CN109110480A - A kind of quick cargo handling machinery equipment of clipping type - Google Patents
A kind of quick cargo handling machinery equipment of clipping type Download PDFInfo
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- CN109110480A CN109110480A CN201810744173.2A CN201810744173A CN109110480A CN 109110480 A CN109110480 A CN 109110480A CN 201810744173 A CN201810744173 A CN 201810744173A CN 109110480 A CN109110480 A CN 109110480A
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- 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
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- 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
- B65G35/00—Mechanical conveyors not otherwise provided for
-
- 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
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
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- Mechanical Engineering (AREA)
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Abstract
A kind of quick cargo handling machinery equipment of clipping type improves handling efficiency for improving the transporting capacity of container type cargo.By type aluminium, motor, motor cabinet, Mecanum wheel, cylinder, corner brace and nut etc. are constituted.Its chassis uses concave Frame Design, and fixture is connected by gripping body connecting plate with lifting mechanism ball-screw, and fixture is formed by being arranged symmetrically in the cylinder above support frame, and cylinder end posts the rubber sheet gasket of increasing friction force.Pneumatic system control Telescopic-cylinder realizes the aid of cargo and loosens function.It had not only been able to satisfy under the conditions of particular job and has fast and accurately carried demand equipped with microcontroller and mating control program, but also full manual control can be carried out under nonspecific operating condition.
Description
Technical field
The present invention relates to a kind of mechanical equipments for carrying container type cargo, especially have the function of Omni-mobile, can use
It embraces folder mode freely to be promoted and put down cargo, and the carrying for being able to achieve quick autonomous operation in certain operating conditions is set with machinery
It is standby.The present invention is for carrying out Fast Classification and carrying to cargo in logistic storage link.
Background technique
In modern logistics industry, Fast Classification and carrying to cargo can be realized in storage link, logistics is produced
Conevying efficiency has important influence.To smoothly complete transfer work of the cargo in warehouse between different zones, conventional cargo
Method for carrying mainly has manpower transport, conveyer belt carry and crane is carried etc..The advantages of manpower transport, is kind of transporting goods
Class is flexible, and cargo can be transferred to most of designated places, but the disadvantage is that is difficult to effectively carry to overweight super large article, worker
Working environment difference large labor intensity, can generate additional cost of labor for enterprise.The work of worker is improved using conveyer belt
Make environment, and can transport compared to artificial heavier cargo, it is very high to design reasonable conveyer belt transport efficiency, but conveyer belt is removed
The volume and weight of cargo transport object is still restricted, while cargo can only be made to transport on specified route, is difficult arbitrarily to change goods
The terminal that object is carried.Crane transport is particularly suitable for the carrying to large cargo, and the Origin And Destination of transport is also relatively flexible, but
Crane needs more spacious working environment, and the swinging angle control of suspension hook is still problem, and conevying efficiency is more low.
In order to overcome the problems, such as encountered in logistic storage transport, and conevying efficiency is improved, the present invention devises a kind of embrace
The quick cargo handling machinery equipment of clip.The Omni-mobile of the mechanical equipment is realized by the Mecanum wheel installed on chassis,
Flexible avoiding obstacles improve handling efficiency.Fixture composed by the cylinder being arranged symmetrically as two is mounted on lifting machine simultaneously
On structure, realizes to embrace and clamp medium-and-large-sized cargo and be lifted carrying.
Summary of the invention
In order to improve the ability that cargo is carried in logistic storage transportational process, handling efficiency is improved, the present invention provides one
The scheme of the kind heavier container type cargo of fast removal.
The technical solution adopted by the present invention to solve the technical problems is:
A kind of quick cargo handling machinery equipment of clipping type, which is characterized in that including frame structure, chassis structure, lifting
These mechanical equipments of mechanism, gripping body and master control system, wherein
The frame structure is mainly made of type aluminium (2), including horizontal to frame structure, vertically to frame structure, institute
State it is horizontal to frame structure for chassis structure, it is described to be vertically used for lifting mechanism to frame structure；
The chassis structure is using Mecanum wheel (1) as driving, structure design are as follows: chassis structure is designed to frame
Planar structure, including four Mecanum wheels (1) and the corresponding motor (8) of each Mecanum wheel (1), four motor branch
Seat (11), four Mecanum wheels (1) are set on four angles of frame plane structure, and the motor (8) is by motor support base (11)
It is fixed on four angles of frame plane structure, motor (8) is used to drive Mecanum wheel (1)；
The lifting mechanism is using ball-screw (3) cooperation stepper motor (4) as driving, structure design are as follows: including
Roller screw (3), stepper motor (4), corner brace (9), connecting plate (10), the corner brace (9) are used to fix roller screw (3) in vertical
Directly in frame structure plane, stepper motor (4) output shaft is connected to roller screw (3), and the connecting plate (10) is used to connect
Roller screw (3) and gripping body；
The gripping body mainly includes a pair of of the non-slip mat connecting plate (5) being oppositely arranged, non-slip mat (6), non-slip mat (6)
It is driven by thin cylinder (7), fixes or unclamp cargo using the expansion fit non-slip mat of thin cylinder (7).
The master control system includes microcontroller and its control program to manipulate mechanical equipment work, realizes full manual control
Mode robot equipment and automatic control mode operate equipment.
Using the embedded control system based on stm32, including main control chip, software programming, 3 timers, remote controlers,
The main control chip uses II H6 of STM32F427, using the multitasking programming based on timer；3 timers areMaster control timing Device 2, master control timer 4, master control timer 5；
It utilizesMaster control timer 5The hardware for generating 10ms executes duty cycle, executes remote controler respectively in duty cycle
It receives an assignment, step motor control task, cylinder control task, the mobile task in chassis, and the display current shape of current robot
The LED of state shows task；
It utilizesMaster control timer 2The pose calculating cycle of 1ms is generated, master control borad collects MPU6500 gyro using SPI communication
The acceleration and angular speed data of instrument sensor, and pose calculating is carried out using Euler method, the position and posture of equipment is obtained in real time；
It utilizesMaster control timer 4It generates PWM wave all the way and passes through the frequency shift of change PWM wave for controlling stepper motor
The revolving speed of stepper motor adjusts motor direction of rotation using GPIO mouthfuls of master control borad of high-low-positions；
Utilize useGPIO mouthfuls of master control boradHigh-low control No. two relay opening and closing, changed to control 3 position-5 way electromagnetism
It is in corresponding position to valve, to control the clamping and release of cylinder；
It utilizesThe GPIO mouth of master control boradIt is connected with remote control receiver pin, controls master control borad pin level according to specific
Communication protocol communicate with remote-control handle, obtains the data of remote control handset, and control whole equipment executes corresponding movement；
It utilizesCAN busIt is communicated with base plate electric machine driver, send motor movement instructions and receives motor movement
Parameter, mainly motor code-disc value, motor speed and motor torque, master control borad are carried out using the kinematic parameter that these feed back
Algorithm calculates, motor movement instructions is calculated and send in real time, to control bobbin movement.
Under manual mode, remote control receiver is sent instructions to by remote controller key first, master control borad obtain data into
Row key analysis executes corresponding movement, including movement, steering, raising, whereabouts, clamping and release etc. according to key, thus full
Any work requirements of foot, have wide usage.Remote controler provides the travelling control requirement of haulage equipment, i.e., front and back, a left side in horizontal plane
Right, rotation three degree of freedom movement instruction, microcontroller calculate four driving wheels (1) respectively according to specific movement relation
Revolving speed and direction, by the drive module of DC brushless motor control motor (8) with certain rotary speed working, to complete target
Movement, turn to require.Raising falls and is mainly completed by roller screw (3) and stepper motor (4), gripping body and lead screw
Nut rigid connection, the rotary motion of feed screw nut adjutant's motor is converted into the linear motion of gripping body, when stepper motor just
Turn, gripping body rises, i.e., raising acts；When stepper motor inverts, gripping body declines, i.e. drop action.Stepper motor is fixed
Position precision is higher, need to only control the rotational angle that umber of pulse can be precisely controlled motor, it means that equipment is in stacked cargo
When, raising, the height of whereabouts can be directly controlled, is improved work efficiency calmly.The clamping and release of cargo are by being pneumatically
For system to complete, equipment is used as executive component using two cylinders (15,20), and pneumatic part makees gas source by high-pressure gas cylinder (19),
It controls the flexible of two cylinders simultaneously by a 3 position-5 way solenoid valve (17), completes to embrace folder movement.The effect of pressure reducing valve is
Cylinder clamping power is adjusted, the effect of throttle valve is control cylinder piston movement velocity, prevents from impacting.
Under automatic mode, master control borad can carry out execution movement according to the movement and sequence set in program, automatically control
The work requirements and workflow of mode: cargo is scattered in carrying initial position (12) under original state, it is desirable that S-shaped bypasses
Cargo is quickly transported in the border circular areas for carrying target area (14) by two barriers (13) as far as possible.Its workflow
Journey are as follows: arrive first at cargo area (12), clamp and lift first cargo；Then by first stack of goods to second cargo
It goes up and decontrols；Next clamps and lifts second cargo, is stacked on third cargo and decontrols simultaneously；Again, three are clamped
Cargo simultaneously lifts, and reaches target area (14) according to route S-shaped cut-through object (13) preset in program；Finally heap is folded
Cargo put into the border circular areas of target area (14), return to starting cargo area (12) and repeat above-mentioned movement, until institute is available in stock
Object, which is carried, to be completed.
The microcontroller calculates the respective revolving speed of four, chassis driving wheel (1) and side according to specific movement relation
To implementation are as follows:
Chassis scheme mainly uses four Mecanum wheels as driving wheel, and Mecanum wheel hub edge is distributed several numbers
The roller of amount, these rollers can be rolled when contacting ground along the axis direction of itself, before may be implemented using this characteristic
Afterwards, movement and its compound motion of left and right and 3 freedom degrees of rotation；
The roller and the roller at the top of it of Mecanum wheel and ground face contact, the i.e. biasing of two rollers in opposite
Direction is near normal,
1) coordinate system oxy is established with mobile platform center o point, the speed of central point o is represented by [vx,vy,ωz]。
2) center of each wheel is oi, the angular speed of wheel pivoting is ωi, radius of wheel R, the speed of roller
For Vgi, roller axis and wheel axis angle are α.Because Mecanum wheel is the roller contact ground rolling by wheel during exercise
It is dynamic, so speed of each wheel around axle center can be decomposed into the speed along roller axis direction and the speed perpendicular to roller axis direction
Degree, and mainly drive roller to roll along roller axis direction when wheel rotation.Now by taking wheel 1 as an example, by wheel roll speed VgiIt can
Obtain single wheel X, Y-direction speed.
v1x=vg1×sinα (1)
v1y=vg1×cosα (2)
It can be obtained by formula (1), (2):
vg1=v1x×sinα+v1y×cosα (3)
And vehicle wheel rotational speed and roll speed have following relationship:
ω1× R × cos α=vg1 (4)
The angle of eccentricity α of Mecanum wheel roller is 45 °, therefore combines (3), (4) that can obtain:
ω1× R=v1x+v1y (5)
In addition, by the speed [v of mobile platform center ox,vy,ωz], single wheel X, Y-direction speed equally can be obtained, it is right
For wheel 1, there is following relational expression:
v1x=vx+ωz×L2 (6)
v1y=vy+ωz×L1 (7)
Convolution (5) (6) (7) can obtain the relational expression of 1 revolving speed of wheel and mobile platform central point o speed:
ω1× R=vx+vy+ωz×(L1+L2) (8)
Similarly other three wheels are analyzed and can be obtained, the pass of four vehicle wheel rotational speeds and mobile robot central speed
System:
Above formula is converted to obtain the relationship between mobile robot central speed and four vehicle wheel rotational speeds:
Utilize (9) (10) two relational expressions that can be used to control the speed of robot, and the speed of feedback robot.
Chassis uses concave Frame Design, so that delivery object to be shipped is placed among recess, including motor cabinet, motor
Chassis is collectively formed with associated support frame.Fixture is connected by gripping body connecting plate with lifting mechanism ball-screw, is completed
Lifting functions.Fixture is made of support frame and cylinder fixed above, controls Telescopic-cylinder by pneumatic system, to realize
The clamping of fixture with loosen.The biggish rubber sheet gasket of damping is posted in cylinder extension end, increases rubbing between fixture and container type cargo
Power is wiped, reliability is improved.The present invention is equipped with microcontroller and matched control program, be able to achieve full manual control mode with
Free switching between automatic control mode under the conditions of particular job meets the requirement of different operating conditions.
The beneficial effects of the present invention are: whole equipment structure is simple, easy for installation, light and flexible carries Mecanum wheel
Chassis can make complete machine Omni-mobile, turning radius is small, is easy to avoidance.The fixture formed using cylinder and improved mat can be with
Container type cargo is quickly positioned and clamps, accurate positioning small compared to suspender operation difficulty.Fixture is connected with ball-screw can be real easily
The raising and stacking of stock object carry multiple be obviously improved handling efficiency every time.Its automatic control mode can specifically work
Under environment and job requirement, the fast automatic stacking and handling work of cargo are realized, significantly increase transporting velocity, improve life
Produce efficiency.
Detailed description of the invention
Fig. 1 is the front axonometric drawing of the quick cargo handling machinery equipment of clipping type
Fig. 2 is the back side axonometric drawing of the quick cargo handling machinery equipment of clipping type
Fig. 3 is that the stacking of the quick cargo handling machinery equipment of clipping type embraces folder schematic diagram
Fig. 4 is the working environment schematic diagram of the quick fast automatic transport mode of cargo handling machinery equipment of clipping type
Fig. 5 is the workflow schematic diagram of the quick fast automatic transport mode of cargo handling machinery equipment of clipping type
Fig. 6 is the pneumatic schematic diagram of the quick cargo handling machinery equipment gripping body of clipping type
The typical Mecanum wheel Omni-mobile platform motion analysis model top view of Fig. 7
In Fig. 1,1. Mecanum wheels, 2. type aluminium, 3. ball-screws, 4. stepper motors, 5. non-slip mat connecting plates, 6. is anti-skidding
Pad, 7. thin cylinders
In Fig. 2,8. brshless DC motors, 9. corner braces, 10. gripping body connecting plates, 11. motor cabinets
In Fig. 3,12. cargos carry initiation region, by taking three rows five arrange cargo to be handled as an example, 13. barriers, and 14. cargos
Target area is carried, it can arrangement of goods in five border circular areas
In Fig. 6,15,20. thin cylinders, 16. throttle valves, 17. 3 position-5 way solenoid valves, 18. pressure reducing valves, 19. gas cylinders
Specific embodiment
To make the object, technical solutions and advantages of the present invention clearer, below in conjunction with attached drawing to each reality of the invention
The mode of applying is explained in detail.However, it will be understood by those skilled in the art that in each embodiment of the present invention,
In order to make the reader understand this application better, many technical details are proposed.But even if without these technical details and base
In the various changes and modifications of following embodiment, each claim of the application technical side claimed also may be implemented
Case.
The present invention in order to solve the above technical problems, the present invention provides a kind of quick cargo handling machinery equipment of clipping type,
In conjunction with Fig. 1 to Fig. 2, the present embodiment is described in detail.
The present invention carries out the fast removal of cargo using three chassis structure, lifting mechanism, gripping body mechanisms.
In Fig. 1, this machinery device framework is mainly made of type aluminium (2), and chassis structure uses Mecanum wheel (1) conduct
Driving；Lifting mechanism is using ball-screw (3) cooperation stepper motor (4) as driving；Gripping body mainly includes thin cylinder
(7), non-slip mat connecting plate (5), non-slip mat (6) composition, fix or unclamp goods using the expansion fit non-slip mat of thin cylinder (7)
Object.In Fig. 2, motor (8) is fixed by motor support base (11), and for driving Mecanum wheel (1), corner brace (9) is used to fixed rolling
Column lead screw (3), gripping body connecting plate (10) are used to connect roller screw (3) and gripping body.
The present invention is configured with microcontroller and its control program to manipulate mechanical equipment work, and the function being able to achieve includes
Full manual control mode robot equipment, and equipment is operated to meet the automatic control mode under the conditions of particular job.
The present invention uses the embedded control system based on stm32, and main control chip uses II H6 of STM32F427, possesses 14
A timer.The present invention uses the multitasking programming based on timer.
The present invention executes duty cycle using the hardware that master control timer 5 generates 10ms, executes respectively in duty cycle
Remote controler receives an assignment, step motor control task, cylinder control task, the mobile task in chassis, and display current robot
The LED of current state shows task.
The present invention utilizesMaster control timer 2The pose calculating cycle of 1ms is generated, master control borad is collected using SPI communication
The acceleration and angular speed data of MPU6500 gyro sensor, and pose calculating is carried out using Euler method, equipment is obtained in real time
Position and posture.
The present invention utilizesMaster control timer 4It generates PWM wave all the way and passes through the frequency of change PWM wave for controlling stepper motor
Rate changes the revolving speed of stepper motor, adjusts motor direction of rotation using GPIO mouthfuls of master control borad of high-low-positions.
The present invention utilizes useGPIO mouthfuls of master control boradHigh-low control No. two relay opening and closing, to control 3 position-5 way
Solenoid directional control valve is in corresponding position, to control the clamping and release of cylinder.
The present invention utilizesThe GPIO mouth of master control boradBe connected with remote control receiver pin, control master control borad pin level according to
Specific communication protocol communicate with remote-control handle, obtains the data of remote control handset, and control whole equipment executes corresponding
Movement.
The present invention utilizesCAN busIt is communicated with base plate electric machine driver, send motor movement instructions and receives electricity
Machine kinematic parameter, mainly motor code-disc value, motor speed and motor torque, master control borad are joined using the movement of these feedbacks
Number carries out algorithm reckoning, motor movement instructions is calculated and send in real time, to control bobbin movement.
Under manual mode, remote control receiver is sent instructions to by remote controller key first, master control borad obtain data into
Row key analysis executes corresponding movement, including movement, steering, raising, whereabouts, clamping and release etc. according to key, thus full
Any work requirements of foot, have wide usage.Remote controler provides the travelling control requirement of haulage equipment, i.e., front and back, a left side in horizontal plane
Right, rotation three degree of freedom movement instruction, microcontroller calculate four driving wheels (1) respectively according to specific movement relation
Revolving speed and direction, by the drive module of DC brushless motor control motor (8) with certain rotary speed working, to complete target
Movement, turn to require.Raising falls and is mainly completed by roller screw (3) and stepper motor (4), gripping body and lead screw
Nut rigid connection, the rotary motion of feed screw nut adjutant's motor is converted into the linear motion of gripping body, when stepper motor just
Turn, gripping body rises, i.e., raising acts；When stepper motor inverts, gripping body declines, i.e. drop action.Stepper motor is fixed
Position precision is higher, need to only control the rotational angle that umber of pulse can be precisely controlled motor, it means that equipment is in stacked cargo
When, raising, the height of whereabouts can be directly controlled, is improved work efficiency calmly.The clamping and release of cargo are by such as Fig. 6 institute
The pneumatic system shown is completed, and equipment is used as executive component using two cylinders (15,20), and pneumatic part is by high-pressure gas cylinder
(19) make gas source, control the flexible of two cylinders simultaneously by a 3 position-5 way solenoid valve (17), complete to embrace folder movement.Decompression
The effect of valve is to adjust cylinder clamping power, and the effect of throttle valve is control cylinder piston movement velocity, prevents from impacting.Pneumatic scheme
The advantages of be it is easy to control, be swift in motion, clamping is accurate.
Under automatic mode, master control borad can carry out execution movement according to the movement and sequence set in program, realize quick
Accurate handling work has specificity.Automatic mode is suitable for fixed process movement.It is illustrated now in conjunction with Fig. 3 to Fig. 5 automatic
The work requirements and workflow of control model.The particular job scene of automatic control mode in the present invention are as follows: under original state
Cargo is scattered in carrying initial position (12), it is desirable that S-shaped bypasses two barriers (13), and cargo is quickly removed as far as possible
It transports in the border circular areas for carrying target area (14).Its workflow are as follows: arrive first at cargo area (12), clamp and lift
One cargo；Then it in first stack of goods to second cargo and will decontrol；Next clamps and lifts second cargo, and one
It is stacked on third cargo and decontrols together；Again, three cargos are clamped and are lifted, according to route S-shaped preset in program around
It crosses barrier (13) and reaches target area (14)；The cargo that finally heap is folded is put into the border circular areas of target area (14),
It returns to starting cargo area (12) and repeats above-mentioned movement, carry and complete until all cargos.
The microcontroller calculates the respective revolving speed of four, chassis driving wheel (1) and side according to specific movement relation
To implementation are as follows:
Chassis scheme mainly uses four Mecanum wheels as driving wheel, and Mecanum wheel hub edge is distributed several numbers
The roller of amount, these rollers can be rolled when contacting ground along the axis direction of itself, before may be implemented using this characteristic
Afterwards, movement and its compound motion of left and right and 3 freedom degrees of rotation.
The motion mode on chassis:
Typical Mecanum wheel Omni-mobile platform motion analysis model top view is as shown in Figure 7.Wheel oblique line in figure
Indicate the roller bias conditions seen when overlooking.And by the structure of Mecanum wheel it can be found that wheel and ground face contact
Roller and the roller at the top of it, the i.e. biased direction of two rollers in opposite are near normal.Now for the mould in figure
Type makees following statement:
1) coordinate system oxy is established with mobile platform center o point, the speed of central point o is represented by [vx,vy,ωz]。
2) center of each wheel is oi, the angular speed of wheel pivoting is ωi, radius of wheel R, the speed of roller
For Vgi, roller axis and wheel axis angle are α.Because Mecanum wheel is the roller contact ground rolling by wheel during exercise
It is dynamic, so speed of each wheel around axle center can be decomposed into the speed along roller axis direction and the speed perpendicular to roller axis direction
Degree, and mainly drive roller to roll along roller axis direction when wheel rotation.Now by taking wheel 1 as an example, by wheel roll speed VgiIt can
Obtain single wheel X, Y-direction speed.
v1x=vg1×sinα (1)
v1y=vg1×cosα (2)
It can be obtained by formula (1), (2):
vg1=v1x×sinα+v1y×cosα (3)
And vehicle wheel rotational speed and roll speed have following relationship:
ω1× R × cos α=vg1 (4)
The angle of eccentricity α of Mecanum wheel roller is 45 °, therefore combines (3), (4) that can obtain:
ω1× R=v1x+v1y (5)
In addition, by the speed [v of mobile platform center ox,vy,ωz], single wheel X, Y-direction speed equally can be obtained, it is right
For wheel 1, there is following relational expression:
v1x=vx+ωz×L2 (6)
v1y=vy+ωz×L1 (7)
Convolution (5) (6) (7) can obtain the relational expression of 1 revolving speed of wheel and mobile platform central point o speed:
ω1× R=vx+vy+ωz×(L1+L2) (8)
Similarly other three wheels are analyzed and can be obtained, the pass of four vehicle wheel rotational speeds and mobile robot central speed
System:
Above formula is converted to obtain the relationship between mobile robot central speed and four vehicle wheel rotational speeds:
Utilize (9) (10) two relational expressions that can be used to control the speed of robot, and the speed of feedback robot.
Claims (4)
1. a kind of quick cargo handling machinery equipment of clipping type, which is characterized in that including frame structure, chassis structure, lifting machine
These mechanical equipments of structure, gripping body and master control system, wherein
The frame structure is mainly made of type aluminium (2), including horizontal to frame structure, vertically to frame structure, the water
Flat is used for chassis structure to frame structure, described to be vertically used for lifting mechanism to frame structure；
The chassis structure is using Mecanum wheel (1) as driving, structure design are as follows: chassis structure is designed to frame plane
Structure, including four Mecanum wheels (1) and the corresponding motor (8) of each Mecanum wheel (1), four motor support bases
(11), four Mecanum wheels (1) are set on four angles of frame plane structure, and the motor (8) is solid by motor support base (11)
Due on four angles of frame plane structure, motor (8) is used to drive Mecanum wheel (1)；
The lifting mechanism is using ball-screw (3) cooperation stepper motor (4) as driving, structure design are as follows: including roller
Lead screw (3), stepper motor (4), corner brace (9), connecting plate (10), the corner brace (9) be used to fix roller screw (3) in vertically to
In frame structure plane, stepper motor (4) output shaft is connected to roller screw (3), and the connecting plate (10) is used to connect roller
Lead screw (3) and gripping body；
The gripping body mainly includes a pair of of the non-slip mat connecting plate (5) being oppositely arranged, non-slip mat (6), and non-slip mat (6) is by thin
Type cylinder (7) driving, fixes or unclamps cargo using the expansion fit non-slip mat of thin cylinder (7)；
The master control system includes microcontroller and its control program to manipulate mechanical equipment work, realizes full manual control mode
Robot equipment and automatic control mode operate equipment；
It is described using the embedded control system based on stm32, including main control chip, software programming, 3 timers, remote controlers
Main control chip uses STM32F427IIH6, using the multitasking programming based on timer；3 timers areMaster control timer 2, Master control timer 4, master control timer 5；
It utilizesMaster control timer 5The hardware for generating 10ms executes duty cycle, executes remote controler receiving respectively in duty cycle
Task, step motor control task, cylinder control task, the mobile task in chassis, and display current robot current state
LED shows task；
It utilizesMaster control timer 2The pose calculating cycle of 1ms is generated, master control borad is collected MPU6500 gyroscope using SPI communication and passed
The acceleration and angular speed data of sensor, and pose calculating is carried out using Euler method, the position and posture of equipment is obtained in real time；
It utilizesMaster control timer 4It generates PWM wave all the way and passes through the frequency shift stepping of change PWM wave for controlling stepper motor
The revolving speed of motor adjusts motor direction of rotation using GPIO mouthfuls of master control borad of high-low-positions；
Utilize useGPIO mouthfuls of master control boradHigh-low control No. two relay opening and closing, to control 3 position-5 way solenoid directional control valve
In corresponding position, to control the clamping and release of cylinder；
It utilizesThe GPIO mouth of master control boradIt is connected with remote control receiver pin, control master control borad pin level is according to specific communication
Agreement communicate with remote-control handle, obtains the data of remote control handset, and control whole equipment executes corresponding movement；
It utilizesCAN busIt is communicated with base plate electric machine driver, send motor movement instructions and receives motor movement parameter,
Mainly motor code-disc value, motor speed and motor torque, the kinematic parameter that master control borad is fed back using these carry out algorithm and push away
It calculates, motor movement instructions is calculated and send in real time, to control bobbin movement.
2. a kind of quick cargo handling machinery equipment of clipping type as described in claim 1, which is characterized in that under manual mode,
Remote control receiver is sent instructions to by remote controller key first, master control borad obtains data and carries out key analysis, according to key
Corresponding movement is executed, including movement, steering, raising, whereabouts, clamping and release etc. have to meet any work requirements
Wide usage；Remote controler provides the travelling control requirement of haulage equipment, i.e., front and rear, left and right in horizontal plane, rotation three degree of freedom
Movement instruction, microcontroller calculates the respective revolving speed of four driving wheels (1) and direction according to specific movement relation, by straight
Drive module control motor (8) of brushless motor is flowed with certain rotary speed working, to complete the movement of target, turn to requirement；It rises
It rises, fall and mainly completed by roller screw (3) and stepper motor (4), gripping body and feed screw nut are rigidly connected, lead screw spiral shell
The rotary motion of female adjutant's motor is converted into the linear motion of gripping body, and when stepper motor rotates forward, gripping body rises, that is, rises
Rise movement；When stepper motor inverts, gripping body declines, i.e. drop action；The clamping of cargo and unclamp by pneumatic system come
It completes, equipment is used as executive component using two cylinders (15,20), and pneumatic part is made gas source by high-pressure gas cylinder (19), passed through
One 3 position-5 way solenoid valve (17) controls the flexible of two cylinders simultaneously, completes to embrace folder movement；The effect of pressure reducing valve is to adjust
Cylinder clamping power, the effect of throttle valve are control cylinder piston movement velocitys, prevent from impacting.
3. a kind of quick cargo handling machinery equipment of clipping type as claimed in claim 2, which is characterized in that the microcontroller
The respective revolving speed of four, chassis driving wheel (1) and direction, implementation are calculated according to specific movement relation are as follows:
Chassis scheme mainly uses four Mecanum wheels as driving wheel, and Mecanum wheel hub edge is distributed a number of
Roller, these rollers can be rolled when contacting ground along the axis direction of itself, and front and back, a left side may be implemented using this characteristic
Right and 3 freedom degrees of rotation movements and its compound motion；
The roller and the roller at the top of it of Mecanum wheel and ground face contact, the i.e. biased direction of two rollers in opposite
In near normal,
1) coordinate system oxy is established with mobile platform center o point, the speed of central point o is represented by [vx, vy, ωz]；
2) center of each wheel is oi, the angular speed of wheel pivoting is ωi, radius of wheel R, the speed of roller is Vgi,
Roller axis and wheel axis angle are α；Because Mecanum wheel is the roller contact ground surface by wheel during exercise, so
Speed of each wheel around axle center can be decomposed into the speed along roller axis direction and the speed perpendicular to roller axis direction, and take turns
Roller is mainly driven to roll along roller axis direction when son rotation；Now by taking wheel 1 as an example, by wheel roll speed VgiSingle vehicle can be obtained
Take turns X, Y-direction speed；
v1x=vg1×sinα (1)
v1y=vg1×cosα (2)
It can be obtained by formula (1), (2):
vg1=v1x×sinα+v1y×cosα (3)
And vehicle wheel rotational speed and roll speed have following relationship:
ω1× R × cos α=vg1 (4)
The angle of eccentricity of Mecanum wheel roller is 45 °, therefore combines (3), (4) that can obtain:
ω1× R=v1x+v1y (5)
In addition, by the speed [v of mobile platform center ox, vy, ωz], single wheel X, Y-direction speed equally can be obtained, to wheel 1
For, there is following relational expression:
v1x=vx+ωz×L2 (6)
v1y=vy+ωz×L1 (7)
Convolution (5) (6) (7) can obtain the relational expression of 1 revolving speed of wheel and mobile platform central point o speed:
ω1× R=vx+vy+ωz×(L1+L2) (8)
Similarly other three wheels are analyzed and can be obtained, the relationship of four vehicle wheel rotational speeds and mobile robot central speed:
Above formula is converted to obtain the relationship between mobile robot central speed and four vehicle wheel rotational speeds:
Utilize (9) (10) two relational expressions that can be used to control the speed of robot, and the speed of feedback robot.
4. a kind of quick cargo handling machinery equipment of clipping type as described in claim 1, which is characterized in that under automatic mode,
Master control borad can carry out execution movement, the work requirements and work of automatic control mode according to the movement and sequence set in program
Process: cargo is scattered in carrying initial position (12) under original state, it is desirable that S-shaped bypasses two barriers (13), by goods
Object is quickly transported to as far as possible in the border circular areas for carrying target area (14)；Its workflow are as follows: arrive first at cargo area
(12), it clamps and lifts first cargo；Then it in first stack of goods to second cargo and will decontrol；Next is clamped simultaneously
Second cargo is lifted, is stacked on third cargo and decontrols simultaneously；Again, three cargos are clamped and are lifted, according to program
Interior preset route S-shaped cut-through object (13) reaches target area (14)；The cargo that finally heap is folded puts target area into
(14) it in border circular areas, returns to starting cargo area (12) and repeats above-mentioned movement, carry and complete until all cargos.
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| CN111573121A (en) * | 2020-05-18 | 2020-08-25 | 焦东升 | Safe brick clamping frame for building construction |
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| CN110374031A (en) * | 2019-07-19 | 2019-10-25 | 河南工程学院 | The converting means and method in highway bridge tide lane |
| CN110893969A (en) * | 2019-12-20 | 2020-03-20 | 武义普巴机械设备有限公司 | A freight picks up floor truck for intelligent warehouse |
| CN111573121A (en) * | 2020-05-18 | 2020-08-25 | 焦东升 | Safe brick clamping frame for building construction |
| CN113759931A (en) * | 2021-09-18 | 2021-12-07 | 上海应用技术大学 | Embrace formula of clamp automated guided transporting vehicle |
| CN116923589A (en) * | 2023-09-14 | 2023-10-24 | 山东加法图灵机器人科技有限公司 | Multifunctional automatic walking transfer robot |
| CN116923589B (en) * | 2023-09-14 | 2023-11-24 | 山东加法图灵机器人科技有限公司 | Multifunctional automatic walking transfer robot |
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Application publication date: 20190101 |