CN110341831A - The collaboration handling system and its complex navigation device of double-movement robot flexibility connection - Google Patents
The collaboration handling system and its complex navigation device of double-movement robot flexibility connection Download PDFInfo
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- CN110341831A CN110341831A CN201910418899.1A CN201910418899A CN110341831A CN 110341831 A CN110341831 A CN 110341831A CN 201910418899 A CN201910418899 A CN 201910418899A CN 110341831 A CN110341831 A CN 110341831A
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- robot
- carrier
- movement
- support frame
- positioning parts
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
- B62D63/04—Component parts or accessories
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0287—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling
- G05D1/0291—Fleet control
- G05D1/0295—Fleet control by at least one leading vehicle of the fleet
Abstract
The present invention discloses the collaboration handling system and its complex navigation device of a kind of double-movement robot flexibility connection that can be used for heavily loaded big component conveying, is related to Intelligent logistics carrying robot field.Collaboration handling system includes the pilot robot of two linear formations of group and follows robot.The front end of variation rigidity delivery tooling is connected by active revolute pair with pilot robot, and rear end is connected by passive rotation pair and resilient movement pair with robot is followed, and has elastic force and damping force between the movement parts and basic part in resilient movement pair.Complex navigation device includes the heterogeneous sensor of the position and posture for detecting mobile robot and variation rigidity delivery tooling, it is distributed on multiple and different objects by mechanical attachment, the pose measurement of multi-body movement system is completed in conjunction with multi-source heterogeneous sensor data fusion method.
Description
Technical field
The present invention relates to Intelligent logistics carrying robot field, specifically a kind of double-movement that can be used for large-sized object conveying
The collaboration handling system and its complex navigation device of robot flexibility connection.
Background technique
Traditional industries and emerging industry fortune with the continuous improvement of National Industrial level, including some industrial enterprises
The continuous expansion of battalion's scale, the work such as traditional logistics mode has gradually been unable to meet production manufacture, logistics transhipment is sent with charge free.For
The scenes such as Large-Scale Equipment general assembly scene and dock container transhipment, still mostly use greatly gantry crane, derrick crane etc. to pass at present
The limitations such as transportation system of uniting carries out the transport of large-sized object, and it is big that there are occupied spaces, and energy consumption is high, and system extension malleability is limited.
Multiple formed multiple-mobile-robot systems of mobile robot, while being kept fixed formation even running, have single shifting
The unexistent carrying capacity of mobile robot.The composability that multiple mobile robot collaborations are carried, has some large complicated
While the carrying conveying capacity of workpiece, but also the utilization rate of mobile robot is effectively improved in logistics scene.
Currently, the industry spot for large parts, large-sized object is transported, still using industry such as gantry crane, cranes
Track lifting appliance is such as located at the C919 assembly shop in Shanghai, when carrying out the docking of Wing-Body Configurations etc., still using positioned at workshop top
Goliath carries out the conveying and docking of frame sections and portion's installation wing.And it is located at Shanghai Yangshan port and Xiamen off-lying sea automation code
The container automatic of head transports, then uses the automatic of the method realization van container for increasing separate unit mobile robot figure
Compound stream.However, that there are occupied spaces is big for traditional industry tracks suspender, running route is fixed, flexible difference and safety difference etc.
Defect；And the figure by increasing mobile robot carries out the method for carrying of large-sized object, while increasing energy consumption, and limits
The passability of mobile robot is made.Using multiple mobile robots carry out large-sized object material flows automation conveying, have with
Lower advantage: 1. convenient for the management to mobile robot；2. improving logistics delivery system stability and robustness；3. expanding moving machine
Device people's utilizes field, keeps the means of conveyance of robot more diversified；4. improving the delivery utilization rate of mobile robot；5 systems
System has higher safety, robustness and flexibility.Realize the coordinate synchronization running of multiple mobile robot in the process of running
With formation keep, realize multiple mobile robot cooperate with carry, by substantially improve current large volume, big weight material conveying show
Shape has wide application scenarios.
Instantly, for multirobot approach to formation control, domestic and foreign scholars propose Behavior-based control method, Artificial Potential Field Method,
Virtual architecture keeps method, distributed AC servo system method, round-robin method, navigator to follow many theoretical methods such as method.Wherein, the control of Behavior-based control
Method processed is relatively simple, but is difficult to ensure the stability of formation；Using Artificial Potential Field Method have outstanding real-time control capability but
It needs to obtain with the more matched potential function of formation demand for control, and due to the uncertainty of movement routine and the difficulty of running precision
To guarantee, it is mostly used for the scene of Autonomous Obstacle Avoidance for Mobile Robot；Distribution requires single mobile robot to have high control
Processing capacity processed, this requires mobile robot for the perception processing capacity of environment in multiple mobile robot's Collaboration system
Has extremely strong ability.Based on above method, the navigation of multi-robot system is constructed lot of domestic and foreign experts and scholars and fortune
Row control field has carried out comprehensive expansion and research, has formd the theory of the multiple mobile robot of architecture maturing
Research field.However, the multirobot technology for being applied to industry spot is needed for actual design.Currently, design can be used for work
Industry scene multiple mobile robot cooperates with the achievable scheme of handling system still less, and multiple mobile robot's technology synergy is removed
The application of transportation technique is still not perfect.
Therefore, the in summary current situation to multiple mobile robot's application field and its wide application value and practical
Prospect, designer of the present invention is based on the guiding of multiple mobile robot's distributed freedom, with reference to the basic framework for navigating-following,
A kind of double-movement robot flexibility connection collaboration handling system and its complex navigation device have been founded, and has been set as mature structure
Meter method is applied to the automatic material flow conveying of large-sized object, further expands the exploitation value of mobile robot industrially
Value.
Summary of the invention
The present invention in order to solve problems in the prior art, carry by the collaboration for providing a kind of double-movement robot flexibility connection
System and its complex navigation device have the incomparable carrying capacity of single mobile robot and remove better than conventional large-sized object
The cost performance and flexibility of fortune mode.
The present invention constructs a kind of collaboration handling system of double-movement robot flexibility connection, including two pass through variation rigidity
Deliver the mobile robot of Flexible fixture connection；The linear formation of two mobile robot groups, the former is pilot robot,
The latter is to follow robot；The variation rigidity delivery tooling includes big positioning parts support frame, universal wheel with dynamic model group, active turn
Dynamic secondary, passive rotation pair and resilient movement pair；The front end of the variation rigidity delivery tooling passes through active revolute pair and navigator's machine
People is connected, and rear end is connected by passive rotation pair and resilient movement pair with robot is followed.Within the system, active revolute pair
For actively adjusting the relative rotation between pilot robot and big positioning parts support frame；Passive rotation pair is used for basis and follows
The operation posture of robot and big positioning parts support frame and lateral running position, automatic adjusument between the two opposite turn
Angle；Resilient movement pair is used for according to the longitudinally running position for following robot Yu big positioning parts support frame, automatic adjusument two
Relative distance between person.
In the present invention, the resilient movement pair includes that the upper movement made a relative move by linear guide rail device is held
Load plate and lower mobile carrier, upper mobile carrier are fixedly connected with big positioning parts support frame, lower mobile carrier and passive
Revolute pair is fixedly connected；Running fix block, damping element and elasticity are provided between upper mobile carrier and lower mobile carrier
Element, the running fix block are mounted on the center of mobile carrier；When upper mobile carrier is held relative to lower movement
When load plate moves along a straight line, damping element is used to generate the damping force directly proportional to speed of related movement, and to upper mobile carrier
Range of relative motion carry out mechanical position limitation, elastic element is displaced directly proportional elastic force to relative motion for generating.
Further, the linear guide rail device includes two parallel with big positioning parts support frame, and about moving down
The dynamic centrosymmetric linear guide of carrier, every linear guide include linear guide basic part and linear guide movement parts,
Linear guide basic part is fixedly connected with lower mobile carrier, and linear guide movement parts are fixedly connected with upper mobile carrier；Institute
It is parallel with linear guide rail device to state damping element, and about lower mobile carrier central symmetry, each damping element includes damping
Element guide tube and damping element jacking block, form mechanical position limitation between damping element guide tube and damping element jacking block；The elasticity member
Part is parallel with linear guide rail device, and about lower mobile carrier central symmetry, each elastic element includes that elastic element is fixed
End and elastic element mobile terminal, elastic element mobile terminal is connected with linear guide movement parts, when running fix block is led positioned at straight line
When rail middle position, all elastic element is in free state.
In the present invention, the passive rotation pair uses the second thrust ball bearing, and the blowout patche of the second thrust ball bearing is under
Mobile carrier is fixedly and coaxially connected, and the seat ring of the second thrust ball bearing by the second platform and follows robot is fixed to connect
It connects.
In the present invention, the active revolute pair has relatively turnable upper rotation carrier and lower rotation carrier,
Upper rotation carrier is connect with lower rotation carrier by the first thrust ball bearing；The blowout patche of first thrust ball bearing with it is upper
Rotation carrier is fixedly connected, and the seat ring of the first thrust ball bearing is fixedly connected with lower rotation carrier；Upper rotation carrier with
Big positioning parts support frame is fixedly connected, and lower rotation carrier is fixedly connected by the first platform with pilot robot；Under described
Steer-drive is installed on rotation carrier, the output shaft of the steer-drive is equipped with first bevel gear, upper to turn
Dynamic carrier central coaxial is fixedly connected with second bevel gear, and first bevel gear passes through orthogonal engaged transmission with second bevel gear.
In the present invention, the big positioning parts support frame has the positioning reference plane and fixing clamp of the big component of carrying heavy duty
Tight device；The universal wheel has rigidity supporting structure and multiple directions of motion adjustable, unpowered universal with dynamic model group
Wheel.
Correspondingly, the present invention devises a kind of composite guide that collaboration handling system is connected for double-movement robot flexibility
Navigate device.The complex navigation device implementation is the position for detecting mobile robot and big positioning parts support frame
With the heterogeneous sensor of posture, it is distributed on multiple and different objects by mechanical attachment, as the position of multi-body movement system
Appearance measurement: including the in-vehicle camera, wheel encoder and obstacle avoidance sensor being mounted in mobile robot, it is fixed to be mounted on big component
Supplied laser navigation apparatus and inertial navigation unit on the support frame of position, the displacement sensor being mounted in resilient movement pair, power sense
Device and limit switch, the second angle for being mounted on the first angle sensor of active revolute pair and being mounted in passive rotation pair
Sensor；Guiding terrestrial reference that the in-vehicle camera is arranged on ground for identification simultaneously detects the global position of mobile robot and complete
Office's posture, the wheel encoder are used to detect the relative displacement and the speed of service of mobile robot, and the obstacle avoidance sensor is used
Barrier in front of detection mobile robot, the supplied laser navigation apparatus geometrical characteristic of running environment and detection for identification
The global position of big positioning parts support frame and global posture, the inertial navigation unit is for detecting big positioning parts support frame
Linear acceleration, linear velocity and angular acceleration, the angular speed of movement, institute's displacement sensors follow robot and big for detecting
Relative displacement between positioning parts support frame, the force snesor follow robot and big positioning parts support frame for detecting
Between interaction force, the limit switch is for detecting the pole for following robot relative to big positioning parts support movements
Extreme position, the first angle sensor are used to detect first opposite turn between pilot robot and big positioning parts support frame
Angle, the second angle sensor is for detecting the second relative rotation followed between robot and big positioning parts support frame.
In the present invention, first leaning forward in-vehicle camera diagonally downward is installed in front of the pilot robot, in
Between be equipped with one vertically downward first in hang down in-vehicle camera, described follow is equipped with one in front of robot diagonally downward
Second leans forward in-vehicle camera, centre be equipped with one vertically downward second in hang down in-vehicle camera, be laid on ground for identification
Ink ribbon and positioning two dimensional code；First rotary encoder is installed on the driving wheel of pilot robot, follows robot
Driving wheel on the second rotary encoder is installed, for providing odometer information；First is equipped in front of pilot robot
Obstacle avoidance sensor is equipped with the second obstacle avoidance sensor following in front of robot.
In the present invention, variation rigidity delivery tooling front-end and back-end at the top of be separately installed with first laser navigation device and
Second laser navigation device, two supplied laser navigation apparatus are located on the horizontal plane of different height, and ambient enviroment is several for identification
What feature；Inertial navigation unit is installed in the mass center region of variation rigidity delivery tooling, for detecting heavily loaded big component movement
Angular displacement and acceleration.
In the present invention, displacement sensing is installed between the lower mobile carrier and upper mobile carrier of resilient movement pair
Device, institute's displacement sensors include displacement sensor mobile terminal and displacement sensor fixing end, and displacement sensor fixing end is under
Mobile carrier is fixedly connected, and parallel with two groups of linear guides, and displacement sensor mobile terminal is connect with running fix block；Under
Force sensor and limit switch are also symmetrically installed on mobile carrier, and be located at damping element guide tube and damping element jacking block it
Between mechanical position limitation position on, the force snesor is connected with elastic element fixing end, and the limit switch detects damping element
Contact condition between jacking block and damping element guide tube.
In the present invention, first angle sensor is installed in active revolute pair, the first angle sensor body with
Upper rotation carrier is connected, and the rotary measuring head of first angle sensor initially passes through the centre bore of second bevel gear (21), then passes through
First angle sensor stand and lower rotation carrier rotary stopper are connected；Second angle sensing is installed in passive rotation pair
Device, the second angle sensor body and lower mobile carrier are connected, and the rotary measuring head of second angle sensor passes through second
Angular transducer bracket and the second platform rotary stopper are connected.
The beneficial effects of the invention are that:
It pilot robot (1) and is followed robot (36) by variation rigidity delivery tooling (5) connection, forms a kind of flexible connection
Handling system is cooperateed with, the concertedness and accuracy of double-movement robot motion can be improved.Specifically: active revolute pair (2) is logical
The relative rotation actively adjusted between pilot robot (1) and big positioning parts support frame (6) is crossed, to reduce big positioning parts
The attitude error of support frame (6)；Passive rotation pair (3) basis follows robot (36) and big positioning parts support frame (6)
Posture and lateral running position are run, the relative rotation of automatic adjusument between the two follows robot (36) to reduce
Attitude error and transverse position error；Resilient movement pair (4) basis follows robot (36) and big positioning parts support frame (6)
Longitudinally running position, the relative distance of automatic adjusument between the two follows the lengthwise positions of robot (36) to reduce
Error.
Complex navigation device, can be from using being distributed in heterogeneous sensor on multiple and different objects by mechanical attachment
Position and the posture of multiple dimension measurement mobile robots and big positioning parts support frame (6), improve the collaboration of two-track mobile robot
The accuracy and robustness of handling system location navigation.Specifically:
Guiding terrestrial reference that in-vehicle camera is arranged on ground for identification and the global position and global posture for detecting mobile robot,
Wheel encoder is used to detect the relative displacement and the speed of service of mobile robot；
Supplied laser navigation apparatus the geometrical characteristic of running environment and detects the global position of big positioning parts support frame (6) for identification
With global posture, inertial navigation unit (27) be used to detect the linear acceleration of big positioning parts support frame (6) movement, linear velocity with
And angular acceleration, angular speed；
Displacement sensor (28) is used to detect the relative displacement followed between robot (36) and big positioning parts support frame (6),
Force snesor (29) is for detecting the interaction force followed between robot (36) and big positioning parts support frame (6), and first
Angular transducer (30) is used to detect the first relative rotation between pilot robot (1) and big positioning parts support frame (6), the
Two angular transducers (31) follow second between robot (36) and big positioning parts support frame (6) opposite turn for detecting
Angle；
As it can be seen that complex navigation device of the invention detects the global position of mobile robot respectively and global posture, big component are determined
The relative displacement and phase of the global position of position support frame (6) and global posture, mobile robot and big positioning parts support frame (6)
To corner, then using the accuracy and robust of multi-source heterogeneous sensor data fusion method raising multi-body movement system pose measurement
Property.
Detailed description of the invention
Fig. 1 is the structure composition schematic diagram of double-movement robot flexibility connection collaboration handling system.
Fig. 2 is to follow the resilient movement of robot side secondary and the components assembly explosive view of passive rotation pair.
Fig. 3 is that the mechanism of resilient movement pair forms schematic diagram.
Fig. 4 is that the components of the active revolute pair of pilot robot side assemble explosive view.
Fig. 5 is pilot robot and the sensor scheme of installation for following robot.
Fig. 6 is the installation partial view of passive rotation pair second angle sensor.
The installation partial view of revolute pair first angle sensor is moved based on Fig. 7.
Wherein, the label in figure indicates: 1- pilot robot, 2- active revolute pair, 3- passive rotation pair, 4- resilient movement
Pair, 5- variation rigidity deliver tooling, and the big positioning parts support frame of 6-, 7- universal wheel is with dynamic model group, and mobile carrier, 9- are moved down on 8-
Dynamic carrier, 10- linear guide basic part, 11- linear guide movement parts, 12- running fix block, 13- damping element, 14- bullet
Property element, the second thrust ball bearing of 15-, the second platform of 16- rotate carrier on 17-, carrier, 19- first are rotated under 18-
Thrust ball bearing, 20- steer-drive, 21- second bevel gear, 22- first lean forward in-vehicle camera, hang down in 23- first vehicle-mounted
Camera, the first rotary encoder of 24-, 25- first laser navigation device, 26- second laser navigation device, 27- inertial navigation dress
It sets, 28- displacement sensor, 29- force snesor, 30- first angle sensor, 31- second angle sensor, the first avoidance of 32-
Sensor, the second obstacle avoidance sensor of 33-, 34- second lean forward in-vehicle camera, and hang down in-vehicle camera in 35- second, and 36- is with random device
People, 37- limit switch, the second rotary encoder of 38-, the first platform of 39-, 40- first angle sensor stand, second jiao of 41-
Spend sensor stand, 42- restraining position, 43- first bevel gear, 44- damping element guide tube, 45- damping element jacking block, 46- the
Two holding screws, the first holding screw of 47-, mobile carrier sleeve under 48-, 49- the second platform sleeve rotate carrying on 50-
Disk sleeve rotates carrier sleeve under 51-.
Specific embodiment
The present invention will be further explained below with reference to the attached drawings.
With reference to attached drawing 1, based on a kind of double-movement robot flexibility connection collaboration handling system disclosed by the invention, You Liangtai
The mobile robot composition that tooling 5 is flexibly connected is delivered by variation rigidity.Two linear formations of mobile robot group, with reference to more
Mobile robot is navigated-followed, and formation is tactful, the former is pilot robot 1, and the latter is to follow robot 36.Variation rigidity delivers work
5 are filled for being flexibly connected pilot robot 1 and following robot 36, which is servo-actuated by big positioning parts support frame 6, universal wheel
Mould group 7, active revolute pair 2, passive rotation pair 3 and resilient movement pair 4 form.The front end of variation rigidity delivery tooling 5 passes through actively
Revolute pair 2 is connected with pilot robot 1, rear end by passive rotation pair 3 and resilient movement pair 4 with follow 36 phase of robot
Even.In the system, active revolute pair 2 is used to actively adjust opposite turn between pilot robot 1 and big positioning parts support frame 6
Angle；Passive rotation pair 3 is for according to the operation posture for following robot 36 and big positioning parts support frame 6 and lateral operating position
It sets, the relative rotation of automatic adjusument between the two；Resilient movement pair 4 follows robot 36 and big positioning parts branch for basis
The longitudinally running position of support 6, the relative distance of automatic adjusument between the two.
Attached drawing 2 is to follow the resilient movement of robot side secondary and the components assembly explosive view of passive rotation pair.Wherein, bullet
Property prismatic pair 4 there is relatively-movable mobile carrier 8 and lower mobile carrier 9, wherein above move carrier 8 and big
6 front end pedestal of positioning parts support frame is fixedly connected, and lower mobile carrier 9 is fixedly connected with passive rotation pair 3.
Attached drawing 3 is that the mechanism of resilient movement pair 4 forms schematic diagram.Upper mobile carrier 8 and lower movement in resilient movement pair 4
Two linear guide rail devices are installed, every linear guide includes that linear guide basic part 10 and straight line are led between carrier 9
Rail movement parts 11, for constituting the mobile auxiliary structure in single direction.For realize Stable sliding, upper mobile carrier 8 with move down
Between dynamic carrier 9, symmetrical two linear guide basic parts 10 are parallel with big positioning parts support frame 6, and about moving down
Dynamic 9 central symmetry of carrier.Four linear guide movement parts 11 are mounted on two linear guide basic parts 10.Linear guide base
Plinth part 10 is fixedly connected with lower mobile carrier 9, and linear guide movement parts 11 are fixedly connected with upper mobile carrier 8, thus on
Has the function of relative movement between mobile carrier 8 and lower mobile carrier 9.
In conjunction with attached drawing 2 and 3, running fix block 12 is installed in the center of upper mobile carrier 8, and be located at two directly
The position of center line of line guide rail, 12 one end of running fix block and upper mobile carrier 8 are connected, the other end and displacement sensor 28
Mobile terminal is connected.
In the outside of linear guide basic part 10, four are equipped between linear guide movement parts 11 and lower mobile carrier 9
A damping element 13, every side are arranged symmetrically two, and damping element jacking block 45 and linear guide movement parts 11 are connected, and damping element is led
Cylinder 44 is connected with lower mobile carrier 9.Damping element 13 is parallel with two groups of linear guide rail devices, and about lower mobile carrier 9
Central symmetry.When upper mobile carrier moves along a straight line relative to lower mobile carrier, damping element 13 is for generating and relatively
The directly proportional damping force of movement velocity, and mechanical position limitation is carried out to the range of relative motion of upper mobile carrier, it improves with random
The stationarity and safety that device people 36 follows big positioning parts support frame 6 to move.
Damping element jacking block 45 and linear guide movement parts 11 are connected, when the stroke of linear guide movement parts 11 reaches limit
When position 42, damping element jacking block 45 contacts and dieback with damper guide tube 44, hinder linear guide movement parts 11 into one
Step movement, forms mechanical position limitation.Meanwhile force sensor 29 and limit switch being installed in the restraining position of resilient movement pair 4 42
37.When the offset between the upper mobile carrier 8 of prismatic pair and lower mobile carrier 9 will be more than safe range, straight line
Guide rail movement parts 11 reach restraining position 42, trigger limit switch 37, and by damping element jacking block and damping element guide tube it
Between mechanical position limitation guarantee on mobile carrier 8 and lower mobile carrier 9 relative motion without departing from safe range.
In 10 inside of linear guide basic part, two groups are equipped between linear guide movement parts 11 and lower mobile carrier 9
Elastic element 14, every side every group two totally four；Each elastic element includes elastic element fixing end and elastic element mobile terminal,
Elastic element fixing end is fixed on prismatic pair restraining position 42, and elastic element mobile terminal is connected with linear guide movement parts 11.When
When running fix block 12 is located at linear guide middle position, all elastic element 14 is in free state；When running fix block
When 12 generation straight-line displacement, show that relative motion has occurred between upper mobile carrier 8 and lower mobile carrier 9, every side elasticity
Element one is stretched, another is compressed, and drawing force and compressing force can be examined by the force snesor 29 of 14 end of elastic element
It surveys.
In fig 2, lower mobile carrier 9, the second thrust ball bearing 15 and the second platform 16 constitute shown in attached drawing 1
Passive rotation pair 3.Wherein, the blowout patche of the second thrust ball bearing 15 is fixedly and coaxially connected with lower mobile carrier 9, and second
The seat ring of thrust ball bearing is fixedly connected by the second platform 16 with robot 36 is followed.
Attached drawing 6 is the installation partial view of passive rotation pair second angle sensor.In figure 6, the second thrust ball axis
It holds 15 blowout patche and lower mobile 48 outer wall of carrier sleeve of lower mobile carrier 9 is formed and is interference fitted, pass through the interference fit
So that the blowout patche of the second thrust ball bearing 15 is fixedly and coaxially connected with lower mobile carrier 9；Second thrust ball bearing 15
49 inner wall of the second platform sleeve on seat ring and the second platform 16 forms interference fit, and by the interference fit so that second pushes away
The seat ring of power ball bearing 15 is fixedly connected with the second platform 16.It is also filled between lower mobile carrier 9 and the second platform 16
There is second angle sensor 31, for measuring the relative rotation generated between lower mobile carrier 9 and the second platform 16, Yi Jiyun
During row, big positioning parts support frame 6 and the second relative rotation between robot 36 is followed.
Attached drawing 4 is that the components of the active revolute pair of pilot robot side assemble explosive view.In figure 4, it actively rotates
Pair 2 includes the upper rotation carrier 17 and lower rotation carrier 18 connected by the first thrust ball bearing 19.First thrust ball axis
It holds 19 blowout patche to be fixedly connected with upper rotation carrier 17, the seat ring of the first thrust ball bearing 19 and the fixation of lower rotation carrier 18
Connection.Upper rotation carrier 17 is fixedly connected with big positioning parts support frame 6, lower rotation carrier 18 by the first platform 39 with
Pilot robot 1 is fixedly connected.Steer-drive 20, the steer-drive are also equipped on lower rotation carrier 18
Output shaft first bevel gear 43 is installed, upper 17 central coaxial of rotation carrier is fixedly connected with second bevel gear 21, first
Bevel gear 43, by orthogonal engaged transmission, carries with second bevel gear 21 so that steer-drive 20 can drive to rotate
Disk 17 rotates.
The installation partial view of revolute pair first angle sensor is moved based on attached drawing 7.In conjunction with attached drawing 7, the first thrust ball axis
It holds 19 blowout patche and upper 50 outer wall of rotation carrier sleeve of upper rotation carrier 17 is formed and is interference fitted, pass through the interference fit
So that the blowout patche of the first thrust ball bearing 19 is fixedly and coaxially connected with upper rotation carrier 17；First thrust ball bearing 19
Seat ring and it is lower rotation carrier 18 lower 51 inner wall of rotation carrier sleeve formed be interference fitted, and pass through the interference fit so that
The seat ring of first thrust ball bearing 19 is fixedly connected with lower rotation carrier 18.It is held in upper rotation carrier 17 and lower rotation
First angle sensor 30 is also equipped between load plate 18, for measuring the phase between upper rotation carrier 8 and lower rotation carrier 9
The first relative rotation to corner, that is, in operational process, between big positioning parts support frame 6 and pilot robot 1.
In fig. 1, big positioning parts support frame 6 has the positioning reference plane of the big component of carrying heavy duty and fixes to clamp dress
It sets, for carrying out fixing to clamp and supporting for big component in handling process.Due to supporting role, big positioning parts support frame 6 with
The stress generated between active revolute pair 2, resilient movement pair 4 mainly acts on big positioning parts support frame 6, to reduce quilt
Carry stress suffered by workpiece.Universal wheel is adjustable with rigidity supporting structure and two groups of the lower part direction of motion with dynamic model group 7,
Unpowered universal wheel can form supporting role to the middle part of big positioning parts support frame 6, reduce because of big positioning parts
Middle bent deformation quantity caused by 6 length of support frame is too long.
Attached drawing 5 is pilot robot and the sensor scheme of installation for following robot.It is a kind of in conjunction with attached drawing 1 and attached drawing 5
For the complex navigation device of two-track mobile robot collaboration handling system, existence form is for detecting mobile robot and big
The position of positioning parts support frame 6 and the heterogeneous sensor of posture.The heterogeneous sensor is distributed in through the multiple of mechanical attachment
On different objects, to carry out the pose measurement of multi-body movement system.The complex navigation device includes being mounted on moving machine
In-vehicle camera, wheel encoder and obstacle avoidance sensor on device people, the laser navigation dress being mounted on big positioning parts support frame 6
It sets and inertial navigation unit, displacement sensor 28, force snesor 29 and the limit switch 37 being mounted in resilient movement pair 4 is pacified
First angle sensor 30 mounted in active revolute pair 2 and the second angle sensor 31 that is mounted in passive rotation pair 3.Institute
Guiding terrestrial reference that the in-vehicle camera stated is arranged on ground for identification and the global position and global posture for detecting mobile robot,
The wheel encoder is used to detect the relative displacement and the speed of service of mobile robot, and the obstacle avoidance sensor is moved for detecting
Barrier in front of mobile robot, the supplied laser navigation apparatus geometrical characteristic of running environment and to detect big component fixed for identification
The global position of position support frame 6 and global posture, the inertial navigation unit 27 are moved for detecting big positioning parts support frame 6
Linear acceleration, linear velocity and angular acceleration, angular speed, institute's displacement sensors 28 follow robot 36 and big for detecting
Relative displacement between positioning parts support frame 6, the force snesor 29 follow robot 36 and big positioning parts for detecting
Interaction force between support frame 6, the limit switch 37 follow robot 36 relative to big positioning parts branch for detecting
The extreme position that support 6 moves, the first angle sensor 30 is for detecting pilot robot 1 and big positioning parts support frame
The first relative rotation between 6, the second angle sensor 31 follow robot 36 and big positioning parts to support for detecting
The second relative rotation between frame 6；
In figure 5, navigate/follow robot front and middle part be respectively provided with lean forward in-vehicle camera and in hang down in-vehicle camera.Its
In first lean forward in-vehicle camera 22 and second in-vehicle camera 34 that leans forward is installed obliquely, in the in-vehicle camera 23 and second that hangs down in first
The in-vehicle camera 35 that hangs down is installed vertically downward；In pilot robot and robot front position is followed to be separately installed with the first avoidance biography
32 second obstacle avoidance sensor 33 of sensor；It pilot robot and follows and is separately installed with the first rotary encoder 24 on robot wheel
With the second rotary encoder 38, rotary encoder is loaded on axis wheel position.
In attached drawing 1 and 5, first leaning forward in-vehicle camera 22 diagonally downward, centre peace are installed in front of pilot robot 1
Equipped with the in-vehicle camera 23 that hangs down in first vertically downward, the ink ribbon being laid on ground and positioning two both can be used to identify
Tie up code；First rotary encoder 24 is installed on the driving wheel of pilot robot, for providing odometer information and pathfinder
Device people's vehicle wheel rotational speed；First obstacle avoidance sensor 32 is installed in front of pilot robot, for detecting the obstacle on traffic direction
Object information.Similarly, it follows and second leaning forward in-vehicle camera 34 diagonally downward is installed in front of robot 36, centre is equipped with vertical
Hang down in-vehicle camera 35 in straight downward second；Second rotary encoder 38 is installed on driving wheel, follows robot for providing
Odometer information and vehicle wheel rotational speed；Following the second obstacle avoidance sensor 33 is installed in front of robot 36, for detecting operation
Obstacle information on direction.
In fig. 1, first laser navigation device 25 is separately installed at the top of variation rigidity delivery 5 front-end and back-end of tooling
With second laser navigation device 26, two supplied laser navigation apparatus are located on the horizontal plane of different height, for identification ambient enviroment
Geometrical characteristic, wherein first laser navigation device 25 is installed on the top of pilot robot, and second laser navigation device 26 is pacified
Loaded on the top for following robot；Inertial navigation unit 27 is installed in the mass center region of variation rigidity delivery tooling 5, for detecting
Linear acceleration, linear velocity and angular acceleration, the angular speed of heavily loaded big 6 movement of positioning parts support frame.
In conjunction with attached drawing 2 and 3, in complex navigation device displacement sensor, force snesor, angular transducer installation knot
Structure is illustrated.Displacement sensor 28, force snesor 29 and limit switch 37 are installed in resilient movement pair 4.Displacement sensing
Device 28 includes displacement sensor mobile terminal and displacement sensor fixing end, and displacement sensor fixing end and lower mobile carrier 9 are solid
Fixed connection, and it is parallel with two groups of linear guides, displacement sensor mobile terminal is solid by running fix block 12 and upper mobile carrier 8
Fixed connection.Displacement sensor 28 is for detecting relative position of the mobile carrier 8 relative to lower mobile carrier 9.Power sensing
Device 29 is installed on the end of elastic element 14, for detecting the pulling force between linear guide movement parts 11 and both ends elastic element 14
Or pressure.Limit switch 37 is used on the mechanical position limitation position 42 between damping element guide tube 44 and damping element jacking block 45
Contact condition between detection damping element jacking block and damping element guide tube.When following robot 36 and variation rigidity to deliver tooling
When generating offset deviation between 5, which can be measured by displacement sensor 28 and move up and down the distance between carrier deviation
And it measures, while the elastic acting force moved up and down between carrier can be detected by force snesor 29.
In conjunction with attached drawing 2 and 6, second angle sensor 31 is installed in passive rotation pair 3, for detecting lower mobile carrying
The second relative rotation between disk 9 and the second platform 16, i.e. big positioning parts support frame 6 with follow the second opposite of robot 36
Corner.The rotary measuring head of second angle sensor 31 is connected by second angle sensor stand 41 and the second platform 16, and second
The ontology of angular transducer 31 and lower mobile carrier 9 are connected.The rotary measuring head of second angle sensor 31 is inserted into second angle
After the mounting hole of sensor stand 41, there is the second holding screw 46 to complete the rotary measuring head of second angle sensor 31 radially
With the axial rotary spacing of second angle sensor stand 41.
In conjunction with attached drawing 4 and 7, first angle sensor 30 is installed in active revolute pair 2, for detecting upper rotation carrying
The first relative rotation between disk 17 and lower rotation carrier 18, i.e., big positioning parts support frame 6 and the first of pilot robot 1
Relative rotation.The rotary measuring head of first angle sensor 30 is sensed across the centre bore of second bevel gear 21 by first angle
Device bracket 40 and lower rotation carrier 18 are connected, and 30 ontology of first angle sensor and upper rotation carrier 17 are connected.First jiao
After spending the mounting hole of rotary measuring head insertion first angle sensor stand 40 of sensor 30, there is the first holding screw radially
47 complete the axial rotary spacing of the rotary measuring head of first angle sensor 30 and first angle sensor stand 40.
As a result, when big positioning parts support frame 6 produces relative rotation with pilot robot 1, first angle sensor 30
It can be obtained the first relative rotation between the two by the angular deviation that measurement rotates up and down carrier.When big positioning parts
Support frame 6 and when robot 36 being followed to produce relative rotation, second angle sensor 31 pass through the lower mobile carrier 9 of measurement and the
Angular deviation between two platforms 16 can be obtained the second relative rotation between the two.
There are many concrete application approach of the present invention, the above is only a preferred embodiment of the present invention, it is noted that for
For those skilled in the art, without departing from the principle of the present invention, it can also make several improvements, this
A little improve should also be as being considered as protection scope of the present invention.
Claims (10)
1. a kind of collaboration handling system of double-movement robot flexibility connection, it is characterised in that: including delivering work by variation rigidity
Dress (5) connects the pilot robot (1) of linear formation and follows robot (36), and variation rigidity delivery tooling (5) includes
Big positioning parts support frame (6), universal wheel are with dynamic model group (7), active revolute pair (2), passive rotation secondary (3) and resilient movement pair
(4)；Big positioning parts support frame (6) bottom is equipped with universal wheel with dynamic model group (7)；Big positioning parts support frame (6) front end is logical
It crosses active revolute pair (2) to be connected with pilot robot (1), active revolute pair (2) is pilot robot (1) and big for actively adjusting
Relative rotation between positioning parts support frame (6)；Big positioning parts support frame (6) rear end by passive rotation pair (3) and
Resilient movement pair (4) is connected with robot (36) is followed, and passive rotation pair (3) is used for basis and follows robot (36) and big component
The operation posture of positioning supporting frame (6) and lateral running position, the relative rotation of automatic adjusument between the two；Resilient movement pair
(4) for according to following the longitudinally running positions of robot (36) Yu big positioning parts support frame (6), both automatic adjusuments it
Between relative distance.
2. the collaboration handling system of double-movement robot flexibility connection according to claim 1, it is characterised in that: described
Resilient movement pair (4) includes the upper mobile carrier (8) made a relative move by linear guide rail device and lower mobile carrier
(9), upper mobile carrier (8) is fixedly connected with big positioning parts support frame (6), lower mobile carrier (9) and passive rotation pair
(3) it is fixedly connected；Running fix block (12), damping element are provided between upper mobile carrier (8) and lower mobile carrier (9)
(13) and elastic element (14), the running fix block (12) are mounted on the center of mobile carrier (8)；When upper movement
When carrier (8) moves along a straight line relative to lower mobile carrier (9), damping element (13) for generate and speed of related movement at
The damping force of direct ratio, and mechanical position limitation is carried out to the range of relative motion of upper mobile carrier (8), elastic element (14) is for producing
It is raw to be displaced directly proportional elastic force to relative motion.
3. the collaboration handling system of double-movement robot flexibility connection according to claim 2, it is characterised in that: described
Linear guide rail device includes two parallel with big positioning parts support frame (6) and centrosymmetric about lower mobile carrier (9)
Linear guide, every linear guide include linear guide basic part (10) and linear guide movement parts (11), linear guide base
Plinth part (10) is fixedly connected with lower mobile carrier (9), linear guide movement parts (11) and the fixed company of upper mobile carrier (8)
It connects；The damping element (13) is parallel with linear guide rail device, and about lower mobile carrier (9) central symmetry, each damping
Element (13) includes damping element guide tube (44) and damping element jacking block (45), damping element guide tube (44) and damping element jacking block
(45) mechanical position limitation is formed between；The elastic element (14) is parallel with linear guide rail device, and about lower mobile carrier (9)
Central symmetry, each elastic element (14) include elastic element fixing end and elastic element mobile terminal, elastic element mobile terminal with
Linear guide movement parts (11) are connected, when running fix block (12) is located at linear guide middle position, all elastic element
(14) it is in free state.
4. the collaboration handling system of double-movement robot flexibility connection according to claim 1, it is characterised in that: the quilt
Dynamic revolute pair (3) are the second thrust ball bearing (15), and the blowout patche of the second thrust ball bearing (15) and lower mobile carrier (9) are coaxial
It is fixedly connected, the seat ring of the second thrust ball bearing (15) is fixedly connected by the second platform (16) with robot (36) is followed.
5. the collaboration handling system of double-movement robot flexibility connection according to claim 1, it is characterised in that: described
Active revolute pair (2) includes the upper rotation carrier (17) connected by the first thrust ball bearing (19) and lower rotation carrier
(18), the blowout patche of the first thrust ball bearing (19) is fixedly connected with upper rotation carrier (17), the first thrust ball bearing (19)
Seat ring is fixedly connected with lower rotation carrier (18)；Upper rotation carrier (17) is fixedly connected with big positioning parts support frame (6),
Lower rotation carrier (18) is fixedly connected by the first platform (39) with pilot robot (1)；The lower rotation carrier (18)
On be equipped with steer-drive (20), the output shaft of the steer-drive (20) is equipped with first bevel gear (43), on
Rotation carrier (17) central coaxial is fixedly connected with second bevel gear (21), first bevel gear (43) and second bevel gear (21)
Pass through orthogonal engaged transmission.
6. the collaboration handling system of double-movement robot flexibility connection according to claim 1, it is characterised in that: described
Big positioning parts support frame (6) has the positioning reference plane and fixed clamping device of the big component of carrying heavy duty；The universal wheel with
Dynamic model group (7) adjustable, unpowered universal wheel with rigidity supporting structure and multiple directions of motion.
7. a kind of complex navigation device for two-track mobile robot collaboration handling system, it is characterised in that: for detecting movement
The heterogeneous sensor of the position and posture of robot and big positioning parts support frame (6), is distributed in through the multiple of mechanical attachment
On different objects, the as pose measurement of multi-body movement system: including in-vehicle camera, the wheel being mounted in mobile robot
Encoder and obstacle avoidance sensor, the supplied laser navigation apparatus and inertial navigation unit being mounted on big positioning parts support frame (6), peace
Displacement sensor (28), force snesor (29) and limit switch (37) in resilient movement secondary (4), are mounted on and actively rotate
The first angle sensor (30) of secondary (2) and the second angle sensor (31) being mounted in passive rotation secondary (3)；The vehicle
It carries the guiding terrestrial reference that camera is arranged on ground for identification and detects the global position and overall situation posture of mobile robot, the vehicle
Turns encoder is used to detect the relative displacement and the speed of service of mobile robot, and the obstacle avoidance sensor is for detecting mobile machine
Barrier in front of people, the supplied laser navigation apparatus geometrical characteristic of running environment and detect the support of big positioning parts for identification
The global position of frame (6) and global posture, the inertial navigation unit (27) is for detecting big positioning parts support frame (6) movement
Linear acceleration, linear velocity and angular acceleration, angular speed, institute's displacement sensors (28) for detect follows robot (36)
With the relative displacement between big positioning parts support frame (6), the force snesor (29) for detect follow robot (36) with
Interaction force between big positioning parts support frame (6), the limit switch (37) follow robot (36) phase for detecting
For the extreme position of big positioning parts support frame (6) movement, the first angle sensor (30) is for detecting navigator's machine
The first relative rotation between people (1) and big positioning parts support frame (6), the second angle sensor (31) for detect with
The second relative rotation between random device people (36) and big positioning parts support frame (6).
8. the complex navigation device according to claim 7 for two-track mobile robot collaboration handling system, feature exist
In: first leaning forward in-vehicle camera (22) diagonally downward is installed, centre is equipped in front of the pilot robot (1)
One vertically downward first in hang down in-vehicle camera (23), described follow is equipped with one in front of robot (36) diagonally downward
Second leans forward in-vehicle camera (34), centre be equipped with one vertically downward second in hang down in-vehicle camera (35)；In navigator's machine
First rotary encoder (24) are installed on the driving wheel of people (1), follows and the second rotation is installed on the driving wheel of robot (36)
Turn encoder (38)；The first obstacle avoidance sensor (32) are installed in front of pilot robot (1), are being followed in front of robot (36)
Second obstacle avoidance sensor (33) are installed；The is separately installed at the top of described variation rigidity delivery tooling (5) front-end and back-end
One supplied laser navigation apparatus (25) and second laser navigation device (26), two supplied laser navigation apparatus are located at the horizontal plane of different height
On；Inertial navigation unit (27) are installed in the mass center region of variation rigidity delivery tooling (5).
9. complex navigation device according to claim 7, it is characterised in that: in resilient movement secondary (4), the displacement is passed
Sensor (28) includes displacement sensor mobile terminal and displacement sensor fixing end, displacement sensor fixing end and lower mobile carrier
(9) it is fixedly connected, and parallel with two groups of linear guides, displacement sensor mobile terminal is connect with running fix block (12)；It is moving down
Force sensor (29) and limit switch (37) are also symmetrically installed on dynamic carrier (9), and be located at damping element guide tube (44) and
On mechanical position limitation position (42) between damping element jacking block (45), the force snesor (29) and elastic element fixing end phase
Even, the contact condition between limit switch (37) detection damping element jacking block (45) and damping element guide tube (44).
10. complex navigation device according to claim 7, it is characterised in that: in active revolute pair (2), described first
Angular transducer (30) ontology and upper rotation carrier (17) are connected, and the rotary measuring head of first angle sensor (30) initially passes through the
The centre bore of two bevel gears (21), then it is solid by first angle sensor stand (40) and lower rotation carrier (18) rotary stopper
Even；In passive rotation secondary (3), second angle sensor (31) ontology and lower mobile carrier (9) are connected, second angle
The rotary measuring head of sensor (31) is connected by second angle sensor stand (41) and the second platform (16) rotary stopper.
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| CN115196264A (en) * | 2022-06-28 | 2022-10-18 | 西安优艾智合机器人科技有限公司 | Cooperative carrying robot with vehicle-mounted gripper and control method thereof |
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