AGV inspection trolley suitable for narrow space and capable of replacing modules

Abstract

The utility model discloses a module-replaceable AGV inspection trolley suitable for a narrow space, which comprises a protective shell, a support connecting frame is mounted in the protective shell, a mechanical arm capable of rotating in all directions is arranged on the upper surface of the support connecting frame, and a universal interface is formed in the tail end of the mechanical arm capable of rotating in all directions. All-dimensional Mecanum wheel driving assemblies are arranged at the four end corners of the supporting connecting frame, each all-dimensional Mecanum wheel driving assembly comprises a clamping and embedding fixing base, a driving motor, a wheat wheel frame base and a plurality of inclined wheat wheels, the included angle between the axis of each inclined wheat wheel and the axis of the wheat wheel frame base is 45 degrees, and the universal interface is provided with an inspection assembly. Relates to the technical field of AGV inspection trolleys. Through the omni-directional Mecanum wheel driving assembly, flexible omni-directional parallel movement inspection can be carried out in a narrow space, so that the trolley can realize omni-directional operation with high flexibility in an environment with limited space, and the inspection scene can be effectively expanded.

Description

TECHNICAL FIELD

[0001] The utility model relates to AGV inspection dolly technical field, specifically a kind of AGV inspection dolly of replaceable module suitable for narrow space. BACKGROUND

[0002] Inspection AGV dolly is a kind of intelligent automation equipment, and the inspection AGV dolly has multiple performance indicators and detection functions, and is suitable for different industries, including medical treatment, photovoltaic power station and the like, and the inspection AGV dolly can improve work efficiency and accuracy, reduce artificial burden, and has the characteristics of beauty, small floor area, charging automation and the like.

[0003] However, the existing inspection AGV dolly is usually unable to flexibly inspect in narrow space due to the relatively simple mobile driving structure, so that the dolly cannot be operated omnidirectionally with high flexibility in the environment with limited space, so the inspection scene cannot be effectively expanded. UTILITY MODEL CONTENTS

[0004] The utility model aims at providing a kind of AGV inspection dolly of replaceable module suitable for narrow space to solve the problems raised in the above background.

[0005] To achieve the above object, the utility model provides the following technical scheme: a kind of AGV inspection dolly of replaceable module suitable for narrow space, including protective housing, supporting connecting frame is installed in the protective housing, the supporting connecting frame upper surface central place is provided with the mechanical arm that can rotate omnidirectionally, the mechanical arm that can rotate omnidirectionally end is provided with general interface, the supporting connecting frame four end angles are all provided with omni-directional mecanum wheel driving assembly, the omni-directional mecanum wheel driving assembly includes clamping fixed seat, driving motor is clamped and installed in the clamping fixed seat, mecanum wheel support is clamped and installed in the driving motor output, and a plurality of inclined small mecanum wheels are rotationally installed on the surface of the mecanum wheel support, the axis of the inclined small mecanum wheel is forty-five degrees angle with the axis of the mecanum wheel support, and the general interface is installed with inspection assembly.

[0006] As a further scheme of the utility model: the supporting connecting frame includes mechanical arm support plate, fixed holder is installed on the lower surface of the mechanical arm support plate, fixed support front plate is installed on the front end below the mechanical arm support plate, fixed support rear plate is installed on the rear end below the mechanical arm support plate, first support fixed rod is installed between the mechanical arm support plate and the fixed support front plate, and second support fixed rod is installed between the mechanical arm support plate and the fixed support rear plate.

[0007] As a further scheme of the utility model: the protection shell includes support bottom plate, support top plate arranged above the support bottom plate and four support fences clamped and installed between the support bottom plate and the support top plate, four clamping fixing bases are arranged on the support bottom plate.

[0008] As a further scheme of the utility model: the four end angles of the support connecting frame are fixedly installed on the four clamping fixing bases through bolts, and the fixed support front plate is installed on the support bottom plate through a third support fixed rod at one end of the lower surface close to the first support fixed rod.

[0009] As a further scheme of the utility model: the fixed support rear plate is installed on the support bottom plate through a fourth support fixed rod at one end of the lower surface close to the second support fixed rod, a mobile control module is installed on the upper surface of the fixed support rear plate, and a booster plate module is installed below the fixed holder under the upper surface of the fixed support rear plate.

[0010] As a further scheme of the utility model: the patrol assembly comprises an installation fixed block, a laser radar module installed on one side of the installation fixed block and a camera module installed on the other side of the installation fixed block.

[0011] As a further scheme of the utility model: the installation fixed block is clamped and fixed in the universal interface through bolts, and the laser radar module and the camera module are installed on the installation fixed block through bolts.

[0012] As a further scheme of the utility model: a moving groove slightly larger than the macadam wheel seat is formed through the support bottom plate, and a heat dissipation groove hole is formed through the support bottom plate.

[0013] Compared with the prior art, the utility model has the advantages that:

[0014] The utility model provides a replaceable module AGV patrol trolley suitable for narrow space, which can realize flexible and omnidirectional parallel movement and inspection in narrow space through the cooperation of the clamping fixing base, the driving motor, the macadam wheel seat and the plurality of inclined macadam wheels in the omnidirectional macadam wheel driving assembly, so that the trolley can realize omnidirectional operation with high flexibility in a space-limited environment, thereby effectively expanding the inspection scene.

[0015] The utility model provides a replaceable module AGV patrol trolley suitable for narrow space, which can realize flexible and omnidirectional parallel movement and inspection in narrow space through the cooperation of the clamping fixing base, the driving motor, the macadam wheel seat and the plurality of inclined macadam wheels in the omnidirectional macadam wheel driving assembly, so that the trolley can realize omnidirectional operation with high flexibility in a space-limited environment, thereby effectively expanding the inspection scene. BRIEF DESCRIPTION OF DRAWINGS

[0016] Figure 1 It is the overall internal structure schematic view of the embodiment of the utility model;

[0017] Figure 2 It is the all -round Mecanum wheel drive assembly structure schematic view of the embodiment of the utility model;

[0018] Figure 3 It is the support connecting frame structure schematic view of the embodiment of the utility model;

[0019] Figure 4 It is the overall appearance structure schematic view of the embodiment of the utility model;

[0020] Figure 5 It is the overall appearance bottom structure schematic view of the embodiment of the utility model.

[0021] In the drawing: 1, protective housing, 2, support connecting frame, 3, can all -round rotation mechanical arm, 4, general interface, 5, all -round Mecanum wheel drive assembly, 6, clamping fixed seat, 7, drive motor, 8, Mecanum wheel frame seat, 9, inclined small Mecanum wheel, 10, inspection assembly, 11, mechanical arm support plate, 12, fixed holder, 13, fixed support front plate, 14, fixed support rear plate, 15, first support fixed rod, 16, second support fixed rod, 17, support bottom plate, 18, support top plate, 19, support coaming, 20, third support fixed rod, 21, fourth support fixed rod, 22, movement control module, 23, booster plate module, 24, mounting fixed block, 25, laser radar module, 26, camera module, 27, moving groove, 28, heat dissipation groove hole. Specific implementation

[0022] The technical scheme in the embodiment of the utility model is clearly and completely described below with reference to the drawings.

[0023] Refer to Figure 1 , Figure 2 , Figure 3 , Figure 4 and Figure 5As shown, the utility model embodiment graph display a kind of applicable to narrow space replaceable module's AGV inspection dolly, including protective housing 1, support connecting frame 2 is installed in protective housing 1, support connecting frame 2 upper surface central place is provided with the mechanical arm 3 that can rotate in all directions, the general interface 4 is opened in the end of the mechanical arm 3 that can rotate in all directions, support connecting frame 2 four end angles are all provided with omni-directional mecanum wheel driving assembly 5, omni-directional mecanum wheel driving assembly 5 includes clamping fixed seat 6, driving motor 7 is clamped and installed in clamping fixed seat 6, mecanum wheel frame seat 8 and the inclined small mecanum wheel 9 of rotation installation in mecanum wheel frame seat 8 surface are clamped and installed in the output end of driving motor 7, the axis of inclined small mecanum wheel 9 and the axis of mecanum wheel frame seat 8 are forty-five degrees angle, general interface 4 is installed with inspection component 10, protective housing 1 is convenient for the protection of support connecting frame 2, support connecting frame 2 is convenient for the support fixed of the mechanical arm 3 that can rotate in all directions, it is convenient for four omni-directional mecanum wheel driving assembly 5 to be connected together, the mechanical arm 3 that can rotate in all directions is convenient for the support fixed of inspection component 10, it can drive inspection component 10 to rotate in all directions adjustment simultaneously, so that AGV inspection dolly can better rotate in all directions inspection, general interface 4 is convenient for AGV inspection dolly can quickly replace laser radar, camera or other sensor module, to meet different task needs, omni-directional mecanum wheel driving assembly 5 is convenient for AGV inspection dolly can be flexibly turned around and inspected in narrow space, this makes in the environment of space limited, dolly can high flexibility realize omnidirectional operation, to effectively expand inspection scene, clamping fixed seat 6 is convenient for the fixed installation of driving motor 7, driving motor 7 is convenient for the rotation of mecanum wheel frame seat 8 provides driving force, mecanum wheel frame seat 8 is convenient for the support fixed of inclined small mecanum wheel 9, inclined small mecanum wheel 9 is convenient for cooperation mecanum wheel frame seat 8 and driving motor 7 to realize all-around turning movement, inspection component 10 is convenient for realizing the omnidirectional inspection of AGV inspection dolly.

[0024] Referring to Figure 3, as other embodiments of the utility model: support connecting frame 2 includes mechanical arm support plate 11, install the fixed holder 12 of mechanical arm support plate 11 lower surface, install the fixed support front plate 13 of mechanical arm support plate 11 lower front end, install the fixed support rear plate 14 of mechanical arm support plate 11 lower rear end, install the first support fixed link 15 between mechanical arm support plate 11 and fixed support front plate 13 and install the second support fixed link 16 between mechanical arm support plate 11 and fixed support rear plate 14, mechanical arm support plate 11 is convenient for the support fixed of fixed holder 12, fixed holder 12 is convenient for the rotation support fixed of all directions rotation mechanical arm 3, fixed support front plate 13 and fixed support rear plate 14 are convenient for realizing the four end corners of support connecting frame 2 are fixedly installed on four clamping fixed seat 6, first support fixed link 15 is convenient for the connection of mechanical arm support plate 11 and fixed support front plate 13 together, second support fixed link 16 is convenient for the connection of mechanical arm support plate 11 and fixed support rear plate 14 together.

[0025] Referring to Figure 1 , Figure 2 and Figure 5 , as other embodiments of the utility model: protective shell 1 includes support base plate 17, support top plate 18 being arranged above support base plate 17 and four support fences 19 being clamped and installed between support base plate 17 and support top plate 18, four clamping fixed seat 6 are all arranged on support base plate 17, support base plate 17, support top plate 18 and four support fences 19 are cooperated to form a protective shell, thereby realizing all directions protection of support connecting frame 2.

[0026] Referring to Figure 1 , Figure 2 and Figure 3 , as other embodiments of the utility model: four end corners of support connecting frame 2 are fixedly installed on four clamping fixed seat 6 through bolt, fixed support front plate 13 is installed on support base plate 17 through third support fixed link 20 at the lower surface one end close to first support fixed link 15, third support fixed link 20 is convenient for the auxiliary support of fixed support front plate 13, thereby sharing the pressure of mechanical arm support plate 11 to fixed support front plate 13.

[0027] Referring to Figure 1 , Figure 2 and Figure 3As another embodiment of this utility model: the fixed support rear plate 14 is mounted on the support base plate 17 via the fourth support fixing rod 21 at one end of its lower surface near the second support fixing rod 16. A movement control module 22 is installed on the upper surface of the fixed support rear plate 14. A booster plate module 23 is installed on the upper surface of the fixed support rear plate 14 below the fixed gimbal 12. The fourth support fixing rod 21 facilitates auxiliary support for the fixed support rear plate 14, thereby sharing the pressure of the robotic arm support plate 11 on the fixed support rear plate 14. The movement control module 22 facilitates receiving and sending commands, thereby realizing the movement and inspection of the AGV inspection vehicle. The booster plate module 23 facilitates the conversion of the input DC voltage into a higher DC voltage output, which is often used in specific application scenarios that require a higher voltage than the input voltage.

[0028] Reference Figure 3 , Figure 4 as well as Figure 5 As another embodiment of this utility model: the inspection component 10 includes a mounting block 24, a laser radar module 25 mounted on one side of the mounting block 24, and a camera module 26 mounted on the other side of the mounting block 24. The mounting block 24 facilitates the mounting of the laser radar module 25 and the camera module 26, thereby facilitating the mounting of the laser radar module 25 and the camera module 26 on the omnidirectional rotating robotic arm 3. The laser radar module 25 and the camera module 26 facilitate the obstacle avoidance and mobile inspection of the AGV inspection vehicle.

[0029] Reference Figure 3 , Figure 4 as well as Figure 5 As another embodiment of this utility model: the mounting block 24 is fixedly installed in the universal interface 4 by bolts, and the lidar module 25 and the camera module 26 are both installed on the mounting block 24 by bolts.

[0030] Reference Figure 5 As another embodiment of this utility model: a movable groove 27 slightly larger than the wheat wheel frame seat 8 is provided through the support base plate 17, and a heat dissipation slot hole 28 is provided through the support base plate 17. The movable groove 27 makes it easy for the wheat wheel frame seat 8 and several inclined wheat wheels 9 rotatably mounted on the surface of the wheat wheel frame seat 8 to be exposed from the support base plate 17, thereby facilitating the movement of the AGV inspection vehicle. The heat dissipation slot hole 28 facilitates rapid heat dissipation of the AGV inspection vehicle during operation.

[0031] The working principle of this utility model is as follows: This utility model provides an AGV inspection trolley with replaceable modules suitable for narrow spaces. When using this device, a support base plate 17 should be taken out first, and then four drive motors 7 should be installed in sequence on four snap-fit ​​fixing seats 6 on the support base plate 17. Subsequently, four wheat wheel frame seats 8 with several inclined wheat wheels 9 rotatably mounted on their surfaces should be installed in sequence on the output end of the drive motors 7.

[0032] At this time, the support connecting frame 2 is installed on the four clamping fixing seats 6, and then the omnidirectional mechanical arm 3 is installed in the fixing holder 12 on the support connecting frame 2, and then the booster plate module 23 is installed on the fixing support back plate 14 below the fixing holder 12, and then the mobile control module 22 is installed on the fixing support back plate 14 on the support connecting frame 2;

[0033] At this time, a support top plate 18 and four support surrounding plates 19 can be taken out, and then a support top plate 18 and four support surrounding plates 19 are installed on the support bottom plate 17 in sequence to form the protection shell 1, and then the installation fixing block 24, the laser radar module 25 and the camera module 26 are taken out, and the laser radar module 25 is installed on one side of the installation fixing block 24, and the camera module 26 is installed on the other side of the installation fixing block 24, and then the installation fixing block 24 is clamped and installed in the universal interface 4 at the end of the omnidirectional mechanical arm 3;

[0034] When the device is in use, the clamping fixing seat 6, the driving motor 7, the wheel frame seat 8 and the plurality of inclined small wheels 9 in the omnidirectional Mecanum wheel driving assembly 5 can be matched with each other, so that flexible omnidirectional parallel movement inspection can be performed in a narrow space, which enables the trolley to realize omnidirectional operation with high flexibility in a space-limited environment, thereby effectively expanding the inspection scene, and the device can also be quickly replaced with a laser radar, a camera or other sensor modules through the universal interface 4 on the omnidirectional mechanical arm 3, so as to meet different task requirements.

[0035] The above describes only a preferred specific embodiment of the present application, but the protection scope of the present application is not limited thereto, and any person skilled in the art can make equivalent replacement or change according to the technical scheme and the inventive concept of the present application within the technical range disclosed by the present application, which should be covered within the protection scope of the present application.

Claims

1. An AGV inspection trolley with replaceable modules suitable for narrow spaces, characterized in that, The utility model provides a kind of protection shell (1), support connecting frame (2) is installed in the protection shell (1), the upper surface of support connecting frame (2) is centrally provided with all-directional rotating mechanical arm (3), the end of all-directional rotating mechanical arm (3) is provided with general interface (4), four end corners of support connecting frame (2) are all provided with all-directional mecanum wheel drive component (5), all-directional mecanum wheel drive component (5) includes clamping fixed seat (6), drive motor (7) is clamped in the clamping fixed seat (6), mecanum wheel frame seat (8) is clamped in the output end of drive motor (7) and a plurality of inclined small mecanum wheels (9) are rotatably installed on the surface of mecanum wheel frame seat (8), the axis of inclined small mecanum wheel (9) is forty-five degrees angle with the axis of mecanum wheel frame seat (8), general interface (4) is installed with inspection component (10).

2. The AGV inspection trolley with replaceable modules suitable for narrow space according to claim 1, characterized in that, The support connecting frame (2) includes a mechanical arm support plate (11), a fixed gimbal (12) mounted on the lower surface of the mechanical arm support plate (11), a fixed support front plate (13) mounted on the front end below the mechanical arm support plate (11), a fixed support rear plate (14) mounted on the rear end below the mechanical arm support plate (11), a first support fixed rod (15) installed between the mechanical arm support plate (11) and the fixed support front plate (13), and a second support fixed rod (16) installed between the mechanical arm support plate (11) and the fixed support rear plate (14).

3. The AGV inspection trolley with replaceable module suitable for narrow space according to claim 2, characterized in that, The protection shell (1) includes a support bottom plate (17), a support top plate (18) arranged above the support bottom plate (17), and four support enclosures (19) clamped between the support bottom plate (17) and the support top plate (18), and four clamping fixed seats (6) are arranged on the support bottom plate (17).

4. The AGV inspection trolley with replaceable modules suitable for narrow space according to claim 3, characterized in that, The four end corners of the support connecting frame (2) are bolted and fixedly installed on the four clamping fixed seats (6), and the lower surface of the fixed support front plate (13) is bolted and fixedly installed on the support bottom plate (17) through a third support fixed rod (20) near the first support fixed rod (15).

5. The AGV inspection trolley with replaceable module suitable for narrow space according to claim 4, characterized in that, The lower surface of the fixed support rear plate (14) is bolted and fixedly installed on the support bottom plate (17) through a fourth support fixed rod (21) near the second support fixed rod (16), a mobile control module (22) is installed on the upper surface of the fixed support rear plate (14), and a booster plate module (23) is installed below the fixed gimbal (12) on the upper surface of the fixed support rear plate (14).

6. The AGV inspection trolley with replaceable module suitable for narrow space according to claim 1, characterized in that, The inspection component (10) includes a mounting fixed block (24), a laser radar module (25) mounted on one side of the mounting fixed block (24), and a camera module (26) mounted on the other side of the mounting fixed block (24).

7. The AGV inspection trolley with replaceable module suitable for narrow space according to claim 6, characterized in that, The mounting fixed block (24) is clamped and fixedly installed in the general interface (4) by bolts, and the laser radar module (25) and the camera module (26) are bolted and installed on the mounting fixed block (24).

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