Roller conveying device based on AMR vehicle

Abstract

A roller conveying device based on an AMR trolley comprises the AMR trolley and a roller conveyor rack, the AMR trolley comprises a jacking tray frame, the roller conveyor rack is installed on the top face of the jacking tray frame, the roller conveyor rack is of a concave structure frame, a roller conveyor capable of longitudinally conveying materials along an inwards-concave space is installed in the roller conveyor rack, and the roller conveyor is installed on the top face of the jacking tray frame. The two side walls of the inwards-concave space of the roller conveyor rack are each provided with a tidying clamping plate through an electric push rod, rod bases of the electric push rods are fixedly connected with the roller conveyor rack, piston rods of the electric push rods are fixedly connected with the tidying clamping plates, and the tidying clamping plates are located above the roller conveyor in a suspended mode. Regular detection sensors are respectively mounted on the left side and the right side in the concave space of the rack of the roller conveyor; and the regular detection sensors are positioned below the space between two rollers of the roller conveyor. The roller conveying device based on the AMR vehicle has an automatic material tidying function, and manual intervention is not needed during automatic feeding and discharging.

Description

TECHNICAL FIELD

[0001] The utility model relates to the technical field of intelligent carrying device, specifically a drum conveying device based on AMR car. BACKGROUND

[0002] AMR (Autonomous Mobile Robot) is a kind of intelligent robot that can move independently in the environment. Automatic Mobile Robot AMR car body mainly adopts double-drive motor differential structure and is assisted by front and rear two or four universal wheels.

[0003] With the continuous upgrading of AMR car in recent years, it has become a mature standardized product through continuous optimization and improvement. In order to save cost, AMR car is applied more and more in enterprise production workshop and warehouse. In the process of enterprise production, when automatic feeding, the material needs to be regularized. The current AMR car does not have the function of automatic material regularization, and manual intervention is needed during automatic feeding and discharging. Therefore, the AMR car needs to be improved to realize automatic material regularization, meet automatic feeding and discharging, and reduce manual intervention. SUMMARY

[0004] The utility model aims at the problems existing in prior art, provides a kind of drum conveying device based on AMR car, the drum conveying device based on AMR car has the function of automatic material regularization, and does not need manual intervention during automatic feeding and discharging.

[0005] The utility model is implemented by the following technical scheme:

[0006] l a kind of drum conveying device based on AMR car, including AMR trolley and drum conveyor frame, the AMR trolley is self-propelled mobile trolley containing jacking tray frame, the drum conveyor frame is installed on the top surface of jacking tray frame, the drum conveyor frame is concave structure frame, drum conveyor is installed in the drum conveyor frame, which can transport material along the longitudinal direction of the concave space in the drum conveyor frame, two side walls of the concave space of the drum conveyor frame are respectively equipped with a regularizing clamp plate by electric push rod, the rod seat of electric push rod is fixedly connected with the drum conveyor frame, the piston rod of electric push rod is fixedly connected with regularizing clamp plate, regularizing clamp plate is suspended above drum conveyor, regularizing detection sensor is installed in the left and right sides of the concave space of the drum conveyor frame, and regularizing detection sensor is located below the two drums of drum conveyor. Drum conveyor rotates by motor drive, realizes the efficient conveying of material. When taking goods, material is conveyed to the middle of drum conveyor; when unloading, drum conveyor conveys material from the drum to the target equipment's storage location loading port, the whole process does not need manual intervention, greatly improves the carrying efficiency.

[0007] The vehicle body of the AMR trolley is a cuboid structure, and two differential drive wheels are installed at the bottom. The top is connected to the electric lifting lifting tray frame and laser positioning navigation and safety detection radar through supports, respectively, to provide a mounting base and a bearing platform for each system, ensuring stable walking and operation of the AMR. Two drive wheels are symmetrically installed on both sides of the bottom of the vehicle body, and two or four universal wheels are installed in front and back to assist support. Each drive wheel is driven by an independent motor and realizes steering through differential, can realize in-place steering and flexible walking, and accurately adjusts the walking speed and steering angle through the instructions issued by the control system based on the position and direction information fed back by the laser positioning navigation system, to ensure that the AMR runs efficiently according to the preset path. The two-drive differential walking steering system drives two drive wheels through two independent motors. When the two drive wheels rotate at the same speed, the AMR travels along a straight line; when the two drive wheels rotate at different speeds, the AMR steers. By controlling the speed difference of the two motors, the steering angle of the AMR can be accurately adjusted to realize flexible driving and steering. The control system adjusts the speed of the two motors in real time according to the position and direction deviation fed back by the laser positioning navigation system to ensure that the AMR travels along the preset path.

[0008] The electric lifting module composed of components including a lifting motor, a lifting device, a lifting tray, etc. is installed in the mounting cabin in the middle of the vehicle body. The lifting motor drives the lifting tray to move up and down through the lifting device, thereby realizing the lifting and lowering actions of the goods. When it is necessary to transport the goods, the electric lifting module works to lift and lower the goods to the appropriate height, completing the lifting and lowering actions of the goods. A laser radar is installed at the front of the vehicle body to scan the surrounding environment in real time, obtain a large amount of distance data, and construct an environmental map or match with a pre-constructed map to locate itself. The control system matches the current position of the AMR with the preset path in the map, continuously calculates the deviation and sends instructions to the two-drive differential walking steering system to realize high-precision, high-adaptability and high-flexibility positioning and navigation, without the need for additional modification of the working environment, and can be widely applied to various scenes, and the positioning and navigation process is stable and reliable. The laser radar at the front of the vehicle body has a detection range of 210 degrees in front of the AMR, and monitors objects and personnel in the driving process in real time. Once obstacles or personnel enter the dangerous distance, a signal is immediately sent to the control system, and the control system quickly instructs the two-drive differential walking steering system to stop walking, effectively preventing collision accidents and ensuring the safety of the AMR driving process. The AMR car is equipped with a safety detection system and a laser positioning and navigation system. The laser positioning and navigation system scans the surrounding environment in real time through the laser radar installed at the front of the vehicle body to obtain a large amount of distance data. These data are transmitted to the control system, which constructs an environmental map or matches with a pre-constructed map according to these data, locates its own position, and matches the current position of the AMR with the preset path. By continuously calculating the deviation between the current position of the AMR and the preset path, the control system issues instructions to adjust the walking speed and steering angle of the two-drive differential walking steering system to ensure that the AMR accurately drives along the preset path. The high-precision scanning and real-time data updating of the laser radar enable the AMR to realize high-precision, high-adaptability and high-flexibility positioning and navigation in complex environments. The safety detection system scans the surrounding environment through the laser radar at the front of the vehicle body, which has a detection range of 210 degrees in front of the AMR, and monitors objects and personnel in the driving process in real time. When obstacles or personnel enter the dangerous distance, the sensor immediately sends a signal to the control system. After receiving the signal, the control system quickly instructs the two-drive differential walking steering system to stop walking, effectively preventing collision accidents and ensuring the safety of the AMR driving process. That is, the AMR car uses an existing autonomous mobile car with an automatic walking system, an electric lifting system, a safety detection system and a laser positioning and navigation system.

[0009] Further preferably: the inner concave space of the drum conveyor frame is provided with material detection sensors at the front and rear ends of the side wall, and the regular clamping plate is provided with a detection groove corresponding to the installation position of the material detection sensor. The material detection sensor is used to detect whether there is material on the drum module.

[0010] Further preferably, one of the regularizing plates of the inner recess space of the roller conveyor frame is provided with a regularity detection sensor that moves with the regularizing plate, and the regularity detection sensor detects whether the material is regularly positioned.

[0011] Both the material detection sensor and the regularity detection sensor can be a laser displacement sensor. When the material is placed on the roller conveyor, the laser beam of the regularity detection sensor detects the material and transmits a detection signal to the control system. The control system determines the position and regularity of the material according to the signal and instructs the regularizing mechanism to appropriately regularize and clamp the material, so as to ensure that the material is always in a stable state during the conveying process, improve the accuracy of the connection with the equipment, and reduce the risk of damage to the goods.

[0012] Further preferably, the roller conveyor frame is slidingly installed on the top surface of the jacking tray, and the top surface of the jacking tray is provided with an electric push rod for driving the roller conveyor frame to move. The rod base of the electric push rod is fixedly connected with the jacking tray, and the piston rod of the electric push rod is fixedly connected with one side of the bottom of the roller conveyor frame. The roller conveyor frame is driven to move on the top surface of the jacking tray by the extension and retraction of the electric push rod. The roller conveyor is carried on the roller conveyor frame. When goods need to be taken or unloaded, the roller conveyor works under the instruction of the control system of the AMR trolley. The roller conveyor frame together with the roller conveyor is driven to move as a whole by the extension and retraction of the electric push rod, so as to be connected with the production line equipment, realize automatic taking and unloading of goods, and flexibly set whether the horizontal movement is needed according to the on-site situation, thereby improving the flexibility and efficiency of the connected production line equipment.

[0013] The roller conveying device based on the AMR trolley can realize the automatic regularizing of the material, effectively reduce the conveying accidents caused by irregular material, reduce the damage rate of the goods, and improve the stability and safety of the conveying. During the automatic feeding and unloading, manual intervention is not needed, the overall operation efficiency is improved, the accuracy, safety, flexibility and efficiency of the material conveying are significantly improved compared with the prior art, and the roller conveying device based on the AMR trolley has high practical value and market competitiveness. BRIEF DESCRIPTION OF DRAWINGS

[0014] Figure 1 FIG. 1 is a structural schematic view of the roller conveying device based on the AMR trolley;

[0015] Figure 2 FIG. 4 is a structural schematic view of the AMR trolley;

[0016] Figure 3 FIG. 5 is a structural schematic view of the roller conveyor frame;

[0017] The component names corresponding to the serial numbers in the drawings are as follows:

[0018] 1, AMR car; 2, jacking tray frame; 3, roller conveyor frame; 4, roller conveyor; 5, regular clamping plate; 6, material detection sensor; 7, regular detection sensor; 8, electric push rod. DETAILED DESCRIPTION

[0019] The technical solutions in the application will be described clearly and completely in combination with the embodiments, and the described embodiments are only a part of the embodiments of the application, not all. EMBODIMENT

[0020] A roller conveying device based on an AMR car, comprising an AMR car 1 and a roller conveyor frame 3, wherein the AMR car 1 is an autonomous mobile car containing a jacking tray frame 2, the roller conveyor frame 3 is installed on the top surface of the jacking tray frame 2, the roller conveyor frame 3 is a concave structure frame, a roller conveyor 4 capable of conveying materials in the longitudinal direction of the concave space in the roller conveyor frame 3 is installed in the roller conveyor frame 3, one regular clamping plate 5 is installed on each of the two side walls of the concave space in the roller conveyor frame 3 through an electric push rod, the rod base of the electric push rod is fixedly connected with the roller conveyor frame 3, the piston rod of the electric push rod is fixedly connected with the regular clamping plate 5, the regular clamping plate 5 is suspended above the roller conveyor 4, regular detection sensors 7 are installed on the left and right sides in the concave space of the roller conveyor frame 3, and the regular detection sensors 7 are located below the two rollers of the roller conveyor 4. EMBODIMENT

[0021] A roller conveying device based on an AMR car, comprising an AMR car 1 and a roller conveyor frame 3, wherein the AMR car 1 is an autonomous mobile car containing a jacking tray frame 2, the roller conveyor frame 3 is installed on the top surface of the jacking tray frame 2, the roller conveyor frame 3 is a concave structure frame, a roller conveyor 4 capable of conveying materials in the longitudinal direction of the concave space in the roller conveyor frame 3 is installed in the roller conveyor frame 3, one regular clamping plate 5 is installed on each of the two side walls of the concave space in the roller conveyor frame 3 through an electric push rod, the rod base of the electric push rod is fixedly connected with the roller conveyor frame 3, the piston rod of the electric push rod is fixedly connected with the regular clamping plate 5, the regular clamping plate 5 is suspended above the roller conveyor 4, regular detection sensors 7 are installed on the left and right sides in the concave space of the roller conveyor frame 3, and the regular detection sensors 7 are located below the two rollers of the roller conveyor 4.

[0022] Material detection sensors 6 are installed on the front and rear ends of one side wall of the concave space of the roller conveyor frame 3, and detection grooves are formed in the regular clamping plate 5 corresponding to the installation positions of the material detection sensors 6.

[0023] One of the regular clamping plates 5 in the inner recess space of the roller conveyor frame 3 is provided with a regularity detection sensor 7 that moves with the regular clamping plate 5. Embodiment

[0024] The drum conveying device based on the AMR vehicle comprises an AMR vehicle 1 and a roller conveyor frame 3, the AMR vehicle 1 is an autonomous mobile vehicle comprising a lifting tray frame 2, the roller conveyor frame 3 is installed on the top surface of the lifting tray frame 2, the roller conveyor frame 3 is a concave structure frame, the roller conveyor frame 3 is internally provided with a roller conveyor 4 capable of conveying materials along the longitudinal direction of the inner recess space of the roller conveyor frame 3, two side walls of the inner recess space of the roller conveyor frame 3 are respectively provided with a regular clamping plate 5 through an electric push rod, the rod base of the electric push rod is fixedly connected with the roller conveyor frame 3, the piston rod of the electric push rod is fixedly connected with the regular clamping plate 5, the regular clamping plate 5 is suspended above the roller conveyor 4, regularity detection sensors 7 are respectively installed on the left and right sides in the inner recess space of the roller conveyor frame 3, and the regularity detection sensors 7 are located below the two rollers of the roller conveyor 4.

[0025] Material detection sensors 6 are respectively installed on the front and rear ends of one side wall of the inner recess space of the roller conveyor frame 3, and detection grooves are formed in the regular clamping plate 5 corresponding to the installation positions of the material detection sensors 6.

[0026] One of the regular clamping plates 5 in the inner recess space of the roller conveyor frame 3 is provided with a regularity detection sensor 7 that moves with the regular clamping plate 5.

[0027] The roller conveyor frame 3 is slidingly installed on the top surface of the lifting tray frame 2, the top surface of the lifting tray frame 2 is provided with an electric push rod 8 for driving the roller conveyor frame 3 to move, the rod base of the electric push rod 8 is fixedly connected with the lifting tray frame 2, and the piston rod of the electric push rod 8 is fixedly connected with one side of the bottom of the roller conveyor frame 3.

[0028] The working steps of the drum conveying device based on the AMR vehicle in Example 3 are as follows: After the AMR vehicle is powered on, the control system performs self-checking and initializes system parameters, including checking the connection state and working mode of the electric lifting system, the two-drive differential walking and steering system, the laser positioning and navigation system, the safety detection system, the horizontal movement system, the material detection system, and the drum conveying system, to ensure that each system is in a standby state. At the same time, the laser positioning and navigation system is activated to start scanning the surrounding environment, match with the pre-constructed initial map, and locate the position to prepare for receiving the carrying task. After receiving the carrying task from the upper computer, the AMR vehicle calculates the optimal driving path based on the target position in the task information and the current position, combines the map constructed by the laser positioning and navigation system, and uses a path planning algorithm to quickly calculate the optimal driving path. The path information is sent to the two-drive differential walking and steering system, and the state of the AMR vehicle is adjusted to prepare for driving according to the planned path. The two-drive differential walking and steering system drives the AMR vehicle according to the planned path, and the laser positioning and navigation system monitors the position and direction of the AMR vehicle in real time, continuously feeds back the actual position to the control system, and adjusts the walking speed and steering angle of the two-drive differential walking and steering system according to the deviation to ensure that the AMR vehicle accurately drives along the planned path. During driving, the safety detection system continuously monitors the surrounding environment, and if an obstacle or person is detected, an alarm is triggered and the control system is notified to take evasive or stopping measures to ensure driving safety. When the AMR vehicle reaches the target material position, the AMR vehicle first identifies the ground two-dimensional code with a downward-looking camera to determine whether it is the target storage location, then calibrates the two-dimensional code positioning accuracy, and then the electric lifting system works, and the lifting motor drives the AMR tray to rise / drop through the lifting device to adjust the tray to the same height as the production line equipment. At this time, the horizontal movement system works under the instruction of the control system, moves the drum conveying structure through the horizontal movement push rod, and docks with the equipment material port. The drum rotates to request the production line equipment to push the material onto the drum conveying structure. After the equipment pushes the material onto the drum conveying structure, the material detection system detects whether there is material on the drum conveying structure and whether the material is properly positioned. If the material is not properly positioned, the material is properly positioned and clamped by the material detection system according to the feedback signal. Subsequently, the drum conveying structure moves back to complete the material taking operation. After the material taking operation is completed, the AMR vehicle continues to drive according to the planned path to carry the material to the target equipment position. During driving, each system works cooperatively to ensure the stability and safety of the carrying process. At the same time, the material detection system continuously monitors the material state and adjusts in a timely manner through the control system to prevent carrying accidents caused by poor material state.After arriving at the target equipment position, the AMR trolley stops running, the AMR trolley downward-looking camera identifies the ground two-dimensional code, judges whether it is the target storage location, then calibrates the two-dimensional code positioning accuracy, and then the electric lifting system works, the lifting motor drives the AMR trolley tray to rise / fall through the lifting device, adjusts the tray to the same height as the production line equipment, at this time the horizontal movement system works under the instruction of the control system, moves the drum conveying structure through the horizontal movement push rod, opens the regularizing clamp plate, docks with the equipment material port, requests the production line equipment to load, after the AMR trolley drum rotates and pushes the material to the production line loading port, the material detection system detects whether there is material on the drum conveying structure, if there is no material, it is judged that the loading is completed, the production line is requested to leave, the horizontal movement mechanism is retracted, and the unloading operation is completed. After unloading is completed, the AMR trolley sends a task completion signal to the upper computer, then returns to the initial standby position according to the preset instruction or autonomously plans the path, prepares to receive the next carrying task, in the returning process, each system still maintains the normal working state, ensures that the AMR trolley safely and efficiently returns to the standby position, and waits for a new work arrangement.

[0029] The above description is not a limitation of the utility model, and the utility model is not limited to the above examples. Within the scope of the utility model, changes, modifications, additions or replacements made by ordinary skilled in the art should belong to the protection scope of the utility model.

Claims

1. A drum conveying device based on AMR vehicle, comprising an AMR trolley (1), said AMR trolley (1) being an autonomous mobile trolley comprising a jacking pallet holder (2), characterized in that: The jacking tray frame (2) is provided with a lifting mechanism (1) and a roller conveyor frame (3). The roller conveyor frame (3) is installed on the top surface of the jacking tray frame (2) and is in a concave structure. A roller conveyor (4) capable of conveying materials in the longitudinal direction of the roller conveyor frame (3) is installed in the concave space of the roller conveyor frame (3). Two regular clamping plates (5) are respectively installed on the two side walls of the concave space of the roller conveyor frame (3) through electric push rods. The rod base of the electric push rod is fixedly connected with the roller conveyor frame (3), and the piston rod of the electric push rod is fixedly connected with the regular clamping plate (5). The regular clamping plate (5) is suspended above the roller conveyor (4). Regular detection sensors (7) are respectively installed on the left and right sides of the concave space of the roller conveyor frame (3). The regular detection sensors (7) are located below the two rollers of the roller conveyor (4).

2. The AMR vehicle based roller conveyor of claim 1, wherein: The concave space of the roller conveyor frame (3) is provided with material detection sensors (6) at the front and rear ends of one side wall. The regular clamping plate (5) is provided with a detection groove corresponding to the installation position of the material detection sensor (6).

3. The AMR vehicle based roller conveyor of claim 1, wherein: One of the regular clamping plates (5) in the concave space of the roller conveyor frame (3) is provided with a regular detection sensor (7) that moves with the regular clamping plate (5).

4. The AMR vehicle based roller conveyor of claim 1, wherein: The roller conveyor frame (3) is slidingly installed on the top surface of the jacking tray frame (2). The top surface of the jacking tray frame (2) is provided with an electric push rod (8) for driving the movement of the roller conveyor frame (3). The rod base of the electric push rod (8) is fixedly connected with the jacking tray frame (2), and the piston rod of the electric push rod (8) is fixedly connected with one side of the bottom of the roller conveyor frame (3).

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