CN108557450A - A kind of logistic storage robot - Google Patents
A kind of logistic storage robot Download PDFInfo
- Publication number
- CN108557450A CN108557450A CN201810276815.0A CN201810276815A CN108557450A CN 108557450 A CN108557450 A CN 108557450A CN 201810276815 A CN201810276815 A CN 201810276815A CN 108557450 A CN108557450 A CN 108557450A
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- CN
- China
- Prior art keywords
- joint
- cargo
- module
- motor
- logistic storage
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/902—Devices for picking-up and depositing articles or materials provided with drive systems incorporating rotary and rectilinear movements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G41/00—Supporting frames or bases for conveyors as a whole, e.g. transportable conveyor frames
- B65G41/02—Frames mounted on wheels for movement on rail tracks
Abstract
The invention discloses a kind of logistic storage robots to reduce cost of labor for realizing the automatic transporting of cargo.The logistic storage robot includes mobile device, clamping device, pitch control unit, elevating platform assembly and cooperative control device, clamping device includes two mechanical arms, pitch control unit and elevating platform assembly installation are on the mobile device, clamping device is mounted on pitch control unit, and cooperative control device is connected with mobile device, clamping device, pitch control unit and elevating platform assembly.Cooperative control device controls the spacing between pitch control unit two mechanical arms of adjustment, so that two mechanical arms are after cargo, two mechanical arms grip cargo under the control of cooperative control device, and cargo is positioned on elevating platform assembly, control of the mobile device based on cooperative control device, it is moved to specified shipment point, cooperative control device controls two mechanical arm gripping cargos and is placed on shipment point, to complete logistic storage task.
Description
Technical field
The present invention relates to logistic storage technical field, more particularly to a kind of logistic storage robot.
Background technology
Currently, e-commerce industry develops rapidly, e-commerce produces huge economic results in society, while to logistics
Storage sector brings enormous impact and challenge.The sorting transport for cargo of traditional logistics storage sector mainly passes through people
Work realizes, but current E-business logistics have that order data is huge, type is various and single order goods amount is smaller
The features such as, the artificial workload for carrying out sorting transport is huge, task is heavy, and error rate is higher, therefore can replace artificial
It sorts and the mobile robot carried has become the important equipment of logistic storage industry.
But entire logistic storage system is related to receiving, restocking, sorting, four big process of shipment, and current logistic storage
Mobile robot can only be realized and cargo is carried to employee's sorting area from shelf by hoistable platform, complete cargo from shelf
To the handling process of off-sorting station, that is to say, that or cargo is manually transported on the hoistable platform of robot by needs, Yi Jiren
The unloading of work, i.e., there is still a need for the participations of more manpower for entire logistic storage flow, in specific electric business red-letter day, shipment amount surge situation
Under, required manpower sorting cost equally steeply rises.
Invention content
The embodiment of the present invention provides a kind of logistic storage robot, for realizing the automatic transporting of cargo, reduce manually at
This.
In a first aspect, providing a kind of logistic storage robot, including mobile device, clamping device, pitch control unit, liter
Stage apparatus and cooperative control device drop, and the clamping device includes two mechanical arms, the pitch control unit and described
Elevating platform assembly is mounted in the mobile device, and the clamping device is mounted on the pitch control unit, the association
Adjust control device and the mobile device, the clamping device, the pitch control unit and the elevating platform assembly homogeneous
Even；
Wherein, the cooperative control device controls between the pitch control unit adjusts between described two mechanical arms
Away from so that described two mechanical arms, after cargo, described two mechanical arms press from both sides under the control of the cooperative control device
The cargo is taken, and the cargo is positioned on the elevating platform assembly, the mobile device is controlled based on the coordination
The control of device, is moved to specified shipment point, and the cooperative control device controls described two mechanical arms and grips the cargo
It is placed on the shipment point, to complete logistic storage task.
In the embodiment of the present invention, logistic storage robot can place the robot by controlling double mechanical arms gripping cargo
Hoistable platform on, and specified shipment point is carried to, and arrangement of goods is gripped by double mechanical arms, without manually by goods
Object is placed in robot and manually unloads, and reduces the manpower participation during entire logistic storage, reduces artificial
Cost.
Optionally, the mobile device includes wheel module, drive module and supporting module；
The drive shaft that the drive module includes by itself is connected with the wheel module, and the drive module is for leading to
Crossing the drive shaft drives the wheel module to be moved；
The suspension support plate that the supporting module includes by the wheel module is connected with the wheel module, the branch
Hold mode block is used to support the pitch control unit and the elevating platform assembly.
Optionally, the wheel module further includes movable pulley, mobile wheel support and connector；
Wherein, the mobile wheel support is connected by the connector with the suspension support plate, and the movable pulley passes through
The drive shaft is connected with the mobile wheel support.
Optionally, the movable pulley is that Mike receives female wheel, and the mobile device includes that four groups of Mikes receive female wheel, wherein a left side
It is the left oblique 45 ° of Mecanum wheels of roller that two groups of Mikes of clinodiagonal, which receive female wheel, and two groups of Mikes of right clinodiagonal receive female wheel and are
The right oblique 45 ° of Mecanum wheels of roller.
Optionally, multiple keyways, the drive shaft are connected with the movable pulley by the key being installed in the keyway
It connects, key receives female wheel for connecting a Mike；
Wherein, the angle between the plane that the center line of the multiple keyway and the axis of the drive shaft are constituted is 15 °.
In the embodiment of the present invention, by the way that the angle between two keyways is arranged, in conjunction with the characteristic of Mecanum wheel itself, increase
The big contact point of Mecanum wheel and ground so that transportational process is more smooth, to effectively play Mecanum wheel shifting
Damping effect during dynamic.
Optionally, the connector includes suspension shaft, linear bearing and spring, and the suspension shaft passes through the linear axis
It holds and spring, the linear bearing is used to connect the suspension shaft and the mobile wheel support.
Optionally, the drive module further includes motor, motor mounting plate；The motor is pacified by the motor mounting plate
On the mobile wheel support.
Optionally, the supporting module includes rectangular-ambulatory-plane section material framework and pedestal top plate；
Wherein, the supporting module is connected by the rectangular-ambulatory-plane section material framework with the wheel module, the branch hold mode
Block is connected by the pedestal top plate with the pitch control unit and the elevating platform assembly.
Optionally, the first mechanical arm in described two mechanical arms includes sequentially connected base board, the first joint, second
Joint, third joint, the 4th joint and the 5th joint, first joint, the second joint, the third joint and
4th joint is connected by connecting rod, telescopic rod and the fiveth joint phase of the 4th joint by the motor of itself
Even；The first mechanical arm be described two mechanical arms in any one, the first mechanical arm by the base board with
The pitch control unit is connected；
Wherein, rotary motion is realized in first joint and the 5th joint under the motor control of itself, described the
Pitching movement is realized in two joints, third joint under the motor control of itself, and the 4th joint is under the motor control of itself
Realize stretching motion.
In the embodiment of the present invention, different joints can realize respective movement, by the cooperation in each joint, thus
Realize the five degree of freedom flexible motion of mechanical arm.
Optionally, the 5th joint further includes silica gel disk, and the end in the 5th joint is arranged in the silica gel disk
End, and the silica gel disk be used for the cargo contacts, to grip the cargo.
In the embodiment of the present invention, silica gel disk is set as by the part for being in direct contact mechanical arm tail end and cargo, is increased
The big contact area with cargo, and the self-characteristic of silica gel can also preferably be bonded cargo, so that gripping cargo
Shi Gengjia is solid and reliable.
Optionally, the 5th joint further includes visual sensor and pressure sensor；
The visual sensor is for obtaining goods information and the pressure sensor for detecting described two machineries
The contact force of arm and the cargo, so that the cooperative control device can be according to the goods information and the contact force
Control the movement of described two mechanical arms；The goods information includes the shape information of the cargo and the bar shaped of the cargo
Information included by code.
In the embodiment of the present invention, by the way that visual sensor and pressure sensor is arranged, to detect goods information automatically, from
And so that mechanical arm realizes automatic clamping according to the goods information, it is participated in without artificial so that the reality of the logistic storage robot
With property higher.Meanwhile the control of contact force when gripping is realized according to pressure sensor, to realize the reliable gripping of cargo,
And damage will not be generated to cargo.
Optionally, the pitch control unit includes left-handed leading screw the linear guide, dextrorotation leading screw the linear guide, double output shaft
Motor, shaft coupling and connecting plate for electric motor, the shaft coupling include first shaft coupling and second shaft coupling；The spacing control dress
Set by the connecting plate for electric motor be mounted on the mobile device on and the pitch control unit pass through the left-handed leading screw
The slide unit that the linear guide and the dextrorotation leading screw the linear guide include is connected with described two mechanical arms respectively, wherein a cunning
Platform connects a mechanical arm；
Wherein, the first output shaft of the Dual-output shaft motor passes through the first shaft coupling and the left-handed leading screw straight line
Guide rail is connected, and the second output shaft of the Dual-output shaft motor passes through the second shaft coupling and the dextrorotation leading screw the linear guide
It is connected；
When the leading screw of the left-handed leading screw the linear guide rotates under the control of the Dual-output shaft motor so that the left side
The slide unit of rotation leading screw the linear guide is moved in a straight line in the left-handed leading screw the linear guide and the dextrorotation leading screw straight line is led
When the leading screw of rail rotates under the control of the Dual-output shaft motor so that the slide unit of the dextrorotation leading screw the linear guide is described
It is moved in a straight line in dextrorotation leading screw the linear guide, to adjust the spacing between described two mechanical arms.
In the embodiment of the present invention, the distance between double mechanical arms are quickly adjusted by pitch control unit, reduce mechanical arm
The workload of distance is voluntarily adjusted, so that gripping cargo speed is faster, the efficiency of automatic transporting process also higher.
Optionally, the elevating platform assembly includes lifting support plate and push-rod electric machine group, the push-rod electric machine group peace
In the mobile device；
The telescopic rod of the push-rod electric machine group is connected with the lifting support plate, and the lifting support plate is in push rod electricity
It is moved up and down under the control of unit, the cargo placed in the lifting support plate is increased or is reduced to specified
Height and position.
In the embodiment of the present invention, by elevating platform assembly in unloading, cargo is elevated to suitable height, to subtract
The amount of exercise of few mechanical arm, improves the efficiency of automatic transporting process.
Optionally, the cooperative control device includes computer module, motion-control module and data acquisition module；Institute
Computer module is stated with the motion-control module and the data acquisition module to be connected；
The computer module determines Motion according to the goods information that the data acquisition module receives, and will be described
Motion is notified to the motion-control module, so that the motion-control module is according to described in Motion control
The movement of mobile device, the clamping device, the pitch control unit or the elevating platform assembly.
In the embodiment of the present invention, the coordination control for other devices that cooperative control device includes for realizing robot is real
The now main control during entire logistic storage.
Description of the drawings
In order to illustrate the technical solution of the embodiments of the present invention more clearly, will make below to required in the embodiment of the present invention
Attached drawing is briefly described, it should be apparent that, attached drawing described below is only some embodiments of the present invention, for
For those of ordinary skill in the art, without creative efforts, other are can also be obtained according to these attached drawings
Attached drawing.
Fig. 1 is the schematic diagram of logistic storage robot provided in an embodiment of the present invention；
Fig. 2 is the schematic diagram of mobile device provided in an embodiment of the present invention；
Fig. 3 is the schematic diagram of drive shaft provided in an embodiment of the present invention；
Fig. 4 is the schematic diagram of pitch control unit provided in an embodiment of the present invention；
Fig. 5 is the schematic diagram of mechanical arm provided in an embodiment of the present invention；
Fig. 6 is the schematic diagram of elevating platform assembly provided in an embodiment of the present invention；
Fig. 7 is the connection diagram of cooperative control device provided in an embodiment of the present invention and other devices；
Fig. 8 is work flow diagram provided in an embodiment of the present invention.
Specific implementation mode
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " installation ", " phase
Even ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or be integrally connected.It can
Can also be electrical connection to be mechanical connection.It can be directly connected, can also indirectly connected through an intermediary, Ke Yishi
The interaction relationship of connection or two elements inside two elements.It for the ordinary skill in the art, can be with
The concrete meaning of above-mentioned term in the present invention is understood as the case may be.
Technical solution provided in an embodiment of the present invention is introduced below in conjunction with the accompanying drawings.
Fig. 1 is referred to, the embodiment of the present invention provides a kind of logistic storage robot, which includes movement
Device 10, pitch control unit 20, clamping device 30, elevating platform assembly 40 and cooperative control device 50.Wherein, coordinate control
Device 50 processed is not shown in FIG. 1, will will show in figure 6.
Wherein, pitch control unit 20 and elevating platform assembly 40 are installed in in mobile device 10, clamping device 30
Including two mechanical arms, clamping device 30 is mounted on the pitch control unit 20.It, will be follow-up right for specifically connecting
Involved in the specific descriptions of each device, no longer excessively repeat herein.
Fig. 2 is referred to, is the schematic diagram of mobile device 10.Wherein, mobile device 10 include wheel module, drive module with
And supporting module.
Wheel module includes suspension support plate 111, movable pulley 112, mobile wheel support 113 and connector 114.
Movable pulley 112 can be that Mike receive female wheel, and mobile device 10 may include that four groups of Mikes receive female wheel, one group of Mike
Female wheel of receiving receives female wheel including two Mikes.Wherein, two groups of Mikes of left clinodiagonal receive female wheel as the left oblique 45 ° of Mecanums of roller
Two groups of Mikes of wheel, right clinodiagonal receive female wheel as the right oblique 45 ° of Mecanum wheels of roller.
Certainly, for the quantity of the movable pulley included by mobile device, the embodiment of the present invention is to this and is not limited, example
Such as movable pulley quantity can also be set as 6 groups or 8 groups according to practical application.Likewise, for the component being subsequently related to
Quantity be a kind of possible embodiment, rather than quantity is limited, for those of ordinary skill in the art and
Speech, can be set as other quantity, therefore subsequently will no longer be explained to this as the case may be.
Mobile wheel support 113 is u-bracket, corresponding with the quantity of movable pulley 112, the quantity of mobile wheel support 113
It can be 4, a mobile wheel support 113 is connected with a movable pulley 112.The both sides of mobile wheel support 113 are provided with circle
Through-hole, the drive shaft 121 that drive module includes pass through two through-holes of mobile wheel support 113, and by two load-bearing bearings with
Mobile wheel support 113 is connected.
Connector 114 may include suspension shaft, linear bearing and spring, and suspension shaft passes through linear bearing and spring, and
It is connected with mobile wheel support 113 is connect by linear bearing, suspension shaft is for connecting suspension support plate 111 and mobile wheel support
113.The bottom of linear bearing is mounted on mobile wheel support 113, and suspension shaft is mounted on inside linear bearing.In order to increase support
Reliability, a mobile wheel support 113 can correspond to multiple suspension support plates 111, for example, a mobile wheel support 113 can
With corresponding two suspension support plates 111, and, a suspension support plate 111 can pass through two connectors 114 and mobile wheel support
113 are connected.
Drive module can also include motor 122 and motor mounting plate 123.The side of motor mounting plate 123 is fixed on
The side of mobile wheel support 113, the other side of motor mounting plate 123 are connected with motor 122, and the both sides of motor mounting plate 123 are equal
It can be attached by bolted connection.Motor 122 is connected by shaft coupling with drive shaft 121, is set in drive shaft 121
Keyway there are two setting so that drive shaft 121 can be connect by the key installed in the two keyways with movable pulley 112.In this way, electric
Machine 122 by shaft coupling drive drive shaft 121 rotate, drive shaft 121 by key to 112 passing power of movable pulley, to drive
Movable pulley 112 moves.Wherein, movable pulley 112 is mounted on inside mobile wheel support 113, so that movable pulley 112 can pass through drive
Moving axis 121 is relatively fixed with the mobile holding of wheel support 113.
It is a kind of structural schematic diagram of drive shaft 121, two keys being arranged in drive shaft 121 specifically, referring to Fig. 3
There are certain angles between the plane that the longitudinal centre line of slot and the axis of the drive shaft are constituted, such as are received using Mike
When female wheel, the angle can be set to 15 °, in this way, by the angle, then can make two Mikes of installation receive female wheel it
Between be staggered certain angle so that two Mecanum wheels and the contact point on ground increase so that transportational process is more smooth,
To effectively play the damping effect in Mecanum wheel moving process.
Corresponding with the quantity of movable pulley 112 in the embodiment of the present invention, the quantity of motor 122 may be 4 groups, one group
Motor 122 is for driving one group of movable pulley 112, in this way, different motors 122, which can be corresponding movable pulley 112, provides size
Different power is driven, according to four so that the rotating speed of four groups of movable pulleys 112 is different by the differential of four groups of movable pulleys 112
Take turns omni-directional mobile robots velocity transformation criterion so that mobile device 10 realize include longitudinally, laterally, turn to plane three
Degree of freedom is without constrained motion, since four-wheel omni-directional mobile robots velocity transformation criterion belongs to the scope of the prior art, herein not
It is repeated after more.
Supporting module may include rectangular-ambulatory-plane section material framework 131 and pedestal top plate 132, wherein pedestal top plate 132 does not exist
It is shown in Fig. 2, it will shown in figure 6.
Suspension support plate 111 and pedestal top plate 132 are bolted on up and down the two of rectangular-ambulatory-plane section material framework 131 respectively
Face, rectangular-ambulatory-plane section material framework 131 and suspension support plate 111 mode being detachably connected such as are bolted and are attached, when
So, can also be attached in such a way that other are fixedly connected, for example, be fixedly connected by welding or glue special bonding
It is fixedly connected, the embodiment of the present invention is without limitation.In this way, in the wheel module movement that mobile device includes, Back Word
Shape section material framework 131 can also be moved accordingly.
Fixed pedestal top plate 132 on rectangular-ambulatory-plane section material framework 131, on pedestal top plate 132 setting for clipping room away from control
The region of device 20 and elevating platform assembly 40, pitch control unit 20 and elevating platform assembly 40 are mounted on base respectively
On seat top plate 132.Wherein, the concrete position that pitch control unit 20 and elevating platform assembly 40 are connected with pedestal top plate 132 will
Involved in the specific descriptions of follow-up pitch control unit 20 and elevating platform assembly 40, no longer excessively repeat herein.
Fig. 4 is referred to, is the schematic diagram of pitch control unit 20.Pitch control device 20 may include left-handed leading screw
The linear guide 21, dextrorotation leading screw the linear guide 22, Dual-output shaft motor 23, shaft coupling and connecting plate for electric motor 24.Shaft coupling packet
Include first shaft coupling 251 and second shaft coupling 252.
Dual-output shaft motor 23 includes two output shafts, i.e. the first output shaft and the second output shaft, the first output shaft and the
The input terminal of one shaft coupling 251 is connected, the input terminal phase of the output end of first shaft coupling 251 and left-handed leading screw the linear guide 21
Even, in this way, Dual-output shaft motor 23 drives first shaft coupling 251 to rotate by the first output shaft, so that left-handed leading screw is straight
The leading screw of line guide rail 21 correspondingly rotates, so that the slide unit 211 of left-handed leading screw the linear guide 21 is in left-handed leading screw the linear guide
It is moved in a straight line on 21 guide rails for including.
Second output shaft of Dual-output shaft motor 23 is connected with the input terminal of second shaft coupling 252, second shaft coupling 252
Output end is connected with the input terminal of dextrorotation leading screw the linear guide 22, in this way, Dual-output shaft motor 23 is driven by the second output shaft
Second shaft coupling 252 rotates, so that the leading screw of dextrorotation leading screw the linear guide 22 correspondingly rotates, so that dextrorotation leading screw is straight
The slide unit 221 of line guide rail 22 moves in a straight line on the guide rail that dextrorotation leading screw the linear guide 22 includes.
In the embodiment of the present invention, the center line of two the linear guides is overlapped with the longitudinal centre line of pedestal top plate, passes through lose-lose
Output shaft electric machine 23 rotates and reverse the movement for driving two guide rails in left and right, so as to adjust the distance between two mechanical arms, nothing
It need to be respectively controlled by two motors, while reducing the manufacturing cost of robot, also reduce the volume of robot.
Connecting plate for electric motor 24 can be U-shaped connecting plate, the both sides of U-shaped connecting plate both ends with Dual-output shaft motor 23 respectively
It is fixed, the intermediate plate of U-shaped connecting plate is fixed on pedestal top plate 132 and left-handed leading screw the linear guide 21 and dextrorotation silk
The bottom plate of thick stick the linear guide 22 is mounted on pedestal top plate 132, in this way, when mobile device 10 moves, pitch control unit 20
Also movement can be followed.
Refer to Fig. 5, for clamping device 30 include one of mechanical arm schematic diagram.Wherein, clamping device 30 wraps
Two mechanical arms included are identical mechanical arm, therefore are subsequently described just for first mechanical arm therein, the first machinery
Arm can be any one in two mechanical arms.
First mechanical arm may include sequentially connected base board 31, the first joint, second joint, third joint, the 4th
Joint and the 5th joint.Wherein, base board 31 is used for and left-handed leading screw the linear guide 21 or dextrorotation leading screw the linear guide 22
Slide unit be connected, and then when slide unit moves so that mechanical arm moves, to reach adjustment the distance between two mechanical arms
Purpose.
First joint may include the first joint motor mounting plate 321, the first joint motor 322 and the first joint link lever
323.Wherein, one end of the first joint motor 322 is vertically mounted on base board 31, and is fixed by bolt, and first closes
The other end of section motor 322 is fixed with the first joint motor mounting plate 321, and the first joint motor mounting plate 321 is also fixed
On base board 31, the output shaft of the first joint motor 322 is connected with one end of the first joint link lever 323.
Wherein, the first joint motor 322 can be torque motor, so that when the first joint motor 322 rotates, first
Joint link lever 323 rotates with the first joint motor 322.
Second joint may include second joint motor mounting plate 331, second joint motor 332 and second joint connecting rod
333.Wherein, second joint motor mounting plate 331 is mounted on the other end of the first joint link lever 323, in this way, the first joint motions
When, second joint can also be moved therewith.Second joint motor 332 or torque motor, second joint motor peace
Loading board 331 is L-type motor mounting plate, and second joint motor 332 is mounted on the outside of motor mounting plate 331, second joint connecting rod
333 one end is fixed on the inside of second joint motor mounting plate 331, in this way, when second joint motor 332 rotates, due to
The limitation of second joint motor mounting plate 331 so that second joint connecting rod 333 realizes pitching movement.
Third joint may include third joint motor mounting plate 341, third joint motor 342 and third joint link lever
343.Wherein, third joint motor mounting plate 341 is mounted on the other end of second joint connecting rod 333, in this way, second joint moves
When, third joint can also be moved therewith.Third joint mode same as second joint realizes pitching movement, therefore right
The content of second joint part is can refer in the content of third joint point, details are not described herein.
4th joint may include the 4th joint motor mounting plate 351 and the 4th joint motor 352.Wherein, the 4th joint
Motor mounting plate 351 is mounted on the end for the third joint link lever 343 that third joint includes, and the 4th joint motor 352 is fixed on
On 4th joint motor mounting plate 351.4th joint motor 352 is push-rod electric machine so that realizes stretching motion in the 4th joint.
5th joint may include the 5th joint motor mounting plate 361, the 5th joint motor 362, silica gel disk 363, regard
Feel sensor 364 and pressure sensor 365.Wherein, the 5th joint motor mounting plate 361 and the 4th joint motor 352 are stretched
Contracting bar is connected, and the 5th joint motor 362, visual sensor 364 and pressure sensor 365 are installed in the 5th joint motor peace
The different location of loading board 361, such as the 5th joint motor mounting plate 361 are rectangular shape, the 5th joint motor 362, vision
Sensor 364 and pressure sensor 365 are mounted in the different sides of the cuboid, are somebody's turn to do for example, visual sensor 364 is mounted on
The upper side of cuboid, pressure sensor 365 are mounted on the right side of the cuboid, and certainly, specific installation site can basis
Actual demand is configured.One end of pressure sensor 365 is for being fixed on the 5th joint motor mounting plate 361, and pressure
The other end of sensor 365 is connected with the centre bottom of silica gel disk 363, to measure the contact force of mechanical arm and cargo in real time
Size.
Wherein, the 5th joint motor 362 can be torque motor, to when the 5th joint motor 362 rotates, drive silicon
Glue disk 363 does 360 ° of rotary motion.
Visual sensor 364 is for obtaining goods information, and goods information may include the shape information of cargo, to control
Mechanical arm tail end can also scan cargo packet close to cargo and visual sensor 364 during mechanical arm is close to cargo
The bar code information loaded onto, to obtain the letters such as the cargo more detailed information, such as the type of the cargo, weight and volume
Breath.
The mechanical arm that clamping device 30 includes realizes respective movement by the different joints in above-mentioned five joints,
By the cooperation in each joint, to realize the five degree of freedom flexible motion of mechanical arm.In addition, in order to ensure that mechanical arm is cleverer
It is living, while mitigating the weight of entire robot, the first joint link lever 323, the first joint link lever 333 and third joint link lever 343
It all can be lightweight connecting bar.
Fig. 6 is referred to, is the schematic diagram of elevating platform assembly 40.Wherein, elevating platform assembly 40 may include lifting branch
Fagging 41 and push-rod electric machine group 42.Wherein, one end of push-rod electric machine group 42 is fixed on pedestal top plate 132, to pass through pedestal
Top plate 132 is connected with mobile device 10, and then when mobile device 10 moves, it is followed to be moved；Push-rod electric machine group 42
It may include one or more lifting support plate 41, a lifting that the other end, which connect hoistable platforms 40 with lifting support plate 41,
Support plate 41 can be supported by one group of push-rod electric machine group 42.One group of push-rod electric machine group 42 may include multiple push rod electricity
Machine, such as one group of push-rod electric machine group 42 may include 4 or 6 push-rod electric machines.Wherein, support plate 41 and push rod electricity are lifted
The quantity of machine can be configured according to actual demand.For example, when the cargo of required carrying is volume larger cargo,
It can be then supported by multiple lifting support plates 41；And when the cargo of required carrying is the cargo of small volume,
It can be then supported by a lifting support plate 41.
Elevating platform assembly 40 shown in Fig. 6 includes 2 lifting support plates 41, and one group of push-rod electric machine group is pushed away including 4
Bar motor, wherein this four push-rod electric machines use same signal wire and power cord so that lifting support plate 41 increase or
Four push-rod electric machines can move synchronously during reduction, so that lifting process can be more steady.When using in Fig. 6
When the elevating platform assembly 40 shown, when the small volume of the cargo of placement, it is possible to use only the two lifting support plates 41
In one of lifting support plate 41 carry out load-bearing, and another lifting support plate 41 is left unused；And when the cargo placed
When volume is larger, it is possible to use only the two lifting support plates 41 are carried out at the same time load-bearing, to increase bearing capacity.
Refer to Fig. 7, be cooperative control device 50 and mobile device 10, pitch control unit 20, clamping device 30 and
The connection diagram of elevating platform assembly 40.Wherein, cooperative control device 50 can be set up directly on logistic storage robot
Inside, such as cooperative control device 50 can be arranged in the gap under the pedestal top plate of mobile device.Alternatively, can also set
It sets outside logistic storage robot, cooperative control device 50 and mobile device 10, the spacing included by logistic storage robot
Control device 20, clamping device 30 are connected with elevating platform assembly 40, can pass through wired or communication and shifting
Dynamic device 10, pitch control unit 20, clamping device 30 and elevating platform assembly 40 realize interaction.
In the embodiment of the present invention, cooperative control device 50 may include computer module, motion-control module and data
Acquisition module.Wherein, computer module can be realized by personal computer (Personal Computer, PC), movement control
Molding block can pass through microchip (microchip) or programmable logic controller (PLC) with data acquisition module
(Programmable Logic Controller, PLC) etc. is realized.
Wherein, data acquisition module is used for the goods information and pressure sensor that acquisition vision sensor 364 acquires
The contact force of the silica gel disk 363 and cargo of 365 detections, and goods information and contact force are sent to computer module, into
And the contact force size that computer module judges to adjust required for gripping cargo according to goods information and contact force, then pass through fortune
Dynamic control module is resolved, and the final clamping device 30 that controls moves, and realizes the gripping of cargo.In addition, according to the volume of cargo
Size, computer module can also by moving control module for controlling pitch control unit 20 adjust two mechanical arms between away from
From to adapt to the size of cargo.Computer module can also be moved according to the goods information of acquisition by moving control module for controlling
Dynamic device 10 is moved to the corresponding shipment point of cargo, and adjusts elevating platform assembly 40 to suitable height, to complete to unload.
Fig. 8 is referred to, is the work flow diagram of the logistic storage robot of the embodiment of the present invention.
S801：Products storage circulation system sends to cooperative control device 50 and carries instruction.
When needing to carry out cargo carrying by logistic storage robot, such as when a batch of goods reaches, then can lead to
It crosses cooperative control device 50 of the products storage circulation system into logistic storage robot and sends carrying instruction, so that the logistic storage
Robot starts to work, that is, proceeds by the sorting and carrying of cargo.
S802：Cooperative control device 50 controls mobile device 10 and is moved to cargo area.
After cooperative control device 50 receives carrying instruction, then cargo region can be determined according to carrying to instruct, and advise
It draws mobile device 10 and is moved to the Motion needed for goods sorting region, and then sent out to mobile device 10 according to the Motion
Control instruction is sent, cargo region is moved to control mobile device 10.
S803：Cooperative control device 50 controls clamping device 30 close to cargo to be handled.
After logistic storage robot is moved to cargo area, closer cargo can be selected to be carried, clamping device
Visual sensor 364 on 30 can shoot the position at cargo substantially place, and then the image of cargo is sent to coordination control
Device 50, the computer module in cooperative control device 50 can then determine that clamping device 30 approaches cargo according to the image of cargo
Required motion path, and then determining motion path is sent to motion-control module and is resolved, then by motion control mould
The data that block resolves are sent to clamping device 30, to control the movement in each joint of clamping device 30.
S804：Visual sensor 364 acquires goods information.
When the logistic storage robot is close to cargo, then goods information can be acquired by visual sensor 364, specifically
Information included by shape information and bar code including cargo.
S805：Cooperative control device 50 determines whether the cargo of two visual sensors 364 scanning is identical goods.
In order to ensure the accuracy of cargo carrying, after visual sensor 364 acquires goods information, visual sensor
364 data acquisition modules that the goods information of acquisition can be sent to cooperative control device 50, so that cooperative control device
50 can determine whether the cargo approached when the first two mechanical arm is identical goods according to the goods information of acquisition, if whether
Identical goods, then cooperative control device 50 can also repeat S803, that is, the position of two mechanical arms is adjusted, until two machineries
Cargo between arm is identical goods.
S806：When the cargo of two visual sensors 364 scanning is identical goods, cooperative control device 50 controls spacing
Control device 20 adjusts the distance between two mechanical arms.
When the cargo scanned when two visual sensors 364 is identical goods, computer module then can be according to cargo
Information determine between mechanical arm needed for spacing, and then pass through motion-control module and resolve adjustment required for pitch control unit 20
Distance, and be sent to pitch control unit 20, to control the motor movement of pitch control unit 20, and then drive slide unit movement
To suitable position, to achieve the purpose that adjust the distance between two mechanical arms, so that the distance between double mechanical arms are suitable
Answer the size of cargo.
S807：Cooperative control device 50 controls silica gel disk 363 and is bonded cargo surfaces, to grip cargo.
S808：Cooperative control device 50 determines whether the contact force of silica gel disk 363 and cargo meets needed for gripping cargo
Contact force.
Cooperative control device 50 is scanned according to the contact force of the feedback of pressure sensor 365 in conjunction with visual sensor 364
The weight information that the bar code of cargo obtains, determines whether the contact force of silica gel disk 363 and cargo meets needed for gripping cargo
Contact force, if being unsatisfactory for, cooperative control device 50 can by adjusting the distance between two mechanical arms, or by adjusting
The movement in each joint of mechanical arm with the terminal pressure of control machinery arm, and then can reliably grip cargo.
S809：Determine that the contact force of silica gel disk 363 and cargo meets needed for gripping cargo in cooperative control device 50
When contact force, cargo is placed on elevating platform assembly 40 by 50 control machinery arm of cooperative control device.
Cooperative control device 50 can plan Motion of the mechanical arm arrangement of goods on elevating platform assembly 40, in turn
Control instruction is sent to mechanical arm according to Motion, cargo is placed on elevating platform assembly 40 with control machinery arm.
S810：Cooperative control device 50 controls mobile device 10 and cargo is carried to shipment point.
After cargo is placed on elevating platform assembly 40, cooperative control device 50 then can be according to the cargo of the cargo
Cargo is carried to the Motion needed for shipment point by information planning mobile device 10.For example, cooperative control device 50 is according to sweeping
The bar code retouched determines that the cargo is to be sent to Pekinese's cargo, then cooperative control device 50 can then be planned from cargo area to north
Motion track between the cargo storage areas of capital is deposited so that mobile device 10 is moved to Beijing cargo according to the motion track
Storage area domain.
S811：It is unloaded according to the control of cooperative control device 50.
After mobile device 10 is moved to shipment point, cooperative control device 50 can then control 40 liters of elevating platform assembly
Drop causes suitable height, such as lifts to the height of the shelf of arrangement of goods, then controls the gripping cargo of clamping device 30 and be placed on
Designated position, to complete logistic storage task.
In the embodiment of the present invention, logistic storage robot can place the robot by controlling double mechanical arms gripping cargo
Hoistable platform on, and specified shipment point is carried to, and arrangement of goods is gripped by double mechanical arms, without manually by goods
Object is placed in robot, and is manually unloaded, can realize logistic storage system from receive, sort, carry, shipment it is complete
Process intelligent independent is run, and is reduced the manpower participation during entire logistic storage, is reduced cost of labor, compares artificial point
It picks, it is more efficient.The mechanical arm of the embodiment of the present invention, which is five degree-of-freedom manipulator and mobile device 10, can realize plane three
The Omni-mobile of degree of freedom, movement is more flexible, to also improve the efficiency of logistic storage process.
The above, above example are only described in detail to the technical solution to the application, but the above implementation
The method that the explanation of example is merely used to help understand the embodiment of the present invention, should not be construed as the limitation to the embodiment of the present invention.This
The change or replacement that those skilled in the art can readily occur in, should all cover the embodiment of the present invention protection domain it
It is interior.
Claims (14)
1. a kind of logistic storage robot, which is characterized in that flat including mobile device, clamping device, pitch control unit, lifting
Table apparatus and cooperative control device, the clamping device include two mechanical arms, the pitch control unit and the lifting
Stage apparatus is mounted in the mobile device, and the clamping device is mounted on the pitch control unit, the coordination control
Device processed is connected with the mobile device, the clamping device, the pitch control unit and the elevating platform assembly；
Wherein, the cooperative control device controls the pitch control unit and adjusts spacing between described two mechanical arms, with
So that described two mechanical arms are after cargo, described in described two mechanical arms grip under the control of the cooperative control device
Cargo, and the cargo is positioned on the elevating platform assembly, the mobile device is based on the cooperative control device
Control, is moved to specified shipment point, and the cooperative control device controls described two mechanical arms grippings cargo and is placed on
The shipment point, to complete logistic storage task.
2. logistic storage robot as described in claim 1, which is characterized in that the mobile device includes wheel module, drives
Dynamic model block and supporting module；
The drive shaft that the drive module includes by itself is connected with the wheel module, and the drive module is for passing through institute
Stating drive shaft drives the wheel module to be moved；
The suspension support plate that the supporting module includes by the wheel module is connected with the wheel module, the branch hold mode
Block is used to support the pitch control unit and the elevating platform assembly.
3. logistic storage robot as claimed in claim 2, which is characterized in that the wheel module further includes movable pulley, moves
Driving wheel holder and connector；
Wherein, the mobile wheel support is connected by the connector with the suspension support plate, and the movable pulley passes through described
Drive shaft is connected with the mobile wheel support.
4. logistic storage robot as claimed in claim 2 or claim 3, which is characterized in that the movable pulley is that Mike receives female wheel, institute
It states mobile device and receives female wheel including four groups of Mikes, wherein it is the left oblique 45 ° of Mikes of roller that two groups of Mikes of left clinodiagonal, which receive female wheel,
Na Mu takes turns, and two groups of Mikes of right clinodiagonal receive female wheel as the right oblique 45 ° of Mecanum wheels of roller.
5. logistic storage robot as claimed in claim 4, which is characterized in that multiple keyways are provided in the drive shaft,
The drive shaft is attached with the movable pulley by the key being installed in the keyway, and a key is for connecting a Mike
Receive female wheel；
Wherein, the angle between the plane that the center line of the multiple keyway and the axis of the drive shaft are constituted is 15 °.
6. logistic storage robot as claimed in claim 3, which is characterized in that the connector includes suspension shaft, linear axis
Hold and spring, the suspension shaft passes through the linear bearing and spring, the linear bearing for connect the suspension shaft and
The mobile wheel support.
7. logistic storage robot as claimed in claim 2, which is characterized in that the drive module further includes motor, motor
Mounting plate；The motor is mounted on by the motor mounting plate on the mobile wheel support.
8. logistic storage robot as claimed in claim 2, which is characterized in that the supporting module includes rectangular-ambulatory-plane frame of section bar
Frame and pedestal top plate；
Wherein, the supporting module is connected by the rectangular-ambulatory-plane section material framework with the wheel module, and the supporting module is logical
The pedestal top plate is crossed with the pitch control unit and the elevating platform assembly to be connected.
9. logistic storage robot as described in claim 1, which is characterized in that the first mechanical arm in described two mechanical arms
Including sequentially connected base board, the first joint, second joint, third joint, the 4th joint and the 5th joint, described first
Joint, the second joint, the third joint and the 4th joint are connected by connecting rod, and the 4th joint passes through certainly
The telescopic rod of the motor of body is connected with the 5th joint；The first mechanical arm is any one in described two mechanical arms
A, the first mechanical arm is connected by the base board with the pitch control unit；
Wherein, rotary motion is realized in first joint with the 5th joint under the motor control of itself, and described second closes
Section, third joint realize that pitching movement, the 4th joint are realized under the motor control of itself under the motor control of itself
Stretching motion.
10. logistic storage robot as claimed in claim 9, which is characterized in that the 5th joint further includes silica gel disk,
The silica gel disk is arranged the end in the 5th joint, and the silica gel disk be used for the cargo contacts, with gripping
The cargo.
11. logistic storage robot as claimed in claim 9, which is characterized in that the 5th joint further includes visual sensing
Device and pressure sensor；
The visual sensor for obtain goods information and the pressure sensor for detect described two mechanical arms with
The contact force of the cargo, so that the cooperative control device can be controlled according to the goods information and the contact force
The movement of described two mechanical arms；The goods information includes the shape information of the cargo and the bar code institute of the cargo
Including information.
12. logistic storage robot as described in claim 1, which is characterized in that the pitch control unit includes left-handed silk
Thick stick the linear guide, dextrorotation leading screw the linear guide, Dual-output shaft motor, shaft coupling and connecting plate for electric motor, the shaft coupling include
First shaft coupling and second shaft coupling；The pitch control unit is mounted on the mobile device by the connecting plate for electric motor
On and the pitch control unit cunning that includes by the left-handed leading screw the linear guide and the dextrorotation leading screw the linear guide
Platform is connected with described two mechanical arms respectively, wherein a slide unit connects a mechanical arm；
Wherein, the first output shaft of the Dual-output shaft motor passes through the first shaft coupling and the left-handed leading screw the linear guide
It is connected, the second output shaft of the Dual-output shaft motor passes through the second shaft coupling and the dextrorotation leading screw the linear guide phase
Even；
When the leading screw of the left-handed leading screw the linear guide rotates under the control of the Dual-output shaft motor so that the left-handed silk
The slide unit of thick stick the linear guide moves in a straight line in the left-handed leading screw the linear guide and the dextrorotation leading screw the linear guide
When leading screw rotates under the control of the Dual-output shaft motor so that the slide unit of the dextrorotation leading screw the linear guide is in the dextrorotation
It is moved in a straight line in leading screw the linear guide, to adjust the spacing between described two mechanical arms.
13. logistic storage robot as described in claim 1, which is characterized in that the elevating platform assembly includes lifting branch
Fagging and push-rod electric machine group, the push-rod electric machine group are mounted in the mobile device；
The telescopic rod of the push-rod electric machine group is connected with the lifting support plate, and the lifting support plate is in the push-rod electric machine group
Control under move up and down, the cargo placed in the lifting support plate is increased or is reduced to specified height
Position.
14. logistic storage robot as described in claim 1, which is characterized in that the cooperative control device includes computer
Module, motion-control module and data acquisition module；The computer module and the motion-control module and the data
Acquisition module is connected；
The computer module determines Motion according to the goods information that the data acquisition module receives, and by the movement
Strategy notice is to the motion-control module, so that the motion-control module controls the movement according to the Motion
The movement of device, the clamping device, the pitch control unit or the elevating platform assembly.
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|---|---|---|---|
| CN201810276815.0A CN108557450A (en) | 2018-03-30 | 2018-03-30 | A kind of logistic storage robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810276815.0A CN108557450A (en) | 2018-03-30 | 2018-03-30 | A kind of logistic storage robot |
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Family
ID=63533554
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| CN201810276815.0A Pending CN108557450A (en) | 2018-03-30 | 2018-03-30 | A kind of logistic storage robot |
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| CN111847321A (en) * | 2019-08-26 | 2020-10-30 | 李朝阳 | Lifting driving assembly of transfer robot for warehouse logistics and transfer robot |
| CN112276903A (en) * | 2020-12-28 | 2021-01-29 | 常州市鼎豪车辆配件有限公司 | Intelligent robot for manufacturing automobile support |
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| CN112873164A (en) * | 2021-01-14 | 2021-06-01 | 电子科技大学 | Automatic material handling robot |
| CN112873163A (en) * | 2021-01-14 | 2021-06-01 | 电子科技大学 | Automatic material carrying robot system and control method thereof |
| CN113335816A (en) * | 2021-06-04 | 2021-09-03 | 北京科技大学 | Omnidirectional movement multi-degree-of-freedom warehousing and transportation robot |
| CN113397710A (en) * | 2020-03-17 | 2021-09-17 | 上海奥朋医疗科技有限公司 | Biplane mechanical arm device suitable for vascular intervention operation |
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| CN113731824A (en) * | 2021-09-02 | 2021-12-03 | 天津市普迅电力信息技术有限公司 | Intelligent warehouse logistics sorting robot |
| CN114407057A (en) * | 2022-01-20 | 2022-04-29 | 湖州学院 | Be used for industrial robot chuck and robot |
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| CN113335816A (en) * | 2021-06-04 | 2021-09-03 | 北京科技大学 | Omnidirectional movement multi-degree-of-freedom warehousing and transportation robot |
| CN113731824A (en) * | 2021-09-02 | 2021-12-03 | 天津市普迅电力信息技术有限公司 | Intelligent warehouse logistics sorting robot |
| CN114407057A (en) * | 2022-01-20 | 2022-04-29 | 湖州学院 | Be used for industrial robot chuck and robot |
| CN114407057B (en) * | 2022-01-20 | 2023-09-05 | 湖州学院 | Be used for industrial robot chuck and robot |
| CN115092638A (en) * | 2022-07-19 | 2022-09-23 | 浙江工业大学 | Omnidirectional movement transfer robot |
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Application publication date: 20180921 |