CN217867989U

CN217867989U - Mecanum wheel omnidirectional transfer robot

Info

Publication number: CN217867989U
Application number: CN202222166373.9U
Authority: CN
Inventors: 吕文松; 张政
Original assignee: Shenzhen Jiamingte Technology Co ltd
Current assignee: Shenzhen Jiamingte Technology Co ltd
Priority date: 2022-08-17
Filing date: 2022-08-17
Publication date: 2022-11-22
Anticipated expiration: 2032-08-17

Abstract

The utility model discloses a mecanum wheel omnidirectional transfer robot, include: AGV automobile body and lift lifting machine component, the bottom surface of AGV automobile body is equipped with four omnidirectional movement wheelsets, the utility model discloses an adopt novel removal AGV body construction, remove and be equipped with the omnidirectional movement wheelset structure of high flexibility ratio by the body construction that has automatic guidance system according to automatic guidance system such as the electromagnetism of equipping or optics, four omnidirectional movement wheelsets carry out the omnidirectional movement that independent drive realized the AGV automobile body, are convenient for carry out a series of skew transverse motion that turn to in narrow and small warehouse space, improve the transport flexibility.

Description

Mecanum wheel omnidirectional transfer robot

Technical Field

The utility model relates to a transfer robot technical field specifically is a mecanum wheel omnidirectional transfer robot.

Background

With the continuous development of manufacturing industry, the automatic carrying and conveying equipment is used in large quantities and gradually moves towards the intelligent and informatization direction. Most of the currently used carrying devices adopt a traditional wheel type chassis structure to combine with an executing device installed on a machine body to realize a carrying function. In order to solve the problems that the traditional Automatic Guided Vehicle (AGV) is insufficient in movement flexibility, low in efficiency, difficult to operate in a complex environment and limited in application in many occasions, people in the industry are increasingly keen to use Mecanum wheels to replace the traditional AGV wheel set structure. A mecanum wheel is a specially constructed omni-directional wheel that is shaped like a helical gear, the teeth being drum-shaped rollers that are capable of rotating, the axes of the rollers being at an angle α to the axis of the wheel. The Maxam wheel has the biggest advantages of excellent motion flexibility, capability of realizing omnidirectional movement in the true sense, rapid conversion among different motion modes, suitability for carrying work of materials, parts and goods, and particularly excellent performance in occasions with higher motion space requirements (narrow space or complex motion track), such as warehouses with crowded space, transportation of large parts, accurate adjustment of workpieces after being transported in place and the like.

The patent application with the application number of 201520094412 discloses a transfer robot, which comprises a control system, a vehicle body provided with a moving mechanism and at least one manipulator connected to the vehicle body; the manipulator comprises a clamping jaw mechanism for clamping the object and an extension mechanism for moving the clamping jaw mechanism to a required position; the clamping jaw mechanism comprises a clamping jaw disc connected to the tail end of the stretching mechanism and at least two mechanical fingers which are arranged on the clamping jaw disc and form a clamping structure, and the mechanical fingers comprise at least three mechanical knuckles hinged in sequence. In the scheme, a common wheel type chassis is adopted, so that the flexibility of movement in a narrow space or a space needing frequent steering is low; the actuator for grabbing the object has low adaptability and is difficult to handle the transportation of large workpieces, so that the popularization and the application of the actuator are limited to a certain extent. In view of this, research and improvement are performed to solve the existing problems, and a mecanum wheel omnidirectional transfer robot is provided to achieve the purposes of solving the problems and improving the practical value.

SUMMERY OF THE UTILITY MODEL

The utility model discloses aim at solving one of the technical problem that exists among the prior art or the correlation technique.

Therefore, the utility model discloses the technical scheme who adopts does: a mecanum wheel omni-directional transfer robot, comprising: AGV automobile body and lifting hoist mechanism, the bottom surface of AGV automobile body is equipped with four omnidirectional movement wheelsets, and the bottom surface embedding of AGV automobile body installs the braking ejector pin, the bottom fixed mounting of AGV automobile body one side has preceding vaulting pole, lifting hoist mechanism fixed mounting is in one side of AGV automobile body and is located directly over preceding vaulting pole, the one end of AGV automobile body is equipped with the auxiliary wheel, the inside of AGV automobile body is equipped with portable power source, AGV control mainboard and hydraulic power unit, hydraulic power unit's output and braking ejector pin, lifting hoist mechanism's input are linked together.

The present invention may be further configured in a preferred embodiment as: the surface of AGV automobile body is equipped with the guide subassembly, the guide subassembly is one of laser guide or electromagnetic induction guide, the output of guide subassembly and the input electric connection of AGV control mainboard, the output of AGV control mainboard and the input electric connection of omnidirectional movement wheelset and braking ejector pin.

The present invention in a preferred embodiment can be further configured to: the brake ejector pin is of a hydraulic push rod structure, the output end of the brake ejector pin is fixedly connected with a brake disc which is parallel to the bottom face of the AGV body, and the brake disc is made of rubber materials.

The present invention in a preferred embodiment can be further configured to: the omnidirectional movement wheel set comprises a driving motor, a transmission chain wheel and a Mecanum wheel, and the output end of the driving motor is in transmission connection with the transmission chain wheel through the Mecanum wheel.

The present invention in a preferred embodiment can be further configured to: lifting hoist mechanism includes fixed guide frame, lifting bracket, hydraulic lifting rod and hawser, fixed guide frame and hydraulic lifting rod fixed mounting are in one side of AGV automobile body, lifting bracket slidable mounting is in the surface of fixed guide frame, hydraulic lifting rod's output fixedly connected with motion guide pulley, the one end of hawser is fixed in the bottom on AGV automobile body surface and other end wire-wrapping through the surface and the fixed mounting of motion guide pulley in lifting bracket's surface, lifting bracket's fixed surface installs the die-pin.

The present invention may be further configured in a preferred embodiment as: the support rod is of an L-shaped structure, and the length of the support rod is smaller than or equal to that of the front guide support rod.

The utility model discloses the beneficial effect who gains does:

1. the utility model discloses in, through adopting novel removal AGV body construction, remove and be equipped with the omnidirectional movement wheelset structure of high flexibility ratio by automatic guidance system such as the electromagnetic or optics that have automatic guidance system's body construction according to equipping, four omnidirectional movement wheelsets carry out the omnidirectional movement that independent drive realized the AGV automobile body, are convenient for carry out a series of skew transverse motion in narrow and small warehouse space, improve the transport flexibility.

2. The utility model discloses in, through adopting novel transport structure, utilize to lift hoist mechanism and carry out the lift of various big quality objects under hydraulic drive, carry out goods lifting and transport, the front end that lifts hoist mechanism by preceding vaulting pole supports and avoids toppling because of the great automobile body that leads to of transport goods quality, improves and bears the carrying capacity, the practicality of this transfer robot of ether height.

Drawings

Fig. 1 is a schematic overall structure diagram of an embodiment of the present invention;

FIG. 2 is a schematic view of an AGV body bottom structure according to an embodiment of the present invention;

fig. 3 is a schematic structural diagram of an omnidirectional moving wheel set according to an embodiment of the present invention;

fig. 4 is a schematic structural view of a lifting mechanism according to an embodiment of the present invention.

Reference numerals:

100. an AGV body; 110. a leading strut; 120. an omnidirectional moving wheel set; 130. braking the ejector rod; 111. an auxiliary wheel; 121. a drive motor; 122. a drive sprocket; 123. a Mecanum wheel;

200. a lifting mechanism; 210. fixing the guide frame; 220. a lifting bracket; 230. a hydraulic lifting rod; 240. a cable; 221. a support rod; 231. and a moving guide wheel.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in detail with reference to the accompanying drawings. It should be noted that the embodiments and features of the embodiments of the present invention may be combined with each other without conflict.

The following describes a mecanum wheel omnidirectional transfer robot provided by some embodiments of the present invention with reference to the accompanying drawings.

With reference to fig. 1-4, the present invention provides a mecanum wheel omnidirectional transfer robot, including: the AGV comprises an AGV body 100 and lifting mechanisms 200, four omnidirectional movement wheel sets 120 are arranged on the bottom surface of the AGV body 100, a brake ejector rod 130 is embedded in the bottom surface of the AGV body 100, a front guide support rod 110 is fixedly mounted at the bottom end of one side of the AGV body 100, the lifting mechanisms 200 are fixedly mounted on one side of the AGV body 100 and located right above the front guide support rod 110, auxiliary wheels 111 are arranged at one end of the AGV body 100, a mobile power supply is arranged inside the AGV body 100, an AGV control main board and a hydraulic pump station are arranged, the output end of the hydraulic pump station is communicated with the brake ejector rod 130 and the input end of the lifting mechanisms 200.

In this embodiment, the surface of the AGV body 100 is provided with a guiding component, the guiding component is one of laser guiding and electromagnetic induction guiding, an output end of the guiding component is electrically connected with an input end of an AGV control main board, and an output end of the AGV control main board is electrically connected with an input end of the omnidirectional moving wheel set 120 and an input end of the brake push rod 130.

Specifically, the guidance assembly is used to identify a moving path and guide the AGV body 100 to move, and the AGV control structure is used to control the driving of the omnidirectional moving wheel set 120, so as to realize automatic guidance movement.

In this embodiment, the brake push rod 130 is a hydraulic push rod structure, and the output end of the brake push rod 130 is fixedly connected with a brake disc arranged parallel to the bottom surface of the AGV body 100, and the brake disc is a rubber member.

Specifically, mecanum wheel does not integrate brake equipment, only relies on the motor to slow down and stop because the effect of inertia is unable accurate stop in appointed position, thereby through install braking ejector pin 130 additional in AGV automobile body 100 bottom surface when parkking braking ejector pin 130 drive brake disc and ground contact increase frictional resistance guarantee AGV automobile body 100's stable braking, avoid moving at handling in-process automobile body.

In this embodiment, the omnidirectional movement wheel set 120 comprises a driving motor 121, a driving sprocket 122 and a mecanum wheel 123, and the output end of the driving motor 121 is in driving connection with the driving sprocket 122 through the mecanum wheel 123.

Specifically, the driving sprocket 122 does not need to specially design a steering mechanism for the wheels, but only needs to match the rotation speed and the steering among the wheels to realize the motion of the mobile platform in any direction in a plane, and particularly has the unique advantages of realizing lateral movement, in-situ rotation and the like, so that the motion flexibility of the whole carrying device is obviously improved.

In this embodiment, the lifting mechanism 200 includes a fixed guide frame 210, a lifting bracket 220, a hydraulic lifting rod 230 and a cable 240, the fixed guide frame 210 and the hydraulic lifting rod 230 are fixedly installed on one side of the AGV body 100, the lifting bracket 220 is slidably installed on the surface of the fixed guide frame 210, the output end of the hydraulic lifting rod 230 is fixedly connected with a moving guide wheel 231, one end of the cable 240 is fixed on the bottom end of the surface of the AGV body 100, the other end of the cable is wound on the surface of the moving guide wheel 231 and is fixedly installed on the surface of the lifting bracket 220, and the surface of the lifting bracket 220 is fixedly installed with a supporting rod 221.

Specifically, the position of the moving guide wheel 231 is controlled by the hydraulic lift lever 230 in the lifting driving, and the fixed length cable 240 pulls the lifting bracket 220 on one side of the fixed guide frame 210 to slide in the guiding of the moving guide wheel 231, so that the cargo is lifted and lifted by the lifting rod 221.

In this embodiment, the supporting rod 221 is an L-shaped structure, the length of the supporting rod 221 is less than or equal to the length of the front guide supporting rod 110, and the shorter supporting rod 221 limits the goods to be lifted above the front guide supporting rod 110, so that the center of gravity of the goods is in the supporting direction of the front guide supporting rod 110 and the AGV body 100 to avoid overturning.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the claims and their equivalents.

Claims

1. A mecanum wheel omni-directional transfer robot, comprising: AGV automobile body (100) and lift hoist mechanism (200), the bottom surface of AGV automobile body (100) is equipped with four omnidirectional movement wheelsets (120), and the bottom surface embedding of AGV automobile body (100) installs brake ejector pin (130), vaulting pole (110) before the bottom fixed mounting of AGV automobile body (100) one side, lift hoist mechanism (200) fixed mounting in one side of AGV automobile body (100) and be located before vaulting pole (110) directly over, the one end of AGV automobile body (100) is equipped with auxiliary wheel (111), the inside of AGV automobile body (100) is equipped with portable power source, AGV control mainboard and hydraulic power unit, hydraulic power unit's output and brake ejector pin (130), the input of lifting hoist mechanism (200) are linked together.

2. A mecanum wheel omnidirectional transfer robot according to claim 1, wherein the surface of the AGV body (100) is provided with a guiding component, the guiding component is one of laser guiding or electromagnetic induction guiding, the output end of the guiding component is electrically connected with the input end of an AGV control main board, and the output end of the AGV control main board is electrically connected with the input ends of the omnidirectional moving wheel set (120) and the brake push rod (130).

3. The omnidirectionally moving robot with Mecanum wheels as claimed in claim 1, wherein the brake push rods (130) are of a hydraulic push rod structure, the output ends of the brake push rods (130) are fixedly connected with brake discs arranged in parallel with the bottom surface of the AGV body (100), and the brake discs are made of rubber materials.

4. A mecanum wheel omnidirectional transfer robot according to claim 1, wherein the omnidirectional movement wheel set (120) comprises a driving motor (121), a driving chain wheel (122) and a mecanum wheel (123), and an output end of the driving motor (121) is in transmission connection with the driving chain wheel (122) through the mecanum wheel (123).

5. The mecanum wheel omnidirectional transfer robot of claim 1, wherein the lifting mechanism (200) comprises a fixed guide frame (210), a lifting bracket (220), a hydraulic lifting rod (230) and a cable (240), the fixed guide frame (210) and the hydraulic lifting rod (230) are fixedly installed on one side of the AGV body (100), the lifting bracket (220) is slidably installed on the surface of the fixed guide frame (210), the output end of the hydraulic lifting rod (230) is fixedly connected with a movement guide wheel (231), one end of the cable (240) is fixed on the bottom end of the surface of the AGV body (100) and the other end of the cable is wound on the surface of the movement guide wheel (231) and is fixedly installed on the surface of the lifting bracket (220), and the surface of the lifting bracket (220) is fixedly installed with a support rod (221).

6. A Mecanum wheel omni directional transfer robot as claimed in claim 5, wherein the joists (221) are L-shaped structures, and the length of the joists (221) is less than or equal to the length of the leading brace (110).