clamping portion.
2. The intelligent forking robot of claim 1, wherein: the third mechanical rod and the fourth mechanical rod are respectively installed on the bottom plate in a limiting mode through screws or bolts.
3. The intelligent forking robot of claim 1, wherein: the motor driving mechanism comprises a direct current motor and a connecting rod mechanism, and the direct current motor drives the movable rod to move back and forth through the connecting rod mechanism.
4. The intelligent forking robot of claim 3, wherein: the direct current motor drives the connecting rod mechanism through a screw rod.
5. The intelligent forking robot of claim 1, wherein: the depth sensor comprises a laser radar sensor and a stereoscopic vision sensor.
6. The intelligent forking robot of claim 1, wherein: the vision sensor comprises a camera and a beacon sensor.
7. The intelligent forking robot of claim 1, wherein: the inertial sensor includes a gyroscope.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121927871.XU CN216030878U (en) | 2021-08-17 | 2021-08-17 | Intelligent forking robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121927871.XU CN216030878U (en) | 2021-08-17 | 2021-08-17 | Intelligent forking robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN216030878U true CN216030878U (en) | 2022-03-15 |
Family
ID=80559170
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202121927871.XU Active CN216030878U (en) | 2021-08-17 | 2021-08-17 | Intelligent forking robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN216030878U (en) |
-
2021
- 2021-08-17 CN CN202121927871.XU patent/CN216030878U/en active Active
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN205333083U (en) | AGV dolly based on laser navigation | |
| CN108818493A (en) | A kind of compound mobile robot and compound Mobile Robot Control System | |
| CN205121333U (en) | AGV on -board control system | |
| CN212683967U (en) | Autonomous mobile robot control system and robot | |
| CN101271348B (en) | Digital steering engine | |
| CN216030878U (en) | Intelligent forking robot | |
| CN111376263B (en) | Human-computer cooperation system of compound robot and cross coupling force control method thereof | |
| CN113706628A (en) | Intelligent transfer robot cooperation system and method for processing characteristic image by using same | |
| KR20140062848A (en) | Control system of portable welding robot | |
| CN113400337A (en) | Intelligent robot mechanical gripper control method | |
| CN209755210U (en) | Manipulator positioning system based on binocular vision | |
| CN110842984A (en) | Power mechanical arm with radiation resistance and high-precision positioning operation | |
| CN110842950A (en) | Driving and controlling integrated control system compatible with multi-field bus protocol | |
| CN109343440A (en) | The wheeled flexible omnidirectional's transhipment vehicle control of one kind and method | |
| CN215749250U (en) | Intelligent robot mechanical gripper | |
| CN212475998U (en) | Intelligent automatic control system of laser forklift | |
| CN214394219U (en) | Small-size commodity circulation transfer robot | |
| CN212364840U (en) | Communication system of industrial robot equipment and industrial robot equipment applying same | |
| CN211333291U (en) | Power mechanical arm with radiation resistance and high-precision positioning operation | |
| CN201177774Y (en) | Digital steering engine | |
| CN210236214U (en) | Unmanned carrying vehicle | |
| CN207189660U (en) | A kind of manipulator control device | |
| CN212265837U (en) | Universal mechanical arm | |
| CN219695652U (en) | General drive integrated circuit board of AGV and AGV dolly | |
| CN112896543A (en) | AGV platform for carrying numerical control positioner |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP01 | Change in the name or title of a patent holder | ||
| CP01 | Change in the name or title of a patent holder |
Address after: 610044 5F, new meteorological building, No. 3, section 3, Renmin South Road, Chengdu, Sichuan Patentee after: Chengdu New Meteorological Technology Co.,Ltd. Patentee after: CHENGDU University OF INFORMATION TECHNOLOGY Address before: 610044 5F, new meteorological building, No. 3, section 3, Renmin South Road, Chengdu, Sichuan Patentee before: Chengdu new meteorological technology industry Co.,Ltd. Patentee before: CHENGDU University OF INFORMATION TECHNOLOGY |