CN106272415A - Omni-mobile transport robot - Google Patents

Omni-mobile transport robot Download PDF

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Publication number
CN106272415A
CN106272415A CN201610750480.2A CN201610750480A CN106272415A CN 106272415 A CN106272415 A CN 106272415A CN 201610750480 A CN201610750480 A CN 201610750480A CN 106272415 A CN106272415 A CN 106272415A
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CN
China
Prior art keywords
mobile
omni
transport robot
mobile chassis
fixed
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN201610750480.2A
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Chinese (zh)
Inventor
周梅杰
孙杰
李得胜
杨日升
嵇建成
郭帅
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
University of Shanghai for Science and Technology
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University of Shanghai for Science and Technology
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Application filed by University of Shanghai for Science and Technology filed Critical University of Shanghai for Science and Technology
Priority to CN201610750480.2A priority Critical patent/CN106272415A/en
Publication of CN106272415A publication Critical patent/CN106272415A/en
Pending legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1679—Programme controls characterised by the tasks executed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

The open a kind of Omni-mobile transport robot of the present invention, including mobile chassis, goods carriage, rotating mechanism, elevating mechanism, mechanical hand, visual system, laser sensor, control system and charging system, mobile chassis uses Mecanum wheel, realize Omni-mobile, elevating mechanism can regulate the height of mechanical hand, rotating mechanism can realize the gyration at any angle of column, coordinate the mechanical hand with 7 degree of freedom again, working range is made to strengthen, laser sensor and visual system are capable of precise guidance, easy to operate, action is quick, replaced manual work by it and not only reduce working strength, improve production efficiency, and it has high degree of flexibility and flexibility.

Description

Omni-mobile transport robot
Technical field
The present invention relates to a kind of transport robot, particularly relate to a kind of Omni-mobile transport robot.
Background technology
Mobile robot is an important component part in robot research field.At present, in the flourishing state such as the U.S., Japan Family, robot has been applied to multiple service fields such as mall shopping, article transfer, household service and large area cleaning.How can Enough flexibly and fast freely-movable in narrow, crowded occasion, become the difficulties of robot research and design.Machine of the present invention Device people is capable of Omni-mobile, simplifies robot motion, is used in complicated narrow and small and particular job environment.
Along with factory automation and flexible manufacturing system, the extensive application of automatic stereowarehouse, set up novel Logistic management system achieves operation serialization and is particularly important.Recent years, automated handling loaded and unloaded range of application and skill Art level has obtained swift and violent development, and wherein the application of robot is more and more extensive.Want for carrying and all of handling operation Summation feature, this patent is a Omni-mobile transport robot with high degree of flexibility and flexibility.
Summary of the invention
The technical problem to be solved is to provide a kind of Omni-mobile transport robot, this robot can Narrow, crowded occasion is flexibly and fast freely-movable and works, it is achieved accurate location navigation, object detection, handling article, Detect article and transport this article, solving manually to connect the demand deficiency of goods and entrucking and artificial handling existence to cargo damage Problem, it is possible to realize sorting continuously, in large quantity the feature of goods.
The present invention solves above-mentioned technical problem by following technical proposals: a kind of Omni-mobile transport robot, Including mobile chassis, goods carriage, rotating mechanism, elevating mechanism, mechanical hand, visual system, laser sensor, control system with fill Electricity system, goods carriage is positioned at the top of mobile chassis, and elevating mechanism is positioned at goods carriage front and connects with rotating mechanism, mobile chassis Connecing, mechanical hand is connected with elevating mechanism by rotating mechanism, and control system, charging system are respectively positioned in mobile chassis, laser Sensor is fixed on the lower left at position before and after mobile chassis, and visual system is fixed on mobile chassis, mechanical hand.
Preferably, described mobile chassis includes servomotor, Mecanum wheel, shaft coupling, electric machine support, and be described entirely To the main part of mobile transport robot, servomotor is fixed on electric machine support, and shaft coupling one end is connected with servomotor, Electric machine support is connected with mobile chassis, and mobile chassis has four Mecanum wheels, and each Mecanum wheel is watched by one respectively Take motor control.
Preferably, described Mecanum wheel is Mecanum wheel, makes robot Omni-mobile, and each Mecanum wheel has One motor controls, and can realize the point-to-point motion of chassis any direction, and described motor is servomotor.
Preferably, described elevating mechanism includes column, synchronous pulley, gear, gear shaft, deep groove ball bearing, the second bearing Seat, motor, guide rail, slide block, synchronous pulley and gear coordinate and fix with square plate, and gear is connected with gear shaft, gear shaft and Deep groove ball bearing coordinates, and deep groove ball bearing and the second bearing block coordinate, and the second bearing block, motor, guide rail are all fixed on column, Slide block coordinates with guide rail, is connected by square plate between slide block.
Preferably, described column be cross-sectional area be foursquare cuboid, described motor is right angle reductor.
Preferably, described rotating mechanism includes rotary shaft, worm and gear motor, shaft coupling, thrust bearing, clutch shaft bearing Seat, rotary shaft is positioned at the center of described column and connected, turbine and worm motor be fixed on described column bottom and Being connected with shaft coupling one end, the shaft coupling other end is connected with rotary shaft, thrust bearing and described mobile chassis fix and with rotation Rotating shaft coordinates, and thrust bearing is positioned on clutch shaft bearing seat, and clutch shaft bearing seat is fixed on the bottom surface of described column.
Preferably, described control system includes industrial computer, controller, fan, and industrial computer is positioned at mobile chassis bosom Left side, controller is fixed on the right side of mobile chassis, and fan is positioned at the forward position of mobile chassis, and control system relates to sensing Technology, actuation techniques, control theory and control algolithm are to mobile chassis, mechanical hand, control system, visual system and laser sensing The data of device are analyzed and issue.
Preferably, described controller is PLC.
Preferably, described mechanical hand includes that base, arm, wrist, paw, end perform device, and has 7 degree of freedom, Making working range strengthen, mechanical hand is driven it to move up and down by synchronous pulley on described column, freely regulates height, and base is solid Being scheduled on a connecting plate of described elevating mechanism slide block, arm is connected with base, wrist, and wrist is connected with arm, paw, end End performs device and is fixed on paw.
Preferably, described paw includes slide rail, electric cylinder, side plate, force transducer, and force transducer is fixed in described wrist The size of examinations grasp force, side plate is connected with slide rail, enables side plate freely to stretch, and completes to capture the action of object； It is one group of slide rail that described end performs device, electric cylinder drive.
Preferably, described laser sensor includes the first laser sensor, the second laser sensor, enters around robot Row implements scanning map making, control system carry out the analysis of data and issue, transhipment precision is effectively ensured.
Preferably, described visual system includes First look sensor, the second vision sensor, and First look sensor is solid Being scheduled on the centre position that mobile chassis is anterior, the second vision sensor is fixed on paw；First look sensor and second regards Sense sensor constitutes the binocular vision mechanism of Omni-mobile transport robot.
Preferably, object to be captured is identified by described second vision sensor, and control signal is passed to mechanical hand The executor of end.
Preferably, described goods carriage is square tote box, it is to avoid robot is cargoes from scattering in moving process.
Preferably, described charging system includes set of cells.
The invention have the benefit that described Omni-mobile transport robot automatization and intelligence degree are high, omnidirectional moves Dynamic feature can broaden the scope of work, and omnidirectional's transferring platform is by laser sensor, vision sensor and moment sensing The cooperation of device, complete the autonomous location navigation under factory's inner structure environment, target be accurately positioned and conveniently object inspection Survey.Merge multisensor and complete intelligence transhipment and the handling task at automated sorting center, substitute be accomplished manually complicated heavy and Easily cause the task of damage.Robot is realized with the positioning precision compensation that cooperated of vision sensor by laser sensor It is accurately positioned.This omni-directional mobile robots platform is conceived to the intelligent lifting at automatic material flow center, turns logistic industry Type upgrading provides reference.Secondly, subway maintenance, the assembling of wind-powered electricity generation nuclear power main equipment and spraying, automatic welding, gluing, rocket The intelligent riveting of aircraft skin, modernization unmanned factory and a new generation's streamline all can apply this Omni-mobile to transport machine People.Replaced manual work by it and can improve production efficiency, improve security performance.
Accompanying drawing explanation
Fig. 1 is the overall structure schematic diagram of Omni-mobile transport robot of the present invention；
Fig. 2 is the structural representation of the mobile chassis of Omni-mobile transport robot of the present invention；
Fig. 3 is that omnidirectional of the present invention moves, the elevating mechanism of dynamic transport robot and the structural representation of rotating mechanism；
Fig. 4 is the structural representation of paw in the present invention.
Detailed description of the invention
To combine detailed description as follows for the case that is preferable to carry out of the present invention:
Further illustrate technical scheme below in conjunction with the accompanying drawings and by detailed description of the invention.
Refer to Fig. 1 to shown in 3, in the present embodiment, a kind of Omni-mobile transport robot includes mobile chassis 1, rises Descending mechanism, rotating mechanism, goods carriage 3, laser sensor, visual system, mechanical hand, control system and charging system, goods carriage 3 Being positioned at the top of mobile chassis 1, elevating mechanism is positioned at goods carriage 3 front and is connected with rotating mechanism, mobile chassis 1, mechanical hand Being connected with elevating mechanism by rotating mechanism, control system, charging system are respectively positioned in mobile chassis 1, and laser sensor is fixed The lower left at position before and after mobile chassis 1, visual system is fixed on mobile chassis 1, mechanical hand.
Mobile chassis 1 includes servomotor 29, Mecanum wheel 2, shaft coupling, electric machine support, and is described Omni-mobile The main part of transport robot, servomotor is fixed on electric machine support, and shaft coupling one end is connected with servomotor, and motor props up Frame is connected with mobile chassis；
Having four Mecanum wheels 2 on mobile chassis, each Mecanum wheel is controlled by a servomotor 29 respectively, can be free Transhipment and stopping, by the synthesis of four Mecanum wheels motion, the point-to-point movement of chassis any direction can be realized.
Goods carriage 3 is formed by connecting by four aluminium section upright posts by upper and lower two-layer aluminium section bar square frame, and goods carriage 3 is fabricated to case Body, it is to avoid robot is cargoes from scattering in moving process.
Elevating mechanism includes column 4, synchronous pulley 5, gear 6, gear shaft, deep groove ball bearing the 13, second bearing block 14, electricity Machine, guide rail 8, slide block 9, synchronous pulley 5 and gear 6 coordinate and fix with square plate, and gear 6 is connected with gear shaft, gear shaft with Deep groove ball bearing 13 coordinates, and deep groove ball bearing 13 coordinates with the second bearing block 14, and the second bearing block 14, motor, guide rail 8 are the most fixing On column 4, slide block 9 coordinates with guide rail 8, is connected by square plate between slide block 9, when chassis moving of car is to suitable position Putting, elevator starts to do the regulation of little scope, compensates the space that mechanical hand can not arrive；
Column 4 be cross-sectional area be foursquare cuboid, motor is right angle reductor 7.
Rotating mechanism includes rotary shaft, worm and gear motor 10, shaft coupling, thrust bearing 11, clutch shaft bearing seat 12, rotates Axle is positioned at the center of the column 4 of described elevating mechanism and connected, and turbine and worm motor 10 is fixed on described column 4 Bottom and being connected with shaft coupling one end, the shaft coupling other end is connected with rotary shaft, and thrust bearing 11 and described mobile chassis 1 are consolidated Determining and coordinate with rotary shaft, thrust bearing 11 is positioned on clutch shaft bearing seat 12, and clutch shaft bearing seat solid 12 is due to the end of described column 4 On face, when chassis moving of car to suitable position, rotating mechanism can do the gyration of 360 degree.
Laser sensor includes first laser sensor the 22, second laser sensor 30, and the first laser sensor 22 is positioned at The lower left corner of mobile chassis 1 front portion, to carrying out around robot implementing scanning map making, when " foreign body " occur in map Time, the first laser sensor 22 sends alarm signal, and the motor system of robot is made a response, such as automatic stopping or deceleration, Robot so can be made to exempt from collision, reduce fault rate.
Visual system includes First look sensor the 21, second vision sensor 27, and First look sensor 21 is fixed on The centre position of mobile chassis 1 front portion, the second vision sensor 27 is fixed on paw 18；First look sensor 21 and second Vision sensor 27 constitutes the binocular vision mechanism of Omni-mobile transport robot, and one moves to treat for controlling mobile chassis 1 Time near carrying chest, object in environs is scanned by visual system, by the image of scanning by specific algorithm identification Go out object and pose that object is put, then the data of gained are passed to mechanical hand, described mechanical hand end by control system The visual system of end, is mainly used to the identification to single body, identifies one group of opposite side of object, control signal is passed to machinery The executor of hands end, thus realize the accurate crawl to object.
Mechanical hand includes that base 15, arm 16, wrist 17, paw 18, end perform device, and has 7 degree of freedom, machine Tool hands is driven it to move up and down by synchronous pulley 5 on the column 4 of described elevating mechanism, freely regulates height, and base 15 is fixed On the connecting plate of described elevating mechanism slide block 9, arm 16 is connected with base 15, wrist 17, wrist 17 and arm 16, paw 18 Connecting, end performs device and is fixed on paw 18.
Paw 18 includes slide rail 19, electric cylinder 20, side plate, force transducer 28, and force transducer 28 is fixed on described wrist 17 The size of upper examinations grasp force, side plate is connected with slide rail 19, enables side plate freely to stretch, and completes to capture the dynamic of object Make；It is one group of slide rail 19 that described end performs device, electric cylinder 20 drive, perform final grasping movement；,
When robot moves to its near vicinity to be handled, visual system determines goods part pose and size, and jacking system regulates After, mechanical hand starts operation, by elevator and the rotation of mechanical hand, it is ensured that the two sides of object to be handled are positioned at paw In 18 working ranges, then it is clamped by paw 18 and is captured thus realize the carrying to object and handling.
Control system includes industrial computer 23, controller 24, fan 25, and it is left that industrial computer 23 is positioned at mobile chassis 1 bosom Side, controller 24 is fixed on the right side of mobile chassis 1, and fan 25 is positioned at the forward position of mobile chassis 1, and control system is main The position that to the sequence of movement in robot work process, should arrive and attitude, path locus and planning, movement time interval with And power and the moment etc. that end effector is applied to be applied on thing are controlled, control system relates to sensing technology, drives skill The data of mobile chassis 1, mechanical hand, control system, visual system and laser sensor are entered by art, control theory and control algolithm Row is analyzed and issues；
Controller 24 is PLC, the most more common, reduces cost.
Charging system is arranged on the centre position in mobile chassis 1, when power detecting module detects set of cells 26 electricity During less than 10%, actively can send signal to industrial computer 23.After industrial computer 23 finds that dolly meets charge condition, Jiu Huiming Making dolly drive towards charging station automatic charging, after charging complete, dolly automatically disengages charger, drives towards working region.
The present invention uses servomotor 29, and uses shaft coupling transmission, and positioning precision can reach 0.01mm, works as robot When receiving job instruction, the first laser sensor, the second laser sensor are scanned and map making, and control system is selected Article one, optimal path sends instruction to mobile underpan 1, stops, vision system during robot motion to its near vicinity to be handled System is started working, and scans the pose of object and sends the data to robot control system, and industrial computer 23 controls elevating mechanism With the pose of rotating mechanism regulation self, driving mechanical hands arrives in the working range of self, the visual system of arm end Identify object to be handled, after having identified, send the instruction capturing object.
Above example simply elaborates ultimate principle and the feature of the present invention, and the present invention is not limited by above-described embodiment, Without departing from the spirit and scope of the present invention, the present invention also has various change and change, and these changes and change all fall Enter in scope of the claimed invention.Claimed scope is defined by appending claims and equivalent thereof.

Claims (10)

1. an Omni-mobile transport robot, it is characterised in that described Omni-mobile transport robot includes mobile chassis, load Shelf, rotating mechanism, elevating mechanism, mechanical hand, visual system, laser sensor, control system and charging system, goods carriage position In the top of mobile chassis, elevating mechanism is positioned at goods carriage front and is connected with rotating mechanism, mobile chassis, and mechanical hand is by rotation Rotation mechanism is connected with elevating mechanism, and control system, charging system are respectively positioned in mobile chassis, and laser sensor is fixed on the mobile end The lower left at position before and after dish, visual system is fixed on mobile chassis, mechanical hand.
Omni-mobile transport robot the most according to claim 1, it is characterised in that described mobile chassis includes servo electricity Machine, Mecanum wheel, shaft coupling, electric machine support, and be the main part of described Omni-mobile transport robot, servomotor is solid Being scheduled on electric machine support, shaft coupling one end is connected with servomotor, and electric machine support is connected with mobile chassis, and mobile chassis has four Individual Mecanum wheel, each Mecanum wheel is respectively by a Serve Motor Control.
Omni-mobile transport robot the most according to claim 2, it is characterised in that described elevating mechanism include column, Synchronous pulley, gear, gear shaft, deep groove ball bearing, the second bearing block, motor, guide rail, slide block, synchronous pulley and gear coordinate And fix with a square plate, gear is connected with gear shaft, and gear shaft coordinates with deep groove ball bearing, deep groove ball bearing and the second axle Bearing coordinates, and the second bearing block, motor, guide rail are all fixed on column, and slide block coordinates with guide rail, passes through square plate between slide block Connect.
Omni-mobile transport robot the most according to claim 3, it is characterised in that described rotating mechanism includes rotating Axle, worm and gear motor, shaft coupling, thrust bearing, clutch shaft bearing seat, rotary shaft be positioned at described column center and and its Connecting, turbine and worm motor is fixed on the bottom of described column and is connected with shaft coupling one end, the shaft coupling other end and rotary shaft Being connected, thrust bearing is fixed with described mobile chassis and coordinates with rotary shaft, and thrust bearing is positioned on clutch shaft bearing seat, and first Bearing block is fixed on the bottom surface of described column.
Omni-mobile transport robot the most according to claim 4, it is characterised in that described control system includes industry control Machine, controller, fan, industrial computer is positioned on the left of mobile chassis bosom, and controller is fixed on the right side of mobile chassis, fan Being positioned at the forward position of mobile chassis, control system relates to sensing technology, actuation techniques, control theory and control algolithm to shifting The data of dynamic chassis, mechanical hand, control system, visual system and laser sensor are analyzed and issue.
Omni-mobile transport robot the most according to claim 5, it is characterised in that described mechanical hand includes base, hands Arm, wrist, paw, end perform device, and have 7 degree of freedom, and mechanical hand is driven on it by synchronous pulley on described column Lower motion, freely regulates height, and base is fixed on a connecting plate of described elevating mechanism slide block, arm and base, wrist Connecting, wrist is connected with arm, paw, and end performs device and is fixed on paw.
Omni-mobile transport robot the most according to claim 6, it is characterised in that described laser sensor includes first Laser sensor, the second laser sensor, to carrying out around robot implementing scanning map making, by control system number According to analysis and issue, transhipment precision is effectively ensured.
Omni-mobile transport robot the most according to claim 7, it is characterised in that described visual system includes that first regards Sense sensor, the second vision sensor, First look sensor is fixed on the centre position that mobile chassis is anterior, and the second vision passes Sensor is fixed on paw；First look sensor and the second vision sensor constitute the binocular vision of Omni-mobile transport robot Feel mechanism.
Omni-mobile transport robot the most according to claim 1, it is characterised in that described goods carriage is square loading Case.
Omni-mobile transport robot the most according to claim 1, it is characterised in that described charging system includes battery Group.
CN201610750480.2A 2016-08-30 2016-08-30 Omni-mobile transport robot Pending CN106272415A (en)

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Application publication date: 20170104