Intelligent carrying trolley

Abstract

The utility model provides an intelligent carrying trolley, and belongs to the technical field of intelligent transportation equipment. The intelligent carrying trolley comprises a control system, a walking device, a chassis device fixed to the walking device in the mode that a connecting hole penetrates through a moving bearing, a rotating disc structure embedded in the upper portion of the chassis device, a mechanical arm fixed to the rotating disc structure and a mechanical claw connected to the front end of the mechanical arm. The walking device further comprises a gear installed on the moving bearing, a crawler belt fixed to the outer portion of the gear, universal wheels and a walking driving motor. According to the utility model, the crawler belt and the telescopic universal wheels are arranged, so that the robot can walk on different terrains and carry articles.

Description

Technical Field

[0001] The utility model relates to the technical field of intelligent transportation equipment, in particular to an intelligent handling trolley. Background Art

[0002] As an important part of industrial automation and logistics technology, intelligent handling trolleys have been gradually popularized in industries such as automotive, electronics, medicine, and chemical industry in recent years. In manufacturing, intelligent handling trolleys can realize material handling, assembly, etc. on the production line, improving production efficiency and quality. In the logistics industry, intelligent handling trolleys can be used in warehouse management, goods sorting, transportation and other links, reducing labor costs and improving logistics efficiency. In addition, intelligent handling trolleys are also widely used in places such as hospitals, airports, and docks, providing convenient handling solutions for all walks of life.

[0003] However, the existing handling trolleys usually adopt a chassis with a wheeled structure, which limits their adaptability to various different terrains.

[0004] Therefore, an intelligent handling trolley applicable to multiple terrains is needed. Summary of the Invention

[0005] In view of the technical problem that the chassis with a wheeled structure cannot be applied to multi-terrain handling proposed above, an intelligent handling trolley is provided. The utility model mainly utilizes a crawler chassis structure and a rotatable robotic arm to achieve the effect of being applicable to multi-terrain handling.

[0006] The technical means adopted by the utility model are as follows:

[0007] An intelligent handling trolley, comprising: a control system, a traveling device, a chassis device connected to the traveling device through a connecting hole passing through a motion bearing, a turntable structure embedded in the upper part of the chassis device, a robotic arm fixed on the turntable structure, and a mechanical gripper connected to the front end of the robotic arm;

[0008] The traveling device further includes a gear mounted on the motion bearing and a crawler fixed outside the gear.

[0009] Furthermore, the chassis device includes a telescopic plate, a hydraulic rod, and a hydraulic rod driving motor;

[0010] The upper part of the telescopic plate is connected to the bottom of the chassis through a hydraulic rod;

[0011] A traveling driving motor and a universal wheel are fixed to the lower part of the telescopic plate.

[0012] Furthermore, a circular opening is also provided on the chassis device.

[0013] Furthermore, the turntable structure includes a mechanical disc and a mechanical tray; the mechanical disc is embedded in the circular opening of the chassis; the mechanical tray is connected to the mechanical disc through a bearing.

[0014] Furthermore, the robotic arm includes a number of transmission structures;

[0015] Each transmission structure includes a U-shaped part and a motor assembly; the motor assembly is arranged in the opening of the U-shaped part through screws; the transmission structures are connected by a connecting rod, one end of the connecting rod is fixed on the motor assembly of the previous transmission structure, and the other end is fixed on the sealing side of the U-shaped part in the next transmission structure.

[0016] Furthermore, the mechanical gripper includes a mechanical claw driving motor and two clamping claws;

[0017] The mechanical claw driving motor drives the two clamping claws to approach or separate for grasping;

[0018] The clamping claw includes upper and lower clamping pieces and a support rod for supporting the upper and lower clamping pieces.

[0019] Furthermore, a camera is also arranged on the robotic arm.

[0020] Furthermore, the control system includes a hardware controller integrated on the vehicle body, a camera, and a main computer communicating with the hardware controller; the main computer communicates with the hardware controller through WiFi or Ethernet; the hardware controller obtains the image in front of the mechanical claw through the camera.

[0021] Compared with the prior art, the present utility model has the following advantages:

[0022] The present utility model provides an intelligent handling trolley. The traveling device adopts a crawler type, which can be applied to various complex terrains, is firm, and is not easily punctured by sharp objects such as nails. A universal wheel is designed on the chassis, and the universal wheel is controlled by a hydraulic rod, which is convenient for telescoping and is directly connected to the motor. When the universal wheel needs to be driven, the motor can supply all the power, and the trolley can turn to the specified direction in the first time, improving the overall working efficiency. And the chassis can be lifted by the hydraulic rod, and the universal wheel can be used for in-situ turning, thus avoiding damaging the ground. In the present utility model, the robotic arm is connected by a multi-steerable transmission device, which can flexibly grab the items around the trolley without the trolley turning, making the trolley more suitable for more terrains. A camera is arranged on the robotic arm, and through the control system, the image around the trolley can be collected, providing more data for remote control.

[0023] Based on the above reasons, the present utility model can be widely promoted in the fields of logistics transportation, etc. Description of the Drawings

[0024] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the accompanying drawings required for the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0025] Figure 1 This is the overall structure diagram of the present utility model.

[0026] Figure 2 This is the structure diagram of the chassis of the present utility model.

[0027] In the figure: 1, chassis device; 2, traveling device; 3, turntable structure; 4, robotic arm; 5, robotic claw; 6, camera; 11, chassis; 12, hydraulic rod; 13, telescopic plate; 14, connection hole; 21, motion rotating shaft; 22, gear; 23, crawler; 24, universal wheel; 25, traveling drive motor; 31, mechanical disc; 32, mechanical tray; 401, first U-shaped part; 402, second U-shaped part; 403, third U-shaped part; 404, fourth U-shaped part; 405, first motor assembly; 406, second motor assembly; 407, third motor assembly; 408, fourth motor assembly. Detailed implementation manners

[0028] It should be noted that, without conflict, the embodiments in the present invention and the features in the embodiments can be combined with each other. The following will describe the present invention in detail with reference to the accompanying drawings and in combination with the embodiments.

[0029] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, rather than all embodiments. The following description of at least one exemplary embodiment is actually only illustrative and in no way limits the present invention and its application or use. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present invention.

[0030] It should be noted that the terms used here are only for describing the specific implementation manners and are not intended to limit the exemplary embodiments according to the present invention. As used here, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0031] Unless otherwise specifically stated, the relative arrangements of components and steps, numerical expressions and values set forth in these embodiments do not limit the scope of the present invention. At the same time, it should be clear that, for the sake of convenience of description, the dimensions of the various parts shown in the drawings are not drawn according to the actual proportional relationship. Technologies, methods and devices known to those of ordinary skill in the relevant art may not be discussed in detail, but where appropriate, the said technologies, methods and devices should be regarded as part of the authorization specification. In all the examples shown and discussed here, any specific values should be construed as merely exemplary and not as a limitation. Therefore, other examples of the exemplary embodiments may have different values. It should be noted that like reference numerals and letters denote like items in the following drawings, and thus, once an item is defined in one drawing, it does not need to be further discussed in subsequent drawings.

[0032] In the description of the present invention, it should be understood that the orientation or positional relationships indicated by orientation terms such as "front, rear, upper, lower, left, right", "lateral, vertical, perpendicular, horizontal" and "top, bottom" are generally based on the orientation or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description. Without contrary description, these orientation terms do not indicate and imply that the device or element referred to must have a specific orientation or be constructed and operated in a specific orientation, and thus should not be construed as limiting the protection scope of the present invention: the orientation terms "inside, outside" refer to the inside and outside relative to the contour of each component itself.

[0033] For the convenience of description, spatial relative terms such as "above...", "over...", "on the upper surface of...", "above" and the like can be used here to describe the spatial positional relationship of a device or feature shown in the drawings with other devices or features. It should be understood that the spatial relative terms are intended to include different orientations in use or operation in addition to the orientation described in the drawings of the device. For example, if the device in the drawing is inverted, the device described as "above other devices or structures" or "over other devices or structures" will then be positioned as "below other devices or structures" or "under other devices or structures". Thus, the exemplary term "above..." can include both the orientations of "above..." and "below...". The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and the corresponding explanations are made for the spatial relative descriptions used here.

[0034] In addition, it should be noted that the use of words such as "first", "second" to limit components is only for the convenience of distinguishing the corresponding components. Without otherwise stating, the above words have no special meaning, and thus should not be construed as limiting the protection scope of the present invention.

[0035] The utility model adopts a movement mode mainly based on crawlers, thereby improving the adaptability of the trolley, making it less vulnerable to road conditions and avoiding the occurrence of wheel jamming.

[0036] The utility model discloses an intelligent handling trolley, which realizes the grasping and handling of items on various terrains through a crawler structure and a robotic arm that can turn in multiple directions.

[0037] Combined with Figure 1 Shown in the structural diagram, in this embodiment, the intelligent handling trolley includes: a traveling device, a chassis device, a loading plate structure, a robotic arm, a mechanical claw, as well as a control system and a camera.

[0038] The traveling device includes: a motion bearing 21, a gear 22 installed on the motion bearing 21, and a crawler 23 arranged outside the gear; as well as a universal wheel 24 and a traveling drive motor 25 fixed to the lower part of the telescopic plate 13; the traveling drive motor 25 drives the motion bearing 21 to drive the gear 22 to rotate, thereby driving the crawler 23 to move; the universal wheel 24 can provide steering speed during the movement of the trolley, improving the efficiency of the trolley; on special ground, it can be lifted through the hydraulic rod 12 to lift the crawler 23 off the ground for in-situ turning; the hydraulic rod 12 is driven to lift by a hydraulic drive motor. The chassis 11 is connected to the motion bearing 21 through a connection hole 14; there is a circular opening in the upper part of the chassis, and the turntable structure 3 includes: a mechanical disc 31 and a mechanical tray 32; the mechanical disc 31 is embedded in the circular opening of the chassis 11; the mechanical tray 32 is connected to the mechanical disc 31 through a bearing, and the mechanical tray 32 is driven by a motor to drive the robotic arm 4 to rotate.

[0039] The rear end of the robotic arm 4 is fixed to the turntable device 3, and a mechanical claw 5 is arranged at the front end; the robotic arm includes 4 transmission structures; each transmission structure includes a U-shaped part and a motor assembly; the motor assembly is arranged in the opening of the U-shaped part through screws; the transmission structures are connected by connecting rods, one end of the connecting rod is fixed to the motor assembly of the previous transmission structure, and the other end is fixed to the sealed side of the U-shaped part in the next transmission structure. A mechanical gripper 5 is arranged at the front end of the robotic arm 4, and the mechanical claw 5 is driven by a mechanical claw drive motor 501 to drive two jaws 502 to approach or separate for grasping; the jaws 502 include upper and lower clamping pieces 504 and a support rod 503 for supporting the upper and lower clamping pieces.

[0040] The chassis traveling device of the utility model adopts a crawler type, which can be applied to various complex terrains, and is strong and not easily punctured by sharp objects such as nails. Universal wheels are designed on the chassis, and the universal wheels are controlled by hydraulic rods, which are convenient for telescoping and are directly connected to the motor. When it is necessary to drive the universal wheels, the motor can supply all the power, and the trolley can turn to the designated direction in the first time, improving the overall working efficiency.

[0041] When entering scenarios such as vegetable fields where track steering and walking are not suitable, the motor can be used to drive the hydraulic rod to extend the universal wheels, and the trolley can be driven to turn in place through the universal wheels.

[0042] In order to make the tracks suitable for working in harsh conditions, they must have sufficient strength and stiffness, good wear resistance, be relatively light in weight to reduce the consumption of metal, and reduce the dynamic load during track operation. There should be good adhesion between the tracks and the ground to ensure sufficient traction can be generated, and consideration should also be given to reducing the resistance during driving and turning.

[0043] Among them, the reasonable combination of the track width b and the track ground contact length L has a greater impact on improving the traction and adhesion performance of the chassis. Narrow and long tracks have low rolling resistance and good traction and adhesion performance, but the turning resistance moment is relatively large. The value of b / L is 0.18 - 0.22. The value of the track ground contact length L is 600 - 970 mm. Through verification, taking the track ground contact length as 600 mm meets the requirements. According to the motor traction power formula, the traction power of the motor can be calculated to be approximately 0.69 Kw, and the calculation method is as follows:

[0044] P k =M k ×n / 9550

[0045] M k =P f ×r k / eta

[0046] Among them, n is the preset driving wheel speed of 350 rpm; M k represents the motor driving torque. Considering efficiency, in this embodiment, eta = 0.96; rolling resistance: P f =G×9.8×f; rolling resistance coefficient: assuming harsh working conditions, take f = 0.12; pitch circle radius: The number of teeth is taken as: z = 17; pitch:

[0047] According to the calculation formula of the steering power of the chassis, the turning power is obtained:

[0048] P t =M c ×ω

[0049]

[0050] Among them, M c represents the turning resistance moment; lmin represents the track ground contact length; μ b represents the turning resistance coefficient. In this embodiment, μ b =0.65; the angular velocity of turning: ω = v / r minTravel speed: v = n × z × p / (60 × 1000); r min represents the minimum turning radius of the chassis.

[0051] Finally, the power P of the whole machine is calculated as P = P k +P t = 1.53 Kw, and the motor model is selected according to this power.

[0052] The material handling device uses a mechanical claw to pick up the material and puts it down when the trolley reaches the specified position. The robotic arm includes: a robotic hand and a robotic arm. In this embodiment, based on the principle of a dinosaur's mouth, a double-layer tray design is adopted. The gripper has a telescopic function, which is convenient for ingenious application in various fields. Different mechanical claw structures with different parameters can be developed in different fields.

[0053] The robotic arm is an important part of the grasping device. It needs to effectively support the object to be grasped and the robotic hand, and can drive the robotic gripper to pick up the object. Each joint part is provided with an M2 screw for fixation; a motor is set in the fixed part to increase the working efficiency and make the robotic arm have a higher working efficiency. An ergonomic camera is set on the robotic arm and programmed with intelligent AI to sense the items to be detected in real time.

[0054] The robotic arm is connected to an electric mechanical disk that can rotate 360°. The mechanical disk is embedded in the chassis, and several motors are arranged to control the rotation of the robotic arm, so as to realize the picking of objects in different directions. The robotic arm is connected to the vehicle body by threads, and it has the characteristics of being removable in time, simple structure, and easy processing.

[0055] In this embodiment, the motors include: a motor responsible for driving the traveling device, a hydraulic rod driving motor for driving the telescopic movement of the hydraulic rod, a caster driving motor for driving the steering of the caster, a rotary servo for driving the entire grasping device, a motor for driving the steering of the robotic arm, and a motor for driving the opening and closing of the robotic gripper.

[0056] Preferably, the power source is a large-capacity lithium battery pack of 24V 60Ah. This battery pack is suitable for the power supply requirements of tasks that require longer running time, and can automatically detect the battery status to extend the battery life; and supports 30A fast charging. The power output voltage is 24V; preferably, the DC servo motors of the chassis are 2 Ounuo Ke 13M-05020F5-X model motors. The grasping device and the caster have relatively small torques, and the rotary servo is a 42AIM10 model motor of Shanghai Fengxin.

[0057] In this embodiment, preferably, the total mass of the whole machine is G = 60 kg, the total number of rubber tracks is 2; the designed width b of the track is 120 mm, and the grounding length of the track is 600 mm.

[0058] In this embodiment, preferably, the control system includes: a Pi5 / 4GB Raspberry Pi used to control the hardware for remote control through putty and the MATLAB toolkit, two STM32ROS robot control boards, and two L298N motor drive modules, which can be connected through Ethernet or Wi-Fi.

[0059] In this embodiment, preferably, in combination with the DWA algorithm, the large motor of the transmission mechanism is rotated to give power, and at the same time, it better coordinates with the movement of the chassis. The intelligent control of the intelligent handling trolley to successfully avoid obstacles and identify the target object when reaching the specified location is realized.

[0060] For this utility model, through the walking mode combining crawlers and universal wheels, compared with the wheeled structure, it is easier to pass through rough roads and other ground, and at the same time, the steering efficiency is improved. The universal wheels cooperate with the telescopic plate to achieve in-situ steering on special ground. It is applicable to more terrains. It can not only reduce the labor input, lower the labor cost, improve the accuracy and speed of handling tasks, but also improve the management level of warehousing and logistics.

[0061] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements on some or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. An intelligent handling trolley, characterized in that, include: A control system, a walking device (2), a chassis device (1) connected to the walking device (2) through a connecting hole (14) and a moving bearing (21), a turntable structure (3) embedded in the upper part of the chassis device (1), a mechanical arm (4) fixed on the turntable structure (3), and a mechanical gripper (5) connected to the front end of the mechanical arm (4); The walking device (2) also includes a gear (22) mounted on the moving bearing (21) and a crawler belt (23) fixed outside the gear (22).

2. The intelligent handling trolley according to claim 1, wherein The chassis device (1) comprises a telescopic plate (13), a hydraulic rod (12) and a hydraulic rod driving motor; The upper part of the telescopic plate (13) is connected to the lower part of the chassis (11) through a hydraulic rod (12); A travel drive motor (25) and a universal wheel (24) are fixed to the lower part of the telescopic plate (13).

3. An intelligent handling trolley according to claim 1, characterized in that, The chassis device (1) is also provided with a circular opening.

4. The intelligent handling trolley according to claim 1, characterized in that, The turntable structure (3) comprises: a mechanical disc (31), a mechanical tray (32) and a rotation drive motor; the mechanical disc (31) is embedded in a circular opening of a chassis (11); and the mechanical tray (32) is connected to the mechanical disc (31) via a bearing.

5. An intelligent handling trolley according to claim 1, characterized in that, The mechanical arm (4) comprises a plurality of transmission structures; Each transmission structure includes a U-shaped part and a motor assembly; the motor assembly is set in the opening of the U-shaped part by screws; the transmission structures are connected by a connecting rod, one end of the connecting rod is fixed to the motor assembly of the previous transmission structure and the other end is fixed to the sealing side of the U-shaped part in the next transmission structure.

6. The intelligent handling trolley according to claim 1, wherein, The mechanical gripper (5) comprises: a mechanical gripper drive motor (501) and two gripping claws (502); The mechanical claw driving motor drives the two clamping claws (502) to move closer or farther away to grasp; The clamping jaw (502) comprises upper and lower clamping pieces (504) and a support rod (503) supporting the upper and lower clamping pieces.

7. An intelligent handling trolley according to claim 1, characterized in that, The mechanical arm (4) is also provided with a camera (6).

8. An intelligent handling trolley according to claim 1, characterized in that, The control system comprises a hardware controller integrated on the vehicle body, a camera (6) and a host computer communicating with the hardware controller; the host computer communicates with the hardware controller via WiFi or Ethernet; the hardware controller acquires an image in front of the mechanical claw via the camera (6).

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