Autonomous mobile robot capable of entering cluster automatically

Abstract

The utility model discloses an automatic cluster entering autonomous mobile robot which comprises a vehicle body and a cluster entering assembly, the vehicle body is of a hollow structure with one side open, and the cluster entering assembly is installed in the vehicle body; the cluster entering assembly comprises a first driving set and a second driving set, wherein the first driving set is arranged in the vehicle body; the first driving set is in transmission connection with the supporting plate, and the first driving set drives the supporting plate to longitudinally move in the vehicle body; the second driving group is mounted on the supporting plate; the second driving set is in transmission connection with the cluster entering plate, and the second driving set drives the cluster entering plate to move in the opening direction of the vehicle body. The automatic cluster entering device can automatically enter clusters, improves efficiency, reduces labor cost, and is high in safety.

Description

Technical Field

[0001] The utility model relates to the technical field of battery compartment assembly, and particularly relates to an autonomous mobile robot for automatic clustering. Background Art

[0002] In the current battery compartment assembly, the clustering of PACK packages generally adopts a clustering scheme that combines forklifts and manual labor. This scheme has a low degree of automation, resulting in low efficiency, high labor costs, and potential safety hazards. Especially in areas with high labor costs, an automatic clustering scheme is needed. Summary of the Utility Model

[0003] Aiming at the above problems existing in the existing clustering methods, the present invention aims to provide an autonomous mobile robot for automatic clustering, which can achieve automatic clustering, improve efficiency, reduce labor costs, and has high safety.

[0004] The specific technical solutions are as follows:

[0005] An autonomous mobile robot for automatic clustering, comprising: a vehicle body and a clustering component. The vehicle body is a hollow structure with one side open, and the clustering component is installed inside the vehicle body;

[0006] The clustering component includes:

[0007] A first driving group, which is arranged inside the vehicle body;

[0008] A support plate, the first driving group is in transmission connection with the support plate, and the first driving group drives the support plate to move longitudinally inside the vehicle body;

[0009] A second driving group, which is installed on the support plate;

[0010] A clustering plate, the second driving group is in transmission connection with the clustering plate, and the second driving group drives the clustering plate to move along the opening direction of the vehicle body.

[0011] For the above-mentioned autonomous mobile robot for automatic clustering, wherein, the clustering component further includes:

[0012] A third driving group, which is installed on the clustering plate;

[0013] A pushing plate, the third driving group is in transmission connection with the pushing plate, and the third driving group drives the pushing plate to move along the opening direction of the vehicle body.

[0014] For the above-mentioned autonomous mobile robot for automatic clustering, wherein, a vision system is provided on one side of the support plate close to the opening of the vehicle body and on one side of the pushing plate close to the opening of the vehicle body.

[0015] The above-mentioned autonomous mobile robot with automatic clustering, wherein at least two rangefinders are provided on one side of the support plate close to the opening of the vehicle body, and the two rangefinders are symmetrically located on both sides of the opening of the vehicle body.

[0016] The above-mentioned autonomous mobile robot with automatic clustering, wherein drum line assemblies are provided on both sides of the opening of the vehicle body on the clustering plate, and each drum line assembly is arranged along the direction of the opening of the vehicle body;

[0017] Each drum line assembly includes a plurality of drums, and the plurality of drums are respectively rotatably arranged on the clustering plate, and the plurality of drums are equidistantly distributed along the direction of the opening of the vehicle body.

[0018] The above-mentioned autonomous mobile robot with automatic clustering, wherein fixing plate assemblies are provided on both sides of the opening of the vehicle body on the clustering plate, and each fixing plate assembly is arranged along the direction of the opening of the vehicle body;

[0019] Each fixing plate assembly includes a plurality of fixing plates, and the plurality of fixing plates are installed on the side edges of the clustering plate, and the plurality of fixing plates are equidistantly arranged along the direction of the opening of the vehicle body.

[0020] The above-mentioned autonomous mobile robot with automatic clustering, wherein the third drive group is installed in the middle of the clustering plate, the two drum line assemblies are symmetrically arranged on both sides of the third drive group respectively, the two fixing plate assemblies are symmetrically arranged on both sides of the third drive group respectively, and the drum line assembly is arranged between the third drive group and the fixing plate assembly.

[0021] The above-mentioned autonomous mobile robot with automatic clustering, wherein a baffle is provided on the side of the push plate away from the opening of the vehicle body.

[0022] The above-mentioned autonomous mobile robot with automatic clustering, wherein laser navigators are installed on both sides outside the vehicle body for the navigation of the vehicle body;

[0023] Both sides of the vehicle body have grooves, and the laser navigators are installed in the grooves, and the grooves extend along the opening direction of the vehicle body to the side wall of the vehicle body.

[0024] The above-mentioned autonomous mobile robot with automatic clustering, wherein idler wheels are installed below the vehicle body for the movement of the vehicle body.

[0025] The positive effects of the above technical solutions compared with the prior art are:

[0026] The utility model realizes automatic clustering, improves efficiency, reduces labor costs, and has high safety. Description of the Drawings

[0027] Figure 1 Schematic diagram of the overall structure of an automatic clustering autonomous mobile robot of the present utility model;

[0028] Figure 2 Schematic diagram of the structure of the support plate of an automatic clustering autonomous mobile robot of the present utility model;

[0029] Figure 3 Schematic diagram of the structure of the clustering plate of an automatic clustering autonomous mobile robot of the present utility model;

[0030] Figure 4 Schematic diagram of the structure of the pushing plate of an automatic clustering autonomous mobile robot of the present utility model;

[0031] Figure 5 Schematic diagram of the structure of the clustering process of an automatic clustering autonomous mobile robot of the present utility model;

[0032] In the drawings: 1, vehicle body; 2, clustering assembly; 3, opening; 4, vision system; 5, rangefinder; 6, roller line assembly; 7, fixing plate assembly; 8, laser navigator; 9, groove; 21, first drive group; 22, second drive group; 23, third drive group; 24, support plate; 25, clustering plate; 26, pushing plate; 27, baffle; 61, roller; 71, fixing plate. Detailed implementation manners

[0033] The present utility model will be further described below in conjunction with the drawings and specific embodiments, but it is not limited to the present utility model.

[0034] As Figures 1 to 5 shown, an automatic clustering autonomous mobile robot of a preferred embodiment is shown, including: a vehicle body 1 and a clustering assembly 2. The vehicle body 1 is a hollow structure open on one side, and the clustering assembly 2 is installed inside the vehicle body 1.

[0035] Preferably, the open part of the vehicle body 1 is an opening 3.

[0036] Furthermore, as a preferred embodiment, the clustering assembly 2 includes: a first drive group 21, a support plate 24, a second drive group 22 and a clustering plate 25. The first drive group 21 is arranged inside the vehicle body 1. The first drive group 21 is in transmission connection with the support plate 24. The first drive group 21 drives the support plate 24 to move longitudinally inside the vehicle body 1. The second drive group 22 is installed on the support plate 24. The second drive group 22 is in transmission connection with the clustering plate 25. The second drive group 22 drives the clustering plate 25 to move along the opening direction of the vehicle body 1.

[0037] Further, as a preferred embodiment, the clustering component 2 further includes: a third driving group 23 and a pushing plate 26. The third driving group 23 is installed on the clustering plate 25. The third driving group 23 is in transmission connection with the pushing plate 26, and the third driving group 23 drives the pushing plate 26 to move along the opening direction of the vehicle body 1.

[0038] The above are only preferred embodiments of the present invention, and do not limit the implementation manners and protection scope of the present invention accordingly.

[0039] The present invention further has the following implementation manners on the above basis:

[0040] In a further embodiment of the present invention, please continue to refer to Figures 1 to 5 As shown, vision systems 4 are provided on both the side of the support plate 24 close to the opening of the vehicle body 1 and the side of the pushing plate 26 close to the opening of the vehicle body 1.

[0041] Preferably, the vision system 4 is a camera, and recognition is performed by taking pictures with the camera.

[0042] In a further embodiment of the present invention, at least two distance measuring instruments 5 are provided on the side of the support plate 24 close to the opening of the vehicle body 1, and the two distance measuring instruments 5 are symmetrically located on both sides of the opening of the vehicle body 1.

[0043] Preferably, the distance measuring instrument 5 is a laser distance measuring instrument.

[0044] In a further embodiment of the present invention, drum line assemblies 6 are provided on both sides of the opening of the vehicle body 1 on the clustering plate 25, and each drum line assembly 6 is arranged along the opening direction of the vehicle body 1.

[0045] In a further embodiment of the present invention, each drum line assembly 6 includes a plurality of drums 61. The plurality of drums 61 are respectively rotatably arranged on the clustering plate 25, and the plurality of drums 61 are equally spaced along the opening direction of the vehicle body 1.

[0046] Preferably, each drum line assembly 6 further includes a fourth driving group (not shown in the figure), and the fourth driving group drives the plurality of drums 61 to move longitudinally.

[0047] Preferably, the fourth driving group is installed on the clustering plate 25.

[0048] In a further embodiment of the present invention, fixing plate assemblies 7 are provided on both sides of the opening of the vehicle body 1 on the clustering plate 25, and each fixing plate assembly 7 is arranged along the opening direction of the vehicle body 1.

[0049] In a further embodiment of the present invention, each fixing plate assembly 7 includes a plurality of fixing plates 71. The plurality of fixing plates 71 are installed on the side edges of the clustering plate 25, and the plurality of fixing plates 71 are equally spaced along the opening direction of the vehicle body 1.

[0050] In a further embodiment of the present utility model, the third drive group 23 is installed in the middle of the cluster-in plate 25. Two drum line assemblies 6 are symmetrically arranged on both sides of the third drive group 23 respectively. Two fixed plate assemblies 7 are symmetrically arranged on both sides of the third drive group 23 respectively. The drum line assembly 6 is arranged between the third drive group 23 and the fixed plate assembly 7.

[0051] In a further embodiment of the present utility model, a baffle 27 is provided on the side of the push plate 26 away from the opening of the vehicle body 1.

[0052] In a further embodiment of the present utility model, laser navigators 8 are installed on both sides outside the vehicle body 1 for the navigation of the vehicle body 1.

[0053] In a further embodiment of the present utility model, both sides of the vehicle body 1 have grooves 9. The laser navigators 8 are installed in the grooves 9. The grooves 9 extend along the opening direction of the vehicle body 1 to the side wall of the vehicle body 1.

[0054] In a further embodiment of the present utility model, idler wheels (not shown in the figure) are installed below the vehicle body 1 for the movement of the vehicle body 1.

[0055] The implementation principle of the automatic cluster-in and autonomous mobile robot is as follows: First, the autonomous mobile robot is navigated to the drum line at the PACK offline position or PACK buffer position through the laser navigator 8. The autonomous mobile robot takes pictures and identifies the two-dimensional code or MARK point at the PACK offline position through the camera on the support plate 24, and then adjusts the height position of the support plate 24. At the same time, the fourth drive group drives the drum line assembly 6 to rise. Then, the PACK is conveyed from the drum line at the PACK offline position or PACK buffer position to the drum line assembly 6 on the cluster-in plate 25, and then conveyed by the drum line assembly 6 until the PACK completely enters above the push plate 26. Then, the fourth drive group drives the drum line assembly 6 to descend, and the PACK is placed on the push plate 26. The autonomous mobile robot moves the PACK to the cabin through the laser navigator 8. Then, the second drive group 22 on the support plate 24 works, so that the cluster-in plate 25, the push plate 26 and the PACK package on the push plate 26 move forward a certain distance as a whole. Then, the camera on the support plate 24 takes pictures of the two-dimensional code or MARK point on the battery rack in the cabin to locate the position of the battery rack. Then, the distances to the opposite battery racks are measured by two laser rangefinders 5, and the autonomous mobile robot adjusts its own position to make the distances on both sides equal, completing the angle correction. After the corrected PACK is aligned with the battery rack, the drum line assembly 6 rises, so that the PACK is separated from the push plate 26. Then, the drum line assembly 6 and the third drive group 23 work synchronously. The PACK is pushed by the drum line assembly 6 and the push plate 26 until the PACK completely enters the battery rack. Then, the third drive group 23 drives the push plate 26 back to the original position, and the drum line assembly 6 simultaneously descends to the original position, that is, the whole process of one PACK cluster-in is completed.

[0056] After that, the autonomous mobile robot automatically records the information of this clustering, and then repeats the above process to complete the clustering work of the PACK on the next battery rack.

[0057] The automatic clustering of the utility model improves efficiency, reduces labor costs and has high safety.

[0058] The above are only the preferred embodiments of the utility model, and do not limit the implementation modes and protection scope of the utility model. For those skilled in the art, it should be realized that all the equivalent replacements and obvious changes made by using the description and illustration content of the utility model should be included in the protection scope of the utility model.

Claims

1. An autonomous mobile robot with automatic clustering, characterized in that Comprising: A vehicle body and a clustering component. The vehicle body is a hollow structure open on one side, and the clustering component is installed inside the vehicle body; The clustering component includes: A first driving group, which is arranged inside the vehicle body; A support plate. The first driving group is in transmission connection with the support plate, and the first driving group drives the support plate to move longitudinally inside the vehicle body; A second driving group, which is installed on the support plate; A clustering plate. The second driving group is in transmission connection with the clustering plate, and the second driving group drives the clustering plate to move along the opening direction of the vehicle body.

2. The automatically clustering autonomous mobile robot according to claim 1, wherein, The clustering component further includes: A third driving group, which is installed on the clustering plate; A pushing plate. The third driving group is in transmission connection with the pushing plate, and the third driving group drives the pushing plate to move along the opening direction of the vehicle body.

3. The autonomous mobile robot that automatically clusters according to claim 2, wherein, Visual systems are provided on one side of the support plate close to the opening of the vehicle body and on one side of the pushing plate close to the opening of the vehicle body.

4. The autonomous mobile robot that automatically clusters according to claim 2, wherein At least two distance measuring instruments are provided on one side of the support plate close to the opening of the vehicle body, and the two distance measuring instruments are symmetrically located on both sides of the opening of the vehicle body.

5. The autonomous mobile robot that automatically clusters according to claim 2, wherein Roller line components are provided on both sides of the vehicle body opening on the clustering plate, and each roller line component is arranged along the opening direction of the vehicle body; Each roller line component includes a number of rollers, and the number of rollers are respectively rotatably arranged on the clustering plate, and the number of rollers are equally spaced along the opening direction of the vehicle body.

6. The autonomous mobile robot that automatically clusters according to claim 4, wherein Fixed plate components are provided on both sides of the vehicle body opening on the clustering plate, and each fixed plate component is arranged along the opening direction of the vehicle body; Each fixed plate component includes a number of fixed plates, and the number of fixed plates are installed on the side of the clustering plate, and the number of fixed plates are equally spaced along the opening direction of the vehicle body.

7. The autonomous mobile robot that automatically clusters according to claim 5, wherein The third driving group is installed in the middle of the clustering plate, the two roller line components are symmetrically arranged on both sides of the third driving group respectively, the two fixed plate components are symmetrically arranged on both sides of the third driving group respectively, and the roller line component is arranged between the third driving group and the fixed plate component.

8. The autonomous mobile robot capable of automatically clustering according to claim 2, wherein, A baffle is provided on the side of the pushing plate away from the opening of the vehicle body.

9. The automatically clustering autonomous mobile robot according to claim 2, wherein Laser navigators are installed on both sides outside the vehicle body for the navigation of the vehicle body; Both sides of the vehicle body have grooves, and the laser navigators are installed in the grooves, and the grooves extend along the opening direction of the vehicle body to the side wall of the vehicle body.

10. The autonomous mobile robot capable of automatically clustering according to claim 1, characterized in that, Idler wheels are installed below the vehicle body for the movement of the vehicle body.

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