CN217867990U

CN217867990U - SLAM navigation list rudder AMR dolly

Info

Publication number: CN217867990U
Application number: CN202222186757.7U
Authority: CN
Inventors: 费瑞阳; 张磊
Original assignee: Fairyland Technology Wuhan Co Ltd
Current assignee: Fairyland Technology Wuhan Co Ltd
Priority date: 2022-08-19
Filing date: 2022-08-19
Publication date: 2022-11-22
Anticipated expiration: 2032-08-19

Abstract

The utility model discloses a SLAM navigation list rudder AMR dolly, include: the utility model provides a multi-AMR (automated guided vehicle) navigation device, including an equipment frame, a front support frame, a self-adjusting steering wheel, a lifting driver, a portal, a lifting screw, a safety speed limiting device, a slide rail, a lifting platform, a front fork, a plurality of SLAM (super-resolution ratio) navigation devices, a plurality of forms of routes can be edited fast through SLAM technology fast scanning job sites, thereby improving the field editing efficiency, replacing traditional AGV dolly, and being used for the material transfer lifting work in factory production.

Description

SLAM navigation list rudder AMR dolly

Technical Field

The utility model relates to a AMR dolly technical field specifically is a SLAM navigation list rudder AMR dolly.

Background

AMR is an english abbreviation of Autonomous Mobile Robot, that is, an Autonomous Mobile Robot. The industrial AMR can be understood as an AGV capable of autonomous positioning and autonomous navigation, compared with the traditional AGV, the ARM trolley has higher intelligence degree and does not need to lay a magnetic track in advance;

AMR dolly is through SLAM technique operation robot in SLAM laser AGV (AMR) running region travel one section, uses SLAM laser portrayal site environment, can edit the route in the site environment of portrayal afterwards, and SLAM need not traditional AGV's traffic control, and is more free flexibility, consequently uses this technique on the floor truck, can effectively improve work efficiency.

Therefore, the SLAM navigation single-rudder AMR trolley needs to be designed aiming at the problems, and the SLAM laser technology is applied to the lifting trolley, so that the working efficiency and the intelligent level of the trolley are improved.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a SLAM navigation list rudder AMR dolly to solve the problem that proposes in the above-mentioned background art.

In order to achieve the above object, the utility model provides a following technical scheme: a SLAM navigational single rudder AMR trolley, comprising:

the utility model provides a safety speed limiting device, including the equipment frame, the equipment frame is equipped with front support frame, the inside of equipment frame is provided with self-adjusting steering wheel and lift driver, fixed mounting has the portal on the equipment frame, the internal rotation of equipment frame is equipped with the lifting screw, the lifting screw extends the inside of equipment frame, the fixed safety speed limiting device that is provided with in top of lifting screw, safety speed limiting device pass through bolt fixed mounting in the inboard of portal, there is the elevating platform in the outside of equipment frame through slide rail slidable mounting, fixed mounting has the front fork on the elevating platform, the front fork with the vertical centerline symmetry of elevating platform sets up two sets ofly.

Preferably, the equipment rack further comprises:

the universal wheels are connected to the lower end of the equipment rack through bolts, and the universal wheels are symmetrically arranged in two groups relative to the vertical center line of the equipment rack.

Preferably, the lifting driver further comprises:

and the speed changer is arranged at the lower end of the lifting driver and is connected to the lifting screw rod through a transmission belt.

Preferably, two groups of self-adaptive springs are rotatably connected to the self-adjusting steering wheel through bolts, the self-adaptive springs are rotatably connected to the inner side of the equipment frame through bolts,

and the driving wheel is arranged at the lower end of the self-adjusting steering wheel and extends to the lower end of the equipment frame.

Preferably, the front support frame further comprises:

and the pulley is rotatably arranged on the inner side of the front support frame and extends to the lower end of the front support frame.

Preferably, the lifting platform is fixedly connected with a connecting sleeve through a bolt, the lifting screw penetrates through the connecting sleeve, and the connecting sleeve is in threaded connection with the lifting screw.

Preferably, the front fork is fixedly provided with a SLAM scanner.

Compared with the prior art, the beneficial effects of the utility model are that: the SLAM navigation multi-AMR trolley can quickly scan a working site through an SLAM technology and quickly edit a form route, so that the site editing efficiency is improved, the traditional AGV trolley is replaced, and the multi-AMR navigation multi-AMR trolley is used for material transferring and lifting work in factory production;

1. the device can utilize the signal that SLAM scanner received, the approximate condition in work place is depicted to can generate the place model, utilize the place model can edit the route of traveling fast, compare with traditional AGV dolly based on magnetic track navigation, need not to lay the magnetic track route in advance, consequently also can not stop when the route blocks up and wait, thereby effective work efficiency.

2. Through the driver, the driver can make the rotation of drive wheel all around, combine the universal wheel of equipment rack to and the pulley of preceding support frame, can drive whole AMR dolly free movement, and can realize the pivot and turn to, improve the nimble degree of vehicle, and compact structure practices thrift the space, easily maintains, thereby replaces current AGV drive arrangement.

Drawings

FIG. 1 is a schematic view of the three-dimensional structure of the present invention;

FIG. 2 is a schematic view of the three-dimensional structure of the equipment frame part of the present invention;

FIG. 3 is a schematic view of a part of the elevating platform of the present invention;

fig. 4 is a schematic view of a three-dimensional structure of the front support frame part of the present invention.

In the figure: 1. an equipment rack; 2. a front support frame; 3. a lift drive; 4. a self-adjusting steering wheel; 5. a gantry; 6. a lifting platform; 7. a front fork; 8. a safety speed limiting device; 9. a self-adaptive spring; 10. a transmission; 11. connecting sleeves; 12. a universal wheel; 13. a drive wheel; 14. a SLAM scanner; 15. a lifting screw; 16. a pulley.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts all belong to the protection scope of the present invention.

Referring to fig. 1-4, a SLAM navigation single rudder AMR trolley comprises: the AMR trolley comprises an equipment frame 1 which is a main body part of the AMR trolley, wherein a front support frame 2 is arranged on the equipment frame 1, a self-adjusting steering wheel 4 and a lifting driver 3 are arranged inside the equipment frame 1, a portal frame 5 is fixedly arranged on the equipment frame 1, a lifting screw 15 is arranged in the equipment frame 1 in a rotating mode, the lifting screw 15 extends into the equipment frame 1, a safety speed limiting device 8 is fixedly arranged at the top end of the lifting screw 15, the safety speed limiting device 8 is fixedly arranged on the inner side of the portal frame 5 through bolts, a lifting table 6 is slidably arranged on the outer side of the equipment frame 1 through a sliding rail, front forks 7 are fixedly arranged on the lifting table 6, and the front forks 7 are symmetrically arranged in two groups by using the vertical central line of the lifting table 6. The lifting drive 3 further comprises: the speed changer 10 is arranged at the lower end of the lifting driver 3, the speed changer 10 is connected to the lifting screw rod 15 through a transmission belt, and the torque force of the motor can be greatly improved by utilizing the speed changer 10, so that the torque force of the lifting screw rod 15 is improved, and the trolley can bear larger lifting weight. Two groups of self-adaptive springs 9 are rotationally connected to the self-adjusting steering wheel 4 through bolts, and the self-adaptive springs 9 are rotationally connected to the inner side of the equipment frame 1 through bolts; a driving wheel 13 provided at a lower end of the self-adjusting steering wheel 4, the driving wheel 13 extending to a lower end of the equipment rack 1. The self-adjusting steering wheel 4 can enable the driving wheel 13 to rotate front, back, left and right, and the whole AMR trolley can be driven to move freely by combining the universal wheel 12 of the equipment frame 1 and the pulley 16 of the front support frame 2, and the in-situ steering can be realized, so that the flexibility of the vehicle is improved, the structure is compact, the space is saved, and the maintenance is easy, thereby replacing the existing AGV driving device. Simultaneously again through self-adaptation spring 9, can further improve the land fertility of grabbing of drive wheel 13, improve the flexibility ratio of vehicle, the nature controlled, be applicable to multiple road surface environment, the device can utilize the signal that SLAM scanner 14 received, the roughly condition in work place is depicted, thereby can generate the place model, utilize the place model can edit the route of traveling fast, compare with traditional AGV dolly based on magnetic track navigation, need not to lay the magnetic track route in advance, consequently also can not stop when the route blocks up and wait, thereby effective work efficiency: the front supporting frame 2 further comprises: and a pulley 16 rotatably disposed inside the front support frame 2, the pulley 16 extending to a lower end of the front support frame 2. The lifting platform 6 is fixedly connected with a connecting sleeve 11 through a bolt, a lifting screw 15 penetrates through the connecting sleeve 11, and the connecting sleeve 11 is in threaded connection with the lifting screw 15. Fixed mounting has SLAM scanner 14 on the front fork 7, utilizes the signal that SLAM scanner 14 received, describes the approximate condition in work place to can generate the place model, utilize the place model can edit the route of traveling fast, compare with traditional AGV dolly based on magnetic track navigation, need not to lay the magnetic track route in advance, consequently also can not stop when the route blocks up and wait, thereby effective work efficiency.

To sum up: the device takes an equipment frame 1 as a main body, the equipment frame 1 is used for installing a lifting driver 3 and a self-adjusting steering wheel 4, the equipment frame 1 can move freely through a universal wheel 12, meanwhile, a front support frame 2 supports the ground and provides stable support, meanwhile, the front support frame 2 can move freely through a pulley 16, the self-adjusting steering wheel 4 can be contacted with the ground through a driving wheel 13 to walk in multiple angles and multiple directions, a self-adaptive spring 9 can enable the driving wheel 13 to be clung to the ground and provide good ground gripping force, the equipment frame 1 is provided with a lifting platform 6 through a sliding rail of a portal frame 5, the lifting driver 3 drives a lifting screw rod 15 through a transmission 10, the lifting platform 6 is connected with the lifting screw rod 15 through a connecting sleeve 11, the lifting driver 3 can drive the lifting platform 6 to lift up and down, faults such as motor damage, transmission belt breakage and the like can be realized through a safety speed limiting device 8, speed limitation can be realized on the rotation of the screw rod, meanwhile, an AMR scanner 14 is arranged on the lifting platform 6, and the SLAM scanner 14 can be used for obtaining scene data, thereby editing a route and providing route information for automatic control of a vehicle, thereby completing the operation work.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims

1. The SLAM navigation single rudder AMR trolley is characterized by comprising:

equipment frame (1), for the main part of this AMR dolly, be equipped with front support frame (2) on equipment frame (1), the inside of equipment frame (1) is provided with from adjusting steering wheel (4) and lift driver (3), fixed mounting has portal (5) on equipment frame (1), the internal rotation of equipment frame (1) is equipped with lifting screw (15), lifting screw (15) extend the inside of equipment frame (1), the top of lifting screw (15) is fixed and is provided with safe speed limiting device (8), safe speed limiting device (8) through bolt fixed mounting in the inboard of portal (5), there are elevating platform (6) in the outside of equipment frame (1) through slide rail slidable mounting, fixed mounting has front fork (7) on elevating platform (6), front fork (7) with the vertical central line symmetry of elevating platform (6) sets up two sets of group.

2. A SLAM navigational mono AMR trolley according to claim 1, characterized in that said equipment rack (1) further comprises:

the universal wheels (12) are connected to the lower end of the equipment frame (1) through bolts, and the universal wheels (12) are symmetrically arranged in two groups relative to the vertical center line of the equipment frame (1).

3. A SLAM navigational rudder AMR trolley according to claim 1, characterized in that the lifting drive (3) further comprises:

and the transmission (10) is arranged at the lower end of the lifting driver (3), and the transmission (10) is connected to the lifting screw rod (15) through a transmission belt.

4. The SLAM navigation single rudder AMR trolley according to the claim 1, characterized in that the self-adjusting rudder wheel (4) is connected with two groups of self-adaptive springs (9) through bolts in a rotating way, the self-adaptive springs (9) are connected with the inner side of the equipment frame (1) through bolts in a rotating way,

a driving wheel (13) provided at a lower end of the self-adjusting steering wheel (4), the driving wheel (13) extending to a lower end of the equipment rack (1).

5. A SLAM navigational single rudder AMR trolley according to claim 1, characterized in that said front support frame (2) further comprises:

a pulley (16) rotatably disposed inside the front support frame (2), the pulley (16) extending to a lower end of the front support frame (2).

6. The SLAM navigation single rudder AMR trolley according to claim 1, wherein the elevating platform (6) is fixedly connected with a connecting sleeve (11) by bolts, the elevating screw (15) penetrates through the connecting sleeve (11), and the connecting sleeve (11) and the elevating screw (15) are connected by screw threads.

7. A SLAM navigational mono AMR trolley according to claim 1, characterized in that a SLAM scanner (14) is fixedly mounted on said front fork (7).