CN220642338U - Lifting type logistics carrying mobile platform - Google Patents
Lifting type logistics carrying mobile platform Download PDFInfo
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- CN220642338U CN220642338U CN202322077426.4U CN202322077426U CN220642338U CN 220642338 U CN220642338 U CN 220642338U CN 202322077426 U CN202322077426 U CN 202322077426U CN 220642338 U CN220642338 U CN 220642338U
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- 238000007726 management method Methods 0.000 description 3
- 238000009826 distribution Methods 0.000 description 2
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Abstract
The utility model relates to a lifting type logistics carrying mobile platform which comprises a mobile vehicle body, a control module and a clamping manipulator, wherein the control module and the clamping manipulator are arranged on the mobile vehicle body; the clamping manipulator comprises a rotating assembly and a mechanical claw arranged on the rotating assembly, wherein the mechanical claw is glidingly connected to a vertical guide rail of the rotating assembly through a mounting frame, and a rack of the mechanical claw is connected with a small winch through a rope; the expansion board of the control module is respectively and electrically connected with a wheel motor of the mobile car body, a belt motor of the rotating assembly and a mechanical claw. The mechanical claw is connected with the small winch through the rope, the mechanical claw can move in the upper and lower positions of the vertical guide rail, the rotating assembly is used for rotating the mechanical claw, after the mechanical claw grabs an article, the mechanical claw is driven to place the article at any position of a storage position or a placement point of the movable car body through the rotation of the rotating assembly, the mechanical claw is not limited to only move up and down to grab the article, the flexibility of the clamping mechanical claw is improved, and the logistics carrying efficiency is improved.
Description
Technical Field
The utility model relates to the technical field of logistics transport, in particular to a lifting type logistics transport mobile platform.
Background
The logistics sorting and carrying trolley is an automatic device and is specially used for sorting and carrying cargoes in a warehouse and a logistics center. These carts are typically equipped with navigation and positioning systems, sensors, autonomous obstacle avoidance technology, and the ability to interface with logistics management systems. Under the condition of unmanned operation, the automatic sorting, carrying and delivering tasks of cargoes can be independently completed according to the instruction of the logistics management system, and the logistics efficiency and accuracy are improved. The application of the logistics sorting and carrying trolley is very wide. They can be applied to the fields such as e-commerce warehouse logistics, logistics centers, production workshops, medicine distribution, express delivery distribution and the like. Through introducing these dollies, the automation management of warehouse and intelligent letter sorting, transport and the delivery of goods can be realized to the enterprise, improve commodity circulation efficiency, reduce the human cost, reduce commodity circulation mistake, promote customer satisfaction.
The mechanical arm of the conventional logistics sorting and carrying trolley can realize up-down lifting grabbing, but can not realize up-down, left-right flexible grabbing and placing of cargoes, so that the loading and unloading difficulty and time of an intelligent conveying device can be increased, and the carrying efficiency is lower.
Disclosure of Invention
In order to solve the defects in the prior art, the utility model provides the lifting type logistics carrying mobile platform, which greatly improves logistics carrying efficiency.
The utility model aims to achieve the aim, and the aim is achieved by the following technical scheme: a lifting type logistics carrying mobile platform comprises a mobile vehicle body, a control module and a clamping manipulator, wherein the control module and the clamping manipulator are arranged on the mobile vehicle body;
the clamping manipulator comprises a rotating assembly and a mechanical claw arranged on the rotating assembly, wherein the mechanical claw is glidingly connected to a vertical guide rail of the rotating assembly through a mounting frame, and a rack of the mechanical claw is connected with a small winch through a rope;
the expansion board of the control module is respectively and electrically connected with a wheel motor of the mobile car body, a belt motor of the rotating assembly and a mechanical claw.
The mechanical claw is connected with the small winch through the rope, the mechanical claw can move in the upper position and the lower position of the vertical guide rail under the action of the small winch, the rotating assembly is used for rotating the mechanical claw, after the mechanical claw grabs an article, the mechanical claw is driven to place the article at any position of a storage position or a placement point of the movable car body through the rotating assembly, the mechanical claw can only move up and down to grab the article, the flexibility of the clamping mechanical claw is greatly improved, and the logistics carrying efficiency is improved.
The novel intelligent mobile platform comprises a mobile vehicle body, wherein a control module, a storage battery and a raspberry group are arranged in the mobile vehicle body, an expansion board of the control module is an stm32f103mini expansion board, the stm32f103mini expansion board is electrically connected with the storage battery and the raspberry group respectively, the stm32f103mini expansion board is used for receiving instructions transmitted by the raspberry group and mainly controlling movement, and the lifting type logistics carrying mobile platform can utilize the raspberry group and the stm32f103mini expansion board to carry out secondary development of the platform, so that the requirement of secondary development of a user can be met, multiple programming languages are compatible, and the universality of the platform is realized.
Preferably, the rotating assembly further comprises a driven pulley and a driving pulley, the belt motor is used for driving the driving pulley to rotate, and the driven pulley is rotatably arranged on the movable vehicle body.
Preferably, the vertical guide rail is vertically arranged on a driven pulley, and the driven pulley is connected with the driving pulley through a belt.
Preferably, two groups of vertical guide rails are arranged, pulleys are rotatably arranged on the upper portions of the vertical guide rails, one end of a rope is connected with the small winch, and the other end of the rope penetrates through the pulleys to be connected with the frame.
Preferably, the automatic feeding device further comprises a material module, wherein the material module comprises a rotary table and a plurality of material trays arranged on the material trays, and the rotary table is arranged on one side of the upper end of the movable vehicle body, which is far away from the vertical guide rail.
Preferably, the mechanical claw comprises a first gear, a second gear and a driving gear which are meshed, the driving gear is meshed with the first gear or the second gear, the driving gear is connected with a driving steering engine, clamping claws are correspondingly arranged at one ends of the first gear and the second gear respectively, and the steering engine is arranged at one side of the rack.
Preferably, the clamping jaw is an arc clamping jaw, and the two arc clamping jaws form an elliptical clamping opening.
Preferably, the plurality of wheels of the mobile vehicle body are independently driven wheels, and the wheels are Mecanum wheels.
Preferably, the vertical guide rail is provided with a first monocular tele camera, and the rack is provided with a second monocular tele camera.
Compared with the prior art, the utility model has the beneficial effects that:
the mechanical claw is connected with the small winch through a rope, the mechanical claw can move up and down on the vertical guide rail under the action of the small winch, the rotating assembly is used for rotating the mechanical claw, after the mechanical claw grabs an article, the mechanical claw is driven to place the article at any position of a storage position or a placement point of the movable car body through the rotation of the rotating assembly, the mechanical claw is not limited to only move up and down to grab the article, the flexibility of the clamping mechanical claw is greatly improved, and the logistics carrying efficiency is improved;
the novel intelligent mobile platform comprises a mobile vehicle body, wherein a control module, a storage battery and a raspberry group are arranged in the mobile vehicle body, an expansion board of the control module is an stm32f103mini expansion board, the stm32f103mini expansion board is electrically connected with the storage battery and the raspberry group respectively, the stm32f103mini expansion board is used for receiving instructions transmitted by the raspberry group and mainly controlling movement, and the lifting type logistics carrying mobile platform can utilize the raspberry group and the stm32f103mini expansion board to carry out secondary development of the platform, so that the requirement of secondary development of a user can be met, multiple programming languages are compatible, and the universality of the platform is realized.
Drawings
FIG. 1 is a schematic view of a first perspective structure of the present utility model;
FIG. 2 is a bottom view of the present utility model;
FIG. 3 is an enlarged schematic view of the structure of FIG. 2A according to the present utility model;
FIG. 4 is a top view of the present utility model;
fig. 5 is a schematic view of a second perspective structure of the present utility model.
The reference numbers shown in the drawings: 1. moving the vehicle body; 2. a mechanical claw; 3. a mounting frame; 4. a vertical guide rail; 5. a rope; 6. a small winch; 7. a wheel motor; 8. a wheel; 9. hmi serial display screen; 10. a driven pulley; 11. a driving pulley; 12. a belt motor; 13. a pulley; 14. a frame; 15. a turntable; 16. a material tray; 17. a first gear; 18. a second gear; 19. a drive gear; 20. driving a steering engine; 21. a first monocular tele camera; 22. a second monocular tele camera; 23. clamping jaw.
Detailed Description
The utility model is further described below by combining specific embodiments, as shown in fig. 1-5, a lifting type logistics carrying mobile platform comprises a mobile vehicle body 1, a control module, a material module and a clamping manipulator which are arranged on the mobile vehicle body 1, wherein four wheels 8 of the mobile vehicle body 1 are independent driving wheels 8, the wheels 8 are Mecanum wheels, the Mecanum wheels are connected with corresponding wheel motors 7 through couplings, and a hmi serial port display screen 9 is further arranged on one side of the mobile vehicle body 1.
The clamping manipulator comprises a rotating assembly and a mechanical claw 2 arranged on the rotating assembly, wherein the mechanical claw 2 is in sliding connection with a vertical guide rail 4 of the rotating assembly through a mounting frame 3, a frame 14 of the mechanical claw 2 is connected with a small winch 6 through a rope 5, and a motor of the small winch 6 is a 42-step motor; the material module comprises a rotary table 15 and a plurality of material trays 16 arranged on the material trays 16, wherein the rotary table 15 is arranged on one side of the upper end of the movable vehicle body 1 far away from the vertical guide rail 4. The vertical guide rail 4 is provided with a first monocular tele camera 21, the rack 14 is provided with a second monocular tele camera 22, the first monocular tele camera 21 and the second monocular tele camera 22 are respectively and electrically connected with an expansion plate of the control module, and articles are convenient to carry.
The expansion board of the control module is respectively and electrically connected with the-hmi serial port display screen, the four wheel motors 7 of the mobile vehicle body 1, the belt motor of the rotating assembly and the mechanical claw 2.
The mechanical claw 2 is connected with the small winch 6 through the rope 5, the mechanical claw 2 can move up and down on the vertical guide rail 4 under the action of the small winch 6, the rotating assembly is used for rotating the mechanical claw 2, after the mechanical claw 2 grabs articles, the mechanical claw 2 is driven to place the articles at any position of a storage place or a placement point of the mobile car body 1 through the rotating assembly, the mechanical claw 2 can only move up and down to grab the articles, the flexibility of the mechanical claw is greatly improved, and the logistics carrying efficiency is improved.
The movable vehicle body 1 is internally provided with a control module, a storage battery and a raspberry group, the stm32f103mini expansion board which is the expansion board of the control module is electrically connected with the storage battery and the raspberry group respectively, the stm32f103mini expansion board is used for receiving instructions transmitted by the raspberry group and mainly controlling movement, the lifting type logistics carrying movable platform can utilize the raspberry group and the stm32f103mini expansion board to carry out secondary development of the platform, the requirement of secondary development of a user can be met, multiple programming languages are compatible, and the universality of the platform is realized.
The rotating assembly includes a driven pulley 10, a driving pulley 11, and a belt motor 12 for driving the driving pulley 11 to rotate, the driven pulley 10 being rotatably provided on the moving vehicle body 1. The vertical guide rail 4 is vertically provided on the driven pulley 10, and the driven pulley 10 is connected with the driving pulley 11 through a belt. The vertical guide rail 4 of this embodiment is provided with two sets, and the upper portion rotation of vertical guide rail 4 is provided with pulley 13, and pulley 13 of this embodiment is provided with two, and two pulley 13 set up side by side, pulley 13 be fixed pulley 13 or U type wheel, and rope 5 one end is connected with small-size hoist engine 6, and the other end passes pulley 13 and is connected with frame 14.
The mechanical claw comprises a first gear 17, a second gear 18 and a driving gear 19 which are meshed, the driving gear 19 is meshed with the first gear 17 or the second gear 18, the driving gear 19 is connected with a driving steering engine 20, the driving steering engine 20 is an lx-15D steering engine, clamping claws are respectively and correspondingly arranged at one ends of the first gear 17 and the second gear 18, the clamping claws are arc-shaped clamping claws, the driving steering engine 20 is arranged on one side of the frame 14, and an output shaft of the driving steering engine 20 is connected with the driving gear 19.
Four wheel motors of this embodiment are connected with stm32f103mini expansion board electric property respectively, and four wheel motors receive the control signal from stm32f103mini expansion board for the wheel that controls corresponds carries out the removal of left and right direction, and four wheels are No. 1 wheel, no. 2 wheel, no. 3 wheel, no. 4 wheel respectively.
And (3) moving back and forth: when the chassis moves forwards, only four motors are needed to rotate the wheat wheel in the positive direction of the X axis by taking the axle center of the wheel hub as the circle center; when the wheat wheel moves backwards, only four motors rotate the wheat wheel in the X-axis negative direction by taking the axle center of the wheel hub as the center of a circle, and at the moment, the expected speed of the chassis is only the speed in the X-axis direction, V 、 ＝[v x ,0,0]Is the state vector of the trolley. The expected rotating speeds of the four wheat wheels at the moment can be obtained, kx is a coefficient, and the wheat wheels are required to be set according to actual conditions.
v 1 ＝vx·kx
v 2 ＝vx·kx
v 3 ＝vx·kx
v 4 ＝vx·kx
And (3) moving left and right: when the chassis needs to move along the positive direction of the Y axis, the wheels 1 and 3 rotate along the hub axis towards the negative direction of the X axis, and the wheels 2 and 4 rotate along the hub axis towards the positive direction of the X axis; when the trolley needs to move along the negative direction of the Y axis, the rotation directions of the wheels 1 and 3 and the rotation directions of the wheels 2 and 4 are opposite. At this time, the expected speed of the chassis is only the speed in the Y-axis direction, and the state vector of the trolley is V 、 ＝[0,v y ,0]The expected rotation speeds of the four wheat wheels at the moment can be obtained, kx is a coefficient, and the wheat wheels are required to be set according to actual conditions.
v 1 ＝-vy·ky
v 2 ＝vy·ky
v 3 ＝-vy·ky
v 4 ＝vy·ky
And (3) rotating the Z axis: the Z axis is that the X-Y intersection points to the top of the trolley and is in a positive direction, and if the trolley needs to rotate anticlockwise, the 1 wheel and the 2 wheel rotate towards the positive direction of the X axis, and the 3 wheel and the 4 wheel rotate towards the negative direction of the X axis; when rotating clockwise, the rotation directions of the 1, 2 wheels and the 3, 4 wheels are opposite. The state vector of the trolley at the moment is
V 、 ＝[0,0,ω v ]. The rotation speed of the four wheat wheels is
v 1 ＝-ω v ·(a+b)
v 2 ＝-ω v ·(a+b)
v 3 ＝ω v ·(a+b)
v 4 ＝ω v ·(a+b)
Wherein a is the distance from any wheat wheel to the X axis, and b is the distance from any wheat wheel to the Y axis.
The technical staff performs scanning modeling positioning on the scene through the raspberry group ros system in advance, so that accurate positioning is performed. The closed loop stepping motor ensures that the error of the vehicle in the moving process is not too large, the second monocular tele camera performs positioning fine adjustment by identifying the color ring, a control signal is sent to the raspberry, and the angle, the route and the like of the vehicle in the advancing process are adjusted, so that the accurate carrying of materials is achieved.
It is to be understood that these examples are illustrative of the present utility model and are not intended to limit the scope of the present utility model. Further, it will be understood that various changes or modifications may be made by those skilled in the art after reading the teachings of the utility model, and such equivalents are intended to fall within the scope of the utility model as defined herein.
Claims (9)
1. A lifting type logistics carrying mobile platform which is characterized in that: the device comprises a mobile vehicle body (1), a control module and a clamping manipulator, wherein the control module and the clamping manipulator are arranged on the mobile vehicle body (1);
the clamping manipulator comprises a rotating assembly and a mechanical claw (2) arranged on the rotating assembly, wherein the mechanical claw (2) is connected to a vertical guide rail (4) of the rotating assembly in a sliding way through a mounting frame (3), and a rack (14) of the mechanical claw (2) is connected with a small winch (6) through a rope (5);
the expansion board of the control module is respectively and electrically connected with a wheel motor (7) of the mobile vehicle body (1), a belt motor (12) of the rotating assembly and the mechanical claw (2).
2. The lifting logistics transport mobile platform of claim 1, wherein: the rotary assembly further comprises a driven pulley (10) and a driving pulley (11), the belt motor (12) is used for driving the driving pulley (11) to rotate, and the driven pulley (10) is rotatably arranged on the movable vehicle body (1).
3. The lifting logistics transport mobile platform of claim 2, wherein: the vertical guide rail (4) is vertically arranged on the driven belt pulley (10), and the driven belt pulley (10) is connected with the driving belt pulley (11) through a belt.
4. The lifting logistics transport mobile platform of claim 1, wherein: the vertical guide rail (4) is provided with two groups, the upper portion of vertical guide rail (4) rotates and is provided with pulley (13), rope (5) one end is connected with small-size hoist engine (6), and the other end passes pulley (13) and is connected with frame (14).
5. The lifting logistics transport mobile platform of claim 1, wherein: still include the material module, the material module includes carousel (15) and a plurality of material dish (16) of setting on material dish (16), carousel (15) set up in upper end one side that vertical guide rail (4) was kept away from in mobile vehicle body (1).
6. The lifting logistics transport mobile platform of claim 1, wherein: the mechanical claw (2) comprises a first gear (17), a second gear (18) and a driving gear (19) which are meshed, the driving gear (19) is meshed with the first gear (17) or the second gear (18), the driving gear (19) is connected with a driving steering engine (20), clamping claws (23) are correspondingly arranged at one ends of the first gear (17) and the second gear (18) respectively, and the steering engine is arranged on one side of the frame (14).
7. The lifting logistics transport mobile platform of claim 6, wherein: the clamping jaw (23) is an arc clamping jaw (23), and two arc clamping jaws (23) form an elliptical clamping opening.
8. The lifting logistics transport mobile platform of claim 1, wherein: the wheels (8) of the mobile vehicle body (1) are independently driven wheels (8), and the wheels (8) are Mecanum wheels.
9. The lifting logistics transport mobile platform of claim 1, wherein: the vertical guide rail (4) is provided with a first monocular tele camera (21), and the frame (14) is provided with a second monocular tele camera (22).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202322077426.4U CN220642338U (en) | 2023-08-03 | 2023-08-03 | Lifting type logistics carrying mobile platform |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202322077426.4U CN220642338U (en) | 2023-08-03 | 2023-08-03 | Lifting type logistics carrying mobile platform |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN220642338U true CN220642338U (en) | 2024-03-22 |
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ID=90289781
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202322077426.4U Active CN220642338U (en) | 2023-08-03 | 2023-08-03 | Lifting type logistics carrying mobile platform |
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| Country | Link |
|---|---|
| CN (1) | CN220642338U (en) |
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2023
- 2023-08-03 CN CN202322077426.4U patent/CN220642338U/en active Active
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