Modularized intelligent trolley carrying robot

Abstract

The invention relates to a modularized intelligent trolley carrying robot which is used for conveying materials among different workshops, a vehicle frame comprises an upper bearing plate and a lower bottom plate, a containing cavity is formed between the upper bearing plate and the lower bottom plate, and a plurality of connecting supporting frames are arranged in the containing cavity; a plurality of mounting holes are uniformly formed in the lower bottom plate; the movable driving mechanism is arranged on the rear side of the lower bottom plate and comprises a movable driving motor, a rear wheel suspension device and two driving wheels; the steering mechanism is arranged on the front side of the lower bottom plate and comprises a steering control device, a front wheel suspension device and two steering wheels. The mechanical arm supporting mechanism is fixed to the upper bearing plate and comprises a mechanical arm mounting plate, a multi-axis mechanical arm and a clamping device. According to the modular intelligent trolley carrying robot, modular design is adopted, so that a user can select different modules for assembly according to different production requirements, and diversified application scenes are achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent handling carts, and particularly to a modular intelligent cart handling robot. Background Art

[0002] One of the main reasons for the single application scenario of AGV vehicles is that their suspension systems are simple. The suspension systems of automobiles can be used for reference to improve the stability, grip, safety, and passability of AGV vehicles.

[0003] There are various types of suspensions in automobiles on the market. The most common ones are double-wishbone independent suspensions, trailing-arm suspensions, transverse hinge suspensions, and non-independent suspensions. Among them, the double-wishbone independent suspension is a suspension system with excellent performance. It has characteristics such as large lateral stiffness, excellent anti-roll performance, good grip performance, and clear road feel. However, due to the need for higher cost investment in production and manufacturing of double-wishbone independent suspensions. The trailing-arm suspension is highly praised for its advantages such as anti-drop and durability. It can make the vehicle more stable and the driving more comfortable. However, it is prone to cause the vehicle body to sway left and right during driving, and the stability is relatively poor. The transverse hinge suspension is widely popular due to its simple structure and low cost. However, it is prone to yaw during driving and requires other devices to compensate for yaw.

[0004] The existing patent document with the patent application number CN201910439441.4 discloses an intelligent handling cart, belonging to the technical field of handling robots, including a vehicle frame, a navigation mechanism, a lifting mechanism, a manipulator, a storage rack, and an auxiliary recognition device; the vehicle frame includes a chassis and a four-wheel drive mechanism, and a power supply and a controller are provided on the chassis; the navigation mechanism includes a full-field positioning module and a lidar module, the bottom of the lifting mechanism is connected to the upper surface of the chassis, and a rotating platform is provided at its top; the manipulator is arranged on the rotating platform; the storage rack is arranged on one side of the lifting mechanism and includes multiple layers of storage platforms arranged from top to bottom; the auxiliary recognition device is arranged on the top of the lifting mechanism.

[0005] The disadvantages of the above device are also obvious. It is a direct roller drive wheel, lacking the ability of seismic shock absorption. Once it encounters an obstacle, it is easy to cause the center of gravity of the entire device to deflect, and even there is a risk of tipping over, unable to meet the higher requirements for the suspension system. For vehicles such as AGV vehicles that need to cross various obstacles, the suspension system is particularly important, and an independent suspension must be adopted to ensure that the vehicle can pass through various obstacles. Summary of the Invention

[0006] The technical problem to be solved by the present invention is to propose a modular intelligent cart handling robot for performing material transportation between different workshops.

[0007] The technical solution adopted by the present invention to solve the above technical problems is as follows: A modular intelligent trolley handling robot for transporting materials between different factories, comprising: A vehicle frame, including an upper bearing plate and a lower bottom plate. An accommodation cavity is formed between the upper bearing plate and the lower bottom plate. A number of connecting support frames are arranged in the accommodation cavity, and a number of uniformly arranged mounting holes are provided on the lower bottom plate; A moving drive mechanism is arranged at the rear side of the lower bottom plate, including a moving drive motor, a rear wheel suspension device, and two drive wheels; there are two moving drive motors. A universal coupling is arranged on the rotating shaft of each moving drive motor. A drive shaft and a drive bearing seat are arranged on each drive wheel. The end of the universal coupling is rotatably connected to the corresponding drive shaft; A steering mechanism is arranged at the front side of the lower bottom plate, including a steering control device, a front wheel suspension device, and two steering wheels; A robotic arm support mechanism is fixed on the upper bearing plate, including a robotic arm mounting plate, a multi-axis robotic arm, and a clamping device; The rear wheel suspension device includes a rear wheel suspension bracket. A rear upper fork plate and a rear lower fork plate are hinged on each drive bearing seat. The rear upper fork plate is above the rear lower fork plate. The other ends of the rear upper fork plate and the rear lower fork plate are both rotatably connected to the rear wheel suspension bracket. A rear shock absorber damper and a rear shock absorber spring are also arranged between the rear upper fork plate and the rear wheel suspension bracket.

[0008] As an embodiment of the present invention, the robotic arm mounting plate is fixed on the upper bearing plate. A horizontal steering motor is arranged on the robotic arm mounting plate. A robotic arm support plate is arranged on the rotating shaft of the horizontal steering motor. The multi-axis robotic arm is fixed on the robotic arm support plate. As an embodiment of the present invention, the steering control device includes a steering servo and a linear slide rail. The front wheel suspension device includes a front wheel suspension bracket. A fixed slider is arranged on the front wheel suspension bracket. The linear slide rail and the fixed slider are in sliding fit. The steering servo controls the left and right movement of the linear slide rail on the fixed slider. The two ends of the linear slide rail are respectively rotatably connected to a left steering link and a right steering link. A front wheel rotating shaft and a steering bearing seat are arranged on each steering wheel. The front wheel rotating shaft is fixed on the steering bearing seat. A bearing support rod is rotatably arranged on the steering bearing seat. The left steering link and the right steering link are respectively rotatably connected to the corresponding bearing seats.

[0009] As an embodiment of the present invention, a steering crank and a crank connecting rod are sequentially rotatably connected between the steering servo and the linear slide rail. The two ends of the bearing support rod are respectively rotatably connected to a front upper fork plate and a front lower fork plate. The other ends of the front upper fork plate and the front lower fork plate are rotatably connected to the front wheel suspension bracket. A front shock absorber damper and a front shock absorber spring are also arranged between the front lower fork plate and the front wheel suspension bracket.

[0010] As an embodiment of the present invention, the multi-axis robotic arm includes a robotic arm base, a first robotic arm, a second robotic arm, and a third robotic arm that are sequentially rotationally connected. The robotic arm base is fixed on the robotic arm support plate. Two first robotic arm rotation motors are provided on the robotic arm base. A first rotation connection plate is provided on the rotation shaft of each first robotic arm rotation motor. The first rotation connection plate is fixed to the lower end of the first robotic arm. A second robotic arm rotation motor is provided at the upper end of the first robotic arm. The rotation shaft of the second robotic arm rotation motor is rotationally connected to the lower end of the second robotic arm. A third robotic arm rotation motor is provided at the upper end of the second robotic arm. The rotation shaft of the third robotic arm rotation motor is rotationally connected to one end of the third robotic arm.

[0011] As an embodiment of the present invention, a clamping rotation device is provided at the other end of the third robotic arm. The clamping rotation device includes a mounting base plate, a clamping rotation motor, and a clamping device rotation plate. The mounting base plate is snap-connected to the third robotic arm. One side of the clamping device rotation plate is fixed to the rotation shaft of the clamping rotation motor. The clamping device is fixed to the other side of the clamping device rotation plate.

[0012] As an embodiment of the present invention, the clamping device includes a clamping mounting plate. A clamping drive motor, a clamping active rotating plate, and a clamping driven rotating plate are provided on the clamping mounting plate. Clamping jaws are rotatably provided at the ends of the clamping active rotating plate and the clamping driven rotating plate.

[0013] As an embodiment of the present invention, linkage racks are provided on both the clamping active rotating plate and the clamping driven rotating plate. An articulated rod is provided between the middle of each clamping jaw and the clamping mounting plate. The two ends of the articulated rod are respectively rotationally connected to the middle of the clamping jaw and the clamping mounting plate. Clamping teeth are provided at the ends of each clamping jaw.

[0014] The beneficial effects of the present invention are as follows: 1. By providing a rear-wheel suspension device in the present invention, the driving wheel and the rear-wheel suspension bracket, and the steering wheel and the front-wheel suspension bracket can respectively independently cross road obstacles, which can reduce the vibration impact of each wheel on the AGV vehicle, prevent the center of gravity of the AGV vehicle from shifting, reduce the risk of tipping, increase the application scenarios of the AGV vehicle, and can achieve crossing of different road surfaces; 2. By adopting a modular design for the lower bottom plate in the present invention, faulty components can be quickly replaced or expansion can be carried out. Mounting holes are evenly arranged on the lower bottom plate, and standard bolts are used to achieve rapid installation of multiple modules, which can achieve this purpose. This design scheme can greatly reduce the time and cost during the disassembly and installation processes and improve the production efficiency of the AGV vehicle; 3. The present invention realizes the clamping of materials at various angles within the circumferential range of the total length of the multi-axis robotic arm through the provision of a multi-axis robotic arm and a clamping device, and loads them onto the upper bearing plate for transportation. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] The drawings forming a part of the present invention are used to provide a further understanding of the present invention, making other features, objectives, and advantages of the present invention more obvious. The schematic embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention.

[0016] Figure 1 is the overall structure diagram of the modular intelligent trolley handling robot in the present invention; Figure 2 is the cross-sectional schematic diagram of the modular intelligent trolley handling robot in the present invention; Figure 3 is the three-dimensional view of the modular intelligent trolley handling robot in the present invention; Figure 4 is the three-dimensional view of the internal structure of the present invention; Figure 5 is the structure diagram of the lower bottom plate of the present invention; Figure 6 is the structure diagram of the mobile drive mechanism in the present invention; Figure 7 is the structure diagram of the steering mechanism in the present invention; Figure 8 is the front view of the steering mechanism in the present invention; Figure 9 is the side view of the steering mechanism in the present invention; Figure 10 is the structure diagram of the robotic arm support mechanism and the multi-axis robotic arm in the present invention; Figure 11 is the three-dimensional structure diagram of the multi-axis robotic arm in the present invention; Figure 12 is the structure diagram of the clamping device in the present invention; Figure 13 is the mesh model diagram of the lower bottom plate of the present invention; Figure 14 is the constraint and load diagram of the front axle of the lower bottom plate of the present invention; Figure 15 is the constraint and load diagram of the rear axle of the lower bottom plate of the present invention; Figure 16 is the displacement nephogram of the lower bottom plate of the present invention; Figure 17 is the stress nephogram of the lower bottom plate of the present invention; Figure 18 is the side view of the ground model of the present invention; Figure 19It is the experimental test diagram of the modular intelligent vehicle of the present invention; Figure 20 It is the force analysis diagram of the tire of the present invention crossing the steps on the hard road surface; Figure 21 It is the centroid velocity diagram during the test of the present invention; Figure 22 It is the centroid displacement diagram during the test of the present invention; Figure 23 It is the driving wheel acceleration diagram during the test of the present invention; Wherein: 1. Vehicle frame; 11. Upper bearing plate; 12. Lower bottom plate; 10. Accommodation cavity; 13. Connecting support frame; 120. Mounting hole; 2. Mobile driving mechanism; 21. Mobile driving motor; 211. Universal coupling; 22. Rear wheel suspension device; 221. Rear wheel suspension bracket; 222. Rear upper fork plate; 223. Rear lower fork plate; 224. Rear shock absorber damper; 225. Rear shock absorber spring; 23. Driving wheel; 231. Driving shaft; 232. Driving bearing seat; 3. Steering mechanism; 31. Steering control device; 310. Fixed slider; 311. Steering servo; 3111. Steering crank; 3112. Crank connecting rod; 312. Linear slide rail; 313. Left steering connecting rod; 314. Right steering connecting rod; 32. Front wheel suspension device; 321. Front wheel suspension bracket; 322. Front upper fork plate; 323. Front lower fork plate; 324. Front shock absorber damper; 325. Front shock absorber spring; 33. Steering wheel; 331. Front wheel rotating shaft; 332. Steering bearing seat; 333. Bearing support rod 333; 4. Manipulator support mechanism; 41. Manipulator mounting plate; 411. Horizontal steering motor; 412. Manipulator support plate; 5. Multi-axis manipulator; 51. Manipulator base; 52. First manipulator; 521. First manipulator rotating motor; 522. First rotating connecting plate; 53. Second manipulator; 531. Second manipulator rotating motor; 54. Third manipulator; 541. Third manipulator rotating motor; 55. Clamping rotating device; 551. Mounting bottom plate; 552. Clamping rotating motor; 553. Clamping device rotating plate; 6. Clamping device; 60. Clamping mounting plate; 61. Clamping driving motor; 62. Clamping active rotating plate; 63. Clamping driven rotating plate; 64. Claw; 641. Clamping tooth; 65. Hinge rod; 66. Linkage rack. Detailed implementation mode

[0017] In order to more clearly explain the overall concept of the present invention, the following will be further described in detail by way of examples in combination with the accompanying drawings of the specification.

[0018] It should be noted that many specific details are set forth in the following description to facilitate a full understanding of the present invention. However, the present invention may also be implemented in other ways different from those described herein. Therefore, the scope of protection of the present invention is not limited by the specific embodiments disclosed below.

[0019] In the present invention, unless otherwise clearly specified and defined, terms such as "installation", "connection", "linkage", "fixation", etc. should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or an integral one; it may be a direct connection, or an indirect connection through an intermediate medium, and it may be the communication inside two components or the interaction relationship between two components. However, indicating a direct connection means that there is no connection relationship constructed through an excessive structure between the two connected main bodies, and they are only connected through the connection structure to form a whole. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0020] As Figures 1 to 12 shown, the present invention provides a modular intelligent trolley handling robot; the intelligent trolley is, for example, an AGV vehicle; As Figure 1 shown, the present invention mainly includes a vehicle frame 1, a mobile driving mechanism 2, a steering mechanism 3, a robotic arm support mechanism 4, a multi-axis robotic arm 5, and a gripping device 6. The mobile driving mechanism 2 and the steering mechanism 3 are arranged inside the vehicle frame 1. The driving wheels are powered forward by the mobile driving mechanism 2, and then the steering wheels are adjusted reversely by the steering mechanism 3. The robotic arm support mechanism 4 is used to adjust the 360-degree rotation direction of the entire multi-axis robotic arm 5. At the same time, the entire multi-axis robotic arm 5 is fixed to the vehicle frame 1 through the robotic arm support mechanism 4. The gripping device 6 is used to grip materials so that the materials can be transferred from the shelf to the vehicle frame 1 and then transferred.

[0021] As Figure 2 shown, the vehicle frame 1 of the present invention includes an upper bearing plate 11 and a lower bottom plate 12. An accommodation cavity 10 is formed between the upper bearing plate 11 and the lower bottom plate 12. The core components of the mobile driving mechanism 2 and the steering mechanism 3 are both located inside the accommodation cavity 10.

[0022] A number of connecting support frames 13 are arranged inside the accommodation cavity 10. The connecting support frames 13 support the internal frame and are formed by welding or screwing together a plurality of metal frames of different lengths.

[0023] As Figure 4 , Figure 5 shown, a number of uniformly arranged mounting holes 120 are provided on the lower bottom plate 12; users can, according to their own needs, combine and fix each module component on the mounting holes 120.

[0024] The lower bottom plate 12 is a key component of the AGV vehicle. The rationality and stability of its design scheme have a direct impact on the performance and safety of the entire vehicle. The lower bottom plate takes into account various factors, such as the use environment, load conditions, layout of mechanical components, etc. It can improve the operation efficiency and stability of the AGV vehicle, enabling it to operate normally in different working scenarios. In addition, in terms of maintenance convenience, the easy disassembly and installation of the lower bottom plate bracket, as well as the easy replacement of parts, should be considered, so as to reduce the maintenance time and cost and increase the service life of the AGV vehicle.

[0025] To improve the installation efficiency and maintenance convenience of the AGV vehicle, the lower bottom plate adopts a modular design for quick replacement of faulty components or expansion. Mounting holes 120 are evenly arranged on the lower bottom plate 12, and standard bolts are used to achieve the quick installation of multiple modules, which can achieve this purpose. This design scheme can greatly reduce the time and cost in the disassembly and installation process and improve the production efficiency of the AGV vehicle.

[0026] In this embodiment, the mobile driving mechanism 2 is integrally arranged at the rear side of the lower bottom plate 12. The mobile driving mechanism 2 mainly includes a mobile driving motor 21, a rear wheel suspension device 22, and two driving wheels 23; a part of the mobile driving motor 21 also includes a storage battery, and a speed reducer is provided to increase the torque.

[0027] Specifically, as Figure 4 and Figure 6 shown, in order to enable the two driving wheels 23 to operate independently and still have power when independently crossing obstacles, there are two mobile driving motors 21 in the present invention, which can independently drive a single driving wheel 23 respectively. A universal coupling 211 is arranged on the rotating shaft of each mobile driving motor 21, and a driving shaft 231 and a driving bearing seat 232 are arranged on each driving wheel 23. One end of the universal coupling 211 is connected to the output shaft of the speed reducer at the mobile driving motor 21 end, and the other end of the universal coupling 211 is rotatably connected to the corresponding driving shaft 231. The power of the mobile driving motor 21 is transferred to the driving shaft 231 through the universal coupling 211, enabling the driving wheel 23 to always rotate. The universal coupling 211 plays a role in power steering.

[0028] To improve the seismic resistance of the entire drive wheel 23, the rear-wheel suspension device 22 of the present invention includes a rear-wheel suspension bracket 221, and a set of seismic devices are provided on each drive bearing seat 232. Specifically, a rear upper fork plate 222 and a rear lower fork plate 223 are hingedly provided on each drive bearing seat 232. The rear upper fork plate 222 is above the rear lower fork plate 223, and the other ends of the rear upper fork plate 222 and the rear lower fork plate 223 are rotatably connected to the rear-wheel suspension bracket 221. First, the rear-wheel suspension bracket 221 and the drive bearing seat 232 are movably connected through the rear upper fork plate 222 and the rear lower fork plate 223. When the drive bearing seat 232 climbs over an obstacle, the drive bearing seat 232 rotates upward, but the displacement energy will not be transmitted to the rear-wheel suspension bracket 221, so that the center of gravity of the intelligent vehicle body does not shift.

[0029] Meanwhile, in order to maintain the normal position of the drive bearing seat 232 below the drive bearing seat 232, a rear shock absorber damper 224 and a rear shock absorber spring 225 are also provided between the rear upper fork plate 222 and the rear-wheel suspension bracket 221. The rear shock absorber spring 225 keeps a distance between the rear upper fork plate 222 and the rear-wheel suspension bracket 221.

[0030] The rear shock absorber damper 224 and the rear shock absorber spring 225 can reduce the vibration transmission when climbing over an obstacle, and the rear shock absorber spring 225 can play a supporting role and quickly restore the drive bearing seat 232 to its original state after displacement. After the intelligent vehicle climbs over an obstacle, it can quickly recover, preventing the drive bearing seat 232 and the drive wheel 23 from failing to return to their positions in time immediately after the vehicle climbs over an obstacle, and avoiding the tipping of the whole vehicle.

[0031] As Figure 4 shown, in order to control the direction of the vehicle, the present invention provides a steering mechanism 3, which is arranged on the front side of the lower bottom plate 12. The steering mechanism 3 includes a steering control device 31, a front-wheel suspension device 32 and two steering wheels 33.

[0032] Specifically, as Figures 7 - 9 shown, the steering control device 31 of the present invention includes a steering servo 311 and a linear slide rail 312. The front-wheel suspension device 32 includes a front-wheel suspension bracket 321. A fixed slider 310 is provided on the front-wheel suspension bracket 321. The linear slide rail 312 is slidably matched with the fixed slider 310. The steering servo 311 controls the linear slide rail 312 to move left and right on the fixed slider 310. The two ends of the linear slide rail 312 are respectively rotatably connected with a left steering connecting rod 313 and a right steering connecting rod 314.

[0033] Each of the steering wheels 33 is provided with a front wheel rotating shaft 331 and a steering bearing seat 332. The front wheel rotating shaft 331 is fixed on the steering bearing seat 332. A bearing support rod 333 is rotatably arranged on the steering bearing seat 332. The left steering link 313 and the right steering link 314 are respectively rotatably connected to the corresponding bearing seats 332.

[0034] In the present invention, the left steering link 313 and the right steering link 314 respectively control the corresponding steering wheels 33 to turn through the steering bearing seats 332. Then, by sliding left and right on the fixed slider 310 through the linear slide rail 312, the linear slide rail 312 drives the left steering link 313 and the right steering link 314 to move, controlling the steering directions of the two steering wheels 33. The moving distance of the linear slide rail 312 in a certain direction controls the steering angles of the two steering wheels 33.

[0035] As Figure 8 shown, the movement of the linear slide rail 312 is controlled by the steering servo 311. The steering servo 311 is a rotating rod controlled by a rotating motor, similar to the steering wheel of a ship. A steering crank 3111 and a crank connecting rod 3112 are sequentially rotatably connected between the steering servo 311 and the linear slide rail 312. The crank connecting rod 3112 is connected to the linear slide rail 312. By rotating the steering servo 311 to the left or right, the linear slide rail 312 is controlled to move to the left or right.

[0036] The front upper fork plate 322 and the front lower fork plate 323 are respectively rotatably connected to both ends of the bearing support rod 333. The other ends of the front upper fork plate 322 and the front lower fork plate 323 are rotatably connected to the front wheel suspension bracket 321. A front shock absorber damper 324 and a front shock absorber spring 325 are further arranged between the front lower fork plate 323 and the front wheel suspension bracket 321.

[0037] The principle of the front wheel suspension device 32 is the same as that of the rear wheel suspension device 22, which can prevent the intelligent vehicle from having a center of gravity shift when climbing over an obstacle, and can quickly recover and run smoothly after climbing over the obstacle.

[0038] As Figure 10 、 Figure 11 shown, the robotic arm support mechanism 4 is fixed on the upper bearing plate 11 and includes a robotic arm mounting plate 41, a multi-axis robotic arm 5, and a gripping device 6.

[0039] The upper bearing plate 11 is provided with the robotic arm support mechanism 4. The rest of the upper bearing plate 11 can be used to place materials. The robotic arm support mechanism 4 mainly plays a role in connection and support. Specifically, as Figure 10As shown, the lower end of the robotic arm mounting plate 41 is fixed on the upper bearing plate 11. A horizontal steering motor 411 is provided on the robotic arm mounting plate 41. A robotic arm support plate 412 is provided on the rotating shaft of the horizontal steering motor 411. The multi-axis robotic arm 5 is fixed on the robotic arm support plate 412. The multi-axis robotic arm 5 is controlled by the horizontal steering motor 411 to rotate 360 degrees to grab materials in all directions.

[0040] The present invention is also provided with a multi-axis robotic arm 5 for freely moving and grabbing materials in a three-dimensional space. Specifically, as Figures 10 - 11 shown, the multi-axis robotic arm 5 includes a robotic arm base 51, a first robotic arm 52, a second robotic arm 53, and a third robotic arm 54 that are sequentially rotatably connected. The robotic arm base 51 is fixed on the robotic arm support plate 412. Two first robotic arm rotation motors 521 are provided on the robotic arm base 51. A first rotation connection plate 522 is provided on the rotating shaft of each first robotic arm rotation motor 521. The first rotation connection plate 522 is fixed to the lower end of the first robotic arm 52. A second robotic arm rotation motor 531 is provided at the upper end of the first robotic arm 52. The rotating shaft of the second robotic arm rotation motor 531 is rotatably connected to the lower end of the second robotic arm 53. A third robotic arm rotation motor 541 is provided at the upper end of the second robotic arm 53. The rotating shaft of the third robotic arm rotation motor 541 is rotatably connected to one end of the third robotic arm 54.

[0041] Through the driving of the first robotic arm rotation motor 521, the second robotic arm rotation motor 531, and the third robotic arm rotation motor 541, the rotation of each axis is achieved.

[0042] In order to autonomously grab materials, a clamping device 6 is provided. At the same time, to ensure the flexibility of the clamping device 6, a clamping rotation device 55 is provided at the other end of the third robotic arm 54. The clamping rotation device 55 includes a mounting bottom plate 551, a clamping rotation motor 552, and a clamping device rotation plate 553. The mounting bottom plate 551 is snap-fitted on the third robotic arm 54. One side of the clamping device rotation plate 553 is fixed on the rotating shaft of the clamping rotation motor 552. The clamping device 6 is fixed on the other side of the clamping device rotation plate 553.

[0043] As Figure 11 、 Figure 12 shown, the clamping device 6 of the present invention includes a clamping mounting plate 60. A clamping drive motor 61, a clamping active rotating plate 62, and a clamping driven rotating plate 63 are provided on the clamping mounting plate 60. Clamping jaws 64 are rotatably provided at the ends of the clamping active rotating plate 62 and the clamping driven rotating plate 63.

[0044] Linkage racks 66 are provided on both the clamping active rotating plate 62 and the clamping driven rotating plate 63. An articulated rod 65 is provided between the middle of each clamping jaw 64 and the clamping mounting plate 60. The two ends of the articulated rod 65 are respectively rotatably connected to the middle of the clamping jaw 64 and the clamping mounting plate 60. Clamping teeth 641 are provided at the ends of each clamping jaw 64.

[0045] By the forward and reverse rotation of the clamping drive motor 61, the clamping active rotating plate 62 and the clamping driven rotating plate 63 are driven to transmit power through gears, causing the two clamping jaws 64 to displace, for clamping or releasing.

[0046] As Figures 13 to 23 shown, it is a specific simulation test of the present invention; As Figure 13 shown, for the mesh division of the lower bottom plate, first open the hypermesh software, import the lower bottom plate model modeled by UG, and then perform mesh division on the lower bottom plate model and assign mesh attributes; The material settings of the lower bottom plate are as follows: Structure name: Lower bottom plate; Material: Aluminum alloy; Density ρ (Kg / m³): 2730; Elastic modulus / Gpa: 70; Poisson's ratio: 0.3; Yield strength / Mpa: 265.

[0047] As Figure 14 、 Figure 15 shown: Apply constraints and loads: The lower bottom plate is an important part of the intelligent vehicle structure. Its main function is to bear the self-weight of the vehicle and transmit the force of the load. Therefore, the lower bottom plate must be strong enough to ensure the stability and safety of the vehicle during driving. Regarding the load on the lower bottom plate, the main stress points are near the front axle, rear axle and the edge of the vehicle body. Therefore, the lower bottom plate needs to distribute the self-weight evenly to cope with these stress points.

[0048] In terms of the suspension of the intelligent vehicle, a double independent suspension mode is adopted, namely the rear wheel suspension device and the front wheel suspension device, which are fixedly constrained at the frame. This suspension mode can improve the vehicle's ability to pass obstacles. The lower bottom plate can withstand a force of 450 N, and this data scheme can meet the normal working requirements of the vehicle. It can increase the stability of the vehicle during driving and avoid problems such as rollover. Therefore, both the lower bottom plate and the suspension structure of this design scheme have high reliability and safety, and can effectively support the work of the intelligent vehicle and apply constraints.

[0049] The finite element displacement nephogram and stress nephogram calculated by Hypermesh are as Figure 16 、 Figure 17 shown; In the static analysis module of Hypermesh, select the displacement of the analysis model. The system calculates the deformations in the X, Y, and Z directions based on the constraint conditions and loads of the model, and obtains the total deformation from the formula. Displacement Calculation formula: ; Through operation and solution, obtain the displacement contour map of the model; Stress analysis of the model: The force on the hole on the lower bottom plate is 450 N, and the force area is A = πd² / 4 = 63.2 ; According to the compressive stress formula: ; Among them, F is the force, A is the force area, and σ is the compressive stress. Substitute the above values into the formula to get: ; It can be seen from the displacement contour Figure 16 that the maximum total deformation of the frame is 1.978 mm, mainly at the rear of the lower bottom plate of the frame. It can be seen from the stress contour Figure 17 that the maximum stress of the lower bottom plate is 7.112 MPa, and its main position is at the joint of the reinforcement and the chassis. For the aluminum alloy material, the safety factor can be taken as 1.5, so the allowable stress is . The maximum stress is less than the allowable stress, indicating that when used under the conditions of a full load of 190 KG and a self-weight of 45 KG, the stress analysis result of the frame meets the requirements. Therefore, the conclusion is that when used under such conditions, the stress analysis result of the frame meets the requirements. These analysis results are of great significance for evaluating whether the frame structure meets the requirements and for subsequent optimization.

[0050] Chassis dynamics analysis: In real life, any object will deform. However, in order to consider that the computational amount of the simulation analysis will increase, when we establish the car model, we first assume that the car parts are rigid components to prevent the deformation of each component from affecting the results; Such as Figure 18The establishment of the ground is shown as follows. Since the established model is relatively complex, a model is constructed in the professional 3D modeling software UG and then imported into view. The trolley needs a plane to be fixed, and the plane can be set to be uneven. Therefore, a plane is established externally, and there are two protrusions on the plane. The first part is a circular protrusion with a radius of 250 mm and a height of 70 mm, and the second part is a step with a length of 600 mm and a height of 55 mm. This step is only for observing the influence on the trolley, and there is no such vertical height in the trolley scenario. After that, the trolley is imported and the body of the trolley is set to be rigid, and then the whole trolley is set to be made of aluminum alloy material.

[0051] Theoretical analysis of chassis dynamics: After the settings of the trolley model module are completed, motion simulation calculations are carried out. Based on the above data, during the simulation, g = 9.8 N / KG is set for the trolley, the uniform driving speed of the trolley is set to v = 0.5 m / s, and the acceleration is a = 0.5 m / s^2. In the simulation column, select to run the interactive simulation, click to set the simulation time to 6.0 s, the simulation step number to 100, and then select start and calculate.

[0052] When the vehicle crosses the step, the driving speed is very low, and the static equilibrium equation can be used to solve the maximum height of the vehicle crossing the step. For a rear-wheel drive wheeled mobile vehicle crossing a step on a hard road surface, the force situation is as Figure 20 .

[0053] During the process of crossing the step, it is assumed that the adhesion coefficient between the ground and the wheel is large enough, and there is no loss of driving torque. On a hard road with steps, the rolling resistance friction factor is approximately equal to zero numerically. Therefore, the following static analysis will ignore the influence of road friction. When the rear wheel touches the step, the equilibrium equation is established: ; ; ; Among them, - The reaction force of the road surface on the wheel; - The ground friction force; - The tangential force of the step on the wheel contact point; - The reaction force of the step acting on the wheel; H - The height of the step; R - The radius of the wheel; C - The distance between the gravity and the rear wheel center during the process of crossing the step; S - The wheelbase of the wheeled vehicle; P - The reaction force acting on the wheel The angle between and the ground.

[0054] After the simulation is completed, post-processing of the results is carried out. When the trolley is driving on the road surface, byFigure 21 The simulation results of the center of mass speed show that after starting at 0~0.1 seconds, the car maintains a constant speed; it passes the first convex obstacle at 1.1~2.5 seconds, and passes the second rectangular obstacle at 3.4~5.7 seconds; the figure shows that when the car passes through the obstacle, the center of mass speed of the rectangular obstacle arm arc obstacle fluctuates greatly, and the center of mass speed fluctuation is more intense.

[0055] Depend on Figure 22 The simulation results of the center of mass displacement show that the displacement of the car when driving on a rectangular obstacle road is significantly greater than that when driving on a convex obstacle road; this is because the center of mass of the car moves backward, and there are fluctuations to varying degrees when crossing obstacles. The smoother the road surface, the smaller the reaction force and the smaller the fluctuation.

[0056] Depend on Figure 23 The simulation results of the driving wheel acceleration show that the car is significantly more stable when driving on a convex obstacle road than on a rectangular obstacle road; the faster the car's acceleration on the Z axis, the bumpier and more unstable its driving will be.

[0057] from Figures 21 - 23 It can be seen that the car's driving basically meets the requirements for stability, and the structure is also reasonably set. Adams software was used to analyze the overall kinematics of the smart car, and the view in the software was used to analyze the center of mass velocity, center of mass displacement, and acceleration of the driving wheel. The analysis chart shows that the car's movement is basically stable, and the main fluctuation is that there will be some large fluctuations on very uneven roads. The structural design of the car has met the requirements of the scene.

[0058] In summary, the HyperMesh software was used to perform a static analysis of the bottom plate of the smart car, and the maximum total deformation of the frame was 1.978 mm, which mainly occurred at the rear of the bottom plate of the frame. The maximum equivalent force of the bottom plate was 7.112 MPa, which met the load of the car. The dynamics software ADAMS was used for dynamic analysis, and the passability of the car around convex and rectangular obstacles was analyzed in detail. The regular curves of the center of mass velocity, center of mass displacement, and driving wheel acceleration proved the rationality of the parameters of each rod. The step obstacle road was analyzed through theoretical calculation and simulation, and the analysis showed that the smart car met the requirements of the scene.

[0059] The modular intelligent trolley transport robot of the present invention can complete different tasks by simply replacing the actuator, thereby improving design efficiency and reducing design costs.

[0060] The rear-wheel suspension device of the present invention enables the driving wheels and the rear-wheel suspension brackets, and the steering wheels and the front-wheel suspension brackets to independently cross road obstacles, which can reduce the vibration impact of each wheel on the whole vehicle, prevent the center of gravity of the vehicle from shifting, reduce the risk of tipping, increase the application scenarios of the vehicle, and can achieve crossing on different road surfaces; the lower bottom plate adopts a modular design, which can quickly replace faulty components or be expanded. Installation holes are evenly arranged on the lower bottom plate, and standard bolts are used to achieve the quick installation of multiple modules, so as to achieve this purpose. This design scheme can greatly reduce the time and cost in the disassembly and installation processes, improve production efficiency. The multi-axis robotic arm and the clamping device can achieve material clamping at various angles within the circumferential range of the total length of the multi-axis robotic arm, and load it onto the upper bearing plate for transportation.

[0061] Based on the present invention, a modular intelligent trolley handling robot is designed, aiming to improve the usage flexibility and economy and reduce the usage cost. Compared with the traditional intelligent trolley handling robot, the modular intelligent trolley handling robot of the present invention adopts a modular design, enabling users to select different modules for assembly according to different production requirements, thereby realizing diversified application scenarios. In addition, the modular design can also reduce the design and manufacturing costs, while improving the maintainability and upgradability of the product.

[0062] What is described in the above specification is only the specific implementation manners of the present invention. Various examples do not constitute a limitation to the essence of the present invention. Those of ordinary skill in the art to which the present invention pertains can modify or deform the above-described specific implementation manners after reading the specification without departing from the essence and scope of the invention.

Claims

1. A modular intelligent trolley handling robot, characterized in that: include: A vehicle frame (1) comprises an upper bearing plate (11) and a lower base plate (12), wherein a receiving cavity (10) is formed between the upper bearing plate (11) and the lower base plate (12), wherein a plurality of connecting support frames (13) are arranged in the receiving cavity (10), and a plurality of evenly arranged mounting holes (120) are arranged on the lower base plate (12); The mobile drive mechanism (2) is arranged at the rear side of the lower base plate (12), and comprises a mobile drive motor (21), a rear wheel suspension device (22) and two drive wheels (23); there are two mobile drive motors (21), a universal joint (211) is arranged on the rotating shaft of each mobile drive motor (21), a drive shaft (231) and a drive bearing seat (232) are arranged on each drive wheel (23), and an end of the universal joint (211) is rotatably connected to the corresponding drive shaft (231); A steering mechanism (3) is arranged on the front side of the lower base plate (12), comprising a steering control device (31), a front wheel suspension device (32) and two steering wheels (33); A robot arm support mechanism (4), fixed on the upper bearing plate (11), comprising a robot arm mounting plate (41), a multi-axis robot arm (5) and a gripping device (6); The rear wheel suspension device (22) comprises a rear wheel suspension bracket (221), each driving bearing seat (232) is hingedly provided with a rear upper fork plate (222) and a rear lower fork plate (223), the rear upper fork plate (222) is located above the rear lower fork plate (223), the other ends of the rear upper fork plate (222) and the rear lower fork plate (223) are rotatably connected to the rear wheel suspension bracket (221), and a rear shock absorbing damper (224) and a rear shock absorbing spring (225) are also provided between the rear upper fork plate (222) and the rear wheel suspension bracket (221).

2. The modular intelligent trolley transport robot according to claim 1, characterized in that: The robot arm mounting plate (41) is fixed on the upper bearing plate (11), a horizontal steering motor (411) is arranged on the robot arm mounting plate (41), a robot arm support plate (412) is arranged on the rotating shaft of the horizontal steering motor (411), and the multi-axis robot arm (5) is fixed on the robot arm support plate (412).

3. The modular intelligent trolley transport robot according to claim 1, characterized in that: The steering control device (31) comprises a steering servo (311) and a linear slide rail (312); the front wheel suspension device (32) comprises a front wheel suspension bracket (321); a fixed slider (310) is provided on the front wheel suspension bracket (321); the linear slide rail (312) and the fixed slider (310) are slidably matched; the steering servo (311) controls the linear slide rail (312) to move left and right on the fixed slider (310); the linear slide rail (312) The two ends of the steering wheel (33) are rotatably connected to a left steering link (313) and a right steering link (314), respectively; each steering wheel (33) is provided with a front wheel shaft (331) and a steering bearing seat (332); the front wheel shaft (331) is fixed to the steering bearing seat (332); a bearing support rod (333) is rotatably provided on the steering bearing seat (332); and the left steering link (313) and the right steering link (314) are rotatably connected to the corresponding bearing seat (332).

4. The modular intelligent trolley transport robot according to claim 3, characterized in that: A steering crank (3111) and a crank connecting rod (3112) which are rotatably connected in sequence are arranged between the steering servo (311) and the linear slide rail (312); the two ends of the bearing support rod (333) are rotatably connected to a front upper fork plate (322) and a front lower fork plate (323) respectively; the other ends of the front upper fork plate (322) and the front lower fork plate (323) are rotatably connected to the front wheel suspension bracket (321); and a front shock absorbing damper (324) and a front shock absorbing spring (325) are also arranged between the front lower fork plate (323) and the front wheel suspension bracket (321).

5. The modular intelligent trolley transport robot according to claim 1, characterized in that: The multi-axis robot arm (5) comprises a robot arm base (51), a first robot arm (52), a second robot arm (53) and a third robot arm (54) which are rotatably connected in sequence, the robot arm base (51) being fixed on the robot arm support plate (412), two first robot arm rotating motors (521) being arranged on the robot arm base (51), a first rotating connecting plate (522) being arranged on the rotating shaft of each of the first robot arm rotating motors (521), the first rotating connecting plate (522) being fixed to the lower end of the first robot arm (52), a second robot arm rotating motor (531) being arranged at the upper end of the first robot arm (52), the rotating shaft of the second robot arm rotating motor (531) being rotatably connected to the lower end of the second robot arm (53), a third robot arm rotating motor (541) being arranged at the upper end of the second robot arm (53), the rotating shaft of the third robot arm rotating motor (541) being rotatably connected to one end of the third robot arm (54).

6. The modular intelligent trolley transport robot according to claim 5, characterized in that: A gripping and rotating device (55) is provided at the other end of the third mechanical arm (54), and the gripping and rotating device (55) comprises a mounting base plate (551), a gripping and rotating motor (552) and a gripping device rotating plate (553). The mounting base plate (551) is clamped and arranged on the third mechanical arm (54), one side of the gripping device rotating plate (553) is fixed to the rotating shaft of the gripping and rotating motor (552), and the gripping device (6) is fixed to the other side of the gripping device rotating plate (553).

7. The modular intelligent trolley transport robot according to claim 1, characterized in that: The clamping device (6) comprises a clamping mounting plate (60), on which a clamping drive motor (61), a clamping active rotating plate (62) and a clamping driven rotating plate (63) are arranged, and ends of the clamping active rotating plate (62) and the clamping driven rotating plate (63) are both rotatably provided with clamping claws (64).

8. The modular intelligent trolley transport robot according to claim 7, characterized in that: The active clamping rotating plate (62) and the driven clamping rotating plate (63) are both provided with linked racks (66), a hinged rod (65) is provided between the middle of each clamping jaw (64) and the clamping mounting plate (60), the two ends of the hinged rod (65) are respectively rotatably connected to the middle of the clamping jaw (64) and the clamping mounting plate (60), and a clamping tooth (641) is provided at the end of each clamping jaw (64).

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