CN218806229U - AGV commodity circulation car - Google Patents
AGV commodity circulation car Download PDFInfo
- Publication number
- CN218806229U CN218806229U CN202222872699.3U CN202222872699U CN218806229U CN 218806229 U CN218806229 U CN 218806229U CN 202222872699 U CN202222872699 U CN 202222872699U CN 218806229 U CN218806229 U CN 218806229U
- Authority
- CN
- China
- Prior art keywords
- steering engine
- mechanical arm
- wheels
- support frame
- logistics vehicle
- 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
Images
Classifications
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/60—Electric or hybrid propulsion means for production processes
Abstract
An AGV logistics vehicle comprises a base moving mechanism, a grabbing mechanism and an identification display device; the grabbing mechanism and the identification display device are both arranged on the base moving mechanism; the base moving mechanism comprises a supporting frame, a driving assembly, wheels and a moving guide assembly; the driving assembly is arranged in the support frame, the wheels are arranged at the bottom of the support frame, the driving assembly is connected with the wheels, and the movement guiding assembly is arranged around the support frame; the utility model can lead the AGV to run along the prescribed guiding route through the infrared sensor device; the mechanical arm has six degrees of freedom, so that the mechanical arm can accurately clamp and carry articles randomly placed in a space range; meanwhile, a six-degree-of-freedom mechanical arm is used, so that grabbing is accurate and controllable.
Description
Technical Field
The utility model relates to a commodity circulation transfer robot technical field especially relates to a AGV commodity circulation car.
Background
With the rapid development of various technologies such as internet high and new technology, electronic automation technology, artificial intelligence technology and the like, the rapid development of the robot industry is greatly promoted. Nowadays, intelligent robot has widely been used to various fields in the society, has reduced artifical configuration effectively, has reached the purpose of saving manpower resources cost, improvement product production efficiency, and the economic production advantage that brings is also very showing.
At present, there can be error or dolly position inaccurate when intelligent commodity circulation car snatchs through the arm, leads to the degree of accuracy and the efficiency greatly reduced of snatching, also can appear the material landing, and the position is placed phenomenon such as incorrect.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide a AGV logistics vehicle to solve above-mentioned problem.
In order to achieve the above purpose, the utility model adopts the following technical scheme:
an AGV logistics vehicle comprises a base moving mechanism, a grabbing mechanism and an identification display device; the grabbing mechanism and the identification display device are both arranged on the base moving mechanism;
the base moving mechanism comprises a supporting frame, a driving assembly, wheels and a moving guide assembly; the driving assembly is arranged in the support frame, the wheels are arranged at the bottom of the support frame, the driving assembly is connected with the wheels, and the moving guide assembly is arranged around the support frame;
the grabbing mechanism comprises a six-degree-of-freedom mechanical arm and a rudder disc; the six-degree-of-freedom mechanical arm is arranged on the rudder disc;
the identification display device is arranged on the support frame and used for identifying and displaying the goods.
Furthermore, the supporting frame comprises an upper bottom plate, a lower bottom plate, a motor support, a copper column and a carrying platform; the upper base plate and the lower base plate are connected through a plurality of copper column supports, and four motor supports are arranged on the lower base plate; the objective platform sets up on the upper plate.
Furthermore, a driving assembly is arranged in each motor support, the driving assembly is a direct current coding motor, and a wheel is fixed on an output shaft of each direct current coding motor.
Furthermore, a main control single chip microcomputer and an integrated PCB circuit are further installed on the upper base plate, and the integrated PCB circuit is connected with the main control single chip microcomputer through pins of the integrated PCB circuit.
Furthermore, the movement guide assembly comprises four infrared sensors, and the four infrared sensors are connected with the upper bottom plate through copper columns and are fixed in the centers of the two wheels on each side edge of the lower bottom plate.
Furthermore, the rudder disc is fixedly arranged above the upper bottom plate through a copper column; the six-degree-of-freedom mechanical arm is arranged on the rudder disc, and the tail end of the six-degree-of-freedom mechanical arm is provided with a gripper; the six-degree-of-freedom mechanical arm comprises six steering engines, wherein the six steering engines are respectively as follows: the steering engine comprises a first steering engine, a second steering engine, a third steering engine, a fourth steering engine, a fifth steering engine and a sixth steering engine; the first steering engine is arranged below the rudder disc, so that the rudder disc can rotate around the Z-axis direction; the second steering engine is positioned on the upper surface of the rudder disk, so that the integral lifting of the mechanical arm is realized; the third steering engine and the fourth steering engine are respectively arranged at the arm joint of the mechanical arm, so that the arm joint of the mechanical arm can rotate independently; the fifth steering engine is arranged at the joint of the mechanical arm and the gripper and used for controlling the gripper to rotate; and the sixth steering engine is arranged on the single side surface of the gripper and used for controlling the opening and closing of the gripper.
Furthermore, the identification display device comprises an openmv 4plus camera and a liquid crystal display screen which are both connected with the upper surface of the upper bottom plate through copper columns; an openmv 4plus camera is arranged on one side of the upper surface of the upper base plate through a bracket and is positioned on the right of the rudder plate.
Furthermore, the wheels are Mecanum wheels.
Compared with the prior art, the utility model discloses there is following technological effect:
the utility model discloses a four mecanum wheels can let the dolly carry out omnidirectional movement, have stronger throughput in narrow region, and the practicality is strong, and installs the position in the bottom suspension fagging four corners, can the direction of change fast, and accurate location still can be nimble freely move ahead under the road conditions of complicacy.
The utility model can make the AGV flow along the prescribed guiding route through the infrared sensor device; the mechanical arm has six degrees of freedom, so that the mechanical arm can accurately clamp and carry articles randomly placed in a space range; and meanwhile, a six-degree-of-freedom mechanical arm is used, so that the grabbing is accurate and controllable.
The utility model discloses use openmv 4plus camera can be to having the object identification and the categorised judgement that colour and shape characteristic are different, and the recognition effect is stable accurate, and intelligent degree is high, and openmv 4plus camera has two-dimensional code recognition function simultaneously, can obtain the transport task through scanning the two-dimensional code high-efficiently conveniently and accurately, is applicable to very much modern logistics industry; the liquid crystal display screen can display the content of the currently executed program steps in real time, so that a user can conveniently check the current operation process, the electric quantity of the current battery can be displayed, and the visualization of the whole process flow is realized.
Drawings
FIG. 1 is an overall view of an AGV logistics vehicle of the present invention;
FIG. 2 is a side view of the AGV logistics vehicle of the present invention;
FIG. 3 is a structural diagram of a gripping mechanism of the AGV logistics vehicle of the present invention;
fig. 4 is a structural diagram of the base moving mechanism of the AGV logistics car of the present invention.
The reference numbers in the drawings illustrate the following:
1. a base moving mechanism; 2. a grabbing mechanism; 3. identifying a display device; 11. an upper base plate; 12. a lower base plate; 13, a motor support; 4. a motor; 15. a wheel; 16. an infrared sensor; 17. a copper pillar; 18. a carrier platform; 19. a master control singlechip; 110. an integrated PCB circuit; 21. a mechanical arm; 22. a rudder wheel; 23. a first steering engine; 24. a second steering engine; 25 # III steering engine; 26. a fourth steering engine; 27. a fifth steering engine; 28. a sixth steering engine; 29. a gripper; 31.openmv4 plus camera; 32. and a liquid crystal display screen.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail with reference to the following examples.
As shown in fig. 1 and fig. 2, the AGV logistics vehicle provided by the present invention comprises a base moving mechanism 1, a grabbing mechanism 2 and an identification display device 3;
the base moving mechanism 1 comprises an upper base plate 11, a lower base plate 12, a motor support 13, a motor 14, wheels 15, an infrared sensor 16, a copper column 17, an object carrying platform 18, a master control single chip microcomputer 19 and an integrated PCB circuit 110;
the lower base plate 12 is provided with four motor supports 13, each motor support 13 is provided with a direct current coding motor 14, an output shaft of each direct current coding motor 14 is fixed with a wheel 15, the upper base plate 11 is connected with the lower base plate 12 through a copper column 17 capable of being spliced, and the copper column 17 is positioned above the lower base plate 12;
the infrared sensor 16 is connected with the upper bottom plate 11 through a copper column 17 and is fixed in the center of the two wheels 15 on each side of the lower bottom plate 12; the carrying platform 18 is arranged for storing articles and is fixed above the upper bottom plate 11 of the trolley through a copper column 17;
the main control single chip microcomputer 19 is arranged on the upper surface of the upper base plate 11, and the integrated PCB circuit 19 is connected with the main control single chip microcomputer 19 through pins arranged on the integrated PCB circuit and is positioned above the main control single chip microcomputer;
each output end of the direct current coding motor 14 is provided with a wheel 15, and the wheels 15 are Mecanum wheels, so that the trolley can move in all directions;
the number of the infrared sensors 16 is four, and the infrared sensors are connected with the upper bottom plate 11 through copper columns 17 and are fixed in the centers of the two wheels 15 on each side edge of the lower bottom plate 12;
as shown in fig. 3, the grabbing mechanism 2 comprises a mechanical arm 21, a steering wheel 22, a first steering engine 23, a second steering engine 24, a third steering engine 25, a fourth steering engine 26, a fifth steering engine 27, a sixth steering engine 28 and a hand grip 29, wherein the steering wheel 22 is installed above the upper bottom plate 11, the mechanical arm 21 is installed on the steering wheel, and the hand grip 29 is installed at the tail end of the mechanical arm 21;
the first steering engine 23 is arranged below the rudder disc 22 and can enable the rudder disc 22 to rotate 360 degrees in the Z-axis direction; the second steering engine 24 is positioned on the upper surface of the rudder disk 22 and is used for realizing the integral lifting of the mechanical arm 21; the third steering engine 25 and the fourth steering engine 26 are respectively installed at the arm section connecting part of the mechanical arm 21, so that the arm sections of the mechanical arm 21 can rotate independently; the fifth steering engine 27 is arranged at the joint of the mechanical arm 21 and the gripper 29 and is used for controlling the gripper 29 to rotate; the sixth steering engine 28 is mounted on one side surface of the hand grip 29 and used for controlling the opening and closing of the hand grip 29;
as shown in fig. 4, the identification display device 3 includes an openmv 4plus camera 31 and a liquid crystal display 32, both of which are connected to the upper surface of the upper plate 11 through copper posts 17.
The openmv 4plus camera 31 is arranged on one side of the upper surface of the upper base plate 11 through a bracket and is positioned on the right of the rudder plate 22;
the working principle of the infrared sensor is as follows: the infrared light which is invisible to human eyes can be emitted to the ground after being electrified, the infrared light is reflected by the ground and then received by the sensor, the resistance inside the sensor can change along with the received infrared light, different levels are output through the circuit, and the infrared light is sent to the main control single chip microcomputer.
The main work flow of the AGV logistics vehicle is as follows: the openmv 4plus camera firstly identifies materials to be carried, classifies the materials according to the shape or color characteristics of the materials, and sends the classified results to the main control single chip microcomputer in the form of feedback signals. The main control singlechip judges according to received information and a set program, after the judgment is completed, executes a program matched with the material, starts to control a first steering engine to rotate to align the mechanical arm to the material direction, a second steering engine lifts the mechanical arm to the material parallel and level height, a third steering engine and a fourth steering engine enable the gripper to be close to the material, a fifth steering engine rotates the gripper to a proper gripping angle, and a sixth steering engine controls the gripper to retract to grip the material. Mutually support through each steering wheel, thereby realize the different actions of arm and with the snatching of accomplishing the material and put into the cargo platform on the dolly with it, after having put the material, master control singlechip begins the control dolly motion, the motion relies on infrared sensor's transmitting terminal to ground transmission infrared ray and through the receiving terminal after receiving the reflection signal, to master control singlechip conveying position deviation information, the master control singlechip adjusts the correction according to the deviation of setting for the regulating program to the dolly is actual, through the rotational speed of regulation and control motor, utilize the rotational speed difference control automobile body position of wheel to get back to on the route of setting for. After the trolley arrives at the destination, the openmv 4plus camera identifies the target position and returns the position information to the main control single chip microcomputer in a feedback signal mode, the main control single chip microcomputer controls the mechanical arm to place different materials in the carrying platform at the corresponding target position according to the feedback signal, and then the trolley returns to the initial position to carry the next time.
In the practical application of a factory or a logistics distribution center, the tracing lines can be planned and laid according to specific requirements, and the flexibility is high. The patent of the utility model designs a can come according to set route through infrared sensor and carry out autonomous motion, the while is discerned through intelligent camera to waiting to grab the object and is judged, distinguish the kind that will snatch, make the arm can accurately snatch, and the six degree of freedom arms of design can realize the snatching of putting article wantonly to the space, solved because of the inconvenient problem that can't snatch of position, deposit article with cargo platform, can prevent that article from appearing the condition that drops in the transportation, the whole practicality of dolly is strong.
It should be noted that the above-mentioned embodiments are further detailed for the purpose and technical solutions of the present invention, and it should be understood that the above-mentioned embodiments are only specific embodiments of the present invention, and are not intended to limit the present invention, and any modifications, replacements, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (8)
1. An AGV logistics vehicle is characterized by comprising a base moving mechanism (1), a grabbing mechanism (2) and an identification display device (3); the grabbing mechanism (2) and the identification display device (3) are both arranged on the base moving mechanism (1);
the base moving mechanism (1) comprises a supporting frame, a driving component, wheels (15) and a moving guide component; the driving assembly is arranged in the support frame, the wheels (15) are arranged at the bottom of the support frame, the driving assembly is connected with the wheels (15), and the movement guiding assembly is arranged around the support frame;
the grabbing mechanism (2) comprises a six-degree-of-freedom mechanical arm (21) and a rudder disc (22); a rudder disk (22) is arranged on the support frame, and a six-degree-of-freedom mechanical arm (21) is arranged on the rudder disk (22);
the identification display device (3) is arranged on the support frame and used for identifying and displaying cargoes.
2. An AGV logistics vehicle of claim 1 wherein the support frame comprises an upper base plate (11), a lower base plate (12), a motor mount (13), copper posts (17) and a loading platform (18); the upper base plate (11) and the lower base plate (12) are supported and connected through a plurality of copper columns (17), and four motor supports (13) are arranged on the lower base plate (12); the loading platform (18) is arranged on the upper bottom plate (11).
3. An AGV logistics vehicle according to claim 2, wherein each motor support (13) is provided with a driving assembly, the driving assembly is a direct current coding motor (14), and a wheel (15) is fixed on an output shaft of each direct current coding motor (14).
4. An AGV logistics vehicle of claim 2 wherein the upper floor (11) is further provided with a master control single chip microcomputer (19) and an integrated PCB circuit (110), the integrated PCB circuit (110) is connected with the master control single chip microcomputer (19) through a pin of the integrated PCB circuit.
5. An AGV logistics vehicle of claim 1 wherein the movement guidance assembly comprises four infrared sensors (16) connected to the upper floor (11) by copper posts (17) and fixed to the center of two wheels (15) on each side of the lower floor (12).
6. An AGV logistics vehicle of claim 1 wherein the tiller (22) is fixedly mounted above the upper floor (11) by means of copper posts (17); the six-degree-of-freedom mechanical arm (21) is arranged on the rudder disc (22), and the tail end of the six-degree-of-freedom mechanical arm (21) is provided with a gripper (29); the six-degree-of-freedom mechanical arm (21) comprises six steering engines, wherein the six steering engines are respectively as follows: a first steering engine (23), a second steering engine (24), a third steering engine (25), a fourth steering engine (26), a fifth steering engine (27) and a sixth steering engine (28); the first steering engine (23) is arranged below the rudder disc (22) to enable the rudder disc (22) to rotate for 360 degrees around the Z-axis direction; a second steering engine (24) is positioned on the upper surface of the rudder disk (22) to realize the integral lifting of the mechanical arm (21); a third steering engine (25) and a fourth steering engine (26) are respectively arranged at the arm joint of the mechanical arm (21), so that the arm joint of the mechanical arm (21) can rotate independently; a fifth steering engine (27) is arranged at the joint of the mechanical arm (21) and the gripper (29) and is used for controlling the gripper (29) to rotate; and a sixth steering engine (28) is arranged on one side surface of the gripper (29) and is used for controlling the opening and closing of the gripper (29).
7. An AGV logistics vehicle of claim 1, wherein the identification display device (3) comprises an openmv 4plus camera (31) and a liquid crystal display (32), both of which are connected to the upper surface of the upper floor (11) through copper columns (17); an openmv 4plus camera (31) is arranged on one side of the upper surface of the upper base plate (11) through a bracket and is positioned on the right of the rudder disk (22).
8. An AGV logistics vehicle of claim 1 wherein the wheels (15) are Mecanum wheels.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202222872699.3U CN218806229U (en) | 2022-10-28 | 2022-10-28 | AGV commodity circulation car |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202222872699.3U CN218806229U (en) | 2022-10-28 | 2022-10-28 | AGV commodity circulation car |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN218806229U true CN218806229U (en) | 2023-04-07 |
Family
ID=87248468
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202222872699.3U Active CN218806229U (en) | 2022-10-28 | 2022-10-28 | AGV commodity circulation car |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN218806229U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117001633A (en) * | 2023-10-08 | 2023-11-07 | 深圳易行机器人有限公司 | Logistics robot capable of being quickly detached |
-
2022
- 2022-10-28 CN CN202222872699.3U patent/CN218806229U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117001633A (en) * | 2023-10-08 | 2023-11-07 | 深圳易行机器人有限公司 | Logistics robot capable of being quickly detached |
| CN117001633B (en) * | 2023-10-08 | 2023-12-05 | 深圳易行机器人有限公司 | Logistics robot capable of being quickly detached |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN207890985U (en) | A kind of AGV intelligent forklifts and its control system | |
| CN218806229U (en) | AGV commodity circulation car | |
| KR20180120982A (en) | Fork lifter system, and control method thereof | |
| JPH0747403B2 (en) | Program-controlled box / container operation / transfer device | |
| CN113844568B (en) | Flexible final assembly workshop process line structure based on AGV | |
| CN111017804B (en) | Intelligent mobile transfer system and transfer method thereof | |
| CN109189076A (en) | A kind of heavy guiding vehicle localization method and heavy guiding vehicle of view-based access control model sensor | |
| CN108549391B (en) | AGV trolley control system and method | |
| CN208614791U (en) | All directionally movable robot applied to intelligent repository | |
| CN110817228A (en) | Unmanned storage carrier | |
| CN212541100U (en) | Intelligent vehicle system for logistics sorting and positioning | |
| CN109719729A (en) | A kind of rotating disc type Automatic Track Finding coding identification floor truck and its application method | |
| CN211061900U (en) | Autonomous navigation logistics robot control system | |
| CN114655843B (en) | Small-sized lifting and carrying equipment capable of automatically identifying goods identification and control method thereof | |
| CN110667737A (en) | Automatic AGV dolly of loading and unloading material | |
| CN111168640A (en) | Logistics robot | |
| CN208713955U (en) | A kind of Intelligent logistics trolley | |
| CN220642338U (en) | Lifting type logistics carrying mobile platform | |
| CN211055272U (en) | Automatic AGV dolly of loading and unloading material | |
| CN206154291U (en) | Automatic sorting and transporting robot | |
| CN114275525A (en) | Combined type intelligent robot | |
| CN213534889U (en) | Automatic multi-functional dolly traveles | |
| CN214087573U (en) | Warehouse transfer robot | |
| CN211857290U (en) | Intelligent trolley system with mechanical arm | |
| CN211517482U (en) | Novel logistics robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |