CN108161913A - A kind of intelligent mobile transfer robot and its method of work - Google Patents

A kind of intelligent mobile transfer robot and its method of work Download PDF

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Publication number
CN108161913A
CN108161913A CN201711496364.3A CN201711496364A CN108161913A CN 108161913 A CN108161913 A CN 108161913A CN 201711496364 A CN201711496364 A CN 201711496364A CN 108161913 A CN108161913 A CN 108161913A
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CN
China
Prior art keywords
armstand
cantilever
waist
wrist
visual sensor
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Withdrawn
Application number
CN201711496364.3A
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Chinese (zh)
Inventor
宋伟明
毛永艳
余戈
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Liuzhou Funeng Robot Development Co Ltd
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Liuzhou Funeng Robot Development Co Ltd
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Priority to CN201711496364.3A priority Critical patent/CN108161913A/en
Publication of CN108161913A publication Critical patent/CN108161913A/en
Withdrawn legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
    • 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
    • B25J13/081—Touching devices, e.g. pressure-sensitive
    • B25J13/084—Tactile sensors
    • 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
    • B25J13/086—Proximity sensors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/02—Gripping heads and other end effectors servo-actuated
    • B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
    • B25J15/022—Gripping heads and other end effectors servo-actuated comprising articulated grippers actuated by articulated links
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B25J19/021—Optical sensing devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/102—Gears specially adapted therefor, e.g. reduction gears
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric

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

Abstract

The purpose of the present invention is to provide a kind of intelligent mobile transfer robots that can be realized automatic identification and be crawled object and realize automatic positioning, movement, pick and place, carry.Rotatable holder is installed, and the rotating platform of holder is installed with visual sensor above the intelligent mobile transfer robot cantilever rear end；Visual sensor surrounding rotation with the rotation of the rotating platform of holder, 360 ° of visual sensor without dead angle detects the position for being crawled object, guarantee to get and be crawled the accurate location information of object, for subsequent robot it is mobile, pick and place, carry position and displacement information are provided.The present invention also provides the method for work of the intelligent mobile transfer robot, job order that waist, armstand, cantilever, wrist, hand move successively.Visual sensor measurement is crawled object or stacks the coordinate realization automatic positioning of point, and arm movement is and guided to realize precise positioning to designated position；Five degree of freedom moves, and each joint component accurate positioning, activity are flexibly.

Description

A kind of intelligent mobile transfer robot and its method of work
Technical field
The present invention relates to automatic technology more particularly to a kind of intelligent mobile transfer robot and its method of works.
Background technology
As science and technology is showing improvement or progress day by day, the industry for being previously required to artificial manufacture starts to change to automatic technology.As A kind of high-tech automated production equipment that recent decades grow up, industrial robot, manipulator are led in Modern Manufacturing Technology Extremely important role is played in domain, the multi-purpose machine of location control and Reprogrammable sequence to change can be automated, And have multiple degree of freedom, carry an object is can be used to complete to work in each varying environment.
Conveying robot controls+touch screen+Serve Motor Control by PLC, raw using the few tower structure of occupied space Production capacity power is big, and it is programming that teaching, which may be used, in the mode of stacking, suitable for the carton packet of the industries such as electronics, food, beverage, tobacco and wine Fill product and heat shrink films product and logistic storage stacking, stacking operation.
In industrial automation production, either unit or building-block machine and automatic production line can much be used Picking and placeing for workpiece is completed to manipulator.Control to manipulator is mainly position identification, the direction of motion controls and whether material Existing differentiation.Its task is will be on the workpiece on conveyer belt A or article carrying to conveyer belt B.
Manipulator is apish hand motion, realizes automatic crawl by preset sequence, track and requirement, carries and operate Automatic device.It particularly in the adverse circumstances such as high temperature, high pressure, more dust, inflammable, explosive, radioactivity and it is heavy, People's operation is replaced, therefore obtain increasingly extensive application in dull, frequent operation.
Invention content
The purpose of the present invention is to provide one kind can realize automatic identification be crawled object and realize automatic positioning, movement, The intelligent mobile transfer robot pick and place, carried.It is equipped with above the intelligent mobile transfer robot cantilever rear end rotatable Holder, and the rotating platform of holder is installed with visual sensor；Visual sensor with the rotation of the rotating platform of holder and Surrounding rotates, and 360 ° of visual sensor without dead angle detects the position for being crawled object, it is ensured that can get that be crawled object accurate Location information, for subsequent robot it is mobile, pick and place, carry position and displacement information are provided.
In order to achieve the above objects and other related objects, the present invention provides a kind of intelligent mobile transfer robot, the bottom of including Seat, waist, arm, wrist and hand, arm include the armstand of vertical and straight movement and the cantilever of horizontal movement, and armstand is mounted on pedestal On, cantilever is vertical with armstand, and cantilever front end is connected with armstand, and hand is connected to cantilever rear end by wrist；Above cantilever rear end Rotatable holder is installed, holder includes holder firm banking and rotating platform, and visual sensor is fixed on the rotation of holder On platform, visual sensor includes range finder module and Angle Measurement Module；
Wrist includes wrist motor and bevel gear set, and wrist motor is mounted on cantilever front end, passes through wrist motor band dynamic bevel gear Group realizes pitching movement so as to drive with the coaxial wrist of bevel gear；Wrist motor power is then right through transmission shaft through transmission shaft After commutating by Bevel Gear Transmission, wrist pitching is driven, and wrist motor is mounted on cantilever front end, reduces cantilever force；
Armstand and cantilever are by motor direct-drive, are rotated, by the way of nut movement using leading screw, using linear type guide rail Rotation as guider limitation nut；
Waist includes waist motor and a pair of of roller gear group, and waist motor uses the motor with retarder, considers manipulator body Product structure, transmission accuracy and economy, deceleration device use roller gear group retarder；Waist motor passes through a pair of of roller gear Group connects the waist rotating shaft coaxial with driven gear after slowing down, and so as to which waist be driven to turn round, waist motor is placed under pedestal Side；
Hand includes hand claw, hand claw screw and gripper motor, and gripper motor is mounted on pedestal, drives the rotation of hand claw screw, from And hand claw is driven to move.
Preferably, sensor is installed, sensor includes proximity scnsor and tactile and slip sensor in hand claw.
Preferably, proximity scnsor selects reflective infrared photoelectric sensor, is using high transmitting power infrared electro Diode and highly sensitive phototransistor form.
Preferably, tactile and slip sensor selects PVDF piezoelectric film-type elements；Tactile and slip sensor is pressed using individual layer PVDF The mode that conductive film element is combined with encapsulating epidermis, encapsulating epidermal patch is on tactile and slip sensor surface；Mounted on hand end In the hand claw at end, one layer of rubber film is also covered between hand claw and PVDF piezoelectric film-type elements, encapsulating epidermis is comprehensive using energy Perceive encapsulating epidermis of the surface with arc-shaped protrusion slided.The effect of tactile and slip sensor obtains manipulator and object through touching Between whether contact, whether generate the information of sliding after feed back to core controller.Tactile and slip sensor selects PVDF piezoelectricity thin Membrane component, PVDF piezoelectric film-type elements generate certain electricity on the surface thereof in the external force or deformation for bearing certain orientation Lotus, electricity are proportional to the size of applied force.For the contact force of significantly more efficient transmission sensor and object.Tactile and slip sense senses Device in a manner that encapsulating epidermis is combined, mounted on mechanical paw end, is existed together using individual layer PVDF structures with manipulator Arbitrary motion in three dimensions, since the glide direction of object is not known, the surface slided with the comprehensive perception of energy is with arc-shaped The encapsulating epidermis of protrusion is proper, and to avoid damage sensor, last layer rubber is added between hand claw and PVDF piezoelectric film-type elements Glue film.
The purpose of the present invention is to provide a kind of automatic identifications to be crawled object, be automatically positioned, automatically move, automatic clamping and placing, The intelligent mobile transfer robot method of work of carrying.
A kind of method of work of intelligent mobile transfer robot provided by the invention, which is characterized in that specific job step It is rapid as follows：
S01：Visual sensor, armstand and cantilever position initialization, the initial position of visual sensor are parallel with cantilever and refer to To cantilevered distal end direction, the initial position of armstand is the position that armstand is preferably minimized, and the initial position of cantilever is retracted into for cantilever Shortest position；
S02：Rotary head, visual sensor detect the position of object to be handled, until visual sensor detects object to be handled During position, holder stops rotating, which is a；
S03：Waist turns round：Connection is turned round with the coaxial waist of driven gear after waist motor is slowed down by a pair of of roller gear group Axis, so as to which waist be driven to rotate；Visual sensor detects the position of object to be handled, until visual sensor detects object to be handled Position when, waist stops rotating, the process rotation angle be a；
S04：Coordinate system is established, using the position of distance measuring sensor as origin, vertical direction is Z axis, and horizontal direction is X-axis, with X-axis The direction vertical with plane where Z axis is Y-axis；
S05：Visual sensor measures the coordinate of object to be handled（x1,y1,z1）, armstand adjustable height H1With cantilever distance of stretch out and draw back L1, H1、L1Calculation formula be respectively：H1=z1+ h, L1=x1, wherein h is the total length of clamping jaw and wrist；
S06：Arm movement is to designated position；
S07：Wrist is swung：Wrist motor drives bevel gear set, and pitching movement is realized with the coaxial wrist of bevel gear so as to drive；
S08：Hand clip type captures：Proximity scnsor and tactile and slip sensor in hand claw detect tactile in real time and sliding feel becomes Change, and haptic signal and slip are felt that signal is transmitted to controller in real time, corresponding decision is made according to these signals by controller And then send out certain instruction control hand claw action；
S09：Armstand is promoted：Armstand is lifted up h0, wherein, h0=( -1)h；
S10：Cantilever resets：Cantilever is retracted to initial position, contracted length L1；
S11：Rotary head, visual sensor detect the position of object to be handled, until visual sensor detects object to be handled During position, holder stops rotating, which is a；
S12：Waist turns round：Connection is turned round with the coaxial waist of driven gear after waist motor is slowed down by a pair of of roller gear group Axis, so as to which waist be driven to rotate；Visual sensor detects the position of object to be handled, until visual sensor detects and treats stacking point Position when, waist stops rotating, the process rotation angle be b；
S13：Visual sensor rebuilds coordinate system, and using the position of distance measuring sensor as origin, vertical direction is Z axis, horizontal Direction is X-axis, and the direction vertical with plane where X-axis and Z axis is Y-axis；
S14：Visual sensor measures the coordinate of stacking point（x2,y2,z2）, armstand adjustable height H2 and cantilever distance of stretch out and draw back L2, H2、L2Calculation formula be respectively：H2=z2+ h, L2=x2, wherein h is the total length of clamping jaw and wrist；
S15：Arm movement is to designated position；
S16：Wrist is swung：Wrist motor drives bevel gear set, and pitching movement is realized with the coaxial wrist of bevel gear so as to drive；
S17：Hand clip type captures：Proximity scnsor and tactile and slip sensor in hand claw detect tactile in real time and sliding feel becomes Change, and haptic signal and slip are felt that signal is transmitted to controller in real time, corresponding decision is made according to these signals by controller And then send out certain instruction control hand claw action；
S18：Armstand is promoted：Armstand is lifted up h0, wherein, h0=(-1)h；
S19：Cantilever resets：Cantilever is retracted to initial position, contracted length L2,
S20：Armstand resets：Armstand lifting is reset to initial position.
Preferably, step S06 includes the following steps：
S601：Armstand vertical shift：Armstand drives the rotation of armstand leading screw so as to drive armstand liter by armstand motor direct-drive Drop, armstand adjustable height are H1,
S602：Cantilever level stretches：Cantilever is directly driven by cantalever motor, drives the rotation of cantilever leading screw so as to which cantilever be driven to stretch Contracting, distance of stretch out and draw back L1。
Preferably, step S15 includes the following steps：
S1501：Armstand vertical shift：Armstand drives the rotation of armstand leading screw so as to drive armstand by armstand motor direct-drive Lifting, armstand adjustable height are H2,
S1502：Outstanding cantilever level stretches：Cantilever is directly driven by cantalever motor, drives the rotation of cantilever leading screw outstanding so as to drive Arm stretches, distance of stretch out and draw back L2。
The intelligent mobile transfer robot of the present invention and its advantageous effect of method of work：
1) intelligent mobile transfer robot including pedestal, armstand, cantilever, wrist and hand, is equipped with above cantilever rear end and regards Feel sensor, the coordinate that visual sensor measurement is crawled object realizes automatic positioning, and guides arm movement to designated position, real Existing precise positioning；It cooperates and moves with reference to armstand, cantilever, wrist and hand, realize five degree of freedom movement, each joint component is determined Position is accurate, activity is flexible；
2）Intelligent mobile transfer robot realize waist rotary motion, armstand vertical direction are mobile, cantilever level direction is stretched, Wrist pitching movement and the opening and closing movement of hand claw, for carrying, the startup of manipulator in stacking procedure, pick and place, carry, reset Etc. working conditions realize automatic identification and be crawled object and realize automatic positioning, movement, pick and place, carry.
3）Visual sensor surrounding rotation with the rotation of the rotating platform of holder, 360 ° of visual sensor without dead angle are visited Survey the position for being crawled object, it is ensured that can get and be crawled the accurate location information of object, for subsequent robot's movement, pick and place, remove Fortune provides foundation.
4）The present invention establishes three-dimensional system of coordinate by origin of visual sensor, and measures the coordinate for being crawled object, so as to count Displacement vector, displacement distance and direction are calculated, object is crawled so as to fulfill automatic identification and realizes automatic positioning, movement.
5）The job order that waist, armstand, cantilever, wrist, hand move successively, armstand, cantilever are located during waist movement In initial position, the excessively high generation of armstand is avoided to swing, waist is influenced and is rotated in place, so as to reduce rotational positioning precision, together When also avoid cantilever stretch out it is longer, to work-yard area requirements bigger, and avoid cantilever, wrist, hand in the same of rotation When get to the barrier of surrounding；Back boom moves again in place for armstand movement, and cantilever is in initial position when armstand moves, and avoids standing Cantilever stretches out excessive movement and the operation precision for influencing to increase armstand of long amplitude of fluctuation when arm moves；Armstand moves up and down, And distance is more than h to armstand top from the ground, so that it is guaranteed that hand claw and wrist portion touch ground.
Description of the drawings
Fig. 1 is the kinematic sketch of intelligent mobile transfer robot of the present invention.
Fig. 2 is the structure diagram of holder.
Fig. 3 is the structure diagram of intelligent mobile transfer robot.
Fig. 4 is hand structure schematic diagram.
Fig. 5 is hand claw and sensor structure schematic diagram.
In figure, 1, pedestal, 2, driven cylindrical gear, 3, armstand, 4, cantalever motor, 5, wrist motor, 6, armstand motor, 7th, armstand leading screw, 8, cantilever leading screw, 9, drive bevel gear, 10, driven wheel of differential, 11, cantilever, 12, wrist, 13, gripper motor, 14th, hand claw, 15, hand, 16, active roller gear, 17, waist motor, 18, pedestal, 19, guide groove, 20, lifting nut, 21, spiral shell Line, 22, connecting rod, 23, hand claw, 24, sensor 25, visual sensor, 26, tactile and slip sensor, 27, proximity scnsor, 28, Rubber film, 29, encapsulating epidermis, 30, be crawled object, 31, holder, 32, holder firm banking, 33, rotating platform.
Specific embodiment
The invention will be further described in the following with reference to the drawings and specific embodiments.
Embodiment one,
Please refer to Fig. 1, Fig. 2 and Fig. 3, the intelligent mobile transfer robot of this specific embodiment, including pedestal, waist, arm, wrist Portion and hand, arm include the armstand of vertical and straight movement and the cantilever of horizontal movement, and armstand is mounted on pedestal, and cantilever hangs down with armstand Directly, cantilever front end is connected with armstand, and hand is connected to cantilever rear end by wrist；Rotatable cloud is installed above cantilever rear end Platform, holder include holder firm banking and rotating platform, and visual sensor is fixed on the rotating platform of holder, visual sensor Including range finder module and Angle Measurement Module；
Wrist includes wrist motor and bevel gear set, and wrist motor is mounted on cantilever front end, passes through wrist motor band dynamic bevel gear Group realizes pitching movement so as to drive with the coaxial wrist of bevel gear；Wrist motor power is then right through transmission shaft through transmission shaft After commutating by Bevel Gear Transmission, wrist pitching is driven, and wrist motor is mounted on cantilever front end, reduces cantilever force；
Armstand and cantilever are by motor direct-drive, are rotated, by the way of nut movement using leading screw, using linear type guide rail Rotation as guider limitation nut；
Waist includes waist motor and a pair of of roller gear group, and waist motor uses the motor with retarder, considers manipulator body Product structure, transmission accuracy and economy, deceleration device use roller gear group retarder；Waist motor passes through a pair of of roller gear Group connects the waist rotating shaft coaxial with driven gear after slowing down, and so as to which waist be driven to turn round, waist motor is placed under pedestal Side；
Hand includes hand claw, hand claw screw and gripper motor, and gripper motor is mounted on pedestal, drives the rotation of hand claw screw, from And hand claw is driven to move.
In one more preferably embodiment, sensor is installed in hand claw, sensor includes proximity scnsor and tactile and slip sense Sensor.
In one more preferably embodiment, proximity scnsor selects reflective infrared photoelectric sensor, is using high emission Power infrared photodiode and highly sensitive phototransistor form.
In one more preferably embodiment, tactile and slip sensor selects PVDF piezoelectric film-type elements；Tactile and slip sensor is adopted The mode being combined with individual layer PVDF piezoelectric film-type elements with encapsulating epidermis, encapsulating epidermal patch is on tactile and slip sensor surface； In the hand claw of hand end, one layer of rubber film is also covered between hand claw and PVDF piezoelectric film-type elements, encapsulates epidermis Encapsulating epidermis of the surface with arc-shaped protrusion slided using the comprehensive perception of energy.The effect of tactile and slip sensor is obtained through touching Whether contacted between manipulator and object, whether generate the information of sliding after feed back to core controller.Tactile and slip sensor is selected PVDF piezoelectric film-type elements, PVDF piezoelectric film-type elements produce on the surface thereof in the external force or deformation for bearing certain orientation Raw certain charge, electricity are proportional to the size of applied force.For the contact force of significantly more efficient transmission sensor and object. Tactile and slip sensor using individual layer PVDF structures with encapsulating epidermis be combined by the way of, mounted on mechanical paw end, with machine The tool hand arbitrary motion in three dimensions together, since the glide direction of object is not known, with the table of the comprehensive perception slip of energy Encapsulating epidermis of the face with arc-shaped protrusion is proper, to avoid damage sensor, between hand claw and PVDF piezoelectric film-type elements Add last layer rubber film.
Embodiment two,
A kind of method of work of intelligent mobile transfer robot of the present embodiment can utilize intelligent mobile transfer robot real Existing, specific work step is as follows：
S01：Visual sensor, armstand and cantilever position initialization, the initial position of visual sensor are parallel with cantilever and refer to To cantilevered distal end direction, the initial position of armstand is the position that armstand is preferably minimized, and the initial position of cantilever is retracted into for cantilever Shortest position；
S02：Rotary head, visual sensor detect the position of object to be handled, until visual sensor detects object to be handled During position, holder stops rotating, which is a；
S03：Waist turns round：Connection is turned round with the coaxial waist of driven gear after waist motor is slowed down by a pair of of roller gear group Axis, so as to which waist be driven to rotate；Visual sensor detects the position of object to be handled, until visual sensor detects object to be handled Position when, waist stops rotating, the process rotation angle be a；
S04：Coordinate system is established, using the position of distance measuring sensor as origin, vertical direction is Z axis, and horizontal direction is X-axis, with X-axis The direction vertical with plane where Z axis is Y-axis；
S05：Visual sensor measures the coordinate of object to be handled（x1,y1,z1）, armstand adjustable height H1With cantilever distance of stretch out and draw back L1, H1、L1Calculation formula be respectively：H1=z1+ h, L1=x1, wherein h is the total length of clamping jaw and wrist；
S06：Arm movement is to designated position；
S07：Wrist is swung：Wrist motor drives bevel gear set, and pitching movement is realized with the coaxial wrist of bevel gear so as to drive；
S08：Hand clip type captures：Proximity scnsor and tactile and slip sensor in hand claw detect tactile in real time and sliding feel becomes Change, and haptic signal and slip are felt that signal is transmitted to controller in real time, corresponding decision is made according to these signals by controller And then send out certain instruction control hand claw action；
S09：Armstand is promoted：Armstand is lifted up h0, wherein, h0=(-1)h；
S10：Cantilever resets：Cantilever is retracted to initial position, contracted length L1；
S11：Rotary head, visual sensor detect the position of object to be handled, until visual sensor detects object to be handled During position, holder stops rotating, which is a；
S12：Waist turns round：Connection is turned round with the coaxial waist of driven gear after waist motor is slowed down by a pair of of roller gear group Axis, so as to which waist be driven to rotate；Visual sensor detects the position of object to be handled, until visual sensor detects and treats stacking point Position when, waist stops rotating, the process rotation angle be b；
S13：Visual sensor rebuilds coordinate system, and using the position of distance measuring sensor as origin, vertical direction is Z axis, horizontal Direction is X-axis, and the direction vertical with plane where X-axis and Z axis is Y-axis；
S14：Visual sensor measures the coordinate of stacking point（x2,y2,z2）, armstand adjustable height H2 and cantilever distance of stretch out and draw back L2, H2、L2Calculation formula be respectively：H2=z2+ h, L2=x2, wherein h is the total length of clamping jaw and wrist；
S15：Arm movement is to designated position；
S16：Wrist is swung：Wrist motor drives bevel gear set, and pitching movement is realized with the coaxial wrist of bevel gear so as to drive；
S17：Hand clip type captures：Proximity scnsor and tactile and slip sensor in hand claw detect tactile in real time and sliding feel becomes Change, and haptic signal and slip are felt that signal is transmitted to controller in real time, corresponding decision is made according to these signals by controller And then send out certain instruction control hand claw action；
S18：Armstand is promoted：Armstand is lifted up h0, wherein, h0=(-1)h；
S19：Cantilever resets：Cantilever is retracted to initial position, contracted length L2,
S20：Armstand resets：Armstand lifting is reset to initial position.
In one more preferably embodiment, step S06 includes the following steps：
S601：Armstand vertical shift：Armstand drives the rotation of armstand leading screw so as to drive armstand liter by armstand motor direct-drive Drop, armstand adjustable height are H1,
S602：Cantilever level stretches：Cantilever is directly driven by cantalever motor, drives the rotation of cantilever leading screw so as to which cantilever be driven to stretch Contracting, distance of stretch out and draw back L1。
In one more preferably embodiment, step S15 includes the following steps：
S1501：Armstand vertical shift：Armstand drives the rotation of armstand leading screw so as to drive armstand by armstand motor direct-drive Lifting, armstand adjustable height are H2,
S1502：Outstanding cantilever level stretches：Cantilever is directly driven by cantalever motor, drives the rotation of cantilever leading screw outstanding so as to drive Arm stretches, distance of stretch out and draw back L2。
Illustrative description is carried out to the present invention above in conjunction with attached drawing, it is clear that realization of the invention is not by aforesaid way Limitation, as long as employ technical solution of the present invention progress various improvement or it is not improved say the present invention design and technology Scheme is applied to other occasions, within the scope of the present invention.

Claims (7)

1. a kind of intelligent mobile transfer robot, which is characterized in that including pedestal, waist, arm, wrist and hand, arm packet The armstand of vertical and straight movement and the cantilever of horizontal movement are included, armstand is mounted on pedestal, and cantilever is vertical with armstand, and cantilever front end is with standing Arm is connected, and hand is connected to cantilever rear end by wrist；Rotatable holder is installed, holder includes holder above cantilever rear end Firm banking and rotating platform, visual sensor are fixed on the rotating platform of holder, visual sensor include range finder module and Angle Measurement Module；
Wrist includes wrist motor and bevel gear set, and wrist motor is mounted on cantilever front end, passes through wrist motor band dynamic bevel gear Group realizes pitching movement so as to drive with the coaxial wrist of bevel gear；
Armstand and cantilever are by motor direct-drive, are rotated, by the way of nut movement using leading screw, using linear type guide rail Rotation as guider limitation nut；
Waist includes waist motor and a pair of of roller gear group, after waist motor is slowed down by a pair of of roller gear group connection with from The coaxial waist rotating shaft of moving gear, so as to which waist be driven to turn round, waist motor is placed below pedestal；
Hand includes hand claw, hand claw screw and gripper motor, and gripper motor is mounted on pedestal, drives the rotation of hand claw screw, from And hand claw is driven to move.
2. a kind of intelligent mobile transfer robot according to claim 1, which is characterized in that sensing is equipped in hand claw Device, sensor include proximity scnsor and tactile and slip sensor.
3. a kind of intelligent mobile transfer robot according to claim 2, which is characterized in that proximity scnsor is selected anti- Formula infrared photoelectric sensor is penetrated, is formed using high transmitting power infrared photodiode and highly sensitive phototransistor.
4. a kind of intelligent mobile transfer robot according to claim 3, which is characterized in that tactile and slip sensor is selected PVDF piezoelectric film-type elements；The side that tactile and slip sensor is combined using individual layer PVDF piezoelectric film-type elements with encapsulating epidermis Formula, encapsulating epidermal patch is on tactile and slip sensor surface；In the hand claw of hand end, in hand claw and PVDF piezoelectric membranes Interelement is also covered with one layer of rubber film, encapsulating of the surface with arc-shaped protrusion that encapsulating epidermis is slided using the comprehensive perception of energy Epidermis.
5. a kind of method of work of intelligent mobile transfer robot, which is characterized in that specific work step is as follows：
S01：Visual sensor, armstand and cantilever position initialization, the initial position of visual sensor are parallel with cantilever and refer to To cantilevered distal end direction, the initial position of armstand is the position that armstand is preferably minimized, and the initial position of cantilever is retracted into for cantilever Shortest position；
S02：Rotary head, visual sensor detect the position of object to be handled, until visual sensor detects object to be handled During position, holder stops rotating, which is a；
S03：Waist turns round：Connection is turned round with the coaxial waist of driven gear after waist motor is slowed down by a pair of of roller gear group Axis, so as to which waist be driven to rotate；Visual sensor detects the position of object to be handled, until visual sensor detects object to be handled Position when, waist stops rotating, the process rotation angle be a；
S04：Coordinate system is established, using the position of distance measuring sensor as origin, vertical direction is Z axis, and horizontal direction is X-axis, with X-axis The direction vertical with plane where Z axis is Y-axis；
S05：Visual sensor measures the coordinate of object to be handled（x1,y1,z1）, armstand adjustable height H1With cantilever distance of stretch out and draw back L1, H1、L1Calculation formula be respectively：H1=z1+ h, L1=x1, wherein h are the total length of clamping jaw and wrist；
S06：Arm movement is to designated position；
S07：Wrist is swung：Wrist motor drives bevel gear set, and pitching movement is realized with the coaxial wrist of bevel gear so as to drive；
S08：Hand clip type captures：Proximity scnsor and tactile and slip sensor in hand claw detect tactile in real time and sliding feel becomes Change, and haptic signal and slip are felt that signal is transmitted to controller in real time, corresponding decision is made according to these signals by controller And then send out certain instruction control hand claw action；
S09：Armstand is promoted：Armstand is lifted up h0, wherein, h0=( -1)h；
S10：Cantilever resets：Cantilever is retracted to initial position, contracted length L1；
S11：Rotary head, visual sensor detect the position of object to be handled, until visual sensor detects object to be handled During position, holder stops rotating, which is a；
S12：Waist turns round：Connection is turned round with the coaxial waist of driven gear after waist motor is slowed down by a pair of of roller gear group Axis, so as to which waist be driven to rotate；Visual sensor detects the position of object to be handled, until visual sensor detects and treats stacking point Position when, waist stops rotating, the process rotation angle be b；
S13：Visual sensor rebuilds coordinate system, and using the position of distance measuring sensor as origin, vertical direction is Z axis, horizontal Direction is X-axis, and the direction vertical with plane where X-axis and Z axis is Y-axis；
S14：Visual sensor measures the coordinate of stacking point（x2,y2,z2）, armstand adjustable height H2 and cantilever distance of stretch out and draw back L2, H2、L2Calculation formula be respectively：H2=z2+ h, L2=x2, wherein h is the total length of clamping jaw and wrist；
S15：Arm movement is to designated position；
S16：Wrist is swung：Wrist motor drives bevel gear set, and pitching movement is realized with the coaxial wrist of bevel gear so as to drive；
S17：Hand clip type captures：Proximity scnsor and tactile and slip sensor in hand claw detect tactile in real time and sliding feel becomes Change, and haptic signal and slip are felt that signal is transmitted to controller in real time, corresponding decision is made according to these signals by controller And then send out certain instruction control hand claw action；
S18：Armstand is promoted：Armstand is lifted up h0, wherein, h0=(-1)h；
S19：Cantilever resets：Cantilever is retracted to initial position, contracted length L2,
S20：Armstand resets：Armstand lifting is reset to initial position.
6. the method for work of intelligent mobile transfer robot according to claim 5, which is characterized in that step S06 includes Following steps：
S601：Armstand vertical shift：Armstand drives the rotation of armstand leading screw so as to drive armstand liter by armstand motor direct-drive Drop, armstand adjustable height are H1,
S602：Cantilever level stretches：Cantilever is directly driven by cantalever motor, drives the rotation of cantilever leading screw so as to which cantilever be driven to stretch Contracting, distance of stretch out and draw back L1。
7. the method for work of intelligent mobile transfer robot according to claim 5, which is characterized in that step S15 includes Following steps：
S1501：Armstand vertical shift：Armstand drives the rotation of armstand leading screw so as to drive armstand by armstand motor direct-drive Lifting, armstand adjustable height are H2,
S1502：Outstanding cantilever level stretches：Cantilever is directly driven by cantalever motor, drives the rotation of cantilever leading screw outstanding so as to drive Arm stretches, distance of stretch out and draw back L2。
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CN110568864A (en) * 2019-09-27 2019-12-13 贵阳铝镁设计研究院有限公司 Electromechanical system for accurately identifying carbon anode position and automatically positioning and clamping carbon anode
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CN111176458B (en) * 2020-02-07 2021-06-25 腾讯科技（深圳）有限公司 Slippery sensation simulation device and control system
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