Intelligent omni-directional mobile pickup robot

Abstract

The utility model discloses an intelligent omni-directional moving picking robot which comprises a walking frame, walking wheels, a walking driving device, a picking mechanical arm, a mechanical arm driving device and a monitoring device. The walking frame is of a U-shaped structure, rotatable walking wheels are installed on the walking frame, the walking wheels are connected to the walking driving device, and the walking driving device is used for driving the walking wheels to rotate and driving the walking wheels to enable the walking frame to steer; one end of the walking frame is closed, the other end of the walking frame is two separated ends, each separated end is provided with a picking mechanical arm, and the two picking mechanical arms are both connected to a mechanical arm driving device; the mechanical arm driving device and the walking driving device are electrically connected to the monitoring device; the pick-up mechanical arm comprises an arm shell, a pick-up wheel, a gripper and a mounting mechanism. According to the intelligent omni-directional mobile picking robot, the problem that in the prior art, due to the fact that a picking pulley is smooth and is not provided with a grabhook for hooking an object, the grabbed object is prone to sliding out is solved.

Description

Technical Field

[0001] The utility model relates to a robot, in particular to an intelligent omnidirectional mobile picking robot. Background Art

[0002] A Chinese patent discloses a self-propelled space picking and grasping robot with application number CN201822266037.5. The self-propelled space picking and grasping robot includes a self-rotating mechanical arm picking mechanism, a lifting guide rail, a walking robot chassis, a telescopic ladder, and a pneumatic telescopic rod. The bottom end of the lifting guide rail is fixedly arranged on the walking robot chassis, the self-rotating mechanical arm picking mechanism is slidably connected to the lifting guide rail, the telescopic ladder is fixedly connected to the walking robot chassis, and the two ends of the pneumatic telescopic rod are respectively fixedly connected to one end of the telescopic ladder and the walking robot chassis.

[0003] Although the self-propelled space picking and grasping robot can realize the action of grasping objects, the self-propelled space picking and grasping robot still has the following disadvantages: since the picking pulley on the picking mechanical arm frame in the self-rotating mechanical arm picking mechanism does not have a gripper to hook the object, if the surface of the object is relatively smooth, it is easy to slip out from between the picking pulleys, and because the picking pulley is too smooth, it is very easy to fail to push out the smooth object smoothly after grasping, resulting in the failure of grasping and releasing work to proceed smoothly. Utility Model Content

[0004] The utility model provides an intelligent omnidirectional mobile picking robot, which solves the problem in the prior art that the picked-up pulley is smooth and has no claws for hooking the object, so that the grabbed object easily slips out.

[0005] In order to achieve the above purpose, the utility model adopts the following technical solutions:

[0006] The utility model discloses an intelligent omnidirectional mobile picking robot, comprising: a walking frame, walking wheels, a walking drive device, a picking mechanical arm, a mechanical arm driving device and a monitoring device; the walking frame is a U-shaped structure, a rotatable walking wheel is installed on the walking frame, the walking wheel is connected to the walking drive device, the walking drive device is used to drive the walking wheel to rotate and to make the walking frame turn by driving the walking wheel; one end of the walking frame is a closed end, and the other end of the walking frame is two separation ends, each separation end is equipped with a picking mechanical arm, and the two picking mechanical arms are connected to the mechanical arm driving device; the mechanical arm driving device and the walking drive device are electrically connected to the monitoring device; the picking mechanical arm comprises: an arm shell, a picking wheel, a gripper and a mounting mechanism, the arm shell is installed on the separation end shell is equipped with a rotatable picking wheel, the picking wheel is connected to the mechanical arm driving device, a gripper is extended around the picking wheel, the gripper is installed on the picking wheel through the mounting mechanism, and the mechanical arm driving device is used to drive the picking wheel to rotate.

[0007] Preferably, the mounting mechanism comprises: an annular chain and a mounting block, the picking wheel is a sprocket structure, an annular chain surrounds the picking wheel, a mounting block is mounted on each link of the annular chain, and a gripper is mounted on the mounting block.

[0008] Preferably, the mounting end of the gripper is a T-shaped structure, the mounting block is provided with a slot, the mounting end of the gripper is inserted into the slot from the vertical direction, a through hole is provided in the middle of the mounting block, the mounting end of the gripper is threadedly connected with a screw, the screw is located in the through hole, and the inner wall of the through hole limits the movement of the screw and the gripper relative to the mounting block in the vertical direction.

[0009] Preferably, each picking robot arm has at least two picking wheels, each picking wheel is fixed to an axle, a first sprocket is mounted on the axle, the first sprockets on two adjacent picking wheels are surrounded by a first chain, a second sprocket is fixed on the axle of the picking wheel at the end, and the second sprocket is used to be driven by the robot arm driving device.

[0010] Preferably, the mechanical arm driving device is located on the traveling frame close to the arm housing.

[0011] Preferably, the robot arm driving device includes: a third sprocket, a second chain, a transmission shaft and a driving motor. The transmission shaft is rotatably installed next to the second sprocket, and the third sprocket is fixed on the transmission shaft. The third sprocket and the second sprocket are surrounded by the second chain, and the transmission shaft is fixed to the output shaft of the driving motor.

[0012] Preferably, all the picking wheels in each picking robot arm are arranged in the X direction, and the line between the center of the second sprocket and the center of the third sprocket is located in the Z direction.

[0013] Preferably, a rotatable universal wheel is installed at the middle position of the closed end of the traveling frame.

[0014] Compared with the prior art, the utility model has the following beneficial effects:

[0015] In this application, first, a walking frame, walking wheels and a walking drive device are designed. The walking wheels and the walking drive device have the same structural principle as the real car wheels, so they can move and turn, and move to a designated position under the control of the monitoring device. Then, a monitoring device is designed, which includes a camera, an image recognition controller and a main controller. The camera captures the picture that the current intelligent omnidirectional mobile picking robot is facing, and the image recognition controller identifies whether there is a target object in the picture. The image recognition controller is connected to the main controller in communication, and the main controller is electrically connected to the mechanical arm drive device and the walking drive device to control the operation of the mechanical arm drive device and the walking drive device. Then, a picking robot arm including an arm shell, a picking wheel, a gripper and a mounting mechanism was designed, so that when the entire traveling frame is close to the target object, the robot arm driving device drives the picking wheel and the gripper to rotate, and the gripper scrapes the target object into the traveling frame. The design of the gripper avoids the problem in the prior art that the relatively smooth target object may slip out at will due to the smooth picking pulley, and can fully scrape the target object into the traveling frame without slipping out. When the target object needs to be pushed out, the robot arm driving device drives the picking wheel to flip and pushes the target object out of the traveling frame, thereby ensuring smooth grabbing of the object and smooth pushing out of the target object.

[0016] Other advantages, objectives and features of the present invention will be embodied in part through the following description, and in part will be understood by those skilled in the art through research and practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 This is a structural diagram of an intelligent omnidirectional mobile picking robot.

[0018] Figure 2 for Figure 1 Schematic diagram of the structure of the picking robot arm.

[0019] Figure 3 It is a schematic diagram of the structure of the picking wheel, gripper and the third sprocket.

[0020] Figure 4 It is a schematic diagram of the structure of the picking wheel.

[0021] Figure 5 This is a cross-sectional view of the pick-up wheel.

[0022] Figure numerals: walking frame 1, walking wheel 2, walking drive device 3, picking robot arm 4, arm housing 40, picking wheel 41, gripper 42, mounting mechanism 43, ring chain 431, mounting block 432, slot 433, robot arm drive device 5, third sprocket 51, second chain 52, transmission shaft 53, drive motor 54, first chain 55, second sprocket 56, monitoring device 6. DETAILED DESCRIPTION

[0023] In order to make the technical means, creative features, objectives and functions of the present invention clearer and easier to understand, the present invention is further described below in conjunction with the accompanying drawings and specific implementation methods:

[0024] like Figures 1 to 5 As shown, the utility model discloses an intelligent omnidirectional mobile picking robot, comprising: a walking frame 1, walking wheels 2, a walking drive device 3, a picking mechanical arm 4, a mechanical arm drive device 5 and a monitoring device 6; the walking frame 1 is a U-shaped structure, and a rotatable walking wheel 2 is installed on the walking frame 1, and the walking wheel 2 is connected to the walking drive device 3, and the walking drive device 3 is used to drive the walking wheel 2 to rotate and to make the walking frame 1 turn by driving the walking wheel 2; one end of the walking frame 1 is a closed end, and the other end of the walking frame 1 is two separated ends, and each separated end is equipped with A picking robot arm 4, both picking robot arms 4 are connected to a robot arm driving device 5; the robot arm driving device 5 and the walking driving device 3 are electrically connected to the monitoring device 6; the picking robot arm 4 comprises: an arm housing 40, a picking wheel 41, a gripper 42 and a mounting mechanism 43, the arm housing 40 is mounted on the separation end housing and a rotatable picking wheel 41 is mounted, the picking wheel 41 is connected to the robot arm driving device 5, a gripper 42 extends around the picking wheel 41, the gripper 42 is mounted on the picking wheel 41 through the mounting mechanism 43, and the robot arm driving device 5 is used to drive the picking wheel 41 to rotate.

[0025] The mounting mechanism 43 includes: an annular chain 431 and a mounting block 432. The pickup wheel 41 is a sprocket structure. The pickup wheel 41 is surrounded by an annular chain 431. Each link of the annular chain 431 is mounted with a mounting block 432. The mounting block 432 is mounted with a gripper 42. The annular chain 431 is surrounded by the pickup wheel 41 of the sprocket structure. The mounting block 432 on the annular chain 431 is mounted with the gripper 42, thereby achieving the installation. Due to the multiple mounting blocks 432, the gap between adjacent grippers 42 can be adjusted, and the relative positions of the grippers 42 on different pickup wheels 41 can be adjusted conveniently, so that all grippers 42 can cooperate with each other to grab the object into the traveling frame 1 (to achieve the purpose of the traveling frame 1 and the gripper 42 cooperating to surround the target object).

[0026] The mounting end of the claw 42 is a T-shaped structure, and the mounting block 432 is provided with a slot 433, and the mounting end of the claw 42 is inserted into the slot 433 from the vertical direction. A through hole is provided in the middle of the mounting block 432, and a screw (not shown) is threadedly connected to the mounting end of the claw 42, and the screw is located in the through hole. The inner wall of the through hole limits the screw and the claw 42 from moving relative to the mounting block 432 in the vertical direction. It is convenient to install the claw 42 on the mounting block 432, and the use of screws also limits the claw 42 from being separated from the mounting block 432.

[0027] Each picking robot 4 has at least two picking wheels 41, each of which is fixed to a wheel shaft, on which a first sprocket is mounted, and the first sprockets on two adjacent picking wheels 41 are surrounded by a first chain 55, and a second sprocket 56 is fixed on the wheel shaft of the picking wheel 41 at the end, and the second sprocket 56 is used to be driven by the robot driving device 5. The arrangement of multiple picking wheels 41 enables the operation of fully grasping the target object to be realized.

[0028] The mechanical arm driving device 5 is located on the traveling frame 1 near the arm housing 40 .

[0029] The robot arm driving device 5 includes: a third sprocket 51, a second chain 52, a transmission shaft 53 and a driving motor 54. The transmission shaft 53 is rotatably installed next to the second sprocket 56. The third sprocket 51 is fixed on the transmission shaft 53. The third sprocket 51 and the second sprocket 56 are surrounded by the second chain 52. The transmission shaft 53 is fixed to the output shaft of the driving motor 54.

[0030] All the picking wheels 41 in each picking robot arm 4 are arranged in the X direction, and the line between the center of the second sprocket 56 and the center of the third sprocket 51 is located in the Z direction. This layout can reduce the length in the X direction, and also locate the position of the second sprocket 56 and the drive motor 54, so that the second sprocket 56 and the drive motor 54 can be in a relatively central position in the X direction, ensuring that the center of gravity of the entire robot is distributed in a relatively central position of the traveling frame 1, avoiding the possibility of the traveling frame 1 tipping over.

[0031] A rotatable universal wheel (not shown) is installed in the middle of the closed end of the traveling frame 1, so that the middle of the closed end of the traveling frame 1 is supported, ensuring that the entire traveling frame 1 can be formed stably.

[0032] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the utility model rather than to limit it. Although the utility model has been described in detail with reference to the preferred embodiments, ordinary technicians in the field should understand that the technical solution of the utility model can be modified or replaced by equivalents without departing from the purpose and scope of the technical solution of the utility model, which should be included in the scope of the claims of the utility model.

Claims

1. Intelligent omnidirectional mobile picking robot, characterized by: include: A traveling frame (1), traveling wheels (2), a traveling driving device (3), a picking mechanical arm (4), a mechanical arm driving device (5) and a monitoring device (6); The traveling frame (1) is a U-shaped structure, and a rotatable traveling wheel (2) is mounted on the traveling frame (1), and the traveling wheel (2) is connected to a traveling driving device (3), and the traveling driving device (3) is used to drive the traveling wheel (2) to rotate and to cause the traveling frame (1) to turn by driving the traveling wheel (2); One end of the traveling frame (1) is a closed end, and the other end of the traveling frame (1) is two separated ends, each separated end is equipped with a picking-up mechanical arm (4), and the two picking-up mechanical arms (4) are connected to a mechanical arm driving device (5); The mechanical arm driving device (5) and the walking driving device (3) are both electrically connected to the monitoring device (6); The picking mechanical arm (4) comprises: an arm housing (40), a picking wheel (41), a gripper (42) and a mounting mechanism (43); the arm housing (40) is mounted on a separation end housing and a rotatable picking wheel (41) is mounted thereon; the picking wheel (41) is connected to a mechanical arm driving device (5); a gripper (42) extends around the picking wheel (41); the gripper (42) is mounted on the picking wheel (41) via a mounting mechanism (43); and the mechanical arm driving device (5) is used to drive the picking wheel (41) to rotate.

2. The intelligent omnidirectional mobile picking robot according to claim 1, characterized in that: The mounting mechanism (43) comprises: an annular chain (431) and a mounting block (432); the picking wheel (41) is a sprocket structure; the picking wheel (41) is surrounded by an annular chain (431); each link of the annular chain (431) is mounted with a mounting block (432); and a gripper (42) is mounted on the mounting block (432).

3. The intelligent omnidirectional mobile picking robot according to claim 2, characterized in that: The mounting end of the claw (42) is a T-shaped structure, the mounting block (432) is provided with a slot (433), the slot (433) is for the mounting end of the claw (42) to be inserted in the vertical direction, a through hole is provided in the middle of the mounting block (432), the mounting end of the claw (42) is threadedly connected with a screw, the screw is located in the through hole, and the inner wall of the through hole limits the screw and the claw (42) from moving relative to the mounting block (432) in the vertical direction.

4. The intelligent omnidirectional mobile picking robot according to claim 1, characterized in that: Each picking robot arm (4) has at least two picking wheels (41), each picking wheel (41) is fixed to a wheel axle, a first sprocket is mounted on the wheel axle, the first sprockets on two adjacent picking wheels (41) are surrounded by a first chain (55), a second sprocket (56) is fixed on the wheel axle of the picking wheel (41) at the end, and the second sprocket (56) is used to be driven by the robot arm driving device (5).

5. The intelligent omnidirectional mobile picking robot according to claim 4, characterized in that: The mechanical arm driving device (5) is located on the traveling frame (1) near the arm housing (40).

6. The intelligent omnidirectional mobile picking robot according to claim 5, characterized in that: The mechanical arm driving device (5) comprises: a third sprocket (51), a second chain (52), a transmission shaft (53) and a driving motor (54); the transmission shaft (53) is rotatably mounted beside the second sprocket (56); the third sprocket (51) is fixed on the transmission shaft (53); the third sprocket (51) and the second sprocket (56) are surrounded by the second chain (52); and the transmission shaft (53) is fixed to the output shaft of the driving motor (54).

7. The intelligent omnidirectional mobile picking robot according to claim 6, characterized in that: All the picking wheels (41) in each picking mechanical arm (4) are arranged in the X direction, and the line between the center of the second sprocket (56) and the center of the third sprocket (51) is located in the Z direction.

8. The intelligent omnidirectional mobile picking robot according to claim 1, characterized in that: A rotatable universal wheel is installed at the middle position of the closed end of the traveling frame (1).

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