AMR steering wheel walking trolley

Abstract

The utility model discloses an AMR steering wheel walking trolley which comprises a walking mechanism, and a loading mechanism is installed on one side of the top end of the walking mechanism. One side of the loading mechanism is connected with an installation mechanism, the installation mechanism is installed on the walking mechanism, the other side of the top end of the walking mechanism is provided with an operation mechanism, the installation mechanism is installed between the loading mechanism and the operation mechanism, and the top of the installation mechanism is provided with a mechanical arm used for clamping materials. According to the utility model, the loading mechanism and the operating mechanism are matched with each other, and the second horizontal radar, the third horizontal radar and the side vertical radar are matched with each other, so that obstacles can be conveniently detected and avoided, the risks of collision and accidents are reduced, the walking trolley is helped to navigate more accurately, and the working efficiency is improved under changeable and complicated environmental conditions. The sensor provides information, so that the walking trolley can operate safely, and the walking trolley can complete tasks more quickly and efficiently through effective path planning and obstacle avoidance.

Description

Technical Field

[0001] The utility model relates to the field of walking trolleys, and particularly to an AMR omnidirectional wheel walking trolley. Background Technique

[0002] A walking trolley, also known as a mobile robot or an AGV (Automated Guided Vehicle), is an automated transportation device used to move goods or other items in environments such as factories, warehouses, and logistics centers. They can improve efficiency, reduce manual labor, and in some cases enhance safety.

[0003] In the existing walking trolleys, generally only cameras are installed, and route navigation is carried out through the shooting of the cameras. Lacking sensors only through the cameras, the walking trolleys cannot clearly understand their positions and the surrounding environment, and thus cannot perform effective path planning. The lack of sensors may cause difficulties for the walking trolleys to navigate in complex or dynamically changing environments. Without sufficient sensors, the walking trolleys may not be able to detect obstacles in time, thereby increasing the risk of collisions. Content of the Utility Model

[0004] The purpose of the utility model is to provide an AMR omnidirectional wheel walking trolley to solve the problems put forward in the above background technique.

[0005] To achieve the above purpose, the utility model provides the following technical solution: An AMR omnidirectional wheel walking trolley, comprising:

[0006] A walking mechanism, on one side of the top of the walking mechanism, a loading mechanism is installed;

[0007] On one side of the loading mechanism, an installation mechanism is connected. The installation mechanism is installed on the walking mechanism. On the other side of the top of the walking mechanism, an operating mechanism is installed. The installation mechanism is installed between the loading mechanism and the operating mechanism. On the top of the installation mechanism, a manipulator is installed, and the manipulator is used for clamping materials.

[0008] Preferably, the walking mechanism includes:

[0009] A base, the base has a box-shaped structure;

[0010] An installation frame, the installation frame is connected to the top of the base, and the installation frame is used for installing and bearing the loading mechanism, the installation mechanism, and the operating mechanism;

[0011] First direction lights, a plurality of the first direction lights are respectively installed on both sides of the base;

[0012] The first proximity sensor and the anti-falling detector, and a plurality of the first proximity sensors and the anti-falling detectors are fixedly installed on the outer peripheral wall of the base, and the first proximity sensors and the anti-falling detectors are symmetrically arranged along the midline of the outer peripheral wall of the base.

[0013] Preferably, the traveling mechanism further includes:

[0014] A front charging port, and the front charging port is installed on one side of the base;

[0015] A side charging port, and the side charging port is installed on the side of the base;

[0016] A battery box, and the battery box is installed inside the base;

[0017] Anti-collision strips, and the anti-collision strips are respectively installed at the bottoms of both sides of the base;

[0018] A main power switch, and the main power switch is installed on the other side of the base;

[0019] The first horizontal radar, and a plurality of the first horizontal radars are respectively installed at the corners of the top of the base.

[0020] Preferably, the base further includes:

[0021] Universal wheels, and the universal wheels are installed at the bottom of the base, and the universal wheels are diagonally arranged relative to the base;

[0022] Steering wheels, and the steering wheels are installed at the bottom of the base, and the universal wheels are diagonally arranged relative to the base;

[0023] Anti-static grounding wheels, and the anti-static grounding wheels are installed at the bottom of the base.

[0024] Preferably, supplementary lights and positioning cameras are installed on one side and both sides of the mounting frame, and the supplementary lights and the positioning cameras are arranged on the same horizontal plane.

[0025] Preferably, the loading mechanism includes:

[0026] A first mounting box, and the first mounting box is fixedly installed at the top end of the mounting frame;

[0027] A second horizontal radar, and the second horizontal radar is installed at the bottom of one side of the first mounting box;

[0028] A first emergency stop switch, and the first emergency stop switch is installed at the top of one side of the first mounting box;

[0029] A loading tray, and the loading tray is installed at the top of the first mounting box and is used for loading items.

[0030] Preferably, the installation mechanism includes:

[0031] A second mounting box, which is fixedly mounted on the top of the mounting frame;

[0032] Side vertical radars, which are respectively connected to both sides of the second mounting box;

[0033] A first driving recorder, a second direction light and a second proximity sensor, which are respectively mounted on both sides of the second mounting box, the first driving recorder is arranged above the side vertical radar, the second direction light is arranged above the first driving recorder, and the second proximity sensor is arranged above the first driving recorder;

[0034] A wireless transmission antenna, which is fixedly mounted above the second mounting box.

[0035] Preferably, the operating mechanism includes:

[0036] A third mounting box, which is fixedly mounted on the top of the mounting frame;

[0037] A second driving recorder, which is mounted on the top of the third mounting box;

[0038] A first operation panel, which is arranged below the second driving recorder;

[0039] An equipment nameplate, which is arranged below the first operation panel, and both the equipment nameplate and the first operation panel are mounted on the third mounting box;

[0040] A third horizontal radar, which is mounted on the bottom of the third mounting box;

[0041] A second emergency stop switch and a second operation panel, which are both mounted on the top of the third mounting box.

[0042] Preferably, the manipulator includes:

[0043] A six-axis robotic arm, which is mounted on the top of the second mounting box;

[0044] A gripper, which is mounted at the end of the six-axis robotic arm.

[0045] The technical effects and advantages of the present utility model:

[0046] The utility model uses a setting method in which a loading mechanism and an operating mechanism cooperate with each other. Through the coordinated use of a second horizontal radar, a third horizontal radar, and a side vertical radar, it is convenient to detect and avoid obstacles, reduce the risk of collisions and accidents, provide more comprehensive environmental information, help the walking trolley navigate more accurately. Under variable and complex environmental conditions, the sensors provide the necessary information to enable the walking trolley to operate safely. Through effective path planning and obstacle avoidance, the walking trolley can complete tasks more quickly and efficiently. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] Figure 1 It is a schematic diagram of the overall structure of the utility model.

[0048] Figure 2 It is one of the schematic diagrams of the side structure of the utility model.

[0049] Figure 3 It is a schematic diagram of the front structure of the utility model.

[0050] Figure 4 It is the second schematic diagram of the side structure of the utility model.

[0051] Figure 5 It is a schematic diagram of the top view structure of the utility model.

[0052] Figure 6 It is a schematic diagram of the bottom view structure of the utility model.

[0053] In the figure: 1. Traveling mechanism; 11. Base; 12. Mounting frame; 121. Fill light; 122. Positioning camera; 13. First direction light; 14. First proximity sensor; 15. Anti-falling detector; 16. Front charging port; 17. Side charging port; 18. Battery box; 19. Anti-collision strip; 110. Main power switch; 111. First horizontal radar; 112. Universal wheel; 113. Steering wheel; 114. Anti-static grounding wheel; 2. Loading mechanism; 21. First mounting box; 22. Second horizontal radar; 23. First emergency stop switch; 24. Loading plate; 3. Mounting mechanism; 31. Second mounting box; 32. Side vertical radar; 33. First driving recorder; 34. Second direction light; 35. Second proximity sensor; 36. Wireless transmission antenna; 4. Operating mechanism; 41. Third mounting box; 42. Second driving recorder; 43. First operation panel; 44. Equipment nameplate; 45. Third horizontal radar; 46. Second emergency stop switch; 47. Second operation panel; 5. Manipulator; 51. Six-axis robotic arm; 52. Claw. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0054] The following will clearly and completely describe the technical solutions in the embodiments of the present utility model with reference to the accompanying drawings in the embodiments of the present utility model. Obviously, the described embodiments are only a part of the embodiments of the present utility model, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present utility model without making creative efforts belong to the protection scope of the present utility model.

[0055] The present utility model provides an AMR omnidirectional wheel mobile robot as shown in Figure 1-6 Figure 1, which includes: a traveling mechanism 1, on one side of the top of the traveling mechanism 1, a loading mechanism 2 is installed; on one side of the loading mechanism 2, an installation mechanism 3 is connected, the installation mechanism 3 is installed on the traveling mechanism 1, on the other side of the top of the traveling mechanism 1, an operating mechanism 4 is installed, the installation mechanism 3 is installed between the loading mechanism 2 and the operating mechanism 4, and a manipulator 5 is installed on the top of the installation mechanism 3, and the manipulator 5 is used for clamping materials.

[0056] It should be noted that the reference to "Figure 1" in the translation of item [5] is based on the assumption that there is a corresponding Figure 1 in the original text which is not shown here. If there is an actual specific figure number, it should be adjusted accordingly.Specifically, the traveling mechanism 1 includes: a base 11, the base 11 having a box-shaped structure; a mounting frame 12, the mounting frame 12 being connected to the top of the base 11 and being used for mounting and bearing the loading mechanism 2, the mounting mechanism 3, and the operating mechanism 4; first direction lights 13, a plurality of first direction lights 13 being respectively mounted on both sides of the base 11; first proximity sensors 14 and a fall prevention detector 15, a plurality of first proximity sensors 14 and the fall prevention detector 15 being fixedly mounted on the outer peripheral wall of the base 11, and the first proximity sensors 14 and the fall prevention detector 15 being symmetrically arranged along the midline of the outer peripheral wall of the base 11. The traveling mechanism 1 further includes: a front charging port 16, the front charging port 16 being mounted on one side of the base 11; a side charging port 17, the side charging port 17 being mounted on the side of the base 11; a battery box 18, the battery box 18 being mounted inside the base 11; anti-collision strips 19, the anti-collision strips 19 being respectively mounted on the bottoms of both sides of the base 11; a main power switch 110, the main power switch 110 being mounted on the other side of the base 11; first horizontal radars 111, a plurality of first horizontal radars 111 being respectively mounted at the corners of the top of the base 11. The base 11 further includes: universal wheels 112, the universal wheels 112 being mounted on the bottom of the base 11 and being diagonally arranged relative to the base 11; steering wheels 113, the steering wheels 113 being mounted on the bottom of the base 11 and being diagonally arranged relative to the base 11; anti-static grounding wheels 114, the anti-static grounding wheels 114 being mounted on the bottom of the base 11. By using the fall prevention detector 15, when the trolley is on a slope or an uneven ground, the fall prevention detector 15 can monitor the inclination angle of the trolley and issue an alarm when the preset inclination angle is reached, reminding the driver to take measures in time to avoid the vehicle from falling. The presence of the fall prevention detector 15 can effectively reduce the risk of falling accidents during the operation of the trolley, ensuring the safety of the operators and the surrounding environment. Even in case of an accident, the fall prevention detector 15 can issue an alarm in time, buying time for personnel evacuation and accident handling and minimizing accident losses. By providing the front charging port 16 and the side charging port 17, the battery box 18 can be charged from multiple directions, enabling the battery box 18 to provide power support for the trolley. The main power switch 110 is electrically connected to the battery box 18, facilitating the control of the power supply of the trolley. The universal wheels 112 can rotate freely without direction limitation and are mainly used for the steering and movement of the trolley. They can be easily rotated, facilitating the flexible steering of the trolley in a narrow space and improving the stability of the trolley to prevent the trolley from tipping over during driving. The steering wheels 113 are responsible for controlling the traveling direction of the trolley and can achieve the steering of the trolley through steering operations, being used to realize the steering function of the trolley. The anti-static grounding wheels 114 are used to prevent static electricity accumulation, connecting the trolley to the ground and conducting static electricity into the earth to avoid safety accidents caused by static electricity discharge. They are usually made of conductive rubber or metal and are connected to the metal chassis of the trolley to form a complete grounding circuit.

[0057] Further, supplementary lights 121 and positioning cameras 122 are installed on one side and both side edges of the mounting frame 12, and the supplementary lights 121 and the positioning cameras 122 are arranged on the same horizontal plane. The supplementary lights 121 facilitate lighting for the imaging of the positioning cameras 122.

[0058] Further, the loading mechanism 2 includes: a first mounting box 21 fixedly installed at the top of the mounting frame 12; a second horizontal radar 22 installed at the bottom of one side of the first mounting box 21; a first emergency stop switch 23 installed at the top of one side of the first mounting box 21; and a loading plate surface 24 installed at the top of the first mounting box 21 and used for loading items.

[0059] Further, the installation mechanism 3 includes: a second installation box 31 fixedly installed at the top of the installation frame 12; side vertical radars 32 respectively connected to both sides of the second installation box 31; a first driving recorder 33, a second direction light 34, and a second proximity sensor 35, which are respectively installed on both sides of the second installation box 31. The first driving recorder 33 is arranged above the side vertical radar 32, the second direction light 34 is arranged above the first driving recorder 33, and the second proximity sensor 35 is arranged above the first driving recorder 33; a wireless transmission antenna 36 fixedly installed above the second installation box 31. By using the side vertical radar 32, obstacles above or below can be detected, such as elevated structures, low-hanging obstacles, etc. It provides three-dimensional perception ability of the surrounding environment to help the walking trolley understand its position in the three-dimensional space. In an environment with a multi-layered structure, the vertical radar can help the walking trolley navigate better, such as in a multi-story parking lot or warehouse. By detecting obstacles at different heights, the vertical radar can improve the obstacle avoidance ability of the walking trolley. The side vertical radar 32 can provide more accurate positioning information, especially in an indoor environment with poor GPS signals. The first direction light 13 and the second direction light 34 can prompt pedestrians or other vehicles that a turn is about to be made, reminding them to pay attention and avoid. When driving at high speed, the turn signals can indicate the overtaking and lane-changing directions of the vehicle to ensure driving safety. When the car turn signals flash simultaneously, it indicates that the vehicle is in an emergency state, reminding other vehicles to pay attention and avoid. The coordinated use of the first proximity sensor 14 and the second proximity sensor 35, as part of the walking trolley obstacle avoidance system, the first proximity sensor 14 and the second proximity sensor 35 can be used in conjunction with the second horizontal radar 22, the third horizontal radar 45, and the side vertical radar 32 to provide more comprehensive obstacle detection. The first proximity sensor 14 and the second proximity sensor 35 can detect objects very close to the walking trolley, which is crucial for avoiding collisions and squeezes. They can provide accurate distance readings to help the walking trolley navigate safely in narrow spaces. The first proximity sensor 14 and the second proximity sensor 35 usually have a fast response speed and can detect suddenly emerging obstacles in a timely manner, enabling the walking trolley to react quickly. By detecting obstacles in advance, the first proximity sensor 14 and the second proximity sensor 35 help reduce the damage that the walking trolley may suffer in a collision and work under various environmental conditions, including environments with insufficient light or interference. The first driving recorder 33 and the second driving recorder 42 can record the video images and sounds of the entire process of the trolley's travel, providing evidence for traffic accidents. It can not only record the driving process to help the vehicle owner understand the vehicle's driving situation but also be used as a parking monitoring device. When the vehicle is parked, the safety of the vehicle can be monitored through the images captured by the recorder.In the event of an accident, the images provided by the first driving recorder 33 and the second driving recorder 42 can assist in handling the accident and provide more comprehensive accident evidence for the vehicle owner. Through the setting of the wireless transmission antenna 36, the operator or the central control system is allowed to remotely control the mobile trolley for operations such as starting, stopping, and path planning. Wireless communication reduces the dependence on physical connections, enabling the mobile trolley to freely receive and send data during movement.

[0060] Furthermore, the operating mechanism 4 includes: a third mounting box 41 fixedly mounted on the top of the mounting frame 12; a second driving recorder 42 mounted on the top of the third mounting box 41; a first operation panel 43 disposed below the second driving recorder 42; an equipment nameplate 44 disposed below the first operation panel 43, and both the equipment nameplate 44 and the first operation panel 43 are mounted on the third mounting box 41; a third horizontal radar 45 mounted on the bottom of the third mounting box 41; a second emergency stop switch 46 and a second operation panel 47, both the second emergency stop switch 46 and the second operation panel 47 are mounted on the top of the third mounting box 41. By the combined use of the first horizontal radar 111, the second horizontal radar 22, and the third horizontal radar 45, obstacles around the mobile trolley, such as walls, other vehicles, or personnel, can be detected, providing accurate distance measurements of the surrounding environment to assist the mobile trolley in precise navigation and obstacle avoidance. The first horizontal radar 111, the second horizontal radar 22, and the third horizontal radar 45 can create a two-dimensional map of the surrounding environment to help the mobile trolley understand the planar space it is in. Based on the two-dimensional map of the environment, the mobile trolley can more effectively plan its movement path and avoid obstacles. Through the combined use of the first emergency stop switch 23 and the second emergency stop switch 46, dual safety protection is provided. Even if one switch fails, the other can still immediately stop the movement of the trolley. Even if one of them fails to work due to a fault or other reasons, the other can still ensure safety, quickly cut off the power supply in an emergency, and immediately stop all movements of the trolley. In a situation where danger may occur, such as when the trolley is about to hit an obstacle or a person, through the rapid intervention of the first emergency stop switch 23 and the second emergency stop switch 46, accidents can be prevented. Through the first operation panel 43, it is convenient to control the electrical components on the traveling mechanism 1, the loading mechanism 2, the mounting mechanism 3, and the operating mechanism 4. Through the second operation panel 47, it is convenient to control the manipulator 5.

[0061] Furthermore, the manipulator 5 includes: a six-axis robotic arm 51 mounted on the top of the second mounting box 31; a gripper 52 mounted at the end of the six-axis robotic arm 51. Through the six-axis robotic arm 51, it is convenient to adjust the position of the gripper 52, and through the gripper 52, it is convenient to grip an object.

[0062] Finally, it should be noted that the above are only the preferred embodiments of the present utility model and are not used to limit the present utility model. Although the present utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or perform equivalent replacements for some of the technical features. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present utility model shall be included within the protection scope of the present utility model.

Claims

1. An AMR omnidirectional wheel mobile robot, comprising: A traveling mechanism (1), on one side of the top of the traveling mechanism (1), a loading mechanism (2) is installed; It is characterized in that: on one side of the loading mechanism (2), an installation mechanism (3) is connected, the installation mechanism (3) is installed on the traveling mechanism (1), on the other side of the top of the traveling mechanism (1), an operating mechanism (4) is installed, the installation mechanism (3) is installed between the loading mechanism (2) and the operating mechanism (4), on the top of the installation mechanism (3), a manipulator (5) is installed, and the manipulator (5) is used for clamping materials.

2. The AMR omnidirectional wheel mobile robot according to claim 1, wherein The traveling mechanism (1) includes: A base (11), the base (11) has a box-shaped structure; An installation frame (12), the installation frame (12) is connected to the top of the base (11), and the installation frame (12) is used for installing and bearing the loading mechanism (2), the installation mechanism (3) and the operating mechanism (4); First direction lights (13), a plurality of the first direction lights (13) are respectively installed on both sides of the base (11); First proximity sensors (14) and anti-falling detectors (15), a plurality of the first proximity sensors (14) and anti-falling detectors (15) are fixedly installed on the outer peripheral wall of the base (11), and the first proximity sensors (14) and anti-falling detectors (15) are symmetrically arranged along the midline of the outer peripheral wall of the base (11).

3. The AMR omnidirectional wheel mobile robot according to claim 2, wherein, The traveling mechanism (1) further includes: A front charging port (16), the front charging port (16) is installed on one side of the base (11); A side charging port (17), the side charging port (17) is installed on the side of the base (11); A battery box (18), the battery box (18) is installed inside the base (11); Anti-collision strips (19), the anti-collision strips (19) are respectively installed at the bottoms of both sides of the base (11); A main power switch (110), the main power switch (110) is installed on the other side of the base (11); First horizontal radars (111), a plurality of the first horizontal radars (111) are respectively installed at the corners of the top of the base (11).

4. The AMR omnidirectional wheel mobile robot according to claim 2, characterized in that, The base (11) further includes: Omnidirectional wheels (112), the omnidirectional wheels (112) are installed at the bottom of the base (11), and the omnidirectional wheels (112) are diagonally arranged relative to the base (11); Steering wheels (113), the steering wheels (113) are installed at the bottom of the base (11), and the steering wheels (113) are diagonally arranged relative to the base (11); Anti-static grounding wheels (114), the anti-static grounding wheels (114) are installed at the bottom of the base (11).

5. The AMR omnidirectional wheeled mobile robot according to claim 2, characterized in that, On one side and both sides of the installation frame (12), fill lights (121) and positioning cameras (122) are installed, and the fill lights (121) and the positioning cameras (122) are arranged on the same horizontal plane.

6. The AMR omnidirectional wheel mobile robot according to claim 1, wherein The loading mechanism (2) includes: A first installation box (21), the first installation box (21) is fixedly installed at the top of the installation frame (12); A second horizontal radar (22), the second horizontal radar (22) is installed at the bottom of one side of the first installation box (21); The first emergency stop switch (23), and the first emergency stop switch (23) is installed at the top of one side of the first installation box (21); The loading tray surface (24), and the loading tray surface (24) is installed on the top of the first installation box (21) and is used for loading items.

7. The AMR omnidirectional wheel mobile robot according to claim 1, wherein, The installation mechanism (3) includes: The second installation box (31), and the second installation box (31) is fixedly installed at the top end of the installation frame (12); The side vertical radar (32), and the side vertical radars (32) are respectively connected to both side edges of the second installation box (31); The first driving recorder (33), the second direction indicator lamp (34) and the second proximity sensor (35), and the first driving recorder (33), the second direction indicator lamp (34) and the second proximity sensor (35) are respectively installed on both side edges of the second installation box (31), the first driving recorder (33) is arranged above the side vertical radar (32), the second direction indicator lamp (34) is arranged above the first driving recorder (33), and the second proximity sensor (35) is arranged above the first driving recorder (33); The wireless transmission antenna (36), and the wireless transmission antenna (36) is fixedly installed above the second installation box (31).

8. The AMR omnidirectional wheel mobile robot according to claim 1, characterized in that, The operation mechanism (4) includes: The third installation box (41), and the third installation box (41) is fixedly installed at the top end of the installation frame (12); The second driving recorder (42), and the second driving recorder (42) is installed on the top of the third installation box (41); The first operation panel (43), and the first operation panel (43) is arranged below the second driving recorder (42); The equipment nameplate (44), and the equipment nameplate (44) is arranged below the first operation panel (43), and both the equipment nameplate (44) and the first operation panel (43) are installed on the third installation box (41); The third horizontal radar (45), and the third horizontal radar (45) is installed at the bottom of the third installation box (41); The second emergency stop switch (46) and the second operation panel (47), and the second emergency stop switch (46) and the second operation panel (47) are both installed at the top end of the third installation box (41).

9. The AMR omnidirectional wheel mobile robot according to claim 1, wherein The manipulator (5) includes: The six-axis robotic arm (51), and the six-axis robotic arm (51) is installed on the top of the second installation box (31); The gripper (52), and the gripper (52) is installed at the end of the six-axis robotic arm (51).

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