CN102990640A - Intelligent transportation robot of electric power storehouse - Google Patents
Intelligent transportation robot of electric power storehouse Download PDFInfo
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- CN102990640A CN102990640A CN2012105007402A CN201210500740A CN102990640A CN 102990640 A CN102990640 A CN 102990640A CN 2012105007402 A CN2012105007402 A CN 2012105007402A CN 201210500740 A CN201210500740 A CN 201210500740A CN 102990640 A CN102990640 A CN 102990640A
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Abstract
The invention discloses an intelligent transportation robot of an electric power storehouse, comprising a chassis and a car body, wherein the chassis is provided with two driving wheels and at least one guide wheel; a retracting mechanism is arranged at the front part of the car body; the retracting mechanism is provided with a hoisting mechanism; the hoisting mechanism is provided with a three-degree-of-freedom paw; the car body is further provided with a robot control platform; and the robot control platform is wirelessly connected with a remote computer wireless control platform. The intelligent transportation robot of the electric power storehouse is simple in structure and flexible to move, and is applicable to cargo transportation work of the electric power storehouse with an intelligent power grid.
Description
Technical field
The present invention relates to a kind of transfer robot, relate in particular to a kind of electric power storehouse intelligence transfer robot.
Background technology
Intelligent grid is the key of new forms of energy revolution, and the intelligent grid technology helps administration of power networks large number of intermittently regenerative resource; Intelligent grid is the basis of low-carbon economy, not only can support the energy-conserving and emission-cutting technology large-scale application, itself also is energy-conserving and emission-cutting technology large-scale application theme.In May, 2009, China proposes the intelligent grid developing goal first.This is the reality decision of China: the development clean energy resource improves China's energy resource structure, National energy distribution and supply characteristic and the economic society sustained and rapid development all requires the strong intelligent grid of Accelerating The Construction.
Although every country to the emphasis of building intelligent grid need not, compare with traditional electrical network, its characteristic mainly comprises 6 aspects: autonomy and self-healing ability; Defence capability; The convenience of electrical network compatibility, high efficiency operation and management, high-quality and friendly, electricity transaction.From the function of carrying out, the function link of intelligent grid should comprise 5 at least: intelligent control center, intelligent substation, intelligent circuit, intelligent protection system, intelligent dsm.
In the prior art, emerged in large numbers the research topic of a series of robots, as: transmission line polling robot, unattended operation transformer station, robot used for intelligent substation patrol, power circuit intelligence operation robot etc.The shortcoming of these robots is complex structure, heaviness, very flexible.
Summary of the invention
The purpose of this invention is to provide the intelligent transfer robot of a kind of electric power storehouse simple in structure, flexible movements.
The objective of the invention is to be achieved through the following technical solutions:
Electric power storehouse intelligence transfer robot of the present invention, comprise chassis, car body, described chassis is provided with two driving wheels and at least one directive wheel, the front portion of described car body is provided with telescoping mechanism, described telescoping mechanism is provided with elevating mechanism, described elevating mechanism is provided with the Three Degree Of Freedom paw, also is provided with robot controlling platform on the described car body, described robot controlling platform and the wireless connections of remote computer controlled in wireless platform.
As seen from the above technical solution provided by the invention, the electric power storehouse intelligence transfer robot that the embodiment of the invention provides, comprise chassis, car body, described chassis is provided with two driving wheels and at least one directive wheel, the front portion of described car body is provided with telescoping mechanism, and described telescoping mechanism is provided with elevating mechanism, and described elevating mechanism is provided with the Three Degree Of Freedom paw, also be provided with robot controlling platform on the described car body, described robot controlling platform and the wireless connections of remote computer controlled in wireless platform.Simple in structure, flexible movements are applicable to the freight handling work of the electric power storehouse of intelligent grid.
Description of drawings
Fig. 1 is the structural representation of whole electric power storehouse intelligence handling robot system in the embodiment of the invention;
Fig. 2 a is the laying for goods floor map of electric power storehouse in the embodiment of the invention;
Fig. 2 b is the purpose shelf schematic diagram of electric power storehouse in the embodiment of the invention;
The structural representation of the electric power storehouse intelligence transfer robot that Fig. 3 provides for the embodiment of the invention;
The chassis design schematic diagram of the electric power storehouse intelligence transfer robot that Fig. 4 a provides for the embodiment of the invention;
The car body design schematic diagram of the electric power storehouse intelligence transfer robot that Fig. 4 b provides for the embodiment of the invention;
Fig. 5 is the schematic diagram of control system in the embodiment of the invention;
Fig. 6 is the schematic diagram of robot controlling platform in the embodiment of the invention.
Among the figure: 1, chassis, 2, car body, 3, directive wheel, 4, driving wheel, 5, contracting mechanism, 6, elevating mechanism, 7, the Three Degree Of Freedom paw, 8, promote directional wheel, 9, sensor.
The specific embodiment
The below will be described in further detail the embodiment of the invention.
Electric power storehouse intelligence transfer robot of the present invention, its better specific embodiment is:
Comprise chassis, car body, described chassis is provided with two driving wheels and at least one directive wheel, the front portion of described car body is provided with telescoping mechanism, described telescoping mechanism is provided with elevating mechanism, described elevating mechanism is provided with the Three Degree Of Freedom paw, also be provided with robot controlling platform on the described car body, described robot controlling platform and the wireless connections of remote computer controlled in wireless platform.
Described remote computer controlled in wireless platform comprises computer system, product data base management system, wireless sending module, be equipped with article acquisition sensor array on the article storage shelf of described electric power storehouse and the article purpose shelf, described article acquisition sensor array and the wireless connections of described remote computer controlled in wireless platform.
Described electric power storehouse intelligence transfer robot is provided with autonomous navigation system, and the ground of described electric power storehouse is provided with the tracking line of robot autonomous navigation, described autonomous navigation system and the wireless connections of described remote computer controlled in wireless platform.
Described electric power storehouse intelligence transfer robot is provided with infrared sensor, sonac, alignment sensor, each movable joint motor of described electric power storehouse intelligence transfer robot is equipped with the motor code-disc, described infrared sensor, sonac, alignment sensor motor code-disc and the wireless connections of described remote computer controlled in wireless platform.
Electric power storehouse intelligence transfer robot of the present invention, to have electric power storehouse and storehouse thereof, facility layout, electric power tool now as basic object, take interrelated datas such as electric power storehouse worker apparatus producers as design considerations, system realizes that intelligent transfer robot independently moves to take article in the electric power storehouse, as: insulating cord, felt pad, insulated target, insulation clothing, insulating glove, safety cap, insulating bar etc.
Specific embodiment:
1, as shown in Figure 1, whole electric power storehouse intelligence handling robot system formation comprises:
Robot car body and control platform, remote computer controlled in wireless platform, article storage shelf and article purpose shelf consist of.Wherein robot car body is with can automatic capturing and the Three Degree Of Freedom paw of placing articles, and remote computer controlled in wireless platform comprises department of computer science unify item database management system and wireless sending module.And all have article acquisition sensor array to arrange on article storage shelf and the article purpose shelf, it is more independently to move to take type of goods, as: insulating cord, felt pad, insulated target, insulation clothing, insulating glove, safety cap, insulating bar etc.Ground can also be arranged the tracking line that robot car body is used for independent navigation is installed.The function of robot is to set out according to the actual conditions in on-the-spot place, carries out planning and designing, and the electric power multiplexer apparatus of difformity, size, weight, material, disposing way is carried by robot autonomous.Mainly comprise two processes: i.e. carrying grabbing and carrying placed.
Carrying grabbing is the positive process that is transported to article purpose shelf from the article storage shelf, whole process is the product data base management system on remote computer controlled in wireless platform, send control command by wireless module, robot controlling platform on the robot car body nearby receives control instruction, at infrared sensor, sonac, alignment sensor, article acquisition sensor array, under the feedback information of the multiple sensors such as motor code-disc, realize the independent navigation of robot car body by intelligent control algorithm, turning and bar-code identification and accurate crawl of passing through to realize under the cooperation of paw sensor article are arrived article carrying by robot car body the article purpose shelf of appointment at last.
Carrying is placed and to be carried out the identification detection process same with carrying grabbing, is article carrying is placed on the shelf location of appointment the negative process of carrying grabbing in the process.Robot hand is very important parts mechanism, realize three degree of freedom.Car body need to be realized turning by differential rotating speed owing to turning, so robot car body adopts the two four wheel mechanism motion modes that drive backward directive wheel of forward direction.And whole car body will be realized the even running of climb and fall, in order to guarantee that the car body front-wheel is that driving wheel is not stuck at the end, slope when going up a slope, it is unsettled not cause side to be faced upward with driving wheel when pushing up on the slope simultaneously, need to adopt quadric chain to carry out centre of gravity adjustment at the driving wheel place of vehicle body hanger, make the driving wheel of robot car body can be at the end, slope dieback not, the top, slope is not unsettled, always keeps contacting with ground, thereby the required reverse friction power that drives is provided.And when going up a slope, want the driving torque of expanded motor, and descending will carry out self-actuating brake according to the actual grade size, thus the guarantee robot all can stable operation in carrying grabbing and two processes of carrying placement.
The control method that positive and negative two processes are placed in carrying grabbing and carrying comprises navigation, multisensor identification, motor closed-loop control etc.Tracking navigation and the hyperacoustic detection navigate mode of the navigation of robot by the ground graticule combines, and so both guaranteed that accuracy that robot grasped and placed two processes has also guaranteed the independence of robot.Robot autonomous navigation sensor and shelf acquisition sensor array junctions to be carried out autonomous carrying grabbing and carrying placement altogether, wherein the layout of shelf acquisition sensor array and put also will with paw acquisition sensor, article on digital bar code combine, only have the organic combination of these sensors, utilize appropriate control logic method, could realize autonomous accurately crawl and the placement of robot.Whole robot is by wireless realization control command and Condition Monitoring Data transmission.The robot car body power supply is powered by chargeable battery pack.
In the embodiments of the invention, in order to realize above said robot function, in design following specification requirement has been proposed in robot:
Robot can receive instruction that existing upper computer software moves to take article and accurately respond and carry;
By the wireless transmission control instruction robot is controlled and transfer of data;
Robot can be under the guide of navigation system autonomous;
Robot can autonomous classification upper computer software instruction indication the carrying article; And article are transported to smoothly the storehouse destination of appointment;
Robot is by rechargeable battery powered, and continuous working period is no less than 6-8 hour;
Robot has autonomous climbing capacity and crosses over the step ability, and ramp angle is not less than 15 degree;
Robot has voice broadcast ability and fault alarm ability;
Robot can even running, and each article is carried out single access;
Robot has the paw Grasping skill that adapts to various article difformity, size, weight;
Robot has handling preferably, and volume weight adapts to the space requirement of existing storehouse.
2, shown in Fig. 2 a, Fig. 2 b, the design of storehouse part comprises:
The specifically pattern of putting of the interior layout of storehouse and shelf location and article worker apparatus is whole robot development's important component part, only have rational layout and laying for goods pattern, article are sorted out, can realize correct accurately crawl identification and the carrying of robot hand, could more convenient navigation and robot obstacle-avoiding, sort out by concrete worker's apparatus simultaneously and measure the specific design parameter foundation that just can provide mechanical paw.
Particular content comprises: storehouse layout, shelf and put, the article instrument is measured, the planning of navigation tracking, acquisition sensor arranged in arrays.
1) storehouse layout:
Shown in Fig. 2 a, be the laying for goods ground distributor Butut of robot running space.Wherein the whole service space comprises two rooms, and all there are a plurality of article storage shelf in each room, is depositing kind, shape, weight, appearance and size, the different electric power multiplexer apparatus of disposing way on the shelf.Wherein between two rooms step is arranged, need be transformed into sloping body structure, this is in order to simplify the frame for movement difficulty of robot, to make the easier realization of robot transport, bringing too many trouble also can not for simultaneously the transformation space.
2) shelf and putting:
Shown in Fig. 2 b, for article purpose shelf figure, be three layers wherein, depositing various electric power instrument articles for use, the article storage shelf are identical with article purpose shelf structure, and just article purpose shelf are position shown in the information desk in Fig. 2 a.Because type of goods is different, therefore need to sort out to put, need to be to processing of classifying of kind, shape, weight, appearance and size, the disposing way of article, thus the compatibility and the design that are conducive to robot hand are processed.
3) navigation tracking planning:
In order to realize independently moving to take crawl and moving to take placement of robot, need to navigate to robot, be that robot can carry out autonomous operation according to the order of far-end computer controlled in wireless platform, find the position that to grasp and to place, then carry out detecting and identifying and accurately grasp.The method of navigation has tracking synthesis and inertial navigation method.Wherein the tracking synthesis is to adopt infrared sensor to carry out real-time detection by the tracking line that ground is arranged, with supersonic sounding destination and barrier are surveyed in addition, thereby walk the control actions such as turning according to robot control algorithm, this method realizes comparatively easily, also substantially can satisfy the needs of this project simultaneously; And the inertial navigation method guides owing to the employing gyro, and control algolithm is existing to comparatively complicated, and higher to the requirement of real-time of system, so employing tracking synthesis in the embodiment of the invention.
4) acquisition sensor arranged in arrays:
The acquisition sensor arranged in arrays is on article storage shelf and article purpose shelf, it is part and parcel very in the whole robot autonomous handling process, its mode by column array is installed on the up and down sidewall of each grid of shelf, whether needs the article position that grasps or place by the putting position of being combined to determine article with the paw acquisition sensor.Simultaneously, be combined with the paw acquisition sensor by digital bar code on the article article are identified, and then realize autonomous crawl and place.
3, the robot architecture designs part:
For robot autonomous mobile platform, its specific design depends on the specific works environment.Because robot is mainly used in indoor environment, so working environment is little on the driving mechanism impact of autonomous platform, homing guidance device and the appearance and size of working environment major effect autonomous platform.Robot wants to realize climbing function according to the step of concrete storehouse, will guarantee simultaneously the stationarity of climbing, and paw grasps the fastness of article worker apparatus.
As shown in Figure 3, be the robot car body three-view diagram.The robot architecture designs and mainly comprises following a few part: the design of robot motion's body construction, robot three freedom degree manipulator pawl design, robot climbing Structural dynamic design, robot car body balanced design even running design.
1) design of robot motion's body construction realizes:
Shown in Fig. 4 a, 4b, robot car body is the carrier of whole carrying work, must guarantee the power of car body, steadily, the paw load capacity of climbing and relevant operation, namely guarantee effectively successfully crawl and effective delivery of different electric power worker apparatus.Because the basic layout of storehouse is fixed, needs car body that certain climbing capacity is arranged, the successful transporting capacity of especially heavier worker's apparatus.The body construction design mainly comprises:
The design of four-wheel structure chassis;
The design of car body four bar linkage frames;
Dan Shuan drives differential dynamical system design;
The design of car body motor load;
The design of car body mechanical paw binding site;
2) design of robot three freedom degree manipulator pawl realizes:
Mechanical paw is one of key components of whole electric power storehouse intelligence transfer robot, only has effective multiple degrees of freedom paw could realize the successful carrying of crawl article worker apparatus.And the paw of whole robot design will design realization according to kind, outer shape, parameters of structural dimension, the weight parameter of worker's apparatus article in the storehouse and the number of plies and the classification situation of putting shelf, guarantee that paw can adapt to the article worker apparatus of most of kinds, mainly comprises following a few partial content:
The multiple degrees of freedom paw mechanism is selected;
Paw and car body handing-over mouthful design;
The paw configuration design
Paw chucking power designing and calculating;
The anti-skidding design of paw;
Paw multifreedom motion bulk designing and calculating;
Each free degree movement load of paw calculates;
3) robot climbing Structural dynamic design is realized:
Owing in the working environment of robot step is arranged, after transforming, require robot car body will possess certain climbing capacity, here guaranteeing not only in the climbing process that robot car body can be with carries climbing, have enough climbing power, also to guarantee simultaneously the sloping end of robot car body and slope top is not stuck and not side face upward.Mainly comprise following a few part:
The design of four connecting rod travel(l)ing rests;
The measuring and calculating of climbing body powered;
The measuring and calculating of climbing motor power;
The dynamics simulation at the end, slope, top, slope calculates;
4) robot car body balanced design even running design realizes)
Whole robot all will guarantee in handling process steadily, no matter band carries or zero load, all to guarantee the robot even running, even running is the important ring in the robot transport process, because the structure of storehouse inside and the height of shelf, the special type structure that has caused robot hand and car body also brings difficulty for the stationarity of robot, specifically will solve following a few subproblem:
The Dynamic Stability Analysis of paw, car body, crawl thing;
The load weight physical dimension is analyzed;
The static dynamically riding Quality Analysis in paw car body profile ground;
The dynamic riding Quality Analysis of the domatic static state of paw car body profile;
4, Control System Design part:
Such as Fig. 5, shown in Figure 6, the control system more complicated of whole robot, the design that comprises whole control algolithm realizes, many motors multisensor syste wherein, and the independent navigation implementation algorithm of robot, the identification of article worker apparatus and accurate grasping means, all requiring has the comparatively control program of system, mainly comprises following a few part:
Many electromechanical transducers control algorithm design is realized;
The identification of article and accurately crawl design realization;
The control Navigation System Design realizes;
Wireless system design realizes;
5, the upper computer software Interface design realizes:
Because robot need to carry out interface with upper computer software, by the upper computer software control instruction, send to the crawl that robot realizes article worker apparatus by the wireless transmission path, therefore, the upper computer software spare interface that need to develop, the seamless connection of realization and robot, thus the accurate transmission of assurance control instruction mainly comprises following a few part:
The software protocol docking;
Upper computer software docks with wave point;
The upper computer software taxonomy of goods docks with the robot interior classification.
The above; only for the better specific embodiment of the present invention, but protection scope of the present invention is not limited to this, anyly is familiar with those skilled in the art in the technical scope that the present invention discloses; the variation that can expect easily or replacement all should be encompassed within protection scope of the present invention.Therefore, protection scope of the present invention should be as the criterion with the protection domain of claims.
Claims (4)
1. electric power storehouse intelligence transfer robot, comprise chassis, car body, it is characterized in that, described chassis is provided with two driving wheels and at least one directive wheel, the front portion of described car body is provided with telescoping mechanism, and described telescoping mechanism is provided with elevating mechanism, and described elevating mechanism is provided with the Three Degree Of Freedom paw, also be provided with robot controlling platform on the described car body, described robot controlling platform and the wireless connections of remote computer controlled in wireless platform.
2. electric power storehouse according to claim 1 intelligence transfer robot, it is characterized in that, described remote computer controlled in wireless platform comprises computer system, product data base management system, wireless sending module, be equipped with article acquisition sensor array on the article storage shelf of described electric power storehouse and the article purpose shelf, described article acquisition sensor array and the wireless connections of described remote computer controlled in wireless platform.
3. electric power storehouse according to claim 2 intelligence transfer robot, it is characterized in that, described electric power storehouse intelligence transfer robot is provided with autonomous navigation system, the ground of described electric power storehouse is provided with the tracking line of robot autonomous navigation, described autonomous navigation system and the wireless connections of described remote computer controlled in wireless platform.
4. according to claim 1,2 or 3 described electric power storehouse intelligence transfer robots, it is characterized in that, described electric power storehouse intelligence transfer robot is provided with infrared sensor, sonac, alignment sensor, each movable joint motor of described electric power storehouse intelligence transfer robot is equipped with the motor code-disc, described infrared sensor, sonac, alignment sensor motor code-disc and the wireless connections of described remote computer controlled in wireless platform.
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| CN201210500740.2A CN102990640B (en) | 2012-11-29 | 2012-11-29 | Intelligent transportation robot of electric power storehouse |
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Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103941736A (en) * | 2014-05-07 | 2014-07-23 | 山东理工大学 | Novel intelligent carrier and control method thereof |
| CN104149781A (en) * | 2014-07-07 | 2014-11-19 | 广东技术师范学院天河学院 | Intelligent carrier control system and control method |
| CN104155977A (en) * | 2014-07-22 | 2014-11-19 | 绍兴绍力机电科技有限公司 | Positioning system and positioning method for production line free path AGV robot |
| CN105729474A (en) * | 2016-04-26 | 2016-07-06 | 昆山易捷联控制系统研发科技有限公司 | Intelligent carrying robot |
| CN105964550A (en) * | 2016-05-20 | 2016-09-28 | 天津工业大学 | Full-automatic logistics robot |
| CN106003095A (en) * | 2016-07-27 | 2016-10-12 | 孙健春 | Intelligent express delivery robot |
| CN106428263A (en) * | 2016-10-27 | 2017-02-22 | 桂林电子科技大学 | Full-automatic express delivery trolley |
| CN106515679A (en) * | 2016-12-01 | 2017-03-22 | 西安航天精密机电研究所 | Battery replacing robot with temporary battery storage rack and battery replacing method of battery replacing robot |
| CN107256468A (en) * | 2017-04-21 | 2017-10-17 | 仓智（上海）智能科技有限公司 | Warehouse management system and management method based on intelligent robot |
| CN107309879A (en) * | 2017-06-21 | 2017-11-03 | 徐帆 | A kind of Intelligent transfer robot swept for workshop |
| CN107765680A (en) * | 2016-08-15 | 2018-03-06 | 深圳市朗驰欣创科技股份有限公司 | A kind of robot and its conveyer method |
| CN107791233A (en) * | 2017-11-20 | 2018-03-13 | 中建七局第四建筑有限公司 | A kind of grabber carried for hollow brick |
| CN108016867A (en) * | 2016-10-28 | 2018-05-11 | 深圳市朗驰欣创科技股份有限公司 | A kind of control device of robot, control method and control system |
| WO2019036931A1 (en) * | 2017-08-23 | 2019-02-28 | 深圳蓝胖子机器人有限公司 | Method, device, and system for placing goods, electronic device and readable storage medium |
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| CN105964550A (en) * | 2016-05-20 | 2016-09-28 | 天津工业大学 | Full-automatic logistics robot |
| CN106003095A (en) * | 2016-07-27 | 2016-10-12 | 孙健春 | Intelligent express delivery robot |
| CN107765680A (en) * | 2016-08-15 | 2018-03-06 | 深圳市朗驰欣创科技股份有限公司 | A kind of robot and its conveyer method |
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| CN108016867A (en) * | 2016-10-28 | 2018-05-11 | 深圳市朗驰欣创科技股份有限公司 | A kind of control device of robot, control method and control system |
| CN106515679A (en) * | 2016-12-01 | 2017-03-22 | 西安航天精密机电研究所 | Battery replacing robot with temporary battery storage rack and battery replacing method of battery replacing robot |
| CN107256468A (en) * | 2017-04-21 | 2017-10-17 | 仓智（上海）智能科技有限公司 | Warehouse management system and management method based on intelligent robot |
| CN107309879A (en) * | 2017-06-21 | 2017-11-03 | 徐帆 | A kind of Intelligent transfer robot swept for workshop |
| WO2019036931A1 (en) * | 2017-08-23 | 2019-02-28 | 深圳蓝胖子机器人有限公司 | Method, device, and system for placing goods, electronic device and readable storage medium |
| CN107791233A (en) * | 2017-11-20 | 2018-03-13 | 中建七局第四建筑有限公司 | A kind of grabber carried for hollow brick |
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