CN220128804U - Vehicle type tracking transfer robot - Google Patents
Vehicle type tracking transfer robot Download PDFInfo
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- CN220128804U CN220128804U CN202321583920.1U CN202321583920U CN220128804U CN 220128804 U CN220128804 U CN 220128804U CN 202321583920 U CN202321583920 U CN 202321583920U CN 220128804 U CN220128804 U CN 220128804U
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- tracking
- laser
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- transfer robot
- vehicle
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- 238000012546 transfer Methods 0.000 title claims abstract description 27
- 230000009286 beneficial effect Effects 0.000 abstract description 3
- 230000007547 defect Effects 0.000 description 2
- 238000009825 accumulation Methods 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000002265 prevention Effects 0.000 description 1
- 238000012827 research and development Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Abstract
The utility model discloses a vehicle-type tracking transfer robot, which comprises a travelling mechanism, a tracking navigation mechanism and a material picking and placing mechanism, wherein the tracking navigation mechanism and the material picking and placing mechanism are arranged on the travelling mechanism; the travelling mechanism comprises a chassis and travelling wheels, the travelling wheels are rotatably connected to the chassis, and trace finding avoiding holes are formed in the chassis; the tracking navigation mechanism comprises a tracking laser module, wherein the tracking laser module comprises a tracking laser emitter and a tracking laser receiver; the transmitting end of the tracking laser transmitter extends downwards through the tracking avoidance hole; the receiving end of the tracking laser receiver is positioned above the tracking avoidance hole; the material picking and placing mechanism comprises a storage bucket, a grabbing terminal and a picking and placing mechanical arm, wherein the grabbing terminal is arranged at the tail end of the picking and placing mechanical arm. The utility model can reduce the influence of reflected light, can also improve the height of the robot chassis, reduces the possibility of collision with obstacles, and is beneficial to ensuring the smooth completion of distribution work.
Description
Technical Field
The utility model relates to a transfer robot, in particular to a vehicle type tracking transfer robot.
Background
With the development of society and the progress of science and technology, the vehicle-type intelligent transfer robot can be used for identifying and transferring cargoes stored in relevant paths by utilizing own sensors and motion devices in the military, express delivery transportation or industrial automation operation process, so that good relieving effects on relieving cargoes accumulation, relieving personnel pressure and the like are achieved; and the robot can be used for storing rescue materials from a warehouse, and then carrying out random route intelligent transportation. So the intelligent transfer robot has become a great trend of developing logistics transportation and the like in the express work at present.
Most of existing transfer robots are remote control type, operators are used for operating and controlling a mobile platform and a manipulator, and the situations that the work has time delay, the recognition degree is not accurate enough and the remote control uncertainty factors are large exist. Therefore, research and development of the intelligent tracking transfer robot for the vehicle model has important significance.
The existing tracking robot has the following defects:
in terms of the use of the tracking plates, most of the tracking plates adopt infrared sensing tracking plates or gray tracking plates, and the two types of tracking plates have defects. Firstly, under the influence of light, when passing through a black route track, the light is easily influenced by reflected light, and an electric signal is disordered; secondly, the two kinds of trace seeking plates must be close to the ground, so that the trace seeking plates are often arranged on a robot chassis and are quite sensitive to distance, when the trace seeking plates are close to the ground, obstacles are easy to scrape the robot chassis to damage the robot chassis, and even the trace seeking plates are blocked when passing through the obstacles and cannot advance.
Disclosure of Invention
The utility model aims to overcome the problems and provide the vehicle type tracking and carrying robot which can reduce the influence of reflected light, improve the height of a robot chassis, reduce the possibility of collision with obstacles and is beneficial to ensuring the smooth completion of distribution work by adopting a laser tracking mode.
The aim of the utility model is achieved by the following technical scheme:
a vehicle type tracking transfer robot comprises a travelling mechanism, a tracking navigation mechanism and a material picking and placing mechanism, wherein the tracking navigation mechanism and the material picking and placing mechanism are arranged on the travelling mechanism;
the travelling mechanism comprises a chassis and travelling wheels, the travelling wheels are rotatably connected to the chassis, and trace finding avoiding holes are formed in the chassis;
the tracking navigation mechanism comprises a tracking laser module, wherein the tracking laser module comprises a tracking laser emitter and a tracking laser receiver; the transmitting end of the tracking laser transmitter extends downwards through the tracking avoidance hole; the receiving end of the tracking laser receiver is positioned above the tracking avoidance hole;
the material picking and placing mechanism comprises a storage bucket, a grabbing terminal and a picking and placing mechanical arm, wherein the grabbing terminal is arranged at the tail end of the picking and placing mechanical arm.
The working principle of the vehicle type tracking transfer robot is as follows:
when the robot is in operation, a walking black route mark is preset on a carrying field, then a main control chip switch and a motor switch of the robot are turned on, the robot starts to run a preset program, and a laser is emitted by a tracking laser emitter. When the laser irradiates to the highlight color, reflection is received by the trace-searching laser receiver; when the robot is in black, the robot cannot be reflected and absorbed, the signal receiving board sends the signal to the control board, the control board converts the signal, and the signal is fed back to the motor of the travelling trolley after PID operation, so that the robot is driven to move forward along a black line.
When the robot moves to the material taking and placing point, the grabbing terminal is driven to move through the taking and placing mechanical arm, and the grabbing terminal grabs the material, so that the material is placed in the storage hopper or is put in the material taking and placing point from the storage hopper, and the material distribution work is completed.
In a preferred embodiment of the utility model, the travelling mechanism further comprises a travelling drive motor, the travelling drive motor is arranged on the chassis, and the travelling drive motor is connected with at least one group of travelling wheels.
In a preferred embodiment of the present utility model, the walking driving motor is connected to one of the groups of walking wheels, and the other group of walking wheels is composed of universal wheels.
In a preferred embodiment of the utility model, the travelling mechanism further comprises a table, and the storage bucket is disposed on the table.
In a preferred embodiment of the present utility model, the tracking laser receiver includes a tracking laser receiving board.
According to a preferred scheme, the tracking laser module further comprises a mounting plate, wherein the mounting plate is arranged at a tracking avoidance hole of a chassis of the travelling mechanism;
the mounting plate is provided with a plurality of mounting holes;
the transmitting end of the tracking laser transmitter is provided with a plurality of mounting holes and respectively extends downwards through the mounting holes. Through setting up the mounting panel, can the shading, prevent the shake, avoid reflected light to influence.
Further, the plurality of mounting holes are uniformly aligned along a direction perpendicular to the moving direction of the traveling mechanism.
The track-seeking navigation mechanism comprises a chassis, a plurality of groups of positioning laser modules, a plurality of groups of positioning laser transmitters and a plurality of groups of positioning laser receivers, wherein the positioning laser transmitters and the positioning laser receivers are arranged on the chassis of the travelling mechanism;
the chassis is provided with a positioning avoiding hole; the transmitting end of the positioning laser transmitter and the receiving end of the positioning laser receiver face downwards to the positioning avoidance hole. Through the structure, the gesture of the robot can be adjusted according to the position of the black line so as to facilitate the robot to put goods.
According to the utility model, the tracking navigation mechanism further comprises an image recognition module for recognizing the materials, and the materials to be carried are recognized and positioned through the image recognition module, so that the material taking and placing mechanism can smoothly complete carrying work.
In a preferred embodiment of the present utility model, the gripping terminal is a negative pressure suction cup that is in communication with a negative pressure device.
According to the utility model, the two-dimensional code scanning device further comprises a two-dimensional code scanning module, and the two-dimensional code scanning module is arranged on the travelling mechanism through a module bracket.
Compared with the prior art, the utility model has the following beneficial effects:
according to the vehicle type tracking transfer robot, the tracking laser emitter and the tracking laser receiver are arranged, so that the influence of reflected light can be reduced, the height of a robot chassis can be increased, the possibility of collision with obstacles is reduced, and the smooth completion of distribution work is facilitated.
Drawings
Fig. 1-2 are schematic perspective views of two different view angles of a vehicle type tracking and carrying robot according to the present utility model.
Fig. 3 is a bottom view of a vehicle-type tracking transfer robot of the present utility model from two different perspectives.
Fig. 4 is an exploded perspective view of the tracking laser module according to the present utility model.
Detailed Description
In order that those skilled in the art will well understand the technical solutions of the present utility model, the following describes the present utility model further with reference to examples and drawings, but the embodiments of the present utility model are not limited thereto.
Referring to fig. 1-2, the vehicle type tracking transfer robot of the embodiment comprises a running mechanism, a tracking navigation mechanism and a material picking and placing mechanism, wherein the tracking navigation mechanism and the material picking and placing mechanism are arranged on the running mechanism; the walking mechanism comprises a chassis 1, a workbench 2, walking wheels 3 and a walking driving motor 4, wherein the walking wheels 3 are rotatably connected to the chassis 1, and a tracking avoidance hole is formed in the chassis 1; the walking driving motor 4 is arranged on the chassis 1, and the walking driving motor 4 is connected with at least one group of walking wheels 3. The walking driving motor 4 is connected with one group of walking wheels 3, and the other group of walking wheels 3 consists of universal wheels 5.
Referring to fig. 2-4, the tracking navigation mechanism includes a tracking laser module including a tracking laser transmitter 6 and a tracking laser receiver 7; the transmitting end of the tracking laser transmitter 6 extends downwards through the tracking avoidance hole; the receiving end of the tracking laser receiver 7 is positioned above the tracking avoidance hole; the tracking laser receiver 7 comprises a tracking laser receiving board.
Referring to fig. 1-2, the material picking and placing mechanism comprises a storage bucket 8, a grabbing terminal and a picking and placing mechanical arm 9, wherein the grabbing terminal is arranged at the tail end of the picking and placing mechanical arm 9; the storage hopper 8 is arranged on the workbench 2. Wherein, the grabbing terminal is a negative pressure sucker 10 communicated with a negative pressure device. Of course, the gripping terminal may also be a jaw structure.
Referring to fig. 2-4, the tracking laser module further includes a mounting plate 11, where the mounting plate 11 is disposed at a tracking avoidance hole of the chassis 1 of the travelling mechanism; the mounting plate 11 is provided with a plurality of mounting holes 11-1; the emitting end of the tracking laser emitter 6 is provided with a plurality of mounting holes 11-1 which respectively extend downwards. By providing the mounting plate 11, light shielding, shake prevention, and reflected light influence avoidance can be achieved.
Further, the plurality of mounting holes 11-1 are uniformly aligned in a direction perpendicular to the moving direction of the traveling mechanism.
Referring to fig. 2-3, the tracking navigation mechanism further comprises a plurality of groups of positioning laser modules, wherein each positioning laser module comprises a positioning laser emitter 12 and a diffuse reflection positioning laser receiver 13, and the positioning laser emitters 12 and the positioning laser receivers 13 are arranged on the chassis 1 of the travelling mechanism; a positioning avoiding hole is formed in the chassis 1; the transmitting end of the positioning laser transmitter 12 and the receiving end of the positioning laser receiver 13 face downwards to the positioning avoidance hole. Through the structure, the gesture of the robot can be adjusted according to the position of the black line so as to facilitate the robot to put goods.
Referring to fig. 2, the tracking navigation mechanism further includes an image recognition module 14, such as a camera, for recognizing the materials, and the materials to be carried are recognized and positioned by the image recognition module 14, so that the material picking and placing mechanism can smoothly complete the carrying work. Of course, the layout of the image recognition module 14 in this embodiment may be varied, and may be freely set according to different situations.
Referring to fig. 1-2, the vehicle type tracking transfer robot of the present embodiment further includes a two-dimensional code scanning module (not shown in the drawings), and the two-dimensional code scanning module is disposed on the travelling mechanism through a module bracket 15.
Specifically, the vehicle type tracking transfer robot of the embodiment further includes a circuit module including a 12.6V model battery and an autonomously designed circuit board. The circuit board integrates a serial port, a rudder control chip, a motor interface, a steering engine interface, a motor switch, a main control chip switch and the like, and carries a gyroscope mpu6050, and the main control chip is stm32f750. The serial port is used for communicating the main control chip with the image recognition module, and the tracking laser receiver with mpu 6050; mpu6050 for self-balancing correction of the robot when the body is tilted or deviated from the main line; the rudder control chip and the on-board steering engine interface jointly act and are used for controlling the rotation angle and the rotation direction of the steering engine in the material handling device; the motor interface is connected with the motor; because the motor switch is independent of the main control chip switch, the main control chip can be started manually, and then the motor is started, so that the accuracy of coding is ensured.
Referring to fig. 1 to 4, the vehicle type tracking transfer robot of the present embodiment has the following working principle:
when the robot is in operation, a walking black route mark is preset on a carrying field, then a main control chip switch and a motor switch of the robot are turned on, the robot starts to run a preset program, and the laser is emitted by the tracking laser emitter 6. When the laser irradiates the highlight color, reflection is received by the tracking laser receiver 7; when the robot is in black, the robot cannot be reflected and absorbed, the signal receiving board sends the signal to the control board, the control board converts the signal, and the signal is fed back to the motor of the travelling trolley after PID operation, so that the robot is driven to move forward along a black line.
When the robot moves to the material taking and placing point, the grabbing terminal is driven to move through the taking and placing mechanical arm 9, and the grabbing terminal grabs the material, so that the material is placed in the storage hopper 8 or is put into the material taking and placing point from the storage hopper 8, and the material distribution work is completed.
The foregoing is illustrative of the present utility model, and is not to be construed as limiting thereof, but rather as various changes, modifications, substitutions, combinations, and simplifications which may be made without departing from the spirit and principles of the utility model are intended to be included within the scope of the utility model.
Claims (10)
1. The vehicle type tracking transfer robot is characterized by comprising a travelling mechanism, a tracking navigation mechanism and a material taking and placing mechanism, wherein the tracking navigation mechanism and the material taking and placing mechanism are arranged on the travelling mechanism;
the travelling mechanism comprises a chassis and travelling wheels, the travelling wheels are rotatably connected to the chassis, and trace finding avoiding holes are formed in the chassis;
the tracking navigation mechanism comprises a tracking laser module, wherein the tracking laser module comprises a tracking laser emitter and a tracking laser receiver; the transmitting end of the tracking laser transmitter extends downwards through the tracking avoidance hole; the receiving end of the tracking laser receiver is positioned above the tracking avoidance hole;
the material picking and placing mechanism comprises a storage bucket, a grabbing terminal and a picking and placing mechanical arm, wherein the grabbing terminal is arranged at the tail end of the picking and placing mechanical arm.
2. The vehicle-type tracking transfer robot of claim 1, wherein the travel mechanism further comprises a travel drive motor disposed on the chassis, the travel drive motor being coupled to at least one set of travel wheels.
3. The vehicle-type tracking transfer robot of claim 2, wherein the travel drive motor is connected to one of the sets of travel wheels, the other set of travel wheels being comprised of universal wheels.
4. The vehicle-type tracking transfer robot of claim 1, wherein the travel mechanism further comprises a table, the storage bucket being disposed on the table.
5. The vehicle-type tracking transfer robot of claim 1, wherein the tracking laser receiver comprises a tracking laser receiving board.
6. The vehicle-type tracking transfer robot of claim 1, wherein the tracking laser module further comprises a mounting plate disposed at a tracking avoidance hole of a chassis of the traveling mechanism;
the mounting plate is provided with a plurality of mounting holes;
the transmitting end of the tracking laser transmitter is provided with a plurality of mounting holes and respectively extends downwards through the mounting holes.
7. The vehicle-type tracking transfer robot of claim 6, wherein the plurality of mounting holes are uniformly aligned along a direction perpendicular to a moving direction of the traveling mechanism.
8. The vehicle-type tracking transfer robot of claim 1, wherein the tracking navigation mechanism further comprises a plurality of sets of positioning laser modules, the positioning laser modules comprising positioning laser transmitters and positioning laser receivers, the positioning laser transmitters and the positioning laser receivers being both disposed on a chassis of the travel mechanism;
the chassis is provided with a positioning avoiding hole; the transmitting end of the positioning laser transmitter and the receiving end of the positioning laser receiver face downwards to the positioning avoidance hole.
9. The vehicle-type tracking transfer robot of claim 1, wherein the tracking navigation mechanism further comprises an image recognition module for recognizing the material.
10. The vehicle-type tracking transfer robot of claim 1, further comprising a two-dimensional code scanning module disposed on the running gear via a module bracket.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202321583920.1U CN220128804U (en) | 2023-06-20 | 2023-06-20 | Vehicle type tracking transfer robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202321583920.1U CN220128804U (en) | 2023-06-20 | 2023-06-20 | Vehicle type tracking transfer robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN220128804U true CN220128804U (en) | 2023-12-05 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202321583920.1U Active CN220128804U (en) | 2023-06-20 | 2023-06-20 | Vehicle type tracking transfer robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN220128804U (en) |
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2023
- 2023-06-20 CN CN202321583920.1U patent/CN220128804U/en active Active
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