CN107443391A - Item taking-placing device and its control method - Google Patents
Item taking-placing device and its control method Download PDFInfo
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- CN107443391A CN107443391A CN201710203371.3A CN201710203371A CN107443391A CN 107443391 A CN107443391 A CN 107443391A CN 201710203371 A CN201710203371 A CN 201710203371A CN 107443391 A CN107443391 A CN 107443391A
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- China
- Prior art keywords
- module
- bracket
- placing device
- article
- car body
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
-
- 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
- B25J5/005—Manipulators mounted on wheels or on carriages mounted on endless tracks or belts
-
- 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
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Automation & Control Theory (AREA)
- Manipulator (AREA)
- Warehouses Or Storage Devices (AREA)
Abstract
The invention discloses a kind of item taking-placing device and its control method, the item taking-placing device includes car body and on the car body：Storage module, for store things；Robot module, including the lever arm being connected with car body and the grasping structures being connected with lever arm；Delivery module, between storage module and robot module, the article for being reclaimed in the range of the gripping for the grasping structures that the article deposited in storage module is sent to robot module or by the grasping structures of robot module is sent in storage module；Control module, for providing control to car body, storage module, robot module and delivery module.Limitation instant invention overcomes working environment to manual operation, item taking-placing device, which can be realized, to be arrived at, places a series of activities such as article, drilling and embedding article, recovery article, and facility is provided for geological prospecting and similar work.
Description
Technical field
The present invention relates to automatic field, relates more specifically to a kind of item taking-placing device and its control method.
Background technology
Seismic survey is a kind of higher technical method of current Earth deep resource detection resolution, is widely used in resource and surveys
Look into, Earth detection etc. field.Because the resource of earth's surface and shallow-layer is fewer and fewer, China's main resource demand is but increasingly
Greatly, huge resource gap has become long-term an important factor for restricting China's socio-economic development, forces China to improve constantly
The detectivity of natural resources, expand exploration territorial scope.Therefore, search coverage is progressively to natural conditions are extremely severe, the mankind
The directions such as no man's land and the complicated, mine of danger of ground floor construction for being difficult to survive are developed.
High performance seismic prospecting instrument equipment is the key that seismic survey obtains quality data, untethered seismic detector conduct
High performance seismic prospecting instrument equipment is widely used at this stage, and its system, which is formed, mainly includes seismic detector and wave detector two
Part.At present, untethered is seismographic using mainly by operating personnel in defined regional extent, and multigroup wave detector is embedded to
The location point demarcated in advance, then the relevant position by seismic detector placement on the ground, to complete the seismographic cloth of a whole set of untethered
Put.
In order to meet complicated, seismic prospecting badly, under hazardous environment or other experimental studies, explore naturally, engineering
The demand of production, the depth and efficiency of respective item are improved, ensures the personal safety of person skilled, it is expected that one kind replaces people
Work picks and places the scheme of article or instrument.
The content of the invention
In view of this, it is an object of the invention to provide a kind of item taking-placing device and its control method, it can reach pre-
Determine placement and recovery that article is realized in region automatically.
According to an aspect of the present invention, there is provided a kind of item taking-placing device, including car body and on the car body：
Storage module, for store things；Robot module, including the lever arm that is connected with the car body and connect with the lever arm
The grasping structures connect；Delivery module, between the storage module and the robot module, for by the storage module
The article of middle storage is sent in the range of the gripping of the grasping structures of the robot module and by the robot mould
The article of the grasping structures recovery of block is sent in the storage module；Control module, for the car body, described deposit
Amplification module, the robot module and the delivery module provide control.
Preferably, the storage module includes multiple storage units, the multiple storage unit array arrangement.
Preferably, the multiple storage unit also storied placement.
Preferably, each include in the multiple storage unit：First bracket, for accommodating the article；And the
One chain transfer, positioned at the lower section of first bracket, for by first bracket be delivered to the delivery module and
First bracket is reclaimed from the delivery module.
Preferably, first bracket includes：Bottom plate；And first framework, on the bottom plate.
Preferably, the bottom plate is porous plate.
Preferably, the storage module also includes the casing being arranged on the car body, and the multiple storage unit is located at
In the casing, the side of the casing towards the delivery module is open.
Preferably, the delivery module includes：First guide rail, it is arranged on the car body and along the upper surface of the car body
Extension；Second framework, it is slidably connected with first guide rail；Second bracket, it is connected with second framework, it is described for supporting
First bracket；Second chain transfer, on second bracket, for first bracket to be received to described second
The storage module is delivered on bracket and by first bracket on second bracket；And first motor, it is used for
Second framework is driven to be slided along first guide rail.
Preferably, the direction extension of row or column of first guide rail along the multiple storage unit array arrangement, it is described
Storage module, robot module are located at the both sides of first guide rail respectively.
Preferably, the delivery module also includes：Second guide rail, on second framework and perpendicular to the car
The upper surface extension of body；Ball-screw, be connected with second bracket, the second motor, on second framework and
It is connected with the ball-screw, for driving second bracket to be slided along second guide rail by the ball-screw.
Preferably, second bracket includes：Multiple rod members, the multiple rod member are parallel to each other；And multiple plates, position
It is connected in one end of the multiple rod member and by the multiple rod member with the ball-screw.
Preferably, the item taking-placing device also includes the generator on the car body, for being taken for the article
Put device power supply.
Preferably, the item taking-placing device also includes：Drill bit, deposit in the range of the gripping of the grasping structures；With
And drill bit frame, on the car body, for depositing the drill bit.
Preferably, the car body includes：Chassis, the storage module, the robot module, the delivery module, institute
Control module is stated to be located on the chassis；Supporting construction, it is connected with the chassis；And crawler belt, symmetrically it is connected to the support
Structure both sides.
Preferably, the lever arm of the robot module includes at least three movable arm units, at least three activity
Arm unit is rotatablely connected successively, and the rotating shaft at least two rotation connections is orthogonal.
Preferably, the article includes at least one of seismic detector, wave detector, bobbin winoler and direct current generator.
According to another aspect of the present invention, there is provided the control method of above-mentioned item taking-placing device, including：Control car body traveling
To appointed place；Under dispensing pattern, control the transport article from storage module to delivery module and control machine people module will pass
Send the article in module to launch and arrive the appointed place；Under take-back model, control machine people module is by the appointed place
Article be recovered to delivery module, and control from delivery module to storage module transport said item.
Not only include the storage for store things according to the item taking-placing device and its control method of the present invention, on car body
Module, robot module and the delivery module between storage module and robot module are additionally provided with, in control module
Under control, in the range of the gripping for the grasping structures that article can be sent to robot module by delivery module from storage module,
Article is gripped by robot module and is placed on a predetermined position；Robot module can also be passed through by completing the article of task
Gripping is collected, and is recycled to by delivery module in storage module.Item taking-placing device can also include depositing in grasping structures
Gripping in the range of drill bit, for needing embedding article, the grasping structures clamping drill bit of robot module can be first passed through
Punched in precalculated position, then grip article and insert in hole.Limitation instant invention overcomes working environment to manual operation, article take
Put device and can realize and arrive at, place article, drilling and embedding article, the recovery a series of activities such as article, be geology
Exploration and other similar work provide facility.
Storage module can include multiple storage units, and each storage unit includes complete article to be placed so that should
Item taking-placing device can load multigroup article and article is arranged in multiple node locations on the way, so as to save the arrangement time.
Multiple storage units of storage module not only can be with array arrangement, can be with storied placement, so as to which bigizationner utilizes
The memory space of storage module.When placing article, the second bracket of delivery module can slide along the first rail with the second framework,
So as to receive the first bracket of each position along in the first guide rail direction；It is defeated that the first chain is provided with below each first bracket
Machine is sent, coordinates with the second chain transfer on the second bracket and delivery module is received laterally perpendicular to first
First bracket of each position in guide rail direction；Second bracket can also be in the driving lower edge of the second motor and ball-screw
Two guide rails slide in the vertical, so as to receive the first bracket on different height or different layers.Reclaim article when with it is above-mentioned
Similarly, the item taking-placing device is after memory space of bigizationner using storage module, by using delivery module with depositing for process
The cooperation of amplification module, remain able to the quick and convenient placement and recovery for realizing article.
First bracket includes bottom plate and the first framework upwardly extended from bottom edge, its bottom plate are total to the first framework
With the position of restricted articles so that the article being placed in the first bracket is more stable, grips the first support in robot module in addition
During frame, the first framework is also used as gripping object.In preferred embodiment, bottom plate is porous plate, not only can be with loss of weight, in mud
On muddy ground, bottom plate can be avoided because the problem of surface tension of muddy water is difficult to lift.
Car body can include the crawler belt for being symmetrically connected to supporting construction both sides, can make the article using the push structure of crawler belt
Fetching device adapts to more complicated severe ground environment, further overcomes limitation of the environment to its work.
The lever arm of robot module includes at least three movable arm units being rotatablely connected successively, and at least two turns
The rotating shaft of dynamic junction is orthogonal so that the lever arm of robot module is more flexible, so as to more agree with the grasping structures of its connection
Work requirements.
Brief description of the drawings
By the description to the embodiment of the present invention referring to the drawings, above-mentioned and other purposes of the invention, feature and
Advantage will be apparent from.
Fig. 1 shows the stereogram of item taking-placing device according to embodiments of the present invention；
Fig. 2 shows the enlarged drawing of a-quadrant in Fig. 1；
Fig. 3 shows the top view of item taking-placing device according to embodiments of the present invention；
Fig. 4 shows the side view of item taking-placing device according to embodiments of the present invention；
Fig. 5 shows the stereogram of storage module according to embodiments of the present invention；
Fig. 6 shows the stereogram of the first bracket according to embodiments of the present invention；
Fig. 7 shows the flow chart of the control method of item taking-placing device according to embodiments of the present invention；
Fig. 8 shows that control car body according to embodiments of the present invention drives to behind appointed place the flow of the exemplary method stopped
Figure.
Embodiment
The present invention is more fully described hereinafter with reference to accompanying drawing.In various figures, identical element is using similar attached
Icon is remembered to represent.For the sake of clarity, the various pieces in accompanying drawing are not necessarily to scale.In addition, it may not show in figure
Go out some known parts.
It describe hereinafter many specific details of the present invention, such as the structure of part, material, size, processing work
Skill and technology, to be more clearly understood that the present invention.But just as the skilled person will understand, it can not press
The present invention is realized according to these specific details.
Fig. 1 shows the stereogram of item taking-placing device according to embodiments of the present invention, and Fig. 2 shows the amplification of a-quadrant in Fig. 1
Figure.Fig. 3 and Fig. 4 shows the top view and side view of item taking-placing device according to embodiments of the present invention.The item taking-placing device
Storage module 200, delivery module 300, robot module 400 and control mould including car body 100 and on car body 100
Block 500.Wherein, storage module 200 is used for store things 700.Robot module 400 includes the lever arm being connected with car body 100
410 and the grasping structures 420 that are connected with the lever arm 410.Delivery module 300 is located at storage module 200 and robot module
Between 400, the folder of the grasping structures 420 for the article deposited in storage module 200 700 to be sent to robot module 400
The article reclaimed in the range of taking or by the grasping structures 420 of robot module 400 is sent in storage module 200.Control module
500 are used to provide control to car body 100, storage module 200, robot module 400 and delivery module 300.
Item taking-placing device can also include drill bit 810 and drill bit frame 820, and drill bit 810 deposits in the folder of grasping structures 420
In the range of taking.Drill bit frame 820 is located on car body 100, for depositing drill bit 810.Car body frontside edge can be provided with opening, drill bit
Edge of opening is fixed at the both ends of frame 820, and intermediate recessed portions are provided with through hole so that drill bit 810 penetrates, the implementation of certain disclosure
Example not limited to this.Robot module 400 can be located at the fringe region of car body 100, and drill bit frame 820 can also be located at car body 100
Edge so that the robot module 400 of item taking-placing device is more convenient to carry out operation to ground.
The item taking-placing device can also include the generator 600 on car body 100, and it can be such as JH10000E
Generator group module, it can be fixed on by guard rail on car body 100, for being powered for the item taking-placing device.Such as Fig. 3 institutes
In the top view shown, control module 500 is substantially arranged side by side with generator 600, storage module 200, delivery module 300, machine
People's module 400 is substantially arranged side by side, and wherein delivery module 300 is between storage module 200 and robot module 400.
Fig. 5 shows the stereogram of storage module 200 according to embodiments of the present invention, and storage module 200 can include multiple
Storage unit 200a, plurality of storage unit 200a array arrangements, further, multiple storage unit 200a can also be layered
Arrangement, illustrated by storage unit 200a in 2 × 2 × 2, exemplified by the arrangement mode of totally 8 in the present embodiment, it is possible to understand that
It is that the number of often capable, each column storage unit and the number of plies can be according to actual conditions when multiple storage unit 200a arrange
Any natural number determined.
Each storage unit 200a can include the first bracket 210 and the first chain transfer 220.First bracket 210
For accommodating article 700, the first chain transfer 220 is located at the lower section of the first bracket 210, and it can be defeated by the first bracket 210
Delivery module 300 is delivered to, the first bracket 210 can also be recycled to storage module 200 from delivery module 300.
Storage module 200 can also include the casing 230 being arranged on car body 100, plurality of storage unit 200a positions
In in the casing 230, the side of casing 230 towards delivery module 300 is open.Casing 230 can be the storage unit in it
200a provides a certain degree of protection, and it is also convenient for the first bracket 210 and the first bracket towards the side opening of delivery module 300
Article 700 in 210 can transmit back and forth between storage module 200 and delivery module 300.Casing 230 can be multiple removable
The plate divided is formed, the convenient maintenance to its inside.It can be provided for multiple storage unit 200a being spaced in casing 230
Dividing plate, the dividing plate can be installed using screw, and can remove at any time.
According to the item taking-placing device of the present embodiment, storage module 200 can include multiple storage unit 200a, Mei Gecun
Put the complete article to be placed of storage in unit 200a so that the item taking-placing device can load multigroup article on the way in multiple sections
Point position is arranged to article, so as to save the arrangement time.
Fig. 6 shows the stereogram of the first bracket 210 according to embodiments of the present invention, the first bracket 210 include bottom plate 211 with
And the first framework 212 on bottom plate 211, wherein article 700 are located on the bottom plate 211.The framework of bottom plate 211 and first
The position of 212 common restricted articles 700 so that the article 700 being placed in the first bracket 210 is more stable, in addition in robot
When module 400 grips the first bracket 210, the first framework 212 is also used as gripping object, convenient to the whole of the first bracket 210
Body grips.Preferably, the bottom plate 211 is porous plate, not only can be with loss of weight, can when the first bracket 210 is located on muddy ground
To avoid bottom plate 211 because the problem of surface tension of muddy water is difficult to lift.
At least one article 700 is deposited on bottom plate 211, the item taking-placing device is, for example, to be used for the devices such as untethered seismic detector
Placement and retracting device, when carrying out geological prospecting task, article 700 can include seismic detector, wave detector, bobbin winoler and
The kit items such as direct current generator, in seismic survey, the placement process of single can be that multigroup wave detector is embedded into demarcation in advance
Location point, then seismic detector is placed into relevant position on the ground, direct current generator can drive bobbin winoler to carry out coiling.Certainly may be used
With understanding, the item taking-placing device is used for other neighborhoods and when carrying out in other tasks, and bottom plate 211 can also be deposited
Other kit items.
Fig. 2 of Fig. 1 and its partial enlargement is refer to, delivery module 300 can include the first guide rail 310, the second framework
320th, the second bracket 330, the second chain transfer 340 and the first motor 350.First guide rail 310 is arranged on car body 100,
And extend along the upper surface of the car body 100, the second framework 320 is slidably connected with the first guide rail 310, and the second bracket 330 is with being somebody's turn to do
Second framework 320 is connected, and the second chain transfer 340 is arranged on second bracket 330.Second bracket 330 can be positioned at it
On the first bracket support is provided, the second chain transfer 340 can receive the first bracket 210 to the second bracket 330,
The first bracket 210 conveying on second bracket 330 can be recycled in storage module 200.First motor 350 can be direct
Or be connected indirectly with the second framework 320, it is used to drive the second framework 320 to slide along the first guide rail 310.
In the present embodiment, the first guide rail 310 is two to be arranged in parallel, and storage module 200, robot module 400 distinguish
Positioned at the both sides of the first guide rail 310.Second framework 320 can include two carriages and be connected between two carriages
Supporting plate, such as the second framework 320 are cuboid framework, can include a pair of rectangular support frames be arrangeding in parallel and be connected to
Rectangular supporting board between two rectangular support frames, certainly, the shape of the second framework 320 can be not limited to above-mentioned example.Second
Framework 320 can be slidably connected by sliding block and the first guide rail 310, when the second framework 320 is sliding on first guide rail 310,
Second bracket 330 slides therewith.Preferably, the side of row or column of first guide rail 310 along multiple storage unit 200a array arrangements
To extension so that the row of the sliding trace of the second bracket 330 and multiple storage unit 200a array arrangements to or arrange to parallel.
Delivery module 300 can also include the second guide rail 360, the second motor 370 and ball-screw 380.Second guide rail
360th, the second motor 370 is arranged on the second framework 320, and the second guide rail 360 extends longitudinally, and ball-screw 380 is connected to the
Between two motors 370 and the second bracket 330, the second motor 370 drives the second bracket 330 to be led along second by ball-screw 380
Rail 360 slides.
Please also refer to Fig. 2 and Fig. 4, in the present embodiment, the second guide rail 360 is two to be arranged in parallel, and perpendicular to
The upper surface extension of car body 100, the side of the second framework 320 can be symmetricly set on.Ball-screw 380 includes what is cooperated
Screw part 381 and nut portion 382, wherein screw part 381 are 360 parallel with the second guide rail, are longitudinally arranged in the second framework
In 320, the second motor 370 may be mounted at the top of the second framework 320, is connected with one end of screw part 381, so as to drive
Screw part 381 is rotated, and the rotational motion of screw part 381 is converted into along leading screw portion by the nut portion 382 of ball-screw 380
Divide 381 linear motion, while the second bracket 330 is connected with nut portion, can be with spiral shell under the guiding of the second guide rail 360
Female part moves on the second framework 320 perpendicular to the upper surface of car body 100.
Fig. 2, Fig. 3 and Fig. 4 are please also refer to, the second bracket 330 can include multiple rod members 331 and multiple plates 332,
Plurality of rod member 331 is parallel to each other, and is connected with each other between multiple plates 332, and multiple plates 332 are located at multiple rod members 331
One end, and multiple rod members 331 are connected with the nut portion 382 of ball-screw 380, in the present embodiment, multiple plates 332
Also it is slidably connected by sliding block and the second guide rail 360.Multiple rod members 331 be arrangeding in parallel are used to support the first support disposed thereon
Frame 210, and multiple plates 332 are used to multiple rod members 331 being connected with ball-screw 380.The concrete shape knot of second bracket 330
Structure can be with not limited to this, as long as can be that the first bracket 210 provides support and can be connected directly or indirectly to the second framework 320.
According to the item taking-placing device of the present embodiment, multiple storage unit 200a of storage module 200 not only can be with array
Arrangement, can be with storied placement, so as to which bigizationner utilizes the memory space of storage module 200.When placing article, delivery module
300 the second bracket 330 can slide laterally with the second framework 320 along the first guide rail 310, so as to receive along the first guide rail
First bracket 210 of each position on 310 directions；Each lower section of first bracket 210 is provided with the first chain transfer 220, with peace
The second chain transfer 340 on the second bracket 330, which coordinates, allows delivery module 300 to receive laterally perpendicular to first
First bracket 210 of each position on the direction of guide rail 310；Second bracket 330 can also be in the second motor 370 and ball-screw 380
The second guide rail of driving lower edge 360 slide in the vertical, so as to receive the first bracket on different height or different layers
210.When reclaiming article with said process similarly, the first bracket 210 equipped with article can be pressed array and layering by delivery module 300
Mode be placed into storage module 200.The item taking-placing device bigizationner using storage module 200 memory space after,
By using the cooperation of delivery module 300 and storage module 200, the quick and convenient placement and recovery for realizing article is remained able to.
The lever arm 410 of robot module 400 can include at least three movable arm units, at least three movable arm units
It is rotatablely connected successively, and the rotating shaft at least two rotation connections is orthogonal.In the present embodiment, the activity of robot module 400
Arm 410 include be sequentially connected the first movable arm unit 410a, the second movable arm unit 410b, the 3rd movable arm unit 410c with
And the 4th movable arm unit 410d, fix wherein the first movable arm unit 410a one end is vertical with car body 100, e.g. pass through
High-strength bolt is fixed, and the other end and the second movable arm unit 410b are rotatablely connected, wherein the second movable arm unit 410b can be in horizontal stroke
Rotated on to plane, the 3rd movable movable arm unit 410b rotation connections of arm unit 410c and second, and cause the 3rd activity
Arm unit 410c can be rotated on fore-and-aft plane, and the 4th movable arm unit 410d one end rotates with the 3rd movable arm unit 410c
Connection, the other end are connected with grasping structures 420.Multiple movable arm units and folder by control module 500 to lever arm 410
The control of structure 420 is taken, grasping structures 420 can grip drill bit 810 and presumptive area is drilled, and can also grip the first bracket
210 place it in presumptive area or are recycled in transport module 300, can also be to the article 700 in the first bracket 210
Placed, it is embedding and by complete task article 700 be recycled in the first bracket 210.The work of robot module 400
Swing arm 410 includes Multi-section active arm unit, and has the rotation direction of various dimensions between Multi-section active arm unit so that activity
Arm 410 is more flexible, so as to more agree with the work requirements of the grasping structures 420 of its connection.
Control module 500 can include controller, voltage-stablizer and power supply etc., and wherein voltage-stablizer carries for item taking-placing device
For voltage stabilizing and circuit protection, controller provides control, such as the row of car body 100 for each module on car body 100 and car body 100
Walk, slip of slip, second bracket 330 of second framework 320 on the first guide rail 310 along the second guide rail 360, the first bracket
The grasping structures of 210 movement and robot module 300 on the first chain transfer 220 and the second chain transfer 340
The actions such as 420 gripping can be controlled by the controller and completed.
Fig. 4 is refer to, the car body 100 of the present embodiment can include chassis 110, supporting construction 120 and crawler belt 130.Bottom
Disk 110 is substantially flat, storage module 200, robot module 300, delivery module 400, control module 500 and generator 600
On chassis 110, drill bit frame 820 is located at the edge of chassis 110.In the present embodiment, robot module 300 is consolidated by high-strength bolt
It is scheduled on chassis 110, one layer of connecting plate can be welded on chassis 110 in addition, connecting plate is, for example, rectangle, wherein delivery module
400 the first guide rail 310 can be connected on the connecting plate using high-strength bolt.Supporting construction 120 is connected to the bottom on chassis 110
Portion, crawler belt 130 are a pair, are symmetrically connected to the both sides of supporting construction 130.
The car body 100 of the present embodiment replaces traditional wheel type push structure using crawler type push structure, can make the thing
Product fetching device adapts to more complicated severe ground environment, further overcomes limitation of the environment to its work.Crawler belt 130 can be with
It is metal track, preferably also rubber belt track, so as to more lightweight, while also adapts to urban road, further expand thing
The work activities scope of product fetching device.
Fig. 7 shows the flow chart of the control method of item taking-placing device according to embodiments of the present invention.In the present embodiment
Control method can apply to any item taking-placing device described above.
In step S701, control car body stops after driving to appointed place.
In step S702, control and article is transported from storage module to delivery module and article is launched by robot module.
For example, the first motor 350 on delivery module 300 and/or the second motor 370 can be controlled to cause the second bracket 330 along first
The guide rail 360 of guide rail 310 and/or second slides, so as to be moved to before the storage unit 200a specified of storage module 200, so
Afterwards by the cooperation of the first chain transfer 220 and the second chain transfer 340 by the first bracket 210 in storage unit 200a
It is transported to together with article 700 thereon on the second bracket 330, the second bracket 330 of control is moved to the gripping of robot module 400
Within the scope of, then control machine people module 400 grips drill bit 810 and the precalculated position punching using drill bit 810 on the ground,
The article 700 gripped again from the second bracket 330 on first bracket 210 is inserted in hole, so as to realize the embedding of article 700.
In step S703, judge whether to have completed the dispensing of all items 700, if it is, perform step S704 with etc.
Pending data collection terminates, and otherwise return to step S702 to the article 700 in next specified storage unit 200a to launch.
Certainly, embodiment of the disclosure not limited to this.In certain embodiments, first article 700 can be placed on one by one
Precalculated position on ground, carry out again after all items 700 are all taken off from storage module 200 and then one by one embedding.
In certain embodiments, directly article 700 can be placed on ground without embedding.In certain embodiments, can be by institute
Have or a part of article is removed from storage module 200 and is placed on the second bracket 330, be then uniformly transported to robot again
Launched within the scope of the gripping of module 400.In addition, in certain embodiments, can be whenever the dispensing for completing an article
Afterwards, delivery module 300 and robot module 400 is returned to home position, then again for next storage unit 200a come
The transport and dispensing of article are carried out, home position may not necessarily be returned in certain embodiments certainly and continue to launch.From
Storage module 300 takes the order of article 700 to carry out any setting as needed, such as can be upward successively since lower left
Article 700 is removed, is then moved to right, until removing all items 700；The row's article of bottom one can certainly be removed from left to right
700, then move up；Or can even remove article 700 in the storage unit 200a being arbitrarily designated every time as needed,
This is repeated no more.
In step S704, article work is waited to complete.The operation can by such as seismic detector, wave detector, bobbin winoler and
Direct current generator and other items triggers, such as above-mentioned instrument can send a trigger signal to article after data acquisition finishes
Fetching device, to notify item taking-placing device data acquisition to terminate.In some embodiments, it is also possible in above-mentioned various instrument works
It is artificial to trigger item taking-placing device to terminate to wait after completing.
In step S705, control machine people's module reclaims article from ground and transported from delivery module to storage module.
For example, the article on ground can be placed in the first bracket 210 with control machine people module 400 and place the first bracket 210
On the second bracket 330, the first motor 350 on delivery module 300 and/or the second motor 370 is then controlled to cause the second support
Frame 330 slides along the first guide rail 310 and/or the second guide rail 360, so as to be moved to before the storage unit 200a specified, passes through
The first bracket 210 on second bracket 330 is transported to by the cooperation of the first chain transfer 220 and the second chain transfer 340
In the storage unit 200a specified.
In step S706, judge whether to have completed the recovery of all items, return car body if it is, performing step S707
Return, otherwise return to step S705 continues to reclaim next article on ground.
Certainly, embodiment of the disclosure not limited to this.In certain embodiments, can be first by multiple articles 700 together with
One bracket 210 is placed on the second bracket 330, is then transported to respectively in the corresponding storage unit 200a of storage module 200.In addition
In certain embodiments, can be whenever the storage for completing an article 700 in the store things 700 into storage unit 200a
Afterwards, delivery module 300 and robot module 400 is may return to home position, then deposit next article 700.When
It so can also need not return to home position and continue to deposit.The order of store things 700 can arbitrarily be set as needed
Put, for example, can since lower left upward store things 700 successively, then move to right, until having deposited all items 700；When
It so can also from left to right deposit and most descend row's article 700, then move up；Or even can be as needed every time to being arbitrarily designated
Storage unit 200a in store things 700, will not be repeated here.
In step S707, control car body returns to starting point.
In the embodiment of above-mentioned control method, item taking-placing device is first launched after starting, treat that article work is completed
Recycling afterwards, but embodiment of the disclosure not limited to this.Launched for example, be in as needed item taking-placing device
Pattern or take-back model, the article that step S702 and S703 are carried out under dispensing pattern are launched operation, carried out under take-back model
Step S705 and S706 article reclaimer operation.
Fig. 8 shows that control car body according to embodiments of the present invention drives to behind appointed place the flow of the exemplary method stopped
Figure.
In step S801, control car body travels and detection travels relevant information in the process of moving.For example, can be by controlling
Module control generating set generates electricity, and so as to drive crawler travel, in the process of moving, can utilize various on car body
Sensor detects traffic information, map datum, vehicle status parameters etc..
In step S802, the traveling relevant information being collected into is merged.For example, can be by from various sensors
The information fusion of traffic information, map datum, vehicle status parameters etc. is simultaneously supplied to control module.
In step S803, judge whether car body needs to turn to according to fuse information, if it is execution step S804, no
Then return to step S801 continues to travel.In this step, it can be analyzed and be handled by fuse information to judge whether to need
Turn to.For example, it can judge whether to need to turn to according to default car body travel route and car body current location, Huo Zheke
Car body is caused to need to turn to judge whether impassable road conditions according to traffic information, it might even be possible to according to car body
Current state combining road condition and map datum judge whether to need to turn to.
In step S804, control car body turns to.For example, control module can control the speed of travel of car body to be adjusted with turning to
Section, it is diverted through changing the driving force on the driving wheel of both sides, is turned to reaching different speed per hours to realize.Can be with after steering
Step S801 is performed to continue to travel according to predetermined paths.
In step S805, judge whether car body drives to appointed place, if it is, performing step S806, otherwise return
Step S801 continues to travel.
In step S806, control car body stops.Ceased and desisted order for example, control module can send vehicle to car body, make car
Body stops, subsequently to launch or withdraw article.
Not only include being used to deposit according to the item taking-placing device and its corresponding control method of the present invention, on car body 100
The storage module 200 of article 700 is put, is additionally provided with robot module 400 and positioned at storage module 200 and robot module 400
Between delivery module 300, under the control of control module 200, article 700 can be by delivery module 300 from storage module
200 are sent in the range of the gripping of grasping structures 420 of robot module 400, and article 700 is gripped simultaneously by robot module 400
Place on a predetermined position；Collection can also be gripped by robot module 400 by completing the article of task, and pass through transmission
Module 300 is recycled in storage module 200.Item taking-placing device can also include the gripping scope for depositing in grasping structures 420
Interior drill bit 810, for needing embedding article 700, the clamping of grasping structures 420 that can first pass through robot module 400 is bored
First 810 punch in precalculated position, then grip article 700 and insert in hole.Office instant invention overcomes working environment to manual operation
Limit, item taking-placing device, which can be realized, to be arrived at, places a series of works such as article, drilling and embedding article, recovery article
Make, facility is provided for geological prospecting and other similar work.
It should be noted that herein, such as first and second or the like relational terms are used merely to a reality
Body or operation make a distinction with another entity or operation, and not necessarily require or imply and deposited between these entities or operation
In any this actual relation or order.Moreover, term " comprising ", "comprising" or its any other variant are intended to
Nonexcludability includes, so that process, method, article or equipment including a series of elements not only will including those
Element, but also the other element including being not expressly set out, or it is this process, method, article or equipment also to include
Intrinsic key element.In the absence of more restrictions, the key element limited by sentence "including a ...", it is not excluded that
Other identical element also be present in process, method, article or equipment including the key element.
According to embodiments of the invention as described above, these embodiments do not have all details of detailed descriptionthe, not yet
It is only described specific embodiment to limit the invention.Obviously, as described above, can make many modifications and variations.This explanation
Book is chosen and specifically describes these embodiments, is in order to preferably explain the principle and practical application of the present invention, so that affiliated
Technical field technical staff can be used using modification of the invention and on the basis of the present invention well.The present invention is only by right
The limitation of claim and its four corner and equivalent.
Claims (17)
1. a kind of item taking-placing device, it is characterised in that including car body and on the car body：
Storage module, for store things；
Robot module, including the lever arm being connected with the car body and the grasping structures being connected with the lever arm；
Delivery module, between the storage module and the robot module, for will deposit in the storage module
The article is sent to the gripping in the range of the gripping of the grasping structures of the robot module and by the robot module
The article of structure recovery is sent in the storage module；
Control module, for providing control to the car body, the storage module, the robot module and the delivery module
System.
2. item taking-placing device according to claim 1, it is characterised in that it is single that the storage module includes multiple storages
Member, the multiple storage unit array arrangement.
3. item taking-placing device according to claim 2, it is characterised in that the multiple storage unit also storied placement.
4. item taking-placing device according to claim 2, it is characterised in that each bag in the multiple storage unit
Include：
First bracket, for accommodating the article；And
First chain transfer, positioned at the lower section of first bracket, for first bracket to be delivered into the transmission mould
Block and reclaim first bracket from the delivery module.
5. item taking-placing device according to claim 4, it is characterised in that first bracket includes：
Bottom plate；And
First framework, on the bottom plate.
6. item taking-placing device according to claim 5, it is characterised in that the bottom plate is porous plate.
7. item taking-placing device according to claim 2, it is characterised in that the storage module is also included installed in described
Casing on car body, the multiple storage unit are located in the casing, and the side of the casing towards the delivery module opens
Mouthful.
8. item taking-placing device according to claim 4, it is characterised in that the delivery module includes：
First guide rail, it is arranged on the car body and extends along the upper surface of the car body；
Second framework, it is slidably connected with first guide rail；
Second bracket, it is connected with second framework, for supporting first bracket；
Second chain transfer, on second bracket, for first bracket to be received to second bracket
Above and by first bracket on second bracket it is delivered to the storage module；And
First motor, for driving second framework to be slided along first guide rail.
9. item taking-placing device according to claim 8, it is characterised in that first guide rail is single along the multiple storage
The direction extension of the row or column of element array arrangement, the storage module, robot module are located at the two of first guide rail respectively
Side.
10. item taking-placing device according to claim 8, it is characterised in that the delivery module also includes：
Second guide rail, extend on second framework and perpendicular to the upper surface of the car body；
Ball-screw, it is connected with second bracket,
Second motor, it is connected on second framework and with the ball-screw, for passing through the ball-screw
Second bracket is driven to be slided along second guide rail.
11. item taking-placing device according to claim 10, it is characterised in that second bracket includes：
Multiple rod members, the multiple rod member are parallel to each other；And
Multiple plates, it is connected positioned at one end of the multiple rod member and by the multiple rod member with the ball-screw.
12. item taking-placing device according to claim 1, it is characterised in that also include the generating on the car body
Machine, for being powered for the item taking-placing device.
13. item taking-placing device according to claim 1, it is characterised in that also include：
Drill bit, deposit in the range of the gripping of the grasping structures；And
Drill bit frame, on the car body, for depositing the drill bit.
14. item taking-placing device according to claim 1, it is characterised in that the car body includes：
Chassis, the storage module, the robot module, the delivery module, the control module are located on the chassis；
Supporting construction, it is connected with the chassis；And
Crawler belt, symmetrically it is connected to the supporting construction both sides.
15. item taking-placing device according to claim 1, it is characterised in that the lever arm of the robot module includes
At least three movable arm units, at least three movable arm unit are rotatablely connected successively, and at least two rotation connections
Rotating shaft it is orthogonal.
16. item taking-placing device according to claim 1, it is characterised in that the article include seismic detector, wave detector,
At least one of bobbin winoler and direct current generator.
17. according to the control method of the item taking-placing device of any one of claim 1-16 claim, including：
Control car body drives to appointed place；
Under dispensing pattern, control the transport article from storage module to delivery module and control machine people module is by delivery module
Article launch arrive the appointed place；
Under take-back model, the article at the appointed place is recovered to delivery module by control machine people module, and control from
Delivery module is to storage module transport said item.
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| CN201710203371.3A CN107443391B (en) | 2017-03-30 | 2017-03-30 | Article taking and placing device and control method thereof |
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|---|---|---|---|
| CN201710203371.3A CN107443391B (en) | 2017-03-30 | 2017-03-30 | Article taking and placing device and control method thereof |
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Cited By (1)
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| CN110451198A (en) * | 2019-08-13 | 2019-11-15 | 广州赛志系统科技有限公司 | A kind of numerically controlled drill system for plate |
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| Publication number | Publication date |
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| CN107443391B (en) | 2021-07-16 |
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