Omni-directional moving double-claw logistics intelligent transport trolley

Abstract

The utility model relates to a double-claw logistics intelligent transport trolley capable of moving in all directions, and belongs to the technical field of logistics intelligent transport trolleys. Comprising two sets of lifting mechanisms installed on a vehicle body frame, the two sets of lifting mechanisms are installed on the vehicle body frame at diagonal positions, grabbing mechanisms are installed at the bottoms of the lifting mechanisms, the grabbing mechanisms are driven by the lifting mechanisms to move up and down in the height directions of the lifting mechanisms, and moving assemblies are installed at the bottom of the vehicle body frame; a camera is installed on a top cross beam of the vehicle body frame, linear CCD assemblies are installed on the front portion and the rear portion of the vehicle body frame, and the lifting mechanism, the grabbing mechanism, the moving assembly, the camera and the linear CCD assemblies are all controlled by an automatic controller. The omni-directional robot can flexibly move in all directions, is small in size and high in efficiency, can easily pass through obstacles, can carry two articles at a time, has certain expandability, does not need manual intervention, and can autonomously complete sorting and carrying according to ground marks.

Description

TECHNICAL FIELD

[0001] The utility model relates to a kind of dual-claw logistics intelligent transport trolley of omni-directional movement, belong to logistics intelligent transport trolley technical field. BACKGROUND

[0002] At present, network shopping develops rapidly, whether it is the distribution center of logistics and express delivery or express post station, there are a large number of goods to be sorted and transported. The traditional transport trolley is not flexible enough, and is not practical in narrow space. Especially in express post station, the space is usually narrow, and the objects are various and miscellaneous, so it is difficult to erect high-cost automated sorting equipment for operation, and manual sorting and transportation are needed, which is very low in efficiency, requires a lot of physical and mental effort, is easy to cause physical fatigue and injury, and is prone to sorting errors and other problems.

[0003] Therefore, it is urgent to design a kind of dual-claw logistics intelligent transport trolley of omni-directional movement to solve the above technical problems. UTILITY MODEL CONTENT

[0004] The utility model aims at solving the deficiencies in the prior art, and proposes a kind of dual-claw logistics intelligent transport trolley of omni-directional movement, which can be used for sorting small express delivery, can move flexibly in all directions, has small size, high efficiency, and can easily pass through obstacles, can complete two goods transportation at a time, and has certain expandability, without manual intervention, can complete sorting and transportation independently according to ground mark.

[0005] The utility model discloses a kind of dual-claw logistics intelligent transport trolley of omni-directional movement, it is special in that including two sets of lifting mechanisms 1 installed on the car body frame 2, two sets of lifting mechanisms 1 are installed in diagonal position on the car body frame 2, lifting mechanism 1 bottom is equipped with grabbing mechanism 4, grabbing mechanism 4 is driven under the lifting mechanism 1 and moves up and down along the lifting mechanism 1 height direction, the car body frame 2 bottom is equipped with moving assembly 6, the top beam of the car body frame 2 is equipped with camera 3, the front and rear of the car body frame 2 is equipped with linear CCD component 5, lifting mechanism 1, grabbing mechanism 4, moving assembly 6, camera 3, linear CCD component 5 are controlled to automatic controller;

[0006] Preferably, the lifting mechanism 1 is installed on the vehicle body frame 2 through the fixed sliding table 15, the lifting mechanism 1 comprises a vertically arranged lifting rod 16, the lifting rod 16 is provided with a sliding groove in the height direction, a sliding wheel of the fixed sliding table 15 is embedded in the sliding groove, the lifting rod 16 is provided with a main synchronous pulley 13 at the top and a driven synchronous pulley 19 at the bottom, the lifting rod 16 is arranged between the main synchronous pulley 13 and the driven synchronous pulley 19, a synchronous belt 14 is sleeved between the main synchronous pulley 13 and the driven synchronous pulley 19 and is linked with the lifting rod 16, the synchronous belt 14 is fixed on the fixed sliding table 15 at both ends, the main synchronous pulley 13 is driven to rotate by the stepping motor 11, and the grabbing mechanism 4 is installed on the lifting rod 16 through the gripper mounting bracket 17;

[0007] Preferably, the stepping motor mounting bracket 12 is installed at the top of the lifting rod 16.

[0008] Preferably, the lifting rod 16 is provided with a tensioning screw 18 and a tensioning assembly 20 at the bottom, and the driven synchronous pulley 19 is installed on the tensioning assembly 20.

[0009] Preferably, the top beam of the vehicle body frame 2 is detachably installed on the vehicle body frame 2 through the connecting corner piece 22 at both ends.

[0010] Preferably, the grabbing mechanism 4 comprises a rotating rudder 41, a rotating bracket 42, a gripper fixing bracket 43, a gripper rudder 44 and a gripper 45, the rotating rudder 41 is fixed on the gripper mounting bracket 17, the rotating rudder 41 drives the rotating bracket 42 to rotate, the rotating bracket 42 drives the gripper fixing bracket 43, the gripper rudder 44 and the gripper 45 to rotate, so that the gripper can adapt to different directions for grabbing, the gripper rudder 44 drives the gripper 45 to open and close, and the grabbing and placing of objects are realized.

[0011] Preferably, the linear CCD assembly 5 comprises two sub-linear CCD assemblies, the two sub-linear CCD assemblies are installed at the front and rear of the vehicle body frame 2 respectively, and comprise a linear CCD mounting bracket 52 and a linear CCD 51; the observation angle of the linear CCD 51 is changed by adjusting the linear CCD mounting bracket 52.

[0012] Preferably, the moving assembly 6 comprises four Mecanum wheels 61 and matched rotating motors 62 and motor mounting brackets 63, the motor mounting brackets 63 are fixed at the bottom of the vehicle body frame 2 and are distributed around the vehicle body frame 2, the rotating motors 62 are fixed on the motor mounting brackets 63 and drive the Mecanum wheels 61 to rotate.

[0013] The omnidirectional motion double-claw intelligent logistics transport trolley has the following beneficial effects when the structures are used in cooperation:

[0014] 1. Flexible motion, strong obstacle-crossing ability and easy to move in narrow space;

[0015] 2. The grabbing structure is efficient, two objects can be grabbed at a time, and bidirectional movement can be realized without turning around;

[0016] 3. The image recognition of the graph can improve the grabbing accuracy. BRIEF DESCRIPTION OF DRAWINGS

[0017] Figure 1 It is a structure schematic view of the omnidirectional motion double-claw logistics intelligent transport trolley of the utility model;

[0018] Figure 2 It is a bottom view of the omnidirectional motion double-claw logistics intelligent transport trolley of the utility model;

[0019] Figure 3 It is a lifting mechanism structure schematic view of the omnidirectional motion double-claw logistics intelligent transport trolley of the utility model;

[0020] Figure 4 It is a schematic view of the grabbing mechanism of the omnidirectional motion double-claw logistics intelligent transport trolley of the utility model;

[0021] Figure 5 It is a schematic view of the grabbing working state of the omnidirectional motion double-claw logistics intelligent transport trolley of the utility model. DETAILED DESCRIPTION

[0022] In order to better understand and implement, the following specific embodiments are given to specifically describe the omnidirectional motion double-claw logistics intelligent transport trolley of the utility model.

[0023] The omnidirectional motion double-claw logistics intelligent transport trolley of the embodiment, referring to the accompanying drawings, Figures 1-2 comprises a moving assembly 6, a vehicle body frame 2, a lifting mechanism 1, a grabbing mechanism 4, a camera 3 and a linear CCD assembly 5. The lifting mechanism 1, the grabbing mechanism 4, the moving assembly 6, the camera 3 and the linear CCD assembly 5 are all controlled by an automatic controller. The vehicle body frame 2 is used for installing the moving assembly 6 and the lifting mechanism 1. The moving assembly 6 is installed at the bottom of the vehicle body frame 2, and four groups of Mecanum wheels 61 independently driven by rotating motors 62 are installed at the bottom of the vehicle body frame 2, so that the vehicle body has two translational degrees of freedom to control the moving position of the trolley and one rotational degree of freedom to control the rotating direction of the trolley, and the flexibility of the trolley in a complex environment can be realized; the vehicle body frame 2 is in the shape of a door, is supported on both sides and is left empty in the middle, further enhancing the ability of the trolley to pass through obstacles. The linear CCD assembly 5 is installed on the front and back of the vehicle body frame 2, is used for identifying ground marks and guiding the trolley to move according to the ground marks; the camera 3 is installed on the top of the vehicle body frame 2, is used for accurate identification of objects, guiding grabbing and judging whether grabbing is completed.

[0024] As shown in the accompanying drawingsFigure 3 As shown, the lifting mechanism 1 is installed on the vehicle body frame 2 through the fixed sliding table 15, the lifting mechanism 1 includes a vertically arranged lifting rod 16, the lifting rod 16 is provided with a sliding groove in the height direction, the sliding wheel of the fixed sliding table 15 is embedded in the sliding groove, the top of the lifting rod 16 is provided with a main synchronous pulley 13, the bottom is provided with a driven synchronous pulley 19, the lifting rod 16 is arranged between the main synchronous pulley 13 and the driven synchronous pulley 19, a synchronous belt 14 is sleeved between the main synchronous pulley 13 and the driven synchronous pulley 19 and is linked with the lifting rod 16, the two ends of the synchronous belt 14 are fixed on the fixed sliding table 15, the main synchronous pulley 13 is driven to rotate by the stepping motor 11, and the grabbing mechanism 4 is installed on the lifting rod 16 through the gripper mounting bracket 17. Under the driving of the stepping motor 11, the synchronous belt 14 rotates, drives the lifting rod 16 to rise and fall, and thus drives the grabbing mechanism 4 to rise and fall. The stepping motor mounting bracket 12 is installed at the top of the lifting rod 16. The tensioning screw 18 and the tensioning assembly 20 are installed at the bottom of the lifting rod 16, and the driven synchronous pulley 19 is installed on the tensioning assembly 20. The tensioning screw 18 can be adjusted up and down to adjust the tightness of the synchronous belt, so as to ensure the stable lifting.

[0025] The top beam of the vehicle body frame 2 is detachably installed on the vehicle body frame 2 through the connecting corner piece 22 at both ends, and the position of the connecting corner piece 22 can be adjusted to adjust the detection position of the camera 3.

[0026] As shown in the figure, Figure 4 The grabbing mechanism 4 includes a rotating rudder 41, a rotating bracket 42, a gripper fixing bracket 43, a gripper rudder 44 and a gripper 45, the rotating rudder 41 is fixed on the gripper mounting bracket 17, the rotating rudder 41 drives the rotating bracket 42 to rotate, the rotating bracket 42 drives the gripper fixing bracket 43, the gripper rudder 44 and the gripper 45 to rotate, so that the gripper can adapt to different directions of grabbing, the gripper rudder 44 drives the gripper 45 to open and close, and the grabbing and placing of the object are realized. The fixed bracket 43, the gripper rudder 44 and the gripper 45 can be adjusted and replaced according to different objects to be grabbed.

[0027] As shown in the figure, Figure 1 , Figure 2 The linear CCD assembly 5 includes two sub-linear CCD assemblies, which are installed at the front and rear of the vehicle body frame 2 respectively, and includes a linear CCD mounting bracket 52 and a linear CCD 51. The observation angle of the linear CCD 51 can be changed by adjusting the linear CCD mounting bracket 52.

[0028] As shown in the figure, Figure 2 The moving assembly 6 includes four Mecanum wheels 61 and matching rotating motors 62 and motor mounting brackets 63, the motor mounting brackets 63 are fixed at the bottom of the vehicle body frame 2 and are distributed around the vehicle body frame 2, the rotating motors 62 are fixed on the motor mounting brackets 63 and drive the Mecanum wheels 61 to rotate.

[0029] Working principle: When working, the position mark (black line) is laid on the ground, which is recognized by the linear CCD assembly 5 on the vehicle frame 2 and fed back to the controller. The controller drives the moving assembly 6 at the bottom of the vehicle frame 2 to make the trolley move according to the position mark. When moving to the specified grabbing or placing position, the trolley stops, the top camera 3 recognizes the object to be grabbed or the area to be placed, and feeds back to the control circuit to control the movement of the trolley, so that the object to be grabbed or the placement area is placed in the center of the camera field of view. During the grabbing process, the lifting mechanism 1 drives the grabbing mechanism 4 to descend to the specified position, and the grabber servo 44 starts to control the grabber 45 to grab. After the grabbing is completed, the lifting mechanism 1 drives the grabbing mechanism 4 to rise to a certain height, and then the top camera 3 detects whether the grabber has grabbed the object and feeds back to the controller for decision. If the object is grabbed, it is marked as completed, and if the object is not grabbed, it is re-grabbed. The placing process is similar.

[0030] Although embodiments of the present application have been shown and described, it is to be understood that various modifications, substitutions, replacements and variations can be made to these embodiments without departing from the principles and spirit of the present application, and the scope of the present application is defined by the appended claims and their equivalents.

Claims

1. A dual-claw intelligent transport trolley for omnidirectional movement, characterized in that Including two sets of lifting mechanism installed on the vehicle body frame, two sets of lifting mechanism are installed in diagonal position on the vehicle body frame, the lifting mechanism bottom is installed with grabbing mechanism, the grabbing mechanism moves up and down along the lifting mechanism height direction under the driving of the lifting mechanism, the vehicle body frame bottom is installed with moving assembly, the vehicle body frame top beam is installed with camera, the front and rear of the vehicle body frame is installed with linear CCD assembly, the lifting mechanism, grabbing mechanism, moving assembly, camera and linear CCD assembly are controlled by automatic controller.

2. The omnidirectional dual-claw smart conveyor cart of claim 1, wherein The lifting mechanism is installed on the vehicle body frame through the fixed sliding table, the lifting mechanism includes vertically arranged lifting rod, the lifting rod is provided with sliding groove in height direction, the sliding wheel of the fixed sliding table is embedded in the sliding groove, the lifting rod top is provided with main synchronous pulley, the bottom is provided with driven synchronous pulley, the lifting rod is arranged between the main synchronous pulley and the driven synchronous pulley, the synchronous belt is sleeved between the main synchronous pulley and the driven synchronous pulley and linked with the lifting rod, the synchronous belt two ends are fixed on the fixed sliding table, the main synchronous pulley is driven to rotate by the stepping motor, the grabbing mechanism is installed on the lifting rod through the gripper mounting bracket.

3. The omnidirectional dual-claw smart conveyor cart of claim 2, wherein The lifting rod top is installed with stepping motor mounting bracket.

4. The dual-claw omnidirectional motion intelligent transport cart of claim 2, wherein The lifting rod bottom is installed with tensioning screw and tensioning assembly, the driven synchronous pulley is installed on the tensioning assembly.

5. The omnidirectional dual-claw smart conveyor cart of claim 1, wherein The vehicle body frame top beam two ends are detachably installed on the vehicle body frame through the connecting corner piece.

6. The dual-claw omnidirectional motion intelligent transport cart of claim 1, wherein The grabbing mechanism includes rotating rudder, rotating bracket, gripper fixing bracket, gripper rudder, gripper, the rotating rudder is fixed on the gripper mounting bracket, the rotating rudder drives the rotating bracket to rotate, the rotating bracket drives the gripper fixing bracket, gripper rudder and gripper to rotate, so that the gripper adapts to different direction grabbing, the gripper is driven to open and close through the gripper rudder, realizing the grabbing and placing of objects.

7. The omnidirectional dual-claw smart conveyor cart of claim 1, wherein The linear CCD assembly includes two sub linear CCD assemblies, two sub linear CCD assemblies are respectively installed on the front and rear of the vehicle body frame, including linear CCD mounting bracket and linear CCD, the observation angle of the linear CCD is changed by adjusting the linear CCD mounting bracket installation.

8. The omnidirectional dual-claw smart conveyor cart of claim 1, wherein The moving assembly includes four Mecanum wheels and matching rotating motors, motor mounting brackets, the motor mounting brackets are fixed on the vehicle body frame bottom and distributed around the vehicle body frame, the rotating motors are fixed on the motor mounting brackets and drive the Mecanum wheels to rotate.

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