CN107443391B

CN107443391B - Article taking and placing device and control method thereof

Info

Publication number: CN107443391B
Application number: CN201710203371.3A
Authority: CN
Inventors: 张冠宇; 王艺添; 林君; 樊毅尧; 张皓晨
Original assignee: Jilin University
Current assignee: Jilin University
Priority date: 2017-03-30
Filing date: 2017-03-30
Publication date: 2021-07-16
Anticipated expiration: 2037-03-30
Also published as: CN107443391A

Abstract

The invention discloses an article taking and placing device and a control method thereof, wherein the article taking and placing device comprises a vehicle body and a control unit, wherein the control unit is positioned on the vehicle body and comprises the following components: a storage module for storing an item; the robot module comprises a movable arm connected with the vehicle body and a clamping structure connected with the movable arm; the conveying module is positioned between the storage module and the robot module and is used for conveying the articles stored in the storage module to a clamping range of the clamping structure of the robot module or conveying the articles recycled by the clamping structure of the robot module to the storage module; and the control module is used for controlling the vehicle body, the storage module, the robot module and the transmission module. The invention overcomes the limitation of working environment to manual operation, and the article taking and placing device can realize a series of work of arriving at a destination, placing articles, drilling holes, embedding articles, recovering articles and the like, thereby providing convenience for geological exploration and similar work.

Description

Article taking and placing device and control method thereof

Technical Field

The invention relates to the field of automation, in particular to an article taking and placing device and a control method thereof.

Background

Seismic exploration is a technical method with high exploration resolution ratio of the earth deep resources at present, and is widely applied to the fields of resource exploration, earth deep exploration and the like. As the resources of the earth surface and the shallow layer are less and less, the main resource demand of China is greater and greater, and the huge resource gap becomes an important factor for restricting the development of the economy and the society of China for a long time, the China is forced to continuously improve the detection capability of natural resources and expand the exploration regional range. Therefore, the detection area gradually moves to unmanned areas where the natural conditions are extremely harsh and humans are difficult to live, mines where the floor structure is complex and dangerous, and the like.

The high-performance seismic prospecting instrument equipment is the key for acquiring high-quality data by seismic detection, and the cableless seismograph is widely applied at the present stage as the high-performance seismic prospecting instrument equipment. At present, the arrangement of the whole set of cable-free seismograph is completed by embedding a plurality of groups of detectors into pre-calibrated position points and then placing the seismograph at a corresponding position on the ground within a specified area range by an operator.

In order to meet the requirements of seismic exploration or other experimental researches, natural exploration and engineering production in complex, severe and dangerous environments, improve the depth and efficiency of corresponding projects and ensure the personal safety of related technicians, a scheme for replacing manual work to take and place articles or instruments is expected.

Disclosure of Invention

In view of the above, an object of the present invention is to provide an article picking and placing apparatus and a control method thereof, which can automatically pick and place articles and recycle articles when reaching a predetermined area.

According to an aspect of the present invention, there is provided an article taking and placing device, comprising a vehicle body and, on the vehicle body: a storage module for storing an item; the robot module comprises a movable arm connected with the vehicle body and a clamping structure connected with the movable arm; the conveying module is positioned between the storage module and the robot module and is used for conveying the articles stored in the storage module to a clamping range of a clamping structure of the robot module and conveying the articles recycled by the clamping structure of the robot module to the storage module; and the control module is used for controlling the vehicle body, the storage module, the robot module and the transmission module.

Preferably, the storage module comprises a plurality of storage units, and the storage units are arranged in an array.

Preferably, the plurality of storage units are further arranged in layers.

Preferably, each of the plurality of storage units includes: a first tray for receiving the article; and a first chain conveyor located below the first carriage for conveying the first carriage to the transfer module and for retrieving the first carriage from the transfer module.

Preferably, the first bracket includes: a base plate; and a first frame installed on the base plate.

Preferably, the bottom plate is a perforated plate.

Preferably, the storage module further comprises a box body mounted on the vehicle body, the plurality of storage units are located in the box body, and one side of the box body facing the conveying module is open.

Preferably, the transfer module includes: a first guide rail provided on the vehicle body and extending along an upper surface of the vehicle body; the second frame is connected with the first guide rail in a sliding mode; a second bracket connected to the second frame for supporting the first bracket; a second chain conveyor mounted on the second carriage for receiving the first carriage onto the second carriage and conveying the first carriage on the second carriage to the storage module; and the first motor is used for driving the second frame to slide along the first guide rail.

Preferably, the first guide rail extends along a row or column direction of the plurality of storage unit arrays, and the storage module and the robot module are respectively located at two sides of the first guide rail.

Preferably, the transfer module further comprises: a second guide rail mounted on the second frame and extending perpendicular to an upper surface of the vehicle body; the second motor is mounted on the second frame and connected with the ball screw, and is used for driving the second bracket to slide along the second guide rail through the ball screw.

Preferably, the second bracket includes: a plurality of rods parallel to each other; and a plurality of plates positioned at one ends of the plurality of rods and connecting the plurality of rods with the ball screw.

Preferably, the article taking and placing device further comprises a generator located on the vehicle body and used for supplying power to the article taking and placing device.

Preferably, the article taking and placing device further comprises: the drill bit is stored in the clamping range of the clamping structure; and the drill bit frame is positioned on the vehicle body and used for storing the drill bit.

Preferably, the vehicle body includes: the storage module, the robot module, the conveying module and the control module are positioned on the chassis; a support structure connected with the chassis; and the crawler belts are symmetrically connected to two sides of the supporting structure.

Preferably, the movable arm of the robot module comprises at least three movable arm units, the at least three movable arm units are sequentially connected in a rotating manner, and rotating shafts of at least two rotating connections are orthogonal.

Preferably, the article comprises at least one of a seismometer, a geophone, a bobbin winder and a dc motor.

According to another aspect of the present invention, there is provided a method for controlling the article taking and placing device, including: controlling the vehicle body to travel to a specified place; in a throwing mode, controlling the goods to be transported from the storage module to the conveying module and controlling the robot module to throw the goods on the conveying module to the designated place; in a retrieval mode, the robot module is controlled to retrieve the item at the designated location to the transfer module and to control the transport of the item from the transfer module to the storage module.

According to the article taking and placing device and the control method thereof, the vehicle body not only comprises a storage module for storing articles, but also comprises a robot module and a conveying module positioned between the storage module and the robot module, and under the control of the control module, the articles can be conveyed from the storage module to the clamping range of the clamping structure of the robot module through the conveying module, and are clamped by the robot module and placed on a preset position; the articles completing the work task can be clamped and collected through the robot module and can be recovered to the storage module through the conveying module. The article taking and placing device can further comprise a drill bit stored in the clamping range of the clamping structure, and for the articles to be embedded, the drill bit can be clamped by the clamping structure of the robot module to punch at a preset position, and then the articles can be clamped and placed into the hole. The invention overcomes the limitation of working environment to manual operation, and the article taking and placing device can realize a series of work of reaching a destination, placing articles, drilling holes, embedding articles, recovering articles and the like, thereby providing convenience for geological exploration and other similar works.

The storage module may comprise a plurality of storage units, each storage unit comprising a set of articles to be placed such that the article pick-and-place device can carry a plurality of sets of articles to arrange the articles at a plurality of nodal positions along the way, thereby saving arrangement time.

A plurality of storage units of the storage module can be arranged in an array mode and can be arranged in a layered mode, and therefore storage space of the storage module is utilized to the greater extent. When articles are placed, the second bracket of the conveying module can slide along the first guide rail along with the second frame, so that the second bracket can receive the first bracket at each position along the direction of the first guide rail; a first chain conveyor is arranged below each first bracket and is matched with a second chain conveyor arranged on the second bracket, so that the conveying module can receive the first brackets at all positions in the direction transversely vertical to the first guide rail; the second bracket can also slide along the second guide rail in the longitudinal direction under the driving of a second motor and a ball screw, so that the first brackets at different heights or on different layers can be received. The same principle as the above process is adopted when the article is recovered, the article taking and placing device can still rapidly and conveniently realize the placement and recovery of the article by utilizing the matching of the conveying module and the storage module after the storage space of the storage module is utilized to a greater extent.

The first bracket comprises a bottom plate and a first frame extending upwards from the edge of the bottom plate, wherein the bottom plate and the first frame jointly limit the position of the article, so that the article placed in the first bracket is more stable, and the first frame can also be used as a clamping object when the robot module clamps the first bracket. In the preferred embodiment, the bottom plate is a porous plate, so that the weight can be reduced, and the problem that the bottom plate is difficult to lift due to the surface tension of muddy water on muddy ground can be avoided.

The vehicle body can comprise tracks which are symmetrically connected to two sides of the supporting structure, and the pushing structure of the tracks is utilized to enable the article taking and placing device to adapt to more complex and severe ground environments, so that the limitation of the environment to the work is further overcome.

The movable arm of the robot module comprises at least three movable arm units which are sequentially connected in a rotating mode, and at least two rotating shafts at the rotating connection position are orthogonal, so that the movable arm of the robot module is more flexible, and the working requirements of a clamping structure connected with the movable arm are better met.

Drawings

The above and other objects, features and advantages of the present invention will become more apparent from the following description of the embodiments of the present invention with reference to the accompanying drawings.

Fig. 1 shows a perspective view of an article handling device according to an embodiment of the invention;

FIG. 2 shows an enlarged view of area A of FIG. 1;

fig. 3 shows a top view of an article handling device according to an embodiment of the invention;

fig. 4 shows a side view of an article handling device according to an embodiment of the invention;

FIG. 5 illustrates a perspective view of a storage module according to an embodiment of the present invention;

FIG. 6 illustrates a perspective view of a first bracket according to an embodiment of the present invention;

fig. 7 shows a flow chart of a control method of an article pick-and-place device according to an embodiment of the invention;

fig. 8 shows a flowchart of an example method of controlling a vehicle body to stop after traveling to a specified point according to an embodiment of the present invention.

Detailed Description

The invention will be described in more detail below with reference to the accompanying drawings. Like elements in the various figures are denoted by like reference numerals. For purposes of clarity, the various features in the drawings are not necessarily drawn to scale. Moreover, certain well-known elements may not be shown in the figures.

In the following description, numerous specific details of the invention, such as structure, materials, dimensions, processing techniques and techniques of components, are set forth in order to provide a more thorough understanding of the invention. However, as will be understood by those skilled in the art, the present invention may be practiced without these specific details.

Fig. 1 is a perspective view illustrating an article taking and placing device according to an embodiment of the present invention, and fig. 2 is an enlarged view illustrating a region a of fig. 1. Fig. 3 and 4 show top and side views of an article handling device according to an embodiment of the invention. The article taking and placing device comprises a vehicle body 100, a storage module 200, a conveying module 300, a robot module 400 and a control module 500, wherein the storage module 200, the conveying module 300, the robot module 400 and the control module 500 are positioned on the vehicle body 100. Wherein the storage module 200 is used for storing the item 700. The robot module 400 includes a movable arm 410 coupled to the vehicle body 100 and a gripping structure 420 coupled to the movable arm 410. The transfer module 300 is located between the storage module 200 and the robot module 400, and is used for transferring the item 700 stored in the storage module 200 to the gripping range of the gripping structure 420 of the robot module 400 or transferring the item retrieved by the gripping structure 420 of the robot module 400 to the storage module 200. The control module 500 is used to provide control over the vehicle body 100, the storage module 200, the robot module 400, and the transfer module 300.

The article pick-and-place device may further include a drill 810 and a drill rack 820, wherein the drill 810 is stored in the clamping range of the clamping structure 420. A drill head rack 820 is located on the vehicle body 100 for storing the drill bit 810. The body 100 may have an opening at the edge thereof, to which the drill bit holder 820 is fixed at both ends, and a through hole in the middle recess portion for the drill bit 810 to penetrate, although the embodiment of the present disclosure is not limited thereto. The robot module 400 may be located at an edge region of the vehicle body 100, and the drill bit rest 820 may also be located at an edge of the vehicle body 100, so that the robot module 400 of the article taking and placing device may more conveniently perform work on the ground.

The article taking and placing device may further include a generator 600 located on the vehicle body 100, which may be, for example, a JH10000E type generator module, and may be fixed on the vehicle body 100 through a guard rail for supplying power to the article taking and placing device. As shown in the top view of fig. 3, the control module 500 is disposed substantially side by side with the generator 600, and the storage module 200, the transfer module 300, and the robot module 400 are disposed substantially side by side, wherein the transfer module 300 is located between the storage module 200 and the robot module 400.

Fig. 5 is a perspective view illustrating a storage module 200 according to an embodiment of the present invention, where the storage module 200 may include a plurality of storage units 200a, where the plurality of storage units 200a are arranged in an array, and further, the plurality of storage units 200a may be arranged in a layer, in this embodiment, the storage units 200a are arranged in 2 × 2 × 2 and 8 in total, which is taken as an example for description, it is understood that the number of storage units in each row and each column and the number of layers of the storage units 200a may be any natural number determined according to actual situations.

Each storage unit 200a may include a first bracket 210 and a first chain conveyor 220. The first tray 210 is used to receive the article 700, and the first chain conveyor 220 is located below the first tray 210, and can convey the first tray 210 to the transfer module 300 and also can retrieve the first tray 210 from the transfer module 300 to the storage module 200.

The storage module 200 may further include a case 230 mounted on the vehicle body 100, wherein the plurality of storage units 200a are located in the case 230, and a side of the case 230 facing the transfer module 300 is open. The casing 230 may provide a certain degree of protection for the storage unit 200a therein, and the side thereof facing the transfer module 300 is open to facilitate the first tray 210 and the articles 700 in the first tray 210 to be transferred back and forth between the storage module 200 and the transfer module 300. The housing 230 may be formed of a plurality of detachable plates to facilitate access to the interior thereof. A partition for partitioning the plurality of storage units 200a may be provided in the case 230, and the partition may be installed using screws and may be removed at any time.

According to the article taking and placing device of the embodiment, the storage module 200 may include a plurality of storage units 200a, and each storage unit 200a stores a set of articles to be placed, so that the article taking and placing device can load a plurality of groups of articles to arrange the articles at a plurality of node positions along the way, thereby saving the arrangement time.

Fig. 6 illustrates a perspective view of the first tray 210 according to an embodiment of the present invention, the first tray 210 including a bottom plate 211 and a first frame 212 mounted on the bottom plate 211, wherein an article 700 is positioned on the bottom plate 211. The bottom plate 211 and the first frame 212 together limit the position of the item 700, so that the item 700 placed in the first tray 210 is more stable, and in addition, when the robot module 400 grips the first tray 210, the first frame 212 can also be a gripping object, facilitating the overall gripping of the first tray 210. Preferably, the bottom plate 211 is a perforated plate, which not only reduces weight, but also avoids the problem that the bottom plate 211 is difficult to lift due to the surface tension of muddy water when the first bracket 210 is located on muddy ground.

The bottom plate 211 is used for storing at least one article 700, the article taking and placing device is a placing and recovering device for devices such as a cable-free seismometer, when geological exploration tasks are carried out, the article 700 can comprise matched articles such as seismometers, detectors, wire winders and direct current motors, during seismic exploration, a single placing process can be that a plurality of groups of detectors are buried into pre-calibrated position points, then the seismometer is placed at a corresponding position on the ground, and the direct current motors can drive the wire winders to wind wires. It will be appreciated, of course, that the base 211 may also hold other accessories while the article pick-and-place device is used in other areas and for other tasks.

Referring to fig. 1 and its partially enlarged fig. 2, the transfer module 300 may include a first guide rail 310, a second frame 320, a second bracket 330, a second chain conveyor 340, and a first motor 350. A first guide rail 310 is provided on the vehicle body 100 and extends along an upper surface of the vehicle body 100, a second frame 320 is slidably coupled to the first guide rail 310, a second bracket 330 is coupled to the second frame 320, and a second chain conveyor 340 is mounted on the second bracket 330. The second rack 330 can provide support for the first rack thereon, and the second chain conveyor 340 can receive the first rack 210 onto the second rack 330 and can also convey and retrieve the first rack 210 on the second rack 330 into the storage module 200. The first motor 350 may be directly or indirectly connected to the second frame 320, and is used for driving the second frame 320 to slide along the first guide rail 310.

In this embodiment, the first guide rails 310 are two parallel rails, and the storage module 200 and the robot module 400 are respectively located at two sides of the first guide rails 310. The second frame 320 may include two support frames and a support plate connected between the two support frames, for example, the second frame 320 is a rectangular parallelepiped frame, and may include a pair of rectangular support frames arranged in parallel and a rectangular support plate connected between the two rectangular support frames, and of course, the shape of the second frame 320 may not be limited to the above example. The second frame 320 may be slidably coupled to the first rail 310 by a slider, and the second bracket 330 slides along when the second frame 320 slides on the first rail 310. Preferably, the first guide rail 310 extends in a direction of a row or a column in which the plurality of storage units 200a are arrayed, so that the sliding track of the second rack 330 is parallel to the row or the column in which the plurality of storage units 200a are arrayed.

The transfer module 300 may further include a second rail 360, a second motor 370, and a ball screw 380. The second guide rail 360 and the second motor 370 are mounted on the second frame 320, the second guide rail 360 extends in a longitudinal direction, the ball screw 380 is connected between the second motor 370 and the second bracket 330, and the second motor 370 drives the second bracket 330 to slide along the second guide rail 360 through the ball screw 380.

Referring to fig. 2 and 4, in the present embodiment, the second guide rails 360 are two parallel rails, extend perpendicular to the upper surface of the vehicle body 100, and may be symmetrically disposed on one side of the second frame 320. The ball screw 380 includes a screw portion 381 and a nut portion 382 which are engaged with each other, wherein the screw portion 381 is disposed in the second frame 320 in parallel with the second rail 360 in a longitudinal direction, the second motor 370 may be installed on the top of the second frame 320 and connected to one end of the screw portion 381 to drive the screw portion 381 to rotate, the nut portion 382 of the ball screw 380 converts the rotational motion of the screw portion 381 into a linear motion along the screw portion 381, and the second bracket 330 is connected to the nut portion to be movable on the second frame 320 perpendicular to the upper surface of the vehicle body 100 with the nut portion under the guidance of the second rail 360.

Referring to fig. 2, 3 and 4, the second bracket 330 may include a plurality of rods 331 and a plurality of plates 332, wherein the plurality of rods 331 are parallel to each other, the plurality of plates 332 are connected to each other, the plurality of plates 332 are located at one ends of the plurality of rods 331 and connect the plurality of rods 331 to the nut portion 382 of the ball screw 380, and in this embodiment, the plurality of plates 332 are further slidably connected to the second guide rail 360 through a sliding block. A plurality of rods 331 arranged in parallel are used to support the first bracket 210 thereon, and a plurality of plates 332 are used to connect the plurality of rods 331 with the ball screw 380. The specific shape structure of the second bracket 330 may not be limited thereto as long as it can provide support for the first bracket 210 and can be directly or indirectly connected to the second frame 320.

According to the article taking and placing device of the embodiment, the plurality of storage units 200a of the storage module 200 can be arranged not only in an array, but also in a layered manner, so that the storage space of the storage module 200 can be utilized more greatly. When placing the article, the second carriage 330 of the transfer module 300 can slide along the first rail 310 with the second frame 320, so as to receive the first carriage 210 at each position along the first rail 310; a first chain conveyor 220 is provided under each first carrier 210, and cooperates with a second chain conveyor 340 mounted on the second carrier 330 such that the transfer module 300 can receive the first carriers 210 at various positions in a direction transversely perpendicular to the first guide rail 310; the second bracket 330 may also slide in the longitudinal direction along the second guide rail 360 by the driving of the second motor 370 and the ball screw 380, so that the first bracket 210 at different heights or on different floors may be received. Similar to the above process, the transfer module 300 can place the first racks 210 containing the articles into the storage module 200 in an array and layer. After the storage space of the storage module 200 is utilized to a greater extent, the article taking and placing device can still realize the placement and the recovery of articles quickly and conveniently by utilizing the matching of the conveying module 300 and the storage module 200.

The movable arm 410 of the robot module 400 may include at least three movable arm units, which are sequentially rotatably connected, and the rotation axes of at least two of the rotary connections are orthogonal. In this embodiment, the movable arm 410 of the robot module 400 includes a first movable arm unit 410a, a second movable arm unit 410b, a third movable arm unit 410c, and a fourth movable arm unit 410d connected in sequence, wherein one end of the first movable arm unit 410a is fixed vertically to the vehicle body 100, for example, by a high-strength bolt, and the other end is rotatably connected to the second movable arm unit 410b, wherein the second movable arm unit 410b is rotatable on a horizontal plane, the third movable arm unit 410c is rotatably connected to the second movable arm unit 410b, and the third movable arm unit 410c is rotatable on a vertical plane, one end of the fourth movable arm unit 410d is rotatably connected to the third movable arm unit 410c, and the other end is connected to the gripping structure 420. Through the control of the plurality of movable arm units of the movable arm 410 and the gripping structure 420 by the control module 500, the gripping structure 420 can grip the drill bit 810 to drill a predetermined area, grip the first rack 210 to place the first rack in the predetermined area or recycle the first rack into the transmission module 300, and place, bury and recycle the item 700 in the first rack 210 to the first rack 210, where the work task is completed. The movable arm 410 of the robot module 400 comprises a plurality of sections of movable arm units, and the sections of movable arm units have a multi-dimensional rotation direction therebetween, so that the movable arm 410 is more flexible and thus more suitable for the working requirements of the gripping structure 420 connected thereto.

The control module 500 may include a controller, a voltage regulator, a power supply, and the like, wherein the voltage regulator provides voltage regulation and circuit protection for the article picking and placing device, and the controller provides control for the vehicle body 100 and the modules on the vehicle body 100, for example, the traveling of the vehicle body 100, the sliding of the second frame 320 on the first guide rail 310, the sliding of the second bracket 330 along the second guide rail 360, the movement of the first bracket 210 on the first chain conveyor 220 and the second chain conveyor 340, and the picking and placing of the picking and placing structure 420 of the robot module 300 may be controlled by the controller.

Referring to fig. 4, the vehicle body 100 of the present embodiment may include a chassis 110, a support structure 120, and a track 130. The chassis 110 is substantially flat, the storage module 200, the robot module 300, the transfer module 400, the control module 500, and the generator 600 are positioned on the chassis 110, and the drill bit holder 820 is positioned at the edge of the chassis 110. In this embodiment, the robot module 300 is fixed on the chassis 110 by high-strength bolts, and a layer of connecting plate, such as a rectangular plate, may be welded on the chassis 110, wherein the first rail 310 of the transfer module 400 may be connected to the connecting plate by high-strength bolts. The support structure 120 is connected to the bottom of the chassis 110, and the pair of crawlers 130 is symmetrically connected to both sides of the support structure 130.

The car body 100 of the embodiment utilizes the crawler-type propelling structure to replace the traditional wheel-type propelling structure, so that the article taking and placing device can adapt to more complicated and severe ground environments, and the limitation of the environment to the work is further overcome. The track 130 may be a metal track, and preferably is a rubber track, so that the track is lighter in weight, and can adapt to urban roads, and the working range of the article taking and placing device is further expanded.

Fig. 7 shows a flowchart of a control method of an article taking and placing device according to an embodiment of the invention. The control method in this embodiment may be applied to any of the article pick-and-place devices described above.

In step S701, the vehicle body is controlled to travel to a predetermined point and then stop.

In step S702, control transports the item from the storage module to the transfer module and drops the item through the robot module. For example, the first motor 350 and/or the second motor 370 on the transfer module 300 may be controlled to slide the second rack 330 along the first guide rail 310 and/or the second guide rail 360 to move to the front of the designated storage unit 200a of the storage module 200, and then the first rack 210 in the storage unit 200a together with the article 700 thereon is transported to the second rack 330 by the cooperation of the first chain conveyor 220 and the second chain conveyor 340, the second rack 330 is controlled to move within the gripping range of the robot module 400, then the robot module 400 is controlled to grip the drill 810 and perforate the predetermined position on the ground by using the drill 810, and then the article 700 on the first rack 210 is gripped from the second rack 330 and placed in the hole, thereby embedding the article 700.

In step S703, it is determined whether the release of all the items 700 is completed, and if so, step S704 is executed to wait for the end of data collection, otherwise, step S702 is returned to release the items 700 in the next designated storage unit 200 a.

Of course, embodiments of the present disclosure are not limited thereto. In some embodiments, the items 700 may be individually placed at predetermined locations on the floor, and then individually embedded after all of the items 700 have been removed from the storage module 200. In some embodiments, article 700 may be placed directly on the ground without being buried. In some embodiments, all or a portion of the items may be removed from the storage module 200 and placed on the second pallet 330 and then collectively transported to the robot module 400 for pick-up and delivery. In addition, in some embodiments, the transfer module 300 and the robot module 400 may be returned to the original position each time the release of one item is completed, and then the delivery and release of the item may be performed for the next storage unit 200a, although in some embodiments the release may be continued without returning to the original position. The order of taking the items 700 from the storage module 300 may be arbitrarily set as desired, for example, the items 700 may be taken up sequentially from the left lower side and then moved to the right until all the items 700 are taken down; of course, the lowermost row of articles 700 may be removed from left to right and then moved up; or even remove any given item 700 from the storage unit 200a as needed, and will not be described in detail herein.

In step S704, the article work is waited for to be completed. The operation may be triggered by an object such as a seismometer, a geophone, a winder, a dc motor, etc., for example, the above-mentioned device may send a trigger signal to the object pick-and-place device after the data acquisition is completed, so as to inform the object pick-and-place device of the end of the data acquisition. In some embodiments, after the above various instruments are completed, the article taking and placing device may be triggered manually to end the waiting.

In step S705, the robot module is controlled to retrieve items from the ground and transport them from the transfer module to the storage module. For example, the robot module 400 may be controlled to place the articles on the ground into the first tray 210 and place the first tray 210 on the second tray 330, and then the first motor 350 and/or the second motor 370 on the transfer module 300 may be controlled to slide the second tray 330 along the first guide rail 310 and/or the second guide rail 360 to move to the front of the designated storage unit 200a, and the first tray 210 on the second tray 330 may be transferred to the designated storage unit 200a by cooperation of the first chain conveyor 220 and the second chain conveyor 340.

In step S706, it is determined whether or not the recycling of all the articles has been completed, and if so, step S707 is executed to return the vehicle body, otherwise, step S705 is returned to continue the recycling of the next article on the ground.

Of course, embodiments of the present disclosure are not limited thereto. In some embodiments, the plurality of items 700 may be first placed on the second tray 330 together with the first tray 210 and then respectively transported to the corresponding storage units 200a of the storage module 200. Also, in some embodiments, in storing the items 700 in the storage unit 200a, the transfer module 300 and the robot module 400 may be returned to the original positions and then store the next item 700 each time the storage of one item 700 is completed. It is of course also possible to continue the storage without having to return to the original position. The order of storing the articles 700 can be set arbitrarily according to the requirement, for example, the articles 700 can be stored from left lower side to upper side in turn, and then moved to right until all the articles 700 are stored; of course, the lowermost row 700 may be stored from left to right and then moved upwardly; or may even store the item 700 into any given storage unit 200a as needed each time, and will not be described further herein.

In step S707, the vehicle body is controlled to return to the starting point.

In the embodiment of the control method, the article taking and placing device is started and then placed first, and the article is recovered after the work of the article is completed, however, the embodiment of the disclosure is not limited thereto. For example, the article picking and placing device may be set to a loading mode or a recovery mode as needed, the article loading operation in steps S702 and S703 may be performed in the loading mode, and the article recovery operation in steps S705 and S706 may be performed in the recovery mode.

In step S801, the vehicle body is controlled to travel and the travel-related information is detected during the travel. For example, the control module may control the generator set to generate power to drive the crawler belt to travel, and during the traveling, various sensors mounted on the vehicle body may be used to detect road condition information, map data, vehicle state parameters, and the like.

In step S802, the collected travel-related information is fused. For example, information such as road condition information, map data, vehicle status parameters, etc. from various sensors may be fused and provided to the control module.

In step S803, it is determined whether the vehicle body needs to be steered based on the fusion information, and if so, step S804 is executed, otherwise, the process returns to step S801 to continue traveling. In this step, whether steering is required or not can be judged by analyzing and processing the fusion information. For example, whether steering is required or not can be judged according to a preset vehicle body driving route and a vehicle body current position, or whether an insurmountable road condition exists or not can be judged according to road condition information to cause the vehicle body to be required to steer, and even whether steering is required or not can be judged according to the current state of the vehicle body by combining the road condition and map data.

In step S804, the vehicle body steering is controlled. For example, the control module can control the walking speed and the steering adjustment of the vehicle body, and the steering is realized by changing the driving force on the driving wheels at two sides so as to achieve different speeds per hour. Step S801 may be performed after the steering to continue traveling along the preset route.

In step S805, it is determined whether the vehicle body has traveled to the specified point, and if so, step S806 is executed, otherwise, the process returns to step S801 to continue traveling.

In step S806, the vehicle body is controlled to stop. For example, the control module may issue a vehicle stop command to the vehicle body to stop the vehicle body for subsequent delivery or retrieval of items.

According to the article taking and placing device and the corresponding control method thereof, the vehicle body 100 not only comprises the storage module 200 for storing the article 700, but also is provided with the robot module 400 and the conveying module 300 positioned between the storage module 200 and the robot module 400, under the control of the control module 200, the article 700 can be conveyed from the storage module 200 to the clamping range of the clamping structure 420 of the robot module 400 through the conveying module 300, and the article 700 is clamped and placed on a preset position by the robot module 400; the items completing the work task may also be picked up and collected by the robot module 400 and retrieved into the storage module 200 by the transfer module 300. The article taking and placing device may further include a drill 810 stored in the gripping range of the gripping structure 420, and for the article 700 to be embedded, the gripping structure 420 of the robot module 400 may first grip the drill 810 to punch a hole at a predetermined position, and then grip the article 700 to be placed into the hole. The invention overcomes the limitation of working environment to manual operation, and the article taking and placing device can realize a series of work of reaching a destination, placing articles, drilling holes, embedding articles, recovering articles and the like, thereby providing convenience for geological exploration and other similar works.

It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.

While embodiments in accordance with the invention have been described above, these embodiments are not intended to be exhaustive or to limit the invention to the precise embodiments described. Obviously, many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the invention and the practical application, to thereby enable others skilled in the art to best utilize the invention and various embodiments with various modifications as are suited to the particular use contemplated. The invention is limited only by the claims and their full scope and equivalents.

Claims

1. An article taking and placing device is characterized by comprising a vehicle body and a lifting device, wherein the lifting device is positioned on the vehicle body:

a storage module for storing an item;

the robot module comprises a movable arm connected with the vehicle body and a clamping structure connected with the movable arm;

the conveying module is positioned between the storage module and the robot module and is used for conveying the articles stored in the storage module to a clamping range of a clamping structure of the robot module and conveying the articles recycled by the clamping structure of the robot module to the storage module;

a control module for providing control over the vehicle body, the storage module, the robot module, and the transfer module,

the storage module comprises a plurality of storage units, and the storage units are arranged in an array;

each of the plurality of storage units includes:

a first tray for receiving the article; and

a first chain conveyor located below the first carrier for conveying the first carrier to and retrieving the first carrier from the transfer module;

the transfer module includes:

a first guide rail provided on the vehicle body and extending along an upper surface of the vehicle body;

the second frame is connected with the first guide rail in a sliding mode;

a second bracket connected to the second frame for supporting the first bracket;

a second chain conveyor mounted on the second tray for receiving the first tray thereon and conveying the first tray thereon to the storage unit of the storage module; and

a first motor for driving the second frame to slide along the first guide rail,

the article taking and placing device is provided with a throwing mode and a recovery mode, and when the vehicle body runs to a specified place and the article taking and placing device is in the throwing mode, the control module controls the storage module to transport articles to the conveying module and controls the robot module to throw the articles on the conveying module to the specified place;

when the vehicle body runs to a specified place and the article taking and placing device is in a recovery mode, the control module controls the robot module to recover the articles at the specified place to the conveying module and controls the conveying module to convey the articles to the storage module.

2. The article handling device of claim 1, wherein the plurality of storage units are further arranged in tiers.

3. The article handling device of claim 2, wherein the first tray comprises:

a base plate; and

a first frame mounted on the base plate.

4. An article handling device according to claim 3, wherein the base plate is a perforated plate.

5. The article pick and place apparatus of claim 2, wherein the storage module further comprises a housing mounted on the cart body, the plurality of storage units being located within the housing, a side of the housing facing the transport module being open.

6. The article taking and placing device according to claim 1, wherein the first guide rail extends along a row or column direction of the plurality of storage unit arrays, and the storage module and the robot module are respectively located on two sides of the first guide rail.

7. The article pick and place device of claim 6, wherein the transfer module further comprises:

a second guide rail mounted on the second frame and extending perpendicular to an upper surface of the vehicle body;

a ball screw connected to the second bracket,

and the second motor is arranged on the second frame and is connected with the ball screw, and is used for driving the second bracket to slide along the second guide rail through the ball screw.

8. The article handling device of claim 7, wherein the second tray comprises:

a plurality of rods parallel to each other; and

a plurality of plates located at one end of the plurality of rods and connecting the plurality of rods with the ball screw.

9. The article handling device of claim 1, further comprising a generator on the body for powering the article handling device.

10. The article handling device of claim 1, further comprising:

the drill bit is stored in the clamping range of the clamping structure; and

and the drill bit frame is positioned on the vehicle body and used for storing the drill bit.

11. The article pick and place device of claim 1, wherein the vehicle body comprises:

the storage module, the robot module, the conveying module and the control module are positioned on the chassis;

a support structure connected with the chassis; and

and the crawler belts are symmetrically connected to two sides of the supporting structure.

12. The article picking and placing device according to claim 1, wherein the movable arm of the robot module comprises at least three movable arm units, the at least three movable arm units are sequentially connected in a rotating way, and rotating shafts of at least two rotating joints are orthogonal.

13. The article handling device of claim 1, wherein the article comprises at least one of a seismometer, a geophone, a bobbin winder, and a dc motor.