CN219190225U

CN219190225U - Omnidirectional automatic checking mobile robot structure

Info

Publication number: CN219190225U
Application number: CN202320170300.9U
Authority: CN
Inventors: 兰伟; 符炳涛
Original assignee: Stable Stone Robot Shenzhen Co ltd
Current assignee: Stable Stone Robot Shenzhen Co ltd
Priority date: 2023-01-19
Filing date: 2023-01-19
Publication date: 2023-06-16
Anticipated expiration: 2033-01-19

Abstract

The utility model relates to the technical field of mobile robots, and in order to solve the technical problem of low operation efficiency caused by single scanning angle and different heights of shelves, the utility model discloses an omnidirectional automatic inventory mobile robot structure which comprises a chassis and an interactive system, wherein the chassis comprises a chassis main body and a cargo carrying platform arranged on the chassis main body, the opposite angle of the chassis is provided with an obstacle avoidance device for scanning 360 degrees in the horizontal direction, the interactive system comprises a cylindrical shell, the top of the shell is provided with a monitoring device for monitoring the conditions of front and side shelves, personnel and picking, the upper part of the shell is provided with an interactive screen, a lifting rod is arranged in the shell, the upper part of the lifting rod is provided with a fixing frame, the inside of the fixing frame is provided with a scanning device for scanning electronic tags on cargoes, and the side part of the fixing frame is provided with a rotary steering engine. The angle of the scanning device is adjusted through the rotary steering engine, the lifting rod is suitable for conventional goods shelf counting and high-level counting, and the operation efficiency is improved.

Description

Omnidirectional automatic checking mobile robot structure

Technical Field

The utility model relates to the technical field of mobile robots, in particular to an omnidirectional automatic checking mobile robot structure.

Background

In recent years, the warehouse logistics industry develops rapidly, the iterative upgrading speed of technical equipment is continuously accelerated, and the automation degree of factories and the warehouse logistics industry is continuously improved. The equipment of scene such as mill workshop, warehouse has all carried out the automation to varying degrees and has reformed transform for unmanned fork truck, AGV, the AMR of automatic handling, be used for automatic cooperation robot, the conveyer belt of butt joint, be used for automatic scanning equipment etc. of checking automatically. At present, an enterprise for realizing automatic checking starts from the requirement of fixed assets, mainly has two management schemes of two-dimension code scanning and RFID, replaces operations such as manual handwriting, registration, asset updating and the like in a traditional fixed asset mode, changes a manual label into a label which is clear and understandable in two-dimension code and RFID, replaces manual checking and checking with a high-efficiency and convenient two-dimension code scanning instrument and RFID sensing equipment, and can liberate manpower to a certain extent, improve checking efficiency and reduce checking error rate.

The current equipment for automatic checking mainly comprises a bar code reader, a one-dimensional code reader, a two-dimensional code reader, a logistics checking PDA, a mobile data collector, an intelligent checking vehicle and the like. Various code readers are convenient and high in efficiency compared with pure manual checking, but the scanning range is narrow, manual operation is needed, the efficiency is low in scenes with more goods and types, detection is easy to miss, and the like; the common intelligent checking vehicle further realizes automation without manual operation, but often has single scanning angle, can not consider different goods shelves, can only scan goods shelves in one direction in a common driving process, and the like. And the general warehousing operation also comprises links such as picking, carrying, warehousing, ex-warehouse and the like, and the common checking equipment cannot take these functions into account and can only be carried out after checking, so that the efficiency of the warehousing operation is reduced.

For example, the utility model patent application publication CN110245726a discloses a book checking robot based on RFID technology, refer to fig. 1 and paragraph [0005] thereof, which comprises a base 1 and a supporting platform 3, the upper end of the base 1 is provided with the supporting platform 3, the middle position of the lower end of the supporting platform 3 is provided with a lifting screw sleeve 7, the lower end of the lifting screw sleeve 7 is provided with a lifting screw hole 8, the lifting screw hole 8 is provided with a lifting screw rod 6 in a matching manner, and the lower end of the lifting screw rod 6 is fixedly connected with the output end of the lifting motor 18. It only solves the problem of a high adaptation, but does not improve the scanning angle.

Disclosure of Invention

The utility model aims to provide an omnidirectional automatic checking mobile robot structure so as to solve the technical problem of low operation efficiency caused by single scanning angle and different heights of shelves.

In order to achieve the above purpose, the specific technical scheme of the omnidirectional automatic checking mobile robot structure is as follows:

the utility model provides an automatic mobile robot structure of checking of qxcomm technology, including the chassis and set up the interactive system on the chassis, the chassis includes chassis main part and sets up the cargo bed in the chassis main part, the bottom of chassis main part is provided with action wheel and universal wheel, the diagonal angle of chassis is provided with and is used for 360 degrees scanning keep away the barrier device on the horizontal direction, interactive system includes the cylindricality casing, the top of casing is provided with the monitoring device who is used for monitoring place ahead and side goods shelves, personnel and pick the goods condition, the upper portion of casing is provided with interactive screen, be provided with the lifter that runs through the casing top in the casing, be provided with the actuating mechanism of drive lifter reciprocates in the casing, the upper portion of lifter is provided with the mount, be provided with the scanning device who is used for scanning electronic tags on the goods in the mount, the lateral part of mount is provided with the rotatory steering wheel that is used for adjusting scanning device angle. The omni-directional rotation and the walking of the chassis are realized through the driving wheel and the universal wheels; scanning 360 degrees in the horizontal direction through the obstacle avoidance device to avoid obstacles; the electronic tag with the surface facing the goods is scanned by the scanning device, required inventory information is obtained, the scanning device is controlled to rotate along the rotating shaft of the electronic tag by the rotating steering engine, and scanning within a 360-degree range of the position except a small amount of area right below is ensured; the heights of different shelves are matched through the lifting rod, so that the distance is shortened, and the scanning precision is ensured; the omnidirectional rotation and walking of the chassis and the rotation steering engine control the rotation scanning of the scanning device and the matching of the lifting rod to shelves with different heights, so that the automatic inventory can cover the shelf range of the whole warehouse.

Further, the shell is also provided with an emergency stop button and an auxiliary function button.

Further, the auxiliary function buttons include a pause continuation button for temporarily stopping and continuing the operation and a manual elevation button for controlling elevation of the elevation bar.

Further, a three-dimensional depth recognition device for detecting the height and depth of the obstacle in the travelling process is arranged in front of the chassis.

Further, the fixing frame is of a U-shaped groove structure, the scanning device is fixedly arranged in a groove-shaped inner frame, the inner frame is connected with the fixing frame through a rotating shaft, one side of the fixing frame is fixedly connected with the lifting rod, the other side of the fixing frame is fixedly connected with the rotary steering engine, and the shaft end of the rotary steering engine is fixedly connected with the inner frame.

Further, the obstacle avoidance device is provided with a laser radar and a single-point radar.

Further, the three-dimensional depth recognition device is a vision camera, a TOF ranging sensor or a structured light measuring instrument.

Further, the scanning device is an RFID scanner.

The omnidirectional automatic checking mobile robot structure provided by the utility model has the following advantages:

the driving wheel and the universal wheels rotate horizontally by 360 degrees, and the obstacle avoidance device scans horizontally by 360 degrees to avoid obstacles, so that the chassis can rotate omnidirectionally and walk; the electronic tag with the surface facing the goods is scanned by the scanning device, required inventory information is obtained, the scanning device is controlled to rotate along the rotating shaft of the electronic tag by the rotating steering engine, and scanning within a 360-degree range of the position except a small amount of area right below is ensured; the omnidirectional rotation of the chassis and the adjustment scanning device of the rotary steering engine realize 360-degree rotation, so that 360-degree scanning in two dimensions can be realized, the scanning range is maximized, and all angles on the left side and the right side can be scanned in one driving process, so that the counting efficiency is greatly improved; the heights of different shelves are matched through the lifting rod, so that the distance is shortened, and the scanning precision is ensured; the omnidirectional rotation and walking of the chassis and the rotation steering engine control the rotation scanning of the scanning device and the matching of the lifting rod to shelves with different heights, so that the automatic inventory can cover the shelf range of the whole warehouse. Therefore, the automatic checking and sorting device for the warehouse goods has the advantages of high-efficiency automatic checking and sorting and conveying functions, is applicable to conventional goods shelf checking and high-level checking, and is particularly applicable to automatic checking and autonomous conveying in automatic warehouse logistics scenes, so that warehouse operation efficiency is improved.

Drawings

Fig. 1 is a first view direction structure diagram of an omnidirectional automatic checking mobile robot provided by the utility model;

fig. 2 is a second view direction structure diagram of the omnidirectional automatic checking mobile robot provided by the utility model;

FIG. 3 is a diagram of a chassis bottom drive mechanism provided by the present utility model;

fig. 4 is a diagram illustrating an installation structure of a scanning device according to the present utility model.

In the figure: 10. a chassis; 20. an interactive system; 11. a chassis main body; 12. a cargo bed; 13. an obstacle avoidance device; 14. a driving wheel; 15. a universal wheel; 16. a three-dimensional depth recognition device; 21. a housing; 22. an interactive screen; 23. a monitoring device; 24. a fixing frame; 25. a scanning device; 26. a lifting rod; 27. rotating a steering engine; 28. an emergency stop button; 29. an auxiliary function button; 31. an inner frame.

Detailed Description

The present utility model will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present utility model more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the utility model.

Referring to fig. 1 to 3, the present utility model provides an omni-directional automatic checking mobile robot structure, comprising a chassis 10 and an interactive system 20 arranged on the chassis 10, the chassis 10 has a main structure of a frame structure and a housing arranged outside the frame structure, functionally, the chassis 10 comprises a chassis main body 11 for driving travel, a cargo table 12 arranged on the chassis main body 11 for placing and picking and carrying goods, a driving wheel 14 and a universal wheel 15 are arranged at the bottom of the chassis main body 11, an obstacle avoidance device 13 for scanning 360 degrees in the horizontal direction is arranged at the opposite angle of the chassis 10, the interactive system 20 comprises a cylindrical shell 21, a monitoring device 23 for monitoring the conditions of front and side shelves, personnel and goods is arranged at the top of the shell 21, an interactive screen 22 is arranged at the upper part of the shell 21, a lifting rod 26 penetrating through the top of the shell 21 is arranged in the shell 21, a driving mechanism for driving the lifting rod 26 to move up and down is arranged in the shell 21, the lifting rod 26 can automatically lift according to the height of the checked goods and the shelves, the driving mechanism is driven by the driving mechanism, an electronic fixing frame 24 is arranged at the upper part of the lifting rod 26, a steering engine 24 is arranged at the upper part of the lifting rod 24, and a scanning device 25 is arranged at the side part of the fixing frame 25 for scanning a side part 25 for scanning label is arranged at the fixing frame 25.

The casing 21 is a supporting structure of the whole interactive system 20, the interactive screen 22 is installed on the front side surface of the upper end of the casing 21, and the interactive screen 22 is mainly used for displaying the state of checking goods, inquiring the order state, relevant man-machine interaction functions and the like.

The omnidirectional rotation and walking of the chassis 10 can be realized through the driving wheels 14 and the universal wheels 15, the number of the driving wheels 14 is two, the driving wheels are the main driving force for the chassis to run, the number of the universal wheels 15 is four, and the universal wheels 15 are distributed at the 4 corners of the chassis and are used for turning, turning around, rotating and balancing the chassis; the obstacle avoidance device 13 scans 360 degrees in the horizontal direction, so that obstacles can be avoided; the electronic tag with the surface facing the goods is scanned by the scanning device 25, the required inventory information can be obtained, the scanning device 25 is controlled to rotate along the rotating shaft of the electronic tag by the rotating steering engine 27, and scanning in a 360-degree range of the position except a small amount of area right below can be ensured; the omnidirectional rotation and walking of the chassis 10 and the rotating steering engine 27 control the rotating scanning of the scanning device 25 and the matching of the lifting rod 26 to shelves with different heights, so that the shelf range of the whole warehouse can be covered by automatic inventory, and the distance is shortened to ensure the scanning precision.

Further, the casing 21 is also provided with a scram button 28 and an auxiliary function button 29, and the auxiliary function button 29 includes a pause continuation button for temporarily stopping and continuing the operation and a manual lifting button for controlling the lifting of the lifting lever 26, preferably, the pause continuation button and the manual lifting button are provided on the left and right sides of the scram button 28.

Further, a three-dimensional depth recognition device 16 for detecting the height and depth of an obstacle in the travelling process is arranged in front of the chassis 10, and the three-dimensional depth recognition device 16 is a vision camera, a TOF ranging sensor or a structured light measuring instrument;

in one embodiment, the obstacle avoidance device 13 is provided with a lidar, a single point radar; the scanning device 25 is an RFID scanner.

Referring to fig. 4, in an embodiment, the fixing frame 24 is in a U-shaped groove structure, and the bottom edge of the fixing frame 24 is in a dumbbell plane shape with two wide ends and a narrow middle, so that the fixing effect and the scanning of the obliquely lower goods by the automatic inventory scanning device 25 can be considered, and the shielding of the scanning surface of the scanning device 25 can be reduced to the greatest extent. The scanning device 25 is fixedly arranged in a groove-shaped inner frame 31, the inner frame 31 is connected with the fixed frame 24 through a rotating shaft, one side of the fixed frame 24 is fixedly connected with the lifting rod 26, the other side of the fixed frame 24 is fixedly connected with the rotary steering engine 27, the shaft end of the rotary steering engine 27 is fixedly connected with the inner frame 31, the rotary steering engine 27 drives the inner frame 31 to rotate, and the scanning device 25 is linked therewith.

When the warehousing system needs to count, the chassis 10 of the autonomous mobile robot automatically runs to a designated area through the autonomous navigation, the automatic obstacle avoidance of the obstacle avoidance device 13, the driving of the driving wheel 14 and the adjustment of the universal wheel 15. The scanning surface of the scanning device 25 faces the electronic label of the goods, and acquires the required inventory information such as the quantity, the weight, the type and the like. The rotating steering engine 27 controls the scanning device 25 to rotate along the rotating shaft, so that scanning within a 360-degree range of the position of the scanning device except a small amount of areas right below can be ensured; because no goods shelf is arranged under the scanning device 25, the goods shelves are distributed on the left side and the right side of the mobile robot, and the scanning device 25 can scan all goods in the range of the position where the goods are located; the lifting rod 26 is in a descending state in the normal inventory process, so that the mobile robot can run more stably, when the high-shelf goods are required to be inventory, the lifting rod 26 is lifted, the distance between the scanning device 25 and the goods can be shortened, and the scanning precision of the scanning device 25 is ensured. The rotating shaft direction of the scanning device 25 is consistent with the running direction, so that the scanning device 25 can scan the goods shelves on the left side and the right side in the running process of the mobile robot, the speed of the mobile robot and the scanning time of the scanning device 25 are well controlled, and the checking of goods on all the goods shelves on the two sides of a channel where the mobile robot is located can be completed in the one-time straight running process of the mobile robot, so that the checking efficiency is greatly improved. Meanwhile, the upper surface of the chassis 10 is provided with a cargo carrying platform 12 for loading cargos, the cargo carrying platform can be used for manually picking the cargos while checking, the monitoring device 23 can record the picking and placing conditions of the cargos on the goods shelves in the picking process, and the monitoring device 23 can be a camera. Therefore, the mobile robot has the functions of checking and picking at the same time, and the picking process can be monitored.

In summary, according to the omnidirectional automatic checking mobile robot structure provided by the utility model, the driving wheel and the universal wheel rotate horizontally by 360 degrees, and the obstacle avoidance device scans horizontally by 360 degrees to avoid obstacles, so that omnidirectional rotation and walking of the chassis are realized; the electronic tag with the surface facing the goods is scanned by the scanning device, required inventory information is obtained, the scanning device is controlled to rotate along the rotating shaft of the electronic tag by the rotating steering engine, and scanning within a 360-degree range of the position except a small amount of area right below is ensured; the omnidirectional rotation of the chassis and the adjustment scanning device of the rotary steering engine realize 360-degree rotation, so that 360-degree scanning in two dimensions can be realized, and the scanning range is maximized; in addition, all angles on the upper side and the lower side of the left side and the right side can be scanned in one running process, so that the checking efficiency is greatly improved; the heights of different shelves are matched through the lifting rod, so that the distance is shortened, and the scanning precision is ensured; the omnidirectional rotation and walking of the chassis and the rotation steering engine control the rotation scanning of the scanning device and the matching of the lifting rod to shelves with different heights, so that the automatic inventory can cover the shelf range of the whole warehouse. Meanwhile, the upper surface of the chassis of the autonomous mobile robot is a cargo carrying platform for carrying cargos, and the automatic mobile robot can be used for manually picking cargos while checking. Therefore, the checking, selecting and carrying of the cargo carrying platform of the scanning device can be realized, and the warehousing operation efficiency is improved.

The foregoing description of the preferred embodiments of the utility model is not intended to be limiting, but rather is intended to cover all modifications, equivalents, and alternatives falling within the spirit and principles of the utility model.

Claims

1. The utility model provides an omnidirectional automatic checking mobile robot structure, includes chassis (10) and sets up interactive system (20) on chassis (10), chassis (10) include chassis main part (11) and set up cargo bed (12) on chassis main part (11), the bottom of chassis main part (11) is provided with action wheel (14) and universal wheel (15), its characterized in that, the diagonal angle of chassis (10) is provided with obstacle avoidance device (13) that are used for 360 degrees scans in the horizontal direction, interactive system (20) include cylindricality casing (21), the top of casing (21) is provided with monitoring device (23) that are used for monitoring place ahead and side goods shelves, personnel and picking up the goods condition, the upper portion of casing (21) is provided with interactive screen (22), be provided with lifter (26) that run through the top of casing (21) in casing (21), be provided with the actuating mechanism that drives lifter (26) reciprocate in casing (21), the upper portion of lifter (26) is provided with mount (24), be provided with in casing (24) and be used for scanning device (25) on the side portion (25) of scanning electronic tags of scanning device (25) are used for rotating the mount (25).

2. The omnidirectional automatic inventory mobile robot structure according to claim 1, wherein an emergency stop button (28) and an auxiliary function button (29) are further provided on the housing (21).

3. An omnidirectional automatic inventory mobile robotic structure as recited in claim 2, wherein said auxiliary function buttons (29) comprise a pause continue button for temporarily pausing and continuing operation and a manual lift button for controlling the lift of the lift bar (26).

4. An omnidirectional automatic inventory mobile robot structure according to claim 2, characterized in that the front of the chassis (10) is provided with three-dimensional depth recognition means (16) for detecting the height and depth of obstacles during travel.

5. The omnidirectional automatic checking mobile robot structure according to claim 4, wherein the fixing frame (24) is in a U-shaped groove structure, the scanning device (25) is fixedly installed in a groove-shaped inner frame (31), the inner frame (31) is connected with the fixing frame (24) through a rotating shaft, one side of the fixing frame (24) is fixedly connected with the lifting rod (26), the other side of the fixing frame (24) is fixedly connected with the rotary steering engine (27), and the shaft end of the rotary steering engine (27) is fixedly connected with the inner frame (31).

6. The omnidirectional automatic inventory mobile robot structure according to claim 4, wherein the bottom edge of the fixed frame (24) is a dumbbell-shaped plane with wide ends and narrow middle.

7. The omnidirectional automatic checking mobile robot structure according to claim 4, characterized in that said obstacle avoidance device (13) is provided with a lidar, a single-point radar.

8. The omni-directional automatic inventory mobile robot structure according to claim 4, wherein the three-dimensional depth recognition device is a vision camera, a TOF ranging sensor or a structured light meter.

9. An omni-directional automatic inventory mobile robot structure according to claim 4, characterized in that the scanning means (25) is an RFID scanner.