阅读说明：本技术 一种基于双激光雷达融合的麦克纳姆轮智能导引车 (Mecanum wheel intelligent guided vehicle based on double laser radar fusion ) 是由 林淦斌 叶航 于 2020-06-09 设计创作，主要内容包括：本发明属于引导车技术领域,尤其为一种基于双激光雷达融合的麦克纳姆轮智能导引车,包括底板、第二连接块和转动板,所述底板的底端连接有第一卡块,且第一卡块的底端开设有固定槽,所述固定槽的内侧设置有第一滑块,且第一滑块的底端安装有感应雷达,所述感应雷达的右侧设置有小轮,且小轮的右侧设置有第一连接块,所述第一连接块的顶端设置有转动柱,且转动柱的顶端连接有空心柱,所述空心柱的内侧设置有连接柱,且连接柱的顶端固定有升降机构,所述第二连接块设置于底板的顶端。该基于双激光雷达融合的麦克纳姆轮智能导引车具有便于降低震动的减震装置,且具有全方位感知周围环境的效果,方便用户对其进行安装调节检修。(The invention belongs to the technical field of guide vehicles, and particularly relates to a double-laser-radar-fusion-based Mecanum wheel intelligent guide vehicle which comprises a bottom plate, a second connecting block and a rotating plate, wherein the bottom end of the bottom plate is connected with a first clamping block, a fixing groove is formed in the bottom end of the first clamping block, a first sliding block is arranged on the inner side of the fixing groove, an induction radar is arranged at the bottom end of the first sliding block, a small wheel is arranged on the right side of the induction radar, a first connecting block is arranged on the right side of the small wheel, a rotating column is arranged at the top end of the first connecting block, a hollow column is connected to the top end of the rotating column, a connecting column is arranged on the inner side of the hollow column, a lifting mechanism is fixed at the top end of the. This mecanum wheel intelligence guided vehicle based on two laser radar fuses has the damping device who is convenient for reduce vibrations, and has the effect of all-round perception surrounding environment, and convenience of customers installs to adjust to it and overhauls.)

1. The utility model provides a mecanum wheel intelligence guided vehicle based on two laser radar merge, includes bottom plate (1), second connecting block (12) and rotor plate (30), its characterized in that: the bottom end of the bottom plate (1) is connected with a first clamping block (2), the bottom end of the first clamping block (2) is provided with a fixed groove (3), the inner side of the fixed groove (3) is provided with a first sliding block (4), the bottom end of the first sliding block (4) is provided with an induction radar (5), the right side of the induction radar (5) is provided with a small wheel (6), the right side of the small wheel (6) is provided with a first connecting block (7), the top end of the first connecting block (7) is provided with a rotating column (8), the top end of the rotating column (8) is connected with a hollow column (9), the inner side of the hollow column (9) is provided with a connecting column (10), the top end of the connecting column (10) is fixedly provided with a lifting mechanism (11), the second connecting block (12) is arranged at the top end of the bottom plate (1), and a transmission rod (13) is arranged, the right side of transfer line (13) is fixed with transmission piece (14), and the right side of transmission piece (14) is provided with axis of rotation (15), and be connected for the meshing between transmission piece (14) and axis of rotation (15), the top of axis of rotation (15) is provided with turning block (16), and the top of turning block (16) is provided with gear piece (17), the right side of gear piece (17) is connected with rotating gear (18), and is connected for the meshing between gear piece (17) and rotating gear (18), the top of rotating gear (18) is fixed with dwang (19), and the outside nestification of dwang (19) has elevator (20), the one end of elevator (20) is connected with fixed block (21), and the inboard of fixed block (21) is provided with second slider (22), the both ends of second slider (22) are fixed with outstanding piece (23), and the bottom of second slider (22) has seted up first spout (24), first spout (24) inboard is provided with movable rod (25), and the right side of movable rod (25) is provided with connecting band (26) to the bottom of connecting band (26) is connected with drive wheel (27), the outside nestification of movable rod (25) has movable block (28), and the bottom mounting of movable block (28) has splint (29), rotor plate (30) set up in the outside of second connecting block (12), and the left side of rotor plate (30) is provided with third connecting block (31), the one end of third connecting block (31) is connected with third slider (32), and second spout (33) have been seted up in the outside of third slider (32), scanning device (34) are installed on the top of second spout (33), and the both ends of scanning device (34) are connected with second fixture block (35).

2. The dual lidar fusion based mecanum wheel intelligent guided vehicle of claim 1, wherein: the induction radar (5) and the fixed groove (3) form a lifting structure through the first sliding block (4), and the fixed groove (3) and the bottom plate (1) form a clamping structure through the first clamping block (2).

3. The dual lidar fusion based mecanum wheel intelligent guided vehicle of claim 1, wherein: the lifting mechanism (11) and the hollow column (9) form a sliding structure through the connecting column (10), and the hollow column (9) and the first connecting block (7) form a rotating structure through the rotating column (8).

4. The dual lidar fusion based mecanum wheel intelligent guided vehicle of claim 1, wherein: the rotating block (16) and the second connecting block (12) form a rotating structure through the rotating shaft (15), and the rotating shaft (15) and the transmission rod (13) form a transmission structure through the transmission block (14).

5. The dual lidar fusion based mecanum wheel intelligent guided vehicle of claim 1, wherein: the fixed block (21) and the rotating rod (19) form a lifting structure through a lifting block (20), and the rotating rod (19) and the gear block (17) form a transmission structure through a rotating gear (18).

6. The dual lidar fusion based mecanum wheel intelligent guided vehicle of claim 1, wherein: the two protruding blocks (23) are symmetrically arranged on the central axis of the first sliding groove (24), and the first sliding groove (24) and the fixed block (21) form a sliding structure through the second sliding block (22).

7. The dual lidar fusion based mecanum wheel intelligent guided vehicle of claim 1, wherein: the clamping plate (29) and the movable rod (25) form a sliding structure through the movable block (28), and the movable rod (25) and the driving wheel (27) form a driving structure through the connecting belt (26).

8. The dual lidar fusion based mecanum wheel intelligent guided vehicle of claim 1, wherein: the third connecting block (31) and the second sliding groove (33) form a sliding structure through a third sliding block (32), and the third connecting block (31) is connected with the rotating plate (30) in a clamping mode.

9. The dual lidar fusion based mecanum wheel intelligent guided vehicle of claim 1, wherein: the scanning device (34) and the rotating block (16) form a clamping structure through a second clamping block (35), and two second clamping blocks (35) are symmetrically arranged on the central axis of the second connecting block (12).

Technical Field

The invention relates to the technical field of guided vehicles, in particular to a Mecanum wheel intelligent guided vehicle based on double laser radar fusion.

Background

With the rapid development of science and technology, an intelligent guide vehicle appears on the market today, the intelligent guide vehicle can move independently without manual driving, the equipment can accurately walk according to a certain path through a special navigation and intelligent algorithm, a series of operations can be completed, manual work can be effectively replaced, and the mecanum wheel intelligent guide vehicle based on double laser radar fusion is designed for the scheme.

Present traditional mecanum wheel intelligence guided vehicles still has certain not enough in the shock attenuation, when mecanum wheel intelligence guided vehicles goes on uneven ground, the relatively poor problem of guided vehicle stationarity appears because of the ground is uneven easily, need have the damping device who is convenient for reduce vibrations, and have the effect of all-round perception surrounding environment, convenience of customers installs the mecanum wheel intelligence guided vehicles who adjusts the maintenance to it.

Aiming at the existing problems, innovation is urgently needed on the basis of the original intelligent guided vehicle.

Disclosure of Invention

The invention aims to provide a Mecanum wheel intelligent guided vehicle based on double laser radar fusion, which aims to solve the problems that the Mecanum wheel intelligent guided vehicle provided in the background art has certain defects in shock absorption, and the guided vehicle is easy to have poor running stability due to uneven ground when the Mecanum wheel intelligent guided vehicle runs on the uneven ground.

In order to achieve the purpose, the invention provides the following technical scheme: an intelligent guiding vehicle with Mecanum wheels based on double laser radar fusion comprises a bottom plate, a second connecting block and a rotating plate, wherein the bottom end of the bottom plate is connected with a first clamping block, a fixing groove is formed in the bottom end of the first clamping block, a first sliding block is arranged on the inner side of the fixing groove, an induction radar is mounted at the bottom end of the first sliding block, a small wheel is arranged on the right side of the induction radar, a first connecting block is arranged on the right side of the small wheel, a rotating column is arranged at the top end of the first connecting block, a hollow column is connected to the top end of the rotating column, a connecting column is arranged on the inner side of the hollow column, a lifting mechanism is fixed at the top end of the connecting column, the second connecting block is arranged at the top end of the bottom plate, a transmission rod is arranged inside the second connecting block, a transmission block is fixed on the right side of the transmission rod, a, the top end of the rotating shaft is provided with a rotating block, the top end of the rotating block is provided with a gear block, the right side of the gear block is connected with a rotating gear, the gear block is connected with the rotating gear in a meshing manner, the top end of the rotating gear is fixedly provided with a rotating rod, the outer part of the rotating rod is nested with a lifting block, one end of the lifting block is connected with a fixed block, the inner side of the fixed block is provided with a second sliding block, the two ends of the second sliding block are fixedly provided with protruding blocks, the bottom end of the second sliding block is provided with a first sliding groove, the inner side of the first sliding groove is provided with a movable rod, the right side of the movable rod is provided with a connecting belt, the bottom end of the connecting belt is connected with a driving wheel, the outer part of the movable rod is nested with a movable block, the bottom end of the movable block, one end of the third connecting block is connected with a third sliding block, a second sliding groove is formed in the outer side of the third sliding block, a scanning device is installed at the top end of the second sliding groove, and two ends of the scanning device are connected with second clamping blocks.

Preferably, the induction radar forms a lifting structure through the first sliding block and the fixed groove, and the fixed groove forms a clamping structure through the first clamping block and the bottom plate.

Preferably, the lifting mechanism and the hollow column form a sliding structure through a connecting column, and the hollow column and the first connecting block form a rotating structure through a rotating column.

Preferably, the rotating block and the second connecting block form a rotating structure through a rotating shaft, and the rotating shaft and the transmission rod form a transmission structure through a transmission block.

Preferably, the fixed block passes through the elevator and constitutes elevation structure with the dwang, and the dwang passes through running gear and gear piece constitution transmission structure.

Preferably, the protruding blocks are symmetrically arranged about the central axis of the first sliding groove, and the first sliding groove and the fixed block form a sliding structure through the second sliding block.

Preferably, the clamping plate and the movable rod form a sliding structure through the movable block, and the movable rod and the driving wheel form a transmission structure through the connecting belt.

Preferably, the third connecting block forms a sliding structure with the second sliding groove through the third sliding block, and the third connecting block is connected with the rotating plate in a clamping manner.

Preferably, the scanning device forms a clamping structure with the rotating block through a second clamping block, and the second clamping block is symmetrically provided with two parts around the central axis of the second connecting block.

Compared with the prior art, the invention has the beneficial effects that:

1. the Mecanum wheel intelligent guided vehicle based on double laser radar fusion is provided with two induction radars, the induction radars drive a first sliding block to slide in a fixing groove by pulling the induction radars, a knob is rotated to fix the position of the first sliding block, the fixing groove is clamped with a bottom plate through a first clamping block, and a screw is used to fix the first clamping block, so that the induction radars are convenient to adjust and mount in height, and are respectively mounted on the front left side and the rear right side, so that objects around the guided vehicle can be effectively sensed, and the sensing range is wide;

2. the Mecanum wheel intelligent guide vehicle based on double laser radar fusion is provided with the connecting column, when the lifting mechanism is stressed, the connecting column is driven to slide in the hollow column, the damping spring is arranged on the outer side of the connecting column, the spring is further driven to contract, the spring can effectively buffer vibration generated in the running process of the guide vehicle, and the hollow column can rotate on the first connecting block through the rotating column, so that convenience is brought to installation and disassembly of the damping device;

3. this mecanum wheel intelligence guided vehicles based on two laser radar fuses is provided with splint, and the drive wheel rotates, drives the connecting band motion, and connecting band and movable rod link to each other, and it rotates to drive the movable rod, and movable rod and movable block are threaded connection, and then the splint that drive movable block and movable block bottom slide, and the inboard of splint is provided with the striae, can effectual increase frictional force, lets the guided vehicle can snatch the object automatically, and is better to the fixed effect of snatching of object.

Drawings

FIG. 1 is a schematic front sectional view of the present invention;

FIG. 2 is a schematic top view of the base plate of the present invention;

FIG. 3 is a schematic view of the connection structure of the small wheel and the lifting mechanism of the present invention;

FIG. 4 is a schematic view of the connection structure of the lifting block and the clamping plate of the present invention;

FIG. 5 is a schematic view of a connection structure between the rotating plate and the second engaging member according to the present invention;

fig. 6 is an enlarged schematic view of a portion a in fig. 1 according to the present invention.

In the figure: 1. a base plate; 2. a first clamping block; 3. fixing grooves; 4. a first slider; 5. an induction radar; 6. a small wheel; 7. a first connection block; 8. rotating the column; 9. a hollow column; 10. connecting columns; 11. a lifting mechanism; 12. a second connecting block; 13. a transmission rod; 14. a transmission block; 15. a rotating shaft; 16. rotating the block; 17. a gear block; 18. a rotating gear; 19. rotating the rod; 20. a lifting block; 21. a fixed block; 22. a second slider; 23. a protruding block; 24. a first chute; 25. a movable rod; 26. a connecting belt; 27. a driving wheel; 28. a movable block; 29. a splint; 30. a rotating plate; 31. a third connecting block; 32. a third slider; 33. a second chute; 34. a scanning device; 35. and a second clamping block.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Referring to fig. 1-6, the present invention provides a technical solution: an intelligent Mecanum wheel guiding vehicle based on double laser radar fusion comprises a bottom plate 1, a first clamping block 2, a fixing groove 3, a first sliding block 4, an induction radar 5, a small wheel 6, a first connecting block 7, a rotating column 8, a hollow column 9, a connecting column 10, a lifting mechanism 11, a second connecting block 12, a transmission rod 13, a transmission block 14, a rotating shaft 15, a rotating block 16, a gear block 17, a rotating gear 18, a rotating rod 19, a lifting block 20, a fixing block 21, a second sliding block 22, a protruding block 23, a first sliding groove 24, a movable rod 25, a connecting belt 26, a driving wheel 27, a movable block 28, a clamping plate 29, a rotating plate 30, a third connecting block 31, a third sliding block 32, a second sliding groove 33, a scanning device 34 and a second clamping block 35, wherein the bottom end of the bottom plate 1 is connected with the first clamping block 2, the fixing groove 3 is formed in the bottom end of the first clamping block 2, the first sliding block 4 is arranged, an induction radar 5 is arranged at the bottom end of the first sliding block 4, a small wheel 6 is arranged on the right side of the induction radar 5, a first connecting block 7 is arranged on the right side of the small wheel 6, a rotating column 8 is arranged at the top end of the first connecting block 7, a hollow column 9 is connected to the top end of the rotating column 8, a connecting column 10 is arranged on the inner side of the hollow column 9, a lifting mechanism 11 is fixed to the top end of the connecting column 10, a second connecting block 12 is arranged on the top end of the bottom plate 1, a transmission rod 13 is arranged inside the second connecting block 12, a transmission block 14 is fixed to the right side of the transmission rod 13, a rotating shaft 15 is arranged on the right side of the transmission block 14, the transmission block 14 is in meshing connection with the rotating shaft 15, a rotating block 16 is arranged at the top end of the rotating block 15, a gear block 17 is arranged at the top end of the rotating block 16, a rotating, a rotating rod 19 is fixed at the top end of the rotating gear 18, an elevating block 20 is nested outside the rotating rod 19, one end of the elevating block 20 is connected with a fixed block 21, a second slider 22 is arranged inside the fixed block 21, protruding blocks 23 are fixed at both ends of the second slider 22, a first chute 24 is arranged at the bottom end of the second slider 22, a movable rod 25 is arranged inside the first chute 24, a connecting belt 26 is arranged on the right side of the movable rod 25, a driving wheel 27 is connected at the bottom end of the connecting belt 26, a movable block 28 is nested outside the movable rod 25, a clamping plate 29 is fixed at the bottom end of the movable block 28, a rotating plate 30 is arranged outside the second connecting block 12, a third connecting block 31 is arranged on the left side of the rotating plate 30, a third slider 32 is connected at one end of the third connecting block 31, a second chute 33 is arranged outside the third slider 32, and a scanning device 34 is arranged at the top end of, and both ends of the scanning device 34 are connected with second blocks 35;

furthermore, the induction radar 5 and the fixed groove 3 form a lifting structure through the first sliding block 4, the fixed groove 3 and the bottom plate 1 form a clamping structure through the first clamping block 2, the induction radar 5 is pulled to drive the first sliding block 4 to slide in the fixed groove 3, then the knob is rotated to fix the position of the first sliding block 4, the fixed groove 3 and the bottom plate 1 are clamped with each other through the first clamping block 2, the first clamping block 2 is fixed through a screw, so that the induction radar 5 is convenient and fast to adjust the height and mount, the two induction radars 5 are arranged and mounted on the front left side and the rear side respectively, objects around the guide vehicle can be effectively sensed, and the sensing range is wide;

furthermore, the lifting mechanism 11 and the hollow column 9 form a sliding structure through the connecting column 10, the hollow column 9 and the first connecting block 7 form a rotating structure through the rotating column 8, when the lifting mechanism 11 is stressed, the connecting column 10 is driven to slide in the hollow column 9, a damping spring is arranged on the outer side of the connecting column 10, the spring is driven to contract, the spring can effectively buffer vibration generated in the running process of the guide vehicle, and the hollow column 9 can rotate on the first connecting block 7 through the rotating column 8, so that convenience is brought to installation and disassembly of the damping device;

furthermore, the rotating block 16 and the second connecting block 12 form a rotating structure through the rotating shaft 15, the rotating shaft 15 and the transmission rod 13 form a transmission structure through the transmission block 14, the transmission rod 13 rotates to drive the transmission block 14 to rotate, the transmission block 14 and the rotating shaft 15 are in meshed connection, and further the rotating shaft 15 and the rotating block 16 are driven to rotate, so that the guiding vehicle has a multi-angle rotating effect, further the guiding vehicle can rotate to grab surrounding objects without moving a base, and further the grabbing of the objects is more convenient;

furthermore, the fixed block 21 and the rotating rod 19 form a lifting structure through the lifting block 20, the rotating rod 19 and the gear block 17 form a transmission structure through the rotating gear 18, the gear block 17 rotates to drive the rotating gear 18 to rotate, the rotating gear 18 is connected with the rotating rod 19, the rotating rod 19 and the lifting block 20 are in threaded connection, and further the heights of the lifting block 20 and the fixed block 21 are driven to change, so that the guiding vehicle can grab an object according to the height required to perform corresponding adjustment, the heights of the lifting block 20 and the fixed block 21 are adjusted by adjusting the forward and backward rotation of the gear block 17, and manual adjustment is not needed;

furthermore, two protruding blocks 23 are symmetrically arranged about the central axis of the first sliding groove 24, the first sliding groove 24 and the fixed block 21 form a sliding structure through the second sliding block 22, a hydraulic device connected with one end of the protruding block 23 moves to drive the protruding block 23 and the second sliding block 22 to slide, the second sliding block 22 is connected with the first sliding groove 24 to further drive the first sliding groove 24 to slide, objects at different distances from the guided vehicle can be grabbed by adjusting the proper length, and the grabbing range of the objects is further improved.

Further, splint 29 passes through movable block 28 and movable rod 25 constitutes sliding construction, and movable rod 25 passes through connecting band 26 and drive wheel 27 constitution transmission structure, drive wheel 27 rotates, it moves to drive connecting band 26, connecting band 26 and movable rod 25 link to each other, it rotates to drive movable rod 25, movable rod 25 and movable block 28 are threaded connection, and then it slides to drive the splint 29 of movable block 28 and movable block 28 bottom, the inboard of splint 29 is provided with the striae, can effectual increase frictional force, let the guide car can snatch the object automatically, and it is better to the fixed effect of snatching of object.

Further, third connecting block 31 constitutes sliding construction through third slider 32 and second spout 33, and be connected for the block between third connecting block 31 and the rotor plate 30, through the meshing gear who rotates third slider 32 bottom, the meshing gear drives third slider 32 and slides, and then drives third connecting block 31 and slide in second spout 33, let third connecting block 31 and rotor plate 30 separation, pull rotor plate 30 again, it is more convenient to let the component in the guide vehicle later stage second connecting block 12 overhaul, and open the comparatively simple of operation.

Further, scanning device 34 constitutes the block structure through second fixture block 35 and turning block 16, and second fixture block 35 is provided with two about the axis symmetry of second connecting block 12, scanning device 34 links to each other through second fixture block 35 and turning block 16, second fixture block 35 and the mutual block of second connecting block 12, it is fixed to reuse the screw, scanning device 34 can scan the discernment bar code, and then can scan the discernment and save information to the article that snatchs, and then let later stage article track and look for more convenient.

The working principle is as follows: the Mecanum wheel intelligent guide vehicle based on double laser radar fusion comprises the steps that firstly, an induction radar 5 is pulled, the induction radar 5 drives a first sliding block 4 to slide in a fixing groove 3, then a knob is rotated to fix the position of the first sliding block 4, the fixing groove 3 is clamped with a bottom plate 1 through a first clamping block 2, then a screw is used for fixing the first clamping block 2, the induction radar 5 is convenient to adjust in height and install, two induction radars 5 are arranged and are respectively arranged on the left front side and the right rear side to achieve the purpose of wider sensing range of surrounding objects, then, the guide vehicle drives a transmission rod 13 to rotate to drive a transmission block 14 to rotate according to the position of the object before the guide vehicle runs to the object according to the sensing of the induction radar 5 to the surrounding, the transmission block 14 is meshed with a rotation shaft 15 to drive the rotation shaft 15 to rotate with the rotation block 16, so as to achieve the purpose that the device has multi-angle rotation, the scanning device 34 scans and identifies the bar code on the object, the scanning device 34 is connected with the rotating block 16 through the second clamping block 35, the second clamping block 35 is clamped with the second connecting block 12, and then the scanning device is fixed by screws, so as to achieve the purpose that the object is scanned and identified and the object is more convenient to track and search in later period, then, according to the specific height of the object, the gear block 17 rotates to drive the rotating gear 18 to rotate, the rotating gear 18 is connected with the rotating rod 19, the rotating rod 19 is in threaded connection with the lifting block 20, so as to drive the height of the lifting block 20 and the fixed block 21 to change, so as to achieve the purpose of corresponding adjustment according to different heights, then, according to the position of the object, the hydraulic device connected with one end of the protruding block 23 moves to drive the protruding block 23 and the second sliding block 22, the first sliding chute 24 is driven to slide above the clamped object, the lifting device drives the fixed block 21 to move again, the driving wheel 27 rotates to drive the connecting belt 26 to move, the connecting belt 26 is connected with the movable rod 25 to drive the movable rod 25 to rotate, the movable rod 25 is in threaded connection with the movable block 28, the movable block 28 is driven to slide with the clamping plate 29 at the bottom end of the movable block 28, the inner side of the clamping plate 29 is provided with transverse grains, friction force can be effectively increased, the purpose of clamping and grabbing the object is achieved, and then the object is placed on the guide vehicle;

finally, when the guided vehicle runs on an uneven road surface, in order to reduce the bumpiness in the running process, a damping device is arranged, when a lifting mechanism 11 is stressed, a connecting column 10 is driven to slide in a hollow column 9, a damping spring is arranged on the outer side of the connecting column 10, and further the spring is driven to contract, the spring can effectively buffer the vibration generated in the running process of the guided vehicle, and the hollow column 9 can rotate on a first connecting block 7 through a rotating column 8, so that the guided vehicle has a good damping effect and the damping device is convenient to mount and replace, when elements in a second connecting block 12 need to be overhauled, the third sliding block 32 is driven to slide by rotating a meshing gear at the bottom end of the third sliding block 32, and further the third connecting block 31 is driven to slide in a second sliding chute 33, so that the third connecting block 31 is separated from the rotating plate 30, and then the rotating plate 30 is pulled, so as to achieve the purpose of more convenient and faster maintenance of corresponding elements.

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.