CN216184208U - Mecanum wheel intelligent storage AGV of suspension mechanism formula - Google Patents
Mecanum wheel intelligent storage AGV of suspension mechanism formula Download PDFInfo
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- CN216184208U CN216184208U CN202120508748.8U CN202120508748U CN216184208U CN 216184208 U CN216184208 U CN 216184208U CN 202120508748 U CN202120508748 U CN 202120508748U CN 216184208 U CN216184208 U CN 216184208U
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Abstract
The utility model discloses a suspension mechanism type Mecanum wheel intelligent storage AGV which comprises a vehicle body, wherein a pair of suspension mechanism type Mecanum wheels are respectively arranged on two sides of the bottom of the vehicle body, a mechanical arm fixing column and a main control system bin are arranged on the top of the vehicle body, and the main control system bin is positioned at the rear part of the mechanical arm fixing column; a laser radar sensor is arranged at the central position of the top of the front end of the vehicle body, and ultrasonic sensors for local obstacle avoidance of the AGV are respectively arranged on two sides of the lower part of the front end of the vehicle body; the top of the mechanical arm fixing column is connected with a mechanical arm structure through a rotating platform, and an end effector is arranged at the end part of the mechanical arm structure; the method ensures that the Mecanum wheels on the AGV always keep good contact with the ground and ensures that the moving direction of the AGV does not deviate.
Description
Technical Field
The utility model relates to the technical field of storage AGV, in particular to a suspension mechanism type Mecanum wheel intelligent storage AGV.
Background
Currently, the development and use of smart storage AGVs (automated guided vehicles) is a very popular area, and many companies have a unique set of AGV systems. This kind of AGV only is fit for operating on comparatively level and smooth road surface, and suitable for the scene also very limited, in addition, has also had a lot of companies to have promoted relative "yellow" and has more greatly, and the AGV system that the function is more complete, and its autonomous navigation is laser navigation, inertial navigation and magnetic stripe navigation that most uses. Among them, laser navigation occupies a large part, and SLAM technology based on laser radar is the most stable and reliable mode at present. The earliest approach to solving the simultaneous localization and mapping of mobile robots was EKF-SLAM. In the method, a nearest neighbor data correlation method is used for obtaining a data correlation result, and extended Kalman filtering is used for finishing estimation of the pose of the mobile robot and an environment map. However, EKF-SLAM has many problems in practical application, including high algorithm complexity, difficult data association problem processing, poor estimation precision and the like.
Meanwhile, when the AGV runs, the rotating speed of a single wheel is not ideal or the single wheel slips, so that the running stability of the AGV is directly influenced greatly, most of measures for solving the problems in the industry are to ensure the flatness of the ground or increase the grip of the wheels, but in some special occasions, the measures cannot be used for the purpose.
Disclosure of Invention
In view of the above technical problems, an object of the present invention is to provide a suspension-type intelligent storage AGV with mecanum wheels, which can complete the function of transporting articles or reaching a specified position. In addition, the high maneuverability of the Mecanum wheels is relied on, the operation efficiency is improved, the normal operation can be realized in a narrow space, and the good contact between the AGV trolley of the Mecanum wheels and the ground is ensured, so that the arrangement of the suspension mechanism on the AGV trolley of the Mecanum wheels is very necessary.
In order to achieve the purpose, the utility model adopts the following technical scheme: a suspension mechanism type Mecanum wheel intelligent storage AGV comprises a vehicle body, wherein a pair of suspension mechanism type Mecanum wheels are respectively arranged on two sides of the bottom of the vehicle body, a mechanical arm fixing column and a main control system bin are arranged on the top of the vehicle body, and the main control system bin is positioned at the rear part of the mechanical arm fixing column; a laser radar sensor is arranged at the central position of the top of the front end of the vehicle body, and ultrasonic sensors for local obstacle avoidance of the AGV are respectively arranged on two sides of the lower part of the front end of the vehicle body; the top of the mechanical arm fixing column is connected with a mechanical arm structure through a rotating platform, and an end effector is arranged at the end part of the mechanical arm structure; a main controller, a nine-axis gyroscope and a Mecanum wheel driving motor which are connected with the main controller are arranged in the main control system bin; the laser radar sensor, the ultrasonic sensor and the nine-axis gyroscope transmit detected signals to the main controller, and the main controller controls the rotary platform and the Mecanum wheel driving motor to act.
Further, the mechanical arm structure comprises a mechanical big arm, a mechanical middle arm, a first stepping motor, a mechanical small arm, a joint and a second stepping motor; one end of the mechanical large arm is connected with the mechanical arm fixing column through the rotating platform, and the other end of the mechanical large arm is connected with one end of the mechanical middle arm through the first stepping motor; the other end of the mechanical middle arm is connected with one end of the mechanical small arm through the joint, the end part of the end of the mechanical small arm is provided with the second stepping motor, and the tail end of the mechanical small arm is connected with the end effector; and the first stepping motor and the second stepping motor are both connected with the main controller.
Furthermore, a driving motor is arranged in the end effector and is connected with the main controller to drive the end effector to rotate around the mechanical small arm.
Further, the mechanical arm structure further comprises a driving connecting rod; one end of the driving connecting rod is connected with the first stepping motor, and the other end of the driving connecting rod is connected with one end of the mechanical small arm.
Further, a power battery compartment is arranged at the rear part of the vehicle body, a lithium battery is arranged in the power battery compartment, and the outer layer of the lithium battery is wrapped with a flame-retardant material.
Further, a charging socket is arranged at the rear part of the power battery cabin.
Further, the Mecanum wheel driving motor adopts a planetary gear motor with an encoder, and the planetary gear motor is fixed on a chassis of the vehicle body.
Further, the ultrasonic sensor is arranged close to the ground and not higher than the scanning plane of the laser radar sensor.
Furthermore, a vision module connected with the main controller is arranged on the end effector.
Further, the main controller adopts a single chip microcomputer with the model of ARM Cortex-M4 FRDM K64F.
Due to the adoption of the technical scheme, the utility model has the following advantages: 1. the utility model provides a Mecanum wheel suspension mechanism, which comprises: when the Mecanum wheel passes through a non-horizontal road surface, the elastic part is pressed to land by the Mecanum wheel, the swing arm drives the Mecanum wheel to rotate around the rotating central shaft, so that the Mecanum wheel on the AGV always keeps good contact with the ground, and the moving direction of the AGV is ensured not to deviate; 2. the central processing unit module used by the main control system adopts a singlechip of ARM Cortex-M4 FRDM-K64 type, and has the advantages of low cost and high reliability.
Drawings
FIG. 1 is a schematic diagram of an AGV configuration of the present invention;
FIG. 2 is a schematic view of an undercarriage of the present invention using Mecanum wheels;
FIG. 3 is a schematic perspective view of a Mecanum wheel with a suspension mechanism;
FIG. 4 is a front cross-sectional view of a suspension mount Mecanum wheel;
fig. 5 is a right side view of the suspension mecanum wheel.
Description of reference numerals: 1. a vehicle body; 2. a Mecanum wheel; 3. a mechanical arm fixing column; 4. a master control system cabin; 5. a laser radar sensor; 6. an ultrasonic sensor; 7. rotating the platform; 8. an end effector; 9. a mechanical big arm; 10. a first stepper motor; 11. a mechanical middle arm; 12. a joint; 13. a mechanical forearm; 14. a second stepping motor; 15. a drive link; 16. a Mecanum wheel; 17. swinging arms; 18. a central axis of rotation; 19. a base; 20. an elastic member; 21. a limiting block; 22. a limiting groove; 23. a thrust bearing; 24. a force bearing; 25. a drive shaft; 26. a drive device; 27. and adjusting the rod.
Detailed Description
The utility model is described in detail below with reference to the figures and examples.
As shown in fig. 1, the utility model provides a suspension mechanism type mecanum wheel intelligent storage AGV, which comprises a vehicle body 1, a pair of suspension mechanism type mecanum wheels 2 respectively arranged at two sides of the bottom of the vehicle body 1, a mechanical arm fixing column 3 and a main control system bin 4 arranged at the top of the vehicle body 1, wherein the main control system bin 4 is arranged at the rear part of the mechanical arm fixing column 3. A laser radar sensor 5 is arranged at the central position of the top of the front end of the vehicle body 1, and ultrasonic sensors 6 for local obstacle avoidance of the AGV are respectively arranged on two sides of the lower portion of the front end of the vehicle body 1. The top of the mechanical arm fixing column 3 is connected with a mechanical arm structure through a rotating platform 7, and an end effector 8 is arranged at the end part of the mechanical arm structure. And a main controller, a nine-axis gyroscope connected with the main controller and a suspension mechanism type Mecanum wheel driving motor are arranged in the main control system bin 4. The laser radar sensor 5, the ultrasonic sensor 6 and the nine-axis gyroscope transmit detected signals to the main controller, and the main controller controls the rotating platform 7 and the suspension mechanism type Mecanum wheel driving motor to act, so that the two pairs of suspension mechanism type Mecanum wheels 2 are controlled to work.
In a preferred embodiment, the robot arm structure includes a mechanical large arm 9, a first stepping motor 10, a mechanical medium arm 11, a joint 12, a mechanical small arm 13, a second stepping motor 14, and a drive link 15. One end of the mechanical large arm 9 is connected with the mechanical arm fixing column 3 through the rotating platform 7, and the other end of the mechanical large arm 9 is connected with one end of the mechanical middle arm 11 through the first stepping motor 10. One end of the driving connecting rod 15 is connected with the first stepping motor 10, and the other end is connected with one end of the mechanical small arm 13, and the driving connecting rod is used for assisting the mechanical middle arm 11 to support and drive the mechanical small arm 13 to move. The other end of the mechanical middle arm 11 is connected with one end of a mechanical small arm 13 through a joint 12, the end part of the end of the mechanical small arm 13 is provided with a second stepping motor 14, and the tail end of the mechanical small arm 13 is connected with an end effector 8. The first stepping motor 10 and the second stepping motor 14 are both connected with a main controller, and the main controller controls the stepping motors to act. When the end effector is used, the large mechanical arm 9 is driven to rotate by the rotating platform 7, the middle mechanical arm 11 is driven by the first stepping motor 10 and the large mechanical arm 9, the small mechanical arm 13 is driven to move by the middle mechanical arm 11 through the joint 12, and the small mechanical arm 13 can drive the end effector 8 to rotate together under the driving of the second stepping motor 14.
In the above embodiment, the end effector 8 is further provided with a driving motor, and the driving motor is connected to the main controller and is controlled by the main controller to operate. When the mechanical arm structure is used, the driving motor drives the end effector 8 to rotate around the mechanical small arm 13, so that the mechanical arm structure has 5 degrees of freedom.
In a preferred embodiment, a power battery compartment is also arranged at the rear part of the vehicle body 1 and is used for supplying power to the main control system compartment 4 and various sensors. A high-power lithium battery is arranged in the power battery bin, and the outer layer of the lithium battery is wrapped with a flame retardant material. And a charging socket is also arranged at the rear part of the power battery cabin so as to realize the automatic charging function of the AGV.
In a preferred embodiment, the Mecanum wheel drive motor is a planetary gear motor with an encoder, which is fixed on the chassis of the vehicle body.
In the above embodiments, the ultrasonic sensor 6 is disposed close to the ground and not higher than the scanning plane of the lidar sensor 5, so as to prevent the introduction of noise points during path planning. Preferably, the ultrasonic sensor 6 is composed of four sets of ultrasonic modules with the model number US 100; the type of the laser radar sensor 5 is fir Chuan A0602.
In the above embodiments, the end effector 8 is further provided with a vision module connected to the main controller to assist the robot arm structure to accurately grasp the material.
In the above embodiments, the vehicle body 1 is made of a carbon fiber sheet, and is light in weight and high in hardness.
In the above embodiments, the main controller adopts a single chip microcomputer with the model of ARM Cortex-M4 FRDM K64F, and a GPS module connected with the single chip microcomputer is further arranged in the main control system bin 4, and is used for feeding back the position of the current AGV in real time. The single chip microcomputer runs the Ubuntu system and runs the ROS robot operating system in the linux framework.
The above embodiments are only for illustrating the present invention, and the structure, size, arrangement position and shape of each component may be changed, which should not be excluded from the scope of the present invention.
Claims (1)
1. The utility model provides a suspension mechanism formula mecanum wheel intelligent storage AGV which characterized in that: the mechanical arm suspension type Mecanum wheel suspension device comprises a vehicle body (1), wherein a pair of suspension mechanism type Mecanum wheels (2) are respectively arranged on two sides of the bottom of the vehicle body (1), a mechanical arm fixing column (3) and a main control system bin (4) are arranged on the top of the vehicle body (1), and the main control system bin (4) is arranged on the rear portion of the mechanical arm fixing column (3); a laser radar sensor (5) is arranged at the central position of the top of the front end of the vehicle body (1), and ultrasonic sensors (6) for local obstacle avoidance of the AGV are respectively arranged on two sides of the lower part of the front end of the vehicle body (1); the top of the mechanical arm fixing column (3) is connected with a mechanical arm structure through a rotating platform (7), and an end effector (8) is arranged at the end part of the mechanical arm structure; a main controller, a nine-axis gyroscope and a Mecanum wheel driving motor which are connected with the main controller are arranged in the main control system bin (4); the laser radar sensor (5), the ultrasonic sensor (6) and the nine-axis gyroscope transmit detected signals into the main controller, and the main controller controls the rotary platform and the Mecanum wheel driving motor to act;
the mechanical arm structure comprises a large mechanical arm (9), a middle mechanical arm (11), a first stepping motor (10), a small mechanical arm (13), a joint (12) and a second stepping motor (14); one end of the large mechanical arm (9) is connected with the mechanical arm fixing column (3) through the rotating platform, and the other end of the large mechanical arm (9) is connected with one end of the middle mechanical arm (11) through the first stepping motor (10); the other end of the mechanical middle arm (11) is connected with one end of the mechanical small arm (13) through the joint (12), the end part of the end of the mechanical small arm (13) is provided with the second stepping motor (14), and the tail end of the mechanical small arm (13) is connected with the end effector; the first stepping motor (10) and the second stepping motor (14) are both connected with the main controller;
a driving motor is arranged in the end effector and is connected with the main controller to drive the end effector to rotate around the mechanical small arm (13);
the mechanical arm structure further comprises a driving connecting rod (15); one end of the driving connecting rod (15) is connected with the first stepping motor (10), and the other end of the driving connecting rod is connected with one end of the mechanical small arm (13);
the suspension mechanism type Mecanum wheel intelligent storage AGV further comprises a swing arm (17), a rotary central shaft (18), a base (19), an elastic piece (20), a limiting block (21), a limiting groove (22), a thrust bearing (23), a force bearing (24), a driving shaft (25), a driving device (26) and an adjusting rod (27).
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| Application Number | Priority Date | Filing Date | Title |
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| CN202120508748.8U CN216184208U (en) | 2021-03-10 | 2021-03-10 | Mecanum wheel intelligent storage AGV of suspension mechanism formula |
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| CN202120508748.8U CN216184208U (en) | 2021-03-10 | 2021-03-10 | Mecanum wheel intelligent storage AGV of suspension mechanism formula |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114460625A (en) * | 2022-04-12 | 2022-05-10 | 江苏省计量科学研究院(江苏省能源计量数据中心) | Automatic positioning calibration device and calibration method for channel type radioactivity monitoring system |
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2021
- 2021-03-10 CN CN202120508748.8U patent/CN216184208U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114460625A (en) * | 2022-04-12 | 2022-05-10 | 江苏省计量科学研究院(江苏省能源计量数据中心) | Automatic positioning calibration device and calibration method for channel type radioactivity monitoring system |
| CN114460625B (en) * | 2022-04-12 | 2022-10-28 | 江苏省计量科学研究院(江苏省能源计量数据中心) | Automatic positioning and calibrating device and method for channel type radioactivity monitoring system |
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