Omnidirectional moving transfer robot with Mecanum wheels

Abstract

The invention discloses an omnidirectional moving transfer robot with Mecanum wheels. The omnidirectional moving transfer robot comprises a mechanical arm with six degrees of freedom, an omnidirectional moving base plate, a binocular vision device, a master control box and a remote monitoring device. The omnidirectional moving base plate comprises a frame and the multiple Mecanum wheels arranged below the frame. Each Mecanum wheel is a drive wheel. A plurality of distance measuring sensors are arranged on the periphery of the frame. Each distance measuring sensor is fixedly connected with the frame through an independent suspending module. By means of the structure, the rotating speeds and the steering direction of all the wheels are matched so that a moving platform can move in any direction in the plane, and the moving flexibility of the whole transfer device is remarkably improved; in addition, it can also be ensured that the Mecanum wheels are in full contact with the ground, and operation stability and control precision are improved; and furthermore, the binocular vision device is used for guiding the robot to move and conduct the object carrying and conveying task, the whole process is completed by the robot independently, and the intelligence degree is higher.

Description

technical field [0001] The invention relates to a robot, which belongs to the field of intelligent transportation and transportation devices, in particular to a mecanum wheel omnidirectional mobile transportation robot. Background technique [0002] With the continuous development of the manufacturing industry, automated handling and transportation equipment will be widely used and gradually move towards intelligence and informationization. Most of the handling devices currently in use use the traditional wheeled chassis structure combined with the executive device installed on the fuselage to realize the handling function. [0003] The patent application with application number 201210500740 (He Shouyin, Electric Power Warehouse Intelligent Handling Robot) discloses an electric power warehouse intelligent handling robot, which includes a chassis and a car body. The chassis is provided with two driving wheels and at least one guide wheel. There is a telescopic mechanism on t...

AI Technical Summary

Problems solved by technology

[0005] The devices disclosed in the above patent applications all use a common wheeled chassis, which has low mobility in a narrow space or a space that requires frequent steering; the degree of freedom of the actuator to complete the object grabbing is relatively small, and it is difficult to cope with a more complex working environment.

Therefore, its popularization and application are limited to a certain extent.

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