Omnidirectional vehicle carrying robot with unbalance loading and overturning induction

Abstract

The omni-directional vehicle carrying robot comprises a vehicle body, an unbalance loading and overturning preventing cantilever structure and a lifting part are arranged on the vehicle body, a front-back moving mechanism is arranged in a supporting leg of the vehicle body, the unbalance loading and overturning preventing cantilever structure comprises fork teeth and a cantilever, the fork teeth are installed on the lower portion of the cantilever, and tooth tip sensors are installed at the ends of the fork teeth. A gravity sensor is installed in the cantilever, an in-place sensor is installed in front of the middle of the two fork teeth, and a camera is installed above the in-place sensor. The lifting part comprises a motor, a synchronous belt, a screw rod and a linear guide rail; the front-back moving mechanism comprises racks, gears and a bidirectional driving motor, the gears are installed at the two ends of the bidirectional driving motor, and the gears are meshed with the corresponding racks; omni-directional driving wheels are further installed in the front and back of the supporting legs. An unbalance loading and overturning preventing cantilever structure and a lifting part are arranged on the vehicle body, unbalance loading and overturning induction can provide detection for goods to prevent the goods from overturning when the goods are carried, omni-directional movement can be achieved, and the space requirement of the vehicle body for a use scene is lowered.

Description

Technical Field

[0001] The invention relates to an omnidirectional vehicle transport robot, in particular to an omnidirectional vehicle transport robot with eccentric load overturning sensing. Background Art

[0002] Traditional handling robots only have lifting functions, which can make their movement and operation difficult in some unusual terrain or complex environments. Traditional lifting-only robots are unable to flexibly adapt to these situations, such as steep slopes, narrow passages, or irregularly shaped areas.

[0003] Traditional handling robots are primarily used in specific, relatively simple industrial scenarios, such as loading and unloading goods from warehouse shelves and lifting materials at specific locations on production lines. These scenarios require relatively basic robot functionality, requiring only lifting capabilities to meet the needs of vertical cargo movement.

[0004] When we move cargo, the situations we face are often complex and ever-changing. Cargo comes in a wide variety of shapes and weights, and the handling environments vary greatly, from narrow warehouse aisles to bumpy transport routes. In these environments, uneven loading is a common problem. Summary of the Invention

[0005] In order to solve the problems of single application scenario and unbalanced cargo loading, the present invention provides an omnidirectional vehicle handling robot with unbalanced loading and overturning sensing.

[0006] The present invention provides the following technical solutions:

[0007] An omnidirectional vehicle handling robot with off-load and overturning sensing is characterized in that it includes a vehicle body, an anti-off-load and overturning cantilever structure and a lifting part are arranged on the vehicle body, a forward and backward moving mechanism is arranged in the support legs of the vehicle body, the anti-off-load and overturning cantilever structure includes fork teeth and a cantilever, the lower part of the cantilever is installed with fork teeth, the end of the fork teeth is installed with a tooth tip sensor, a gravity sensing sensor is installed in the cantilever, an in-place sensor is installed in the middle front position of the two fork teeth, and a camera is installed above the in-place sensor; the lifting part includes a motor, a synchronous belt, a screw rod and a linear rail, the motor drives the screw rod to rotate through the synchronous belt, linear rails are installed on both sides of the screw rod, and the cantilever is installed on the linear rail; the forward and backward moving mechanism includes a rack, a gear and a bidirectional drive motor, gears are installed at both ends of the bidirectional drive motor, the gears are meshed with corresponding racks, and two racks are installed on both sides of the support legs.

[0008] Furthermore, the vehicle body is divided into a front part and a rear part, the anti-overturning cantilever structure and the lifting part are distributed in the front part of the vehicle body, and the front part of the vehicle body moves away from or close to the rear part through the front and rear moving mechanism.

[0009] Furthermore, display light bars and emergency stop buttons are installed at the four corners of the support legs, and diagonal obstacle avoidance lasers are installed at the front and rear of the support legs.

[0010] Furthermore, a manual charging port and a charging brush plate are installed on the side of the support leg; and a counterweight and a contour light are installed on the support leg.

[0011] Furthermore, a navigation laser and a display light are installed at the top rear end of the vehicle body.

[0012] Furthermore, composite rollers are provided on both rear sides of the bottom of the lifting part.

[0013] Furthermore, omnidirectional drive wheels are installed at the front and rear ends of the legs.

[0014] Compared with the prior art, the present invention has the following beneficial effects:

[0015] (1) The vehicle body is equipped with an anti-overturning cantilever structure and a lifting part. The overturning sensor can detect the cargo when transporting the cargo and prevent it from overturning.

[0016] (2) Adding the forward and backward movement function reduces the interference of the vehicle body legs on the cargo and provides adaptation to the transported cargo (preventing interference);

[0017] (3) The omnidirectional drive wheels enable the vehicle to move in all directions, reducing the space requirements of the vehicle for the usage scenario and making the movement more flexible. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a structural schematic diagram of the present invention;

[0019] Figure 2 This is a schematic diagram showing the vehicle body of the present invention moving forward and backward;

[0020] Figure 3 This is a schematic diagram of the front and rear reset of the vehicle body of the present invention;

[0021] Figure 4 Schematic diagram of the cantilever structure of the present invention;

[0022] Figure 5 This is a schematic diagram of the lifting part structure of the present invention;

[0023] Figure 6 It is a schematic structural diagram of the forward and backward moving part of the present invention.

[0024] In the picture:

[0025] 100, front of the vehicle body; 200, rear of the vehicle body;

[0026] 1. Leg; 2. Fork tine; 3. Cantilever; 4. Tooth tip sensor; 5. Gravity sensor; 6. Position sensor; 7. Camera; 8. Motor; 9. Synchronous belt; 10. Screw; 11. Linear rail; 12. Rack; 13. Gear; 14. Bidirectional drive motor; 15. Omnidirectional drive wheel; 16. Display light bar; 17. Four-corner emergency stop button; 18. Diagonal obstacle avoidance laser; 19. Manual charging port; 20. Charging brush plate; 21. Counterweight; 22. Contour light; 23. Display light; 24. Composite roller; 25. Navigation laser. DETAILED DESCRIPTION

[0027] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0028] See also Figure 1 、 Figure 4 、 Figure 5 、 Figure 6 The present invention provides an omnidirectional vehicle handling robot with an offset load overturning sensor, comprising a vehicle body, an anti-offset load overturning cantilever structure and a lifting part provided on the vehicle body, and a forward and backward moving mechanism provided in the support legs 1 of the vehicle body.

[0029] The anti-eccentric load overturning cantilever structure includes fork teeth 2 and cantilever 3. The fork teeth 2 are installed at the lower part of the cantilever 3, and the tooth tip sensor 4 is installed at the end of the fork teeth 2. A gravity sensor 5 is installed inside the cantilever 3. A position sensor 6 is installed in the middle and front position of the two fork teeth 2, and a camera 7 is installed above the position sensor 6.

[0030] The tines 2, which directly contact objects and perform gripping or load-bearing functions, must be securely and precisely connected when installed on the lower portion of the boom. First, mounting interfaces compatible with the tines are provided on the lower portion of the boom 3. These interfaces have been carefully designed in terms of size, shape, and connection method to ensure that the tines can be accurately and securely installed.

[0031] A tine tip sensor 4 is mounted at the end of the tine 2. This high-precision sensor helps the forklift better control the loading process. The sensor senses the relative position and distance between the tine and the load.

[0032] The handling robot uses the camera 7 to identify the shape and structure of objects, thereby performing precise grasping and handling. The camera can also capture image data to help the forklift perform path planning and obstacle avoidance, thereby improving work efficiency and safety.

[0033] The lifting part includes a motor 8, a synchronous belt 9, a screw rod 10 and a linear rail 11. The motor 8 drives the screw rod 10 to rotate through the synchronous belt 9. The linear rails 11 are installed on both sides of the screw rod 10, and the cantilever 3 is installed on the linear rails 11;

[0034] The motor 8 drives the screw 10 to rotate, and the screw 10 drives the linear rails 11 on both sides to move up and down. The cantilever 3 on the linear rail 11 moves up and down, and the fork teeth 2 arranged on the cantilever 3 move up and down accordingly. The position can be adjusted according to the demand of the goods;

[0035] The forward and backward movement mechanism includes a rack 12, a gear 13 and a bidirectional drive motor 14. Gears 13 are installed at both ends of the bidirectional drive motor 14. The gears 13 are engaged with the corresponding racks 12. The two racks 12 are installed on both sides of the support leg 1; omnidirectional drive wheels 15 are also installed in the front and back of the support leg 1 to achieve omnidirectional movement.

[0036] Figure 2 and Figure 3 As shown, the vehicle body is divided into a front portion 100 and a rear portion 200 , the anti-overturning cantilever structure and the lifting part are distributed in the front portion 100 , and the front portion 100 moves away from or close to the rear portion 200 through the forward and backward moving mechanism.

[0037] The four corners of the support leg 1 are equipped with display light bars 16 and emergency stop buttons 17, and the front and rear of the support leg 1 are equipped with diagonal obstacle avoidance lasers 18. They are arranged diagonally for navigation and obstacle avoidance.

[0038] A manual charging port 19 and a charging brush plate 20 are installed on the side of the support leg 1 to facilitate charging of the device; a counterweight 21 and a contour light 22 are installed on the support leg 1.

[0039] The top of the rear part 200 of the vehicle body is provided with a navigation laser 25 and a display light 23. The navigation laser achieves accurate ranging to the target by emitting a laser beam and receiving the reflected signal.

[0040] Composite rollers 24 are provided on both sides of the bottom rear of the lifting part for easy walking.

[0041] Unbalanced load overturning sensing:

[0042] Through the two fork tines and cantilever structure, when the left and right fork tines insert the cargo, they will be subjected to pressure and transmitted to the gravity sensing sensor respectively. The algorithm is used to control the left and right fork tines to stop working when the pressure exceeds a certain ratio to prevent the cargo from overturning.

[0043] The algorithm for left and right fork tine pressure control is:

[0044] 1. Set threshold: pre-set the maximum allowable ratio of left and right tine pressure;

[0045] 2. Real-time monitoring: Use sensors to monitor the pressure values ​​of the left and right fork tines in real time;

[0046] 3. Calculate the ratio: Calculate the actual ratio of the left and right tine pressures;

[0047] 4. Comparison and decision-making: Compare the actual ratio with the set threshold. If the actual ratio exceeds the threshold, the instruction to stop working is triggered;

[0048] 5. Execution action: Stop the fork tines to prevent the cargo from tipping over.

[0049] Advantages of the present invention:

[0050] (1) Overload and overturning sensing can detect cargo during transportation and prevent it from overturning;

[0051] (2) Adding the forward and backward movement function reduces the interference of the vehicle body legs on the cargo and provides adaptation to the transported cargo (preventing interference);

[0052] (3) Omnidirectional movement reduces the space requirements of the vehicle body for the usage scenario and makes movement more flexible.

[0053] While embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions, and variations may be made to these embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the appended claims and their equivalents.

Claims

1. An omnidirectional vehicle handling robot with off-center load and overturning sensing, characterized by: The invention comprises a vehicle body, an anti-eccentric load overturning cantilever structure and a lifting part are arranged on the vehicle body, a front-back moving mechanism is arranged in the support legs (1) of the vehicle body, the anti-eccentric load overturning cantilever structure comprises a fork (2) and a cantilever (3), the fork (2) is installed at the lower part of the cantilever (3), a tooth tip sensor (4) is installed at the end of the fork (2), a gravity sensor (5) is installed in the cantilever (3), a position sensor (6) is installed in the middle front position of the two forks (2), and a camera (7) is installed above the position sensor (6); the lifting part comprises a motor (8 ), a synchronous belt (9), a screw rod (10) and a linear rail (11), the motor (8) drives the screw rod (10) to rotate through the synchronous belt (9), the linear rails (11) are installed on both sides of the screw rod (10), and the cantilever (3) is installed on the linear rails (11); the forward and backward moving mechanism includes a rack (12), a gear (13) and a bidirectional driving motor (14), the two ends of the bidirectional driving motor (14) are equipped with gears (13), the gears (13) are engaged with the corresponding racks (12), and the two racks (12) are installed on both sides of the support leg (1).

2. The omnidirectional vehicle handling robot with off-center load and overturning sensing according to claim 1, characterized in that: The vehicle body is divided into a front part (100) and a rear part (200), the anti-eccentric load overturning cantilever structure and the lifting part are distributed in the front part (100), and the front part (100) moves away from or close to the rear part through a front-back moving mechanism.

3. The omnidirectional vehicle handling robot with off-center load and overturning sensing according to claim 1, characterized in that: Display light bars (16) and emergency stop buttons (17) are installed at the four corners of the support leg (1), and diagonal obstacle avoidance lasers (18) are installed at the front and rear of the support leg (1).

4. The omnidirectional vehicle handling robot with off-center load and overturning sensing according to claim 1, characterized in that: A manual charging port (19) and a charging brush plate (20) are installed on the side of the support leg (1); and a counterweight (21) and a contour light (22) are installed on the support leg (1).

5. The omnidirectional vehicle handling robot with off-center load and overturning sensing according to claim 1, characterized in that: A navigation laser (25) and a display light (23) are installed on the top end of the rear portion of the vehicle body.

6. The omnidirectional vehicle handling robot with off-center load and overturning sensing according to claim 1, characterized in that: Composite rollers (24) are arranged on both sides of the rear of the bottom of the lifting part.

7. The omnidirectional vehicle handling robot with off-center load and overturning sensing according to claim 1, characterized in that: Omnidirectional driving wheels (15) are also installed at the front and rear of the supporting legs (1).

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