CN217064844U - Picking type composite mobile robot - Google Patents
Picking type composite mobile robot Download PDFInfo
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- CN217064844U CN217064844U CN202220339477.2U CN202220339477U CN217064844U CN 217064844 U CN217064844 U CN 217064844U CN 202220339477 U CN202220339477 U CN 202220339477U CN 217064844 U CN217064844 U CN 217064844U
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Abstract
The utility model discloses a compound mobile robot of formula of picking, include: the picking machine comprises a movable vehicle body and a picking manipulator arranged on the movable vehicle body; a material tray for placing aggregate is also arranged on the movable trolley body; the movable vehicle body is provided with a driving unit for driving the movable vehicle body to move; detection probes for detecting obstacles are arranged at the front side and the rear side of the movable vehicle body; through removing the AGV and moving automobile body and manipulator structure cooperation and realizing portable accurate and convenient picking work, the automobile body can drive the manipulator and carry out certain limit inside removal when picking to the scope of effectual improvement picking, thereby the whole picking area of effectual improvement makes to pick more convenient and high-efficient, accords with present market demand more, is convenient for popularize and apply more.
Description
Technical Field
The utility model belongs to the technical field of the robot, a compound mobile robot of formula of picking is related to.
Background
With the rapid development of computer and intelligent control technologies, agricultural machinery will step into a highly automated and intelligent period. The intelligent robot can gradually permeate into agricultural production, and the use of the intelligent robot can become an important mark for measuring the technical level of agriculture in the modern agricultural production process. During the mushroom production operation, harvesting accounts for about 40% of the whole operation. The quality of the picking operation directly affects the storage, processing and sale of mushrooms, thereby finally affecting market price and economic benefit. Due to the complexity of picking operation, most picking robots on the market currently adopt a fixed picking structure, the picking robots can only pick within a certain range, and the picking robots are manually transferred after picking is completed, so that the picking robot is extremely inconvenient to use.
SUMMERY OF THE UTILITY MODEL
In order to achieve the above purpose, the utility model adopts the following technical scheme:
picking formula composite mobile robot includes: the picking machine comprises a movable vehicle body and a picking manipulator arranged on the movable vehicle body;
a material tray for placing aggregate is also arranged on the movable trolley body;
the movable vehicle body is provided with a driving unit for driving the movable vehicle body to move.
As a further aspect of the present invention: the picking manipulator includes: the picking mechanism comprises a manipulator body and a picking clamping jaw arranged on the manipulator body, wherein a material clamping clamp is arranged on the picking clamping jaw;
the manipulator body is also provided with a picking positioning device for realizing picking visual positioning.
As a further aspect of the present invention: the drive unit includes: a pair of universal driven wheels and driving wheel sets;
wherein, the driving wheel group includes: the driving wheels are connected through a transmission shaft and realize synchronous motion;
further comprising: a drive motor;
a transmission belt wheel is arranged on a transmission shaft of the driving motor; a driven belt wheel is sleeved on the transmission shaft, a transmission belt is arranged between the transmission belt wheel and the driven belt wheel, and transmission matching is realized through the transmission belt; thereby driving the driving wheel to work through the driving motor.
As a further aspect of the present invention: the universal driven wheel includes: the universal wheel seat and a wheel body arranged on the universal wheel seat;
the rear end of the universal wheel seat is provided with a steering lock pin and a lock pin seat, wherein the front end of the steering lock pin extends towards the direction of the universal wheel seat, and the universal wheel seat is provided with a fixing groove for the steering lock pin to be inserted; the rear end of the steering lock pin is arranged in the lock pin seat, and the rear end of the steering lock pin is provided with a trigger steel wire rope.
As a further aspect of the present invention: and detection probes for detecting obstacles are arranged at the front side and the rear side of the movable vehicle body.
As a further aspect of the present invention: a pulling handle is arranged at the front end of the moving vehicle body.
As a further aspect of the present invention: the front end position of the moving vehicle body is provided with a control panel for controlling the driving unit, and the inside of the moving vehicle body is provided with a corresponding control unit.
The utility model has the advantages that: through removing the AGV and moving automobile body and manipulator structure cooperation and realizing portable accurate and convenient picking work, the automobile body can drive the manipulator and carry out certain limit inside removal when picking to the scope of effectual improvement picking, thereby the whole picking area of effectual improvement makes to pick more convenient and high-efficient, accords with present market demand more, is convenient for popularize and apply more.
Drawings
Fig. 1 is a schematic structural diagram of the present invention.
Fig. 2 is a schematic structural view of the picking manipulator in the present invention.
Fig. 3 is a schematic structural view of the middle moving body of the present invention.
Fig. 4 is a schematic structural view of the universal driven wheel of the present invention.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it should be understood that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments, and it should be understood that the present application is not limited to the example embodiments disclosed and described herein. 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 application.
In the description of the present invention, it is to be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are merely for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only 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 one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically limited otherwise.
In the embodiments of the present invention, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "fixed" are to be construed broadly, e.g., as fixed or detachable connections or as an integral part; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.
The utility model provides a please refer to and draw together 1 ~ 4, in the embodiment of the utility model, pick formula composite mobile robot, include: a moving vehicle body 1 and a picking manipulator 7 provided on the moving vehicle body 1;
the movable trolley body 1 is also provided with a material tray 5 for placing aggregate;
the movable vehicle body 1 is provided with a driving unit 2 for driving the movable vehicle body to move;
a control panel 4 for realizing control of the driving unit 2 is arranged at the front end position of the moving vehicle body 1, and a corresponding control unit (unshown type) is arranged in the moving vehicle body 1;
specifically, the picking manipulator 7 includes: the picking manipulator comprises a manipulator body 71 and a picking clamping jaw 73 arranged on the manipulator body 71, wherein a material clamping clamp 74 corresponding to the shape of a product to be picked is arranged on the picking clamping jaw 73;
the manipulator body 71 is also provided with a picking positioning device 72 for realizing picking visual positioning;
the front side and the rear side of the movable vehicle body 1 are provided with detection probes 3 for detecting obstacles; the detection probe 3 is used for detecting the obstacles in the advancing direction in time in the moving process of the moving vehicle body 1, so that the advancing safety is improved;
specifically, the drive unit 2 includes: a pair of universal driven wheels 21 and a driving wheel 27;
wherein, action wheel 27 group includes: the driving wheels 27 are connected through the transmission shaft 25 and realize synchronous movement;
further comprising: a drive motor 26;
a transmission shaft 25 of the driving motor 26 is provided with a transmission belt wheel 24; a driven belt wheel 22 is sleeved on the transmission shaft 25, a transmission belt 23 is arranged between the transmission belt wheel 24 and the driven belt wheel 22, and transmission matching is realized through the transmission belt 23; thereby driving the driving wheel 27 to work through the driving motor 26;
the utility model discloses a theory of operation: when the vehicle runs, the driving motor 26 is matched with the driving wheel 27 group and the universal driven wheel 21 to drive the moving vehicle body 1 to move in a specific area; after moving to a specific picking position, the picking mechanical arm 7 drives the picking clamping jaws 73 to the specific picking position, the picking object to be picked is visually positioned through the picking positioning device 72, and the picking clamping jaws 73 pick up the object through the material clamping fixture 74 and place the object into the material tray 5 for picking and collecting.
Further, the universally driven wheel 21 includes: a universal wheel base 212 and a wheel body 211 mounted on the universal wheel base 212;
a steering lock pin 213 and a lock pin holder 215 are arranged at the rear end of the universal wheel holder 212, wherein the front end of the steering lock pin 213 extends towards the universal wheel holder 212, and a fixing groove for inserting the steering lock pin 213 is formed on the universal wheel holder 212; the rear end of the steering lock pin 213 is arranged in the lock pin seat 215, and the rear end of the steering lock pin 213 is provided with a trigger steel wire rope 214; the other end of the trigger steel wire rope 214 is connected with a stretching switch;
in the process that the movable vehicle body 1 needs to move in an area, the steering lock pin 213 is inserted into the universal wheel seat 212, so that the universal wheel seat 212 cannot deflect, and therefore the positioning in the driving direction is achieved.
Further, a cart pulling handle 6 is arranged at the front end position on the moving cart body 1; for the manual pulling of the mobile bodywork 1, wherein, preferably, the pull switch is mounted on the trolley handle 6.
It is further noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. The term "comprising", without further limitation, means that the element so defined is not excluded from the group consisting of additional identical elements in the process, method, article, or apparatus that comprises the element.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the application. Thus, the present application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (6)
1. Pick compound mobile robot of formula, its characterized in that includes: the picking manipulator is arranged on the movable vehicle body;
a material tray for placing aggregate is also arranged on the movable trolley body;
the movable vehicle body is provided with a driving unit for driving the movable vehicle body to move;
and detection probes for detecting obstacles are arranged at the front side and the rear side of the movable vehicle body.
2. The picking compound mobile robot of claim 1, wherein a picking manipulator comprises: the picking mechanism comprises a manipulator body and a picking clamping jaw arranged on the manipulator body, wherein a material clamping clamp is arranged on the picking clamping jaw;
the manipulator body is also provided with a picking positioning device for realizing picking visual positioning.
3. The plucking compound mobile robot according to claim 1, wherein the driving unit comprises: a pair of universal driven wheels and driving wheel sets;
wherein, the driving wheel group includes: the driving wheels are connected through a transmission shaft and realize synchronous motion;
further comprising: a drive motor;
a transmission belt wheel is arranged on a transmission shaft of the driving motor; a driven belt wheel is sleeved on the transmission shaft, a transmission belt is arranged between the transmission belt wheel and the driven belt wheel, and transmission matching is realized through the transmission belt; thereby driving the driving wheel to work through the driving motor.
4. A picking compound mobile robot as claimed in claim 3, in which the universally driven wheels comprise: the universal wheel seat and a wheel body arranged on the universal wheel seat;
the rear end of the universal wheel seat is provided with a steering lock pin and a lock pin seat, wherein the front end of the steering lock pin extends towards the direction of the universal wheel seat, and the universal wheel seat is provided with a fixing groove for the steering lock pin to be inserted; the rear end of the steering lock pin is arranged in the lock pin seat, and the rear end of the steering lock pin is provided with a trigger steel wire rope.
5. The picking compound mobile robot of claim 1, wherein a pulling handle is provided at a front position on the mobile vehicle body.
6. The picking type composite mobile robot according to claim 1, wherein a control panel for realizing control of the driving unit is arranged at the front end position of the mobile vehicle body, and a corresponding control unit is arranged in the mobile vehicle body.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202220339477.2U CN217064844U (en) | 2022-02-18 | 2022-02-18 | Picking type composite mobile robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202220339477.2U CN217064844U (en) | 2022-02-18 | 2022-02-18 | Picking type composite mobile robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN217064844U true CN217064844U (en) | 2022-07-29 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202220339477.2U Active CN217064844U (en) | 2022-02-18 | 2022-02-18 | Picking type composite mobile robot |
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| Country | Link |
|---|---|
| CN (1) | CN217064844U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117445013A (en) * | 2023-12-22 | 2024-01-26 | 吉林省吉邦自动化科技有限公司 | VGA platform and six-degree-of-freedom manipulator fusion control system |
-
2022
- 2022-02-18 CN CN202220339477.2U patent/CN217064844U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117445013A (en) * | 2023-12-22 | 2024-01-26 | 吉林省吉邦自动化科技有限公司 | VGA platform and six-degree-of-freedom manipulator fusion control system |
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