CN111168640A - Logistics robot - Google Patents
Logistics robot Download PDFInfo
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- CN111168640A CN111168640A CN202010047983.XA CN202010047983A CN111168640A CN 111168640 A CN111168640 A CN 111168640A CN 202010047983 A CN202010047983 A CN 202010047983A CN 111168640 A CN111168640 A CN 111168640A
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- 241000209140 Triticum Species 0.000 claims abstract description 22
- 235000021307 Triticum Nutrition 0.000 claims abstract description 22
- 230000007246 mechanism Effects 0.000 claims abstract description 11
- 230000005611 electricity Effects 0.000 claims abstract description 6
- 210000000078 claw Anatomy 0.000 claims description 158
- 230000005540 biological transmission Effects 0.000 claims description 14
- 230000002146 bilateral effect Effects 0.000 claims description 4
- 238000004519 manufacturing process Methods 0.000 abstract description 6
- 230000008901 benefit Effects 0.000 abstract description 3
- 238000000034 method Methods 0.000 description 16
- 230000004044 response Effects 0.000 description 12
- 230000008569 process Effects 0.000 description 8
- 238000010586 diagram Methods 0.000 description 6
- 230000006378 damage Effects 0.000 description 5
- 230000009471 action Effects 0.000 description 3
- 230000008859 change Effects 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 230000002349 favourable effect Effects 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 238000003825 pressing Methods 0.000 description 2
- 238000003860 storage Methods 0.000 description 2
- 230000001174 ascending effect Effects 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 239000003086 colorant Substances 0.000 description 1
- 238000004590 computer program Methods 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
- B60B19/00—Wheels not otherwise provided for or having characteristics specified in one of the subgroups of this group
- B60B19/12—Roller-type wheels
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Abstract
The invention relates to a logistics robot which comprises a bottom plate, a main plate, a lifting mechanism arranged on the bottom plate, a straight wheel set and a wheat wheel set, wherein the straight wheel set and the wheat wheel set are arranged below the bottom plate; still include first grey level sensor and second grey level sensor, the mainboard sets up in the top of bottom plate, first grey level sensor and second grey level sensor all set up in the bottom plate below, and first grey level sensor and second grey level sensor set up respectively in the front and back both ends of bottom plate, and first grey level sensor and second grey level sensor are connected with the mainboard electricity respectively. The logistics robot has the advantages of low manufacturing cost and large application scene.
Description
Technical Field
The invention relates to the field of logistics transportation, in particular to a logistics robot.
Background
With the continuous expansion of the application scene of industrial robots, the sales volume of logistics robots is continuously increased under the promotion of a series of policies such as the rapid increase of the demand of domestic industrial robots and ' Chinese manufacturing 2025 ' and intelligent logistics '. The robot has important significance in the aspects of solving the problem of insufficient labor force of enterprises, improving the labor productivity of the enterprises, improving the product quality and reducing the production cost.
The logistics robot is mainly used for sorting goods, the shape of the goods is recognized through the sensors, the color and image recognition system, the multifunctional mechanical arm and other devices according to the image recognition system, the mechanical arm grabs the goods and places the goods at a specified position, and the goods are quickly sorted through the devices.
However, the tracking module of the existing logistics robot is too complex, and the problem that the price of the sorting robot is high exists, so that the logistics robot capable of simplifying the tracking module and reducing the manufacturing cost is needed to be provided.
Disclosure of Invention
Therefore, a logistics robot needs to be provided to solve the problem that the existing logistics robot is too expensive to manufacture.
In order to achieve the above object, the inventor provides a logistics robot, which comprises a bottom plate, a main plate, a lifting mechanism arranged on the bottom plate, a straight wheel set and a wheat wheel set, wherein the straight wheel set and the wheat wheel set are arranged below the bottom plate;
the lifting mechanism comprises a steering engine, a chassis, a connecting rod assembly and a fetching claw assembly, wherein the chassis is connected above the bottom plate through the steering engine so that the chassis rotates on the bottom plate, one end of the connecting rod assembly is connected above the chassis, and the other end of the connecting rod assembly is connected with the fetching claw assembly;
still include first grey level sensor and second grey level sensor, the mainboard sets up in the top of bottom plate, first grey level sensor and second grey level sensor all set up in the bottom plate below, and first grey level sensor and second grey level sensor set up respectively in the front and back both ends of bottom plate, and first grey level sensor and second grey level sensor are connected with the mainboard electricity respectively.
Furthermore, the fetching claw assembly comprises a fetching claw body, a first fetching claw connecting block and a second fetching claw connecting block, wherein the first fetching claw connecting block and the second fetching claw connecting block are arranged on the rear side of the fetching claw body;
the first connecting rod group comprises a first fixing block, a first power piece, a first rod wall, a second rod wall, a third rod wall, a fourth rod wall and a connecting block, the connecting block is triangular, a first fixing block through hole is formed in the first fixing block, the first power piece is fixed outside the first fixing block, the output end of the first power piece penetrates through the first fixing block through hole and is in transmission connection with one end of the first rod wall, the other end of the first rod wall is hinged with one end of the second rod wall, the other end of the second rod wall is hinged with the lower end of a first fetching claw connecting block, one end of the third rod wall is hinged above the first fixing block, three corners of the connecting block are respectively hinged with the other end of the third rod wall, the hinged position of the first rod wall and the second rod wall and one end of the fourth rod wall, and the other end of the fourth rod wall is hinged with the upper end of the first fetching connecting block, the first pole wall is parallel to the third pole wall;
the second connecting rod group comprises a second fixing block, a second power piece, a cam block, a fifth rod wall, a sixth rod wall and a seventh rod wall, a second fixing block through hole is formed in the second fixing block, the second power piece is fixed outside the second fixing block, the output end of the second power piece penetrates through the second fixing block through hole, the larger end of the cam block is in transmission connection with the output end of the second power piece and is hinged to one end of the fifth rod wall, one end of the sixth rod wall is hinged to the smaller end of the cam block, the other end of the sixth rod wall is hinged to one end of the seventh rod wall, the other end of the seventh rod wall is hinged to the lower end of the second claw connecting block, the other end of the fifth rod wall is hinged to the seventh rod wall, and the fifth rod wall is parallel to the sixth rod wall.
Furthermore, the object taking claw assembly comprises a fixing plate, a driving claw, a driven claw and a third power part, the driving claw comprises a meshing end and a grabbing end, the driven claw and the driving claw are identical in shape, the meshing ends of the driving claw and the driven claw are of mutually meshed gear structures, the third power part is fixed on the fixing plate, and the output end of the third power part is in transmission connection with the meshing end of the driving claw.
Furthermore, the number of the driving claws and the number of the driven claws are two, the two driving claws and the two driven claws are arranged at intervals, the two driving claws and the two driven claws are connected through connecting rods respectively, and the gap values between the two driving claws and the two driven claws are the same.
Further, get thing claw subassembly still includes supplementary claw, and supplementary claw is the same with the end structure that snatchs of initiative claw, all is provided with supplementary claw between two initiative claws and between two driven claws, and supplementary claw is fixed mutually with the connecting rod.
Further, the number of the auxiliary claws is two or more.
Further, still include ultrasonic sensor, ultrasonic sensor sets up in the front end of bottom plate, and the ultrasonic sensor is connected with the electricity between the mainboard.
Further, a top plate is arranged above the main plate, and the size of the top plate is the same as or larger than that of the main plate.
Further, still including setting up in the first anticollision wheel subassembly and the second anticollision wheel subassembly of bottom plate front end left and right sides respectively, first anticollision wheel subassembly includes first support and first anticollision wheel, and the one end of first support is connected in the front end left side of bottom plate, the other end and the first anticollision wheel center swing joint of first support, second anticollision wheel subassembly includes second support and second anticollision wheel, and the one end of second support is connected in the front end right side of bottom plate, the other end and the central swing joint of second anticollision wheel of second support.
Further, the distance value between the two wheat wheels and the two straight wheels is the same.
Different from the prior art, the technical scheme has the following advantages: the steering demand of the logistics robot in the cargo handling process is realized by utilizing the straight wheel set and the wheat wheel set arranged on the bottom plate, the lower consumable cost is achieved, the steering of the object taking claw assembly is realized by utilizing the connecting rod assembly, the clamping of the cargo is realized by utilizing the object taking claw assembly, and the accurate line planning of the logistics robot is realized by utilizing the first gray sensor and the second gray sensor. The logistics robot has the advantages of low manufacturing cost and large application scene.
Drawings
Fig. 1 is a schematic three-dimensional structure diagram of a logistics robot in the embodiment;
fig. 2 is a schematic three-dimensional structure diagram of a logistics robot in the embodiment;
fig. 3 is a schematic structural diagram of a lifting mechanism of a logistics robot according to the embodiment;
fig. 4 is a schematic structural diagram of a lifting mechanism of a logistics robot according to the embodiment;
fig. 5 is a schematic structural diagram of a lifting mechanism of a logistics robot according to the embodiment;
fig. 6 is a schematic structural view of a picking claw assembly of the logistics robot in the embodiment; fig. 7 is a flowchart of a response control method of the mobile robot according to the present embodiment; FIG. 8 is a diagram illustrating a tracking map according to an embodiment of the invention.
Description of reference numerals:
1. a base plate;
11. a first grayscale sensor;
12. a second gray scale sensor;
13. a first bracket;
14. a first anti-collision wheel;
15. a second bracket;
16. a second anti-collision wheel;
2. a main board;
21. an ultrasonic sensor;
22. a top plate;
3. a lifting mechanism;
31. a steering engine;
32. a chassis;
321. a groove;
331. the first fetching claw connecting block;
332. the second fetching claw is connected with the block;
333. a fixing plate;
334. a driving claw;
335. a driven claw;
336. a third power member;
337. a connecting rod;
338. an auxiliary claw;
4. wheat wheels;
5. a straight wheel;
6. a linear speed reduction motor;
71. a first fixed block;
72. a first power member;
73. a first pole wall;
74. a second pole wall;
75. a third pole wall;
76. a fourth pole wall;
77. connecting blocks;
78. a second fixed block;
79. a second power member;
80. a cam block;
81. a fifth pole wall;
82. a sixth pole wall;
83. a seventh pole wall;
10. a tracking map;
101. a trajectory line of a first preset direction;
103. a trace line of a second predetermined direction.
Detailed Description
To explain technical contents, structural features, and objects and effects of the technical solutions in detail, the following detailed description is given with reference to the accompanying drawings in conjunction with the embodiments.
Referring to fig. 1 to 6, the present invention provides a logistics robot, including a bottom plate 1, a main plate 2, a lifting mechanism 3 disposed on the bottom plate, and a straight wheel set and a wheat wheel set disposed below the bottom plate, wherein the wheat wheel set is disposed in front of the straight wheel set, the wheat wheel set includes two wheat wheels 4 disposed in bilateral symmetry, and the straight wheel set includes two straight wheels 5 disposed in bilateral symmetry, in this embodiment, the distance between the two wheat wheels and the two straight wheels is the same.
The two wheat wheels and the two straight wheels are respectively driven by four linear speed reducing motors 6, the wheat wheels are all named as Mecanum wheels, the walking principle of the Mecanum wheels depends on the directions and the speeds of the wheels of the wheat wheels, and the final combination of the forces generates a resultant force vector in any required direction, so that the platform can freely move in the direction of the final resultant force vector without changing the direction of the wheels. On the effect that the realization turned to, when the dolly gos forward, two wheat wheels of front end rotated appointed angle before, and each wheel was driven by different linear gear motor respectively this moment, and after the dolly rotated appointed angle, four linear gear motor normally driven four wheel bodies walked. When the trolley backs up, the trolley can walk by referring to the steering and driving method.
The lifting mechanism comprises a steering engine 31, a chassis 32, a connecting rod assembly and a fetching claw assembly, wherein one end of the connecting rod assembly is connected above the chassis, and the other end of the connecting rod assembly is connected with the fetching claw assembly. Get the claw subassembly and be used for pressing from both sides the clamp and get the goods, the connecting rod subassembly is used for changing the goods in direction of height, fore-and-aft direction and the ascending change in left and right sides direction. The chassis is connected above the bottom plate through a steering engine, the chassis is enabled to rotate on the bottom plate, the steering engine is specifically an electric steering engine, the specific connection mode is that a motor end of the steering engine is arranged above the chassis and fixed on the upper surface of the chassis through a connecting piece, a groove 321 is formed in the lower surface of the chassis, a steering engine transmission end is arranged in the groove of the lower surface of the chassis and is of a disc-shaped structure provided with a plurality of through holes, connecting holes are also formed in positions, corresponding to the through holes of the steering engine transmission end, on the bottom plate, and the through holes of the transmission end of the steering engine are connected with. When the steering engine works, the motor end of the steering engine is started, the transmission end and the motor end rotate, the transmission end is fixed, and the motor end drives the chassis to rotate on the bottom plate.
This logistics robot still includes first grey level sensor 11 and second grey level sensor 12, the mainboard sets up in the top of bottom plate, first grey level sensor and second grey level sensor all set up in the bottom plate below, and first grey level sensor and second grey level sensor set up respectively in the front and back both ends of bottom plate, and first grey level sensor and second grey level sensor are connected with the mainboard electricity respectively. When the logistics robot is in a new process, the main board controls the first gray sensor to work, and the first gray sensor is used for recognizing a ground preset track. When the logistics robot moves backwards, the main board controls the second gray sensor to work, and the second gray sensor is used for recognizing the ground preset track.
In this embodiment, get the thing claw subassembly including getting the thing claw body and setting up in getting the first thing claw connecting block 331 and the second of thing claw connecting block 332 of getting of thing claw body rear side, for avoiding destroying the balance of getting thing claw subassembly itself, get the first thing claw connecting block of getting and the second of thing claw body rear side setting and get thing claw connecting block shape, size homogeneous phase. The connecting rod assembly comprises a first connecting rod group and a second connecting rod group;
the first connecting rod group comprises a first fixing block 71, a first power piece 72, a first rod wall 73, a second rod wall 74, a third rod wall 75, a fourth rod wall 76 and a connecting block 77, the connecting block is triangular, a first fixing block through hole is formed in the first fixing block, the first power piece is fixed outside the first fixing block, the output end of the first power piece penetrates through the first fixing block through hole and is in transmission connection with one end of the first rod wall, the other end of the first rod wall is hinged with one end of the second rod wall, the other end of the second rod wall is hinged with the lower end of a first fetching claw connecting block, one end of the third rod wall is hinged above the first fixing block, three corners of the connecting block are respectively hinged with the other end of the third rod wall, the hinged position of the first rod wall and the second rod wall and one end of the fourth rod wall, and the other end of the fourth rod wall is hinged with the upper end of the first fetching claw connecting block, the first pole wall is parallel to the third pole wall, and the second pole wall is parallel to the fourth pole wall.
When utilizing other parts of first power piece drive first connecting rod group action, first power piece drive first pole wall rotates, the third pole wall rotates along with first pole wall synchronization, keep the parallel between the two first pole wall of the two and the third pole wall all the time, be connected through the connecting block between third pole wall and the fourth pole wall, also keep the parallel between second pole wall and the fourth pole wall all the time at the pivoted in-process, make and get the thing claw subassembly and can not take place the angle change, be in steady state all the time, be favorable to getting the thing claw subassembly and pressing from both sides tight goods and transport, some fragile article have also been avoided causing the damage in the transportation.
The second connecting rod group comprises a second fixing block 78, a second power piece 79, a cam block 80, a fifth rod wall 81, a sixth rod wall 82 and a seventh rod wall 83, a second fixing block through hole is formed in the second fixing block, the second power piece is fixed outside the second fixing block, the output end of the second power piece penetrates through the second fixing block through hole, the larger end of the cam block is in transmission connection with the output end of the second power piece and is hinged to one end of the fifth rod wall, one end of the sixth rod wall is hinged to the smaller end of the cam block, the other end of the sixth rod wall is hinged to one end of the seventh rod wall, the other end of the seventh rod wall is hinged to the lower end of the second fetching claw connecting block, the other end of the fifth rod wall is hinged to the seventh rod wall, and the fifth rod wall is parallel to the sixth rod wall.
When utilizing other parts of second power piece drive second connecting rod group action, second power piece drive cam block rotates, sixth pole wall moves thereupon and promotes seventh pole wall motion lifting or reduces and get the thing claw subassembly, also keep the parallel of fifth pole wall and sixth pole wall all the time at the pivoted in-process, make and get the thing claw subassembly and can not take place the angle change, be in steady state all the time, be favorable to getting the thing claw subassembly and press from both sides tight goods and transport, some fragile article have also been avoided causing the damage in the transportation.
In this embodiment, the object-fetching claw assembly includes a fixing plate 333, a driving claw 334, a driven claw 335, and a third power component 336, where the fixing plate is used to fix the driving claw, the driven claw, and the third power component, the driving claw includes a meshing end and a grabbing end, the driven claw is the same as the driving claw in shape, the meshing ends of the driving claw and the driven claw are gear structures that are meshed with each other, the third power component is fixed on the fixing plate, a fixing plate through hole is formed in the fixing plate, a driving claw through hole is formed in the meshing end of the driving claw, and an output end of the third power component is connected to the driving claw through hole in the fixing plate through hole in a penetrating manner, so that an output end of the third power component is in transmission connection with the meshing end. The third power part works, the output end of the third power part drives the driving claw to rotate at a certain angle, and the driven claw meshed with the meshing end of the driving claw rotates at a certain angle, so that the driving claw and the driven claw are opened and closed for holding or putting down goods.
In some preferred embodiments, the number of the driving claws and the number of the driven claws are two, two groups of driving claws and driven claws which are meshed with each other are formed, the two driving claws and the two driven claws are arranged at intervals, the gap value between the two driving claws and the two driven claws is the same, two groups of mutually meshed driving claws and driven claws are arranged at intervals in the vertical direction, the two driving claws and the two driven claws are respectively connected through a connecting rod 337, one group of driving claws is fixed with the third power part, the meshing ends of the other group of driving claws and the driven claws are directly fixed with the fixing plate through the rotating shaft, when the driving claw which is transmitted with the third power part and the driven claw which is meshed with the driving claw are driven by the third power part to realize opening and closing, the power of the device is transmitted to the other group of driving claws and the driven claws through the connecting rod, so that the upper group of driving claws and the lower group of driving claws and the driven claws synchronously open and close to clamp the goods.
In a more preferred embodiment, the fetching claw assembly further comprises an auxiliary claw 338, the structure of the auxiliary claw is the same as that of the grabbing end of the driving claw, the auxiliary claws are arranged between the two driving claws and between the two driven claws, and the auxiliary claws are fixed with the connecting rod. Two sets of drive claws and driven claw can provide bigger stress surface to the goods, and set up supplementary claw again between two drive claws and two driven claws, can also continue to increase the stress surface that provides to the goods, and can prevent to press from both sides the goods of getting when too much, thereby connecting rod department receives the moment of torsion too big emergence damage. In some more preferred embodiments, the number of the auxiliary claws is more than two, so that the stability of the fetching claw assembly is further enhanced.
In this embodiment, the logistics robot further includes an ultrasonic sensor 21, the ultrasonic sensor is disposed at the front end of the bottom plate, and the ultrasonic sensor is electrically connected with the main plate. The ultrasonic sensor arranged at the front end of the bottom plate can effectively prevent the logistics robot from colliding with a front obstacle in the walking process.
The mainboard top is provided with roof 22, the size of roof is the same with the size of mainboard or bigger. The roof can effectively protect the mainboard to avoid rainwater pollution or the heavy object to pound and fall to cause destruction.
Still including setting up in the first anticollision wheel subassembly and the second anticollision wheel subassembly of bottom plate front end left and right sides respectively, first anticollision wheel subassembly includes first support 13 and first anticollision wheel 14, and the one end of first support is connected in the front end left side of bottom plate, the other end and the central swing joint of first anticollision wheel of first support, and first anticollision wheel can rotate around the tip of first support, second anticollision wheel subassembly includes second support 15 and second anticollision wheel 16, and the one end of second support is connected in the front end right side of bottom plate, the other end and the central swing joint of second anticollision wheel of second support, and the second anticollision wheel can rotate around the tip of second support. When the logistics robot is at the in-process of newly-advancing, run into the side and have the condition of barrier under, for avoiding causing the harm to the logistics robot, first anticollision wheel or second anticollision wheel can effectively guide the switching direction of logistics robot.
As shown in fig. 7, a flowchart of a response control method of a mobile robot according to the present embodiment is shown. The method comprises the following steps:
the process first proceeds to step S701 to set a response time interval for the mobile robot to execute an operation instruction.
The response time interval refers to a time interval from a time point after the mobile robot responds to the last operation instruction to a time point after the mobile robot responds to the next operation instruction. The size of the response time interval can be set according to actual needs, and generally needs to be larger than the first value and smaller than the second value. The first numerical value refers to the time required for the mobile robot to pass through the adjacent track line in the first preset direction in the track line group in the same first preset direction, and the second numerical value refers to the time required for the mobile robot to pass through the adjacent track line in the second preset direction.
And then, step S1 is performed, when it is recognized that the mobile robot passes through a certain trajectory line, it is determined whether a time interval between the mobile robot passing through the trajectory line and the mobile robot passing through the previous trajectory line is greater than a response time interval, if so, step S702 is performed, the mobile robot responds to an operation instruction corresponding to the currently passing trajectory line, otherwise, step S703 is performed, and the mobile robot does not respond to an operation instruction corresponding to the currently passing trajectory line.
In this embodiment, the mobile robot maps on a tracking map, where the tracking map includes a plurality of first preset direction track groups and a plurality of second preset direction track groups; each first preset direction track line group comprises at least two track lines in the first preset direction, and the track lines in the first preset direction in the same group are parallel to each other; each second predetermined direction track line group includes only one track line in the second predetermined direction.
Tracking maps are typically composed of criss-crossed tracks. For the sake of distinction, the trajectory lines are generally marked on the tracking map with a specific color, such as black. I.e. the track line is marked black on the tracking map and the areas other than the track line are marked in other colors (e.g. white). The mobile robot comprises a bottom plate, wherein a gray sensor is arranged on the bottom plate, the track line can be identified through the gray sensor in the walking process, when the mobile robot passes through any track line on a tracking map, if the gray sensor is in an open state, the track line can be captured by the gray sensor, and the system can judge whether the mobile robot passes through a certain track line according to signals transmitted by the gray sensor. Preferably, the processing module on the logistics robot can enable the mobile robot to be in a command-responsive state or a command-nonresponsive state by controlling the gray sensor to be turned on or off.
Fig. 8 is a schematic view of a tracking map according to an embodiment of the invention. The tracking map 10 comprises 6 groups of single lines distributed longitudinally and 7 groups of double lines distributed transversely. Each set of transverse track line groups comprises two transverse track lines parallel to each other, namely the positions of the track lines 101A and 101B in the first preset direction in fig. 8. Each longitudinal track line group includes only one track line vertically distributed, i.e. the position of the track line 103 in the second predetermined direction in fig. 8. The distance between two tracks included in the transverse track line group (i.e. the track line group in the first preset direction) is smaller than the distance between two adjacent longitudinal track lines. Therefore, the time interval of the mobile robot responding to the instruction can be set to ensure that the mobile robot only responds to the operation instruction corresponding to one transverse track line all the time when passing through the transverse track line group, thereby being convenient for controlling the action route of the mobile robot.
Assuming that the time required for the mobile robot to pass through two trajectories of one lateral trajectory line group is 1s and the time required to pass through two adjacent longitudinal trajectory line groups is 5s, the response time interval may be set to 2s, and after the mobile robot passes through the first lateral trajectory line of one lateral trajectory line group, which is in a non-response state for a period of 2s later, so that when the mobile robot passes the second transverse trajectory line, since the time interval from the last trajectory line just passed (i.e., another transverse trajectory line in the same transverse trajectory line group) is 1s, the time interval is smaller than the response time interval, so that the mobile robot does not perform recognition response on the second transverse trajectory line at the moment, therefore, the interference of the transverse track line group comprising a plurality of transverse track lines to the moving process of the logistics robot is avoided, and the moving control of the logistics robot is more convenient.
In some embodiments, the step "the mobile robot responds to the operation instruction corresponding to the currently passing trajectory line" includes: and controlling the mobile robot to firstly turn and then continue to move according to the operation instruction determined by the currently passing trajectory. The step that the mobile robot does not respond to the operation instruction corresponding to the currently passing trajectory line comprises the following steps: and controlling the mobile robot to continuously keep moving in the original direction or stop moving according to the operation instruction determined by the currently passed trajectory line. Preferably, the first predetermined direction and the second predetermined direction are perpendicular. In this embodiment, the first predetermined direction is a horizontal direction, and the second predetermined direction is a vertical direction. In other embodiments, the first predetermined direction may also be a horizontal direction, the second predetermined direction may also be a vertical direction, or two other directions perpendicular to each other.
For example, a traveling route of a certain mobile robot on a tracking map is configured to start from a lower left corner position, go up two grids and then go right three grids, when the mobile robot moves upwards to a first upper transverse track line group, because the mobile robot is in an instruction non-response state within a response time interval after passing through a first transverse track line, that is, the grayscale sensor does not recognize a second transverse track line in the transverse track line group, the processing module only needs to execute an operation instruction corresponding to the first transverse track line when determining. Since the traveling route of the mobile robot is configured to move two frames upward, the processing module on the mobile robot will continue to control the mobile robot to move upward after receiving the signal sent by the grayscale sensor. Similarly, when the mobile robot passes through the second group of transverse track line groups, the processing module identifies the first transverse track line in the second group of transverse track line groups identified by the gray sensor, and then controls the mobile robot to complete steering corresponding to the corresponding operation instruction, so that the mobile robot moves forward to the right side. Therefore, in the process of controlling the mobile robot to move, whether the processing module contains a single track line or a plurality of track lines when the processing module tracks the transverse track line group or the longitudinal track line group on the map does not need to be considered, and each track line passes through one track line, the processing module only needs to correspond to the operation instruction corresponding to the track line. The mobile robot can execute the preset program according to the schedule by identifying the track line on the tracking map, and the mobile robot can be ensured to move from the initial position to the end position corresponding to the preset program.
The tracking map may also be configured to have a plurality of transverse track line groups and a plurality of longitudinal track line groups, each transverse track line group includes only one track line, each longitudinal track line group may include a plurality of track lines, the transverse track lines in adjacent transverse track line groups are parallel to each other, the plurality of longitudinal track lines in the same longitudinal track line group are parallel to each other, and a distance between the adjacent longitudinal track lines in the same longitudinal track line group is smaller than a distance between the transverse track lines in adjacent transverse track line groups. In this embodiment, the first predetermined direction is a vertical direction, and the second predetermined direction is a horizontal direction.
The inventors also provide a storage medium having stored thereon a computer program having been processed by a processor as described in the preceding method steps. The processor is an electronic component having a data Processing function, such as a Central Processing Unit (CPU), a Digital Signal Processor (DSP), or a System on Chip (SoC). The storage medium is an electronic component with a data storage function, and includes but is not limited to: RAM, ROM, magnetic disk, magnetic tape, optical disk, flash memory, U disk, removable hard disk, memory card, memory stick, etc.
It should be noted that, although the above embodiments have been described herein, the invention is not limited thereto. Therefore, based on the innovative concepts of the present invention, the technical solutions of the present invention can be directly or indirectly applied to other related technical fields by making changes and modifications to the embodiments described herein, or by using equivalent structures or equivalent processes performed in the content of the present specification and the attached drawings, which are included in the scope of the present patent.
Claims (10)
1. A logistics robot, its characterized in that: the wheat-bearing roller device comprises a bottom plate, a main plate, a lifting mechanism arranged on the bottom plate, and a straight wheel group and a wheat wheel group which are arranged below the bottom plate, wherein the wheat wheel group is arranged in front of the straight wheel group, the wheat wheel group comprises two wheat wheels which are arranged in a bilateral symmetry manner, and the straight wheel group comprises two straight wheels which are arranged in a bilateral symmetry manner;
the lifting mechanism comprises a steering engine, a chassis, a connecting rod assembly and a fetching claw assembly, wherein the chassis is connected above the bottom plate through the steering engine so that the chassis rotates on the bottom plate, one end of the connecting rod assembly is connected above the chassis, and the other end of the connecting rod assembly is connected with the fetching claw assembly;
still include first grey level sensor and second grey level sensor, the mainboard sets up in the top of bottom plate, first grey level sensor and second grey level sensor all set up in the bottom plate below, and first grey level sensor and second grey level sensor set up respectively in the front and back both ends of bottom plate, and first grey level sensor and second grey level sensor are connected with the mainboard electricity respectively.
2. The logistics robot of claim 1, wherein: the fetching claw assembly comprises a fetching claw body, a first fetching claw connecting block and a second fetching claw connecting block, wherein the first fetching claw connecting block and the second fetching claw connecting block are arranged on the rear side of the fetching claw body;
the first connecting rod group comprises a first fixing block, a first power piece, a first rod wall, a second rod wall, a third rod wall, a fourth rod wall and a connecting block, the connecting block is triangular, a first fixing block through hole is formed in the first fixing block, the first power piece is fixed outside the first fixing block, the output end of the first power piece penetrates through the first fixing block through hole and is in transmission connection with one end of the first rod wall, the other end of the first rod wall is hinged with one end of the second rod wall, the other end of the second rod wall is hinged with the lower end of a first fetching claw connecting block, one end of the third rod wall is hinged above the first fixing block, three corners of the connecting block are respectively hinged with the other end of the third rod wall, the hinged position of the first rod wall and the second rod wall and one end of the fourth rod wall, and the other end of the fourth rod wall is hinged with the upper end of the first fetching connecting block, the first pole wall is parallel to the third pole wall;
the second connecting rod group comprises a second fixing block, a second power piece, a cam block, a fifth rod wall, a sixth rod wall and a seventh rod wall, a second fixing block through hole is formed in the second fixing block, the second power piece is fixed outside the second fixing block, the output end of the second power piece penetrates through the second fixing block through hole, the larger end of the cam block is in transmission connection with the output end of the second power piece and is hinged to one end of the fifth rod wall, one end of the sixth rod wall is hinged to the smaller end of the cam block, the other end of the sixth rod wall is hinged to one end of the seventh rod wall, the other end of the seventh rod wall is hinged to the lower end of the second claw connecting block, the other end of the fifth rod wall is hinged to the seventh rod wall, and the fifth rod wall is parallel to the sixth rod wall.
3. The logistics robot of claim 1, wherein: the object taking claw assembly comprises a fixing plate, a driving claw, a driven claw and a third power part, the driving claw comprises a meshing end and a grabbing end, the driven claw and the driving claw are identical in shape, the meshing ends of the driving claw and the driven claw are of mutually meshed gear structures, the third power part is fixed on the fixing plate, and the output end of the third power part is in transmission connection with the meshing end of the driving claw.
4. The logistics robot of claim 3, wherein: the number of the driving claws and the number of the driven claws are two, the driving claws and the driven claws are arranged at intervals, the two driving claws and the two driven claws are connected through connecting rods respectively, and the gap values between the two driving claws and the two driven claws are the same.
5. The logistics robot of claim 4, wherein: get thing claw subassembly and still include supplementary claw, supplementary claw is the same with the end structure that snatchs of initiative claw, all is provided with supplementary claw between two initiative claws and between two driven claws, and supplementary claw is fixed mutually with the connecting rod.
6. The logistics robot of claim 5, wherein: the number of the auxiliary claws is more than two.
7. The logistics robot of claim 1, wherein: still include ultrasonic sensor, ultrasonic sensor sets up in the front end of bottom plate, and the electricity is connected between ultrasonic sensor and the mainboard.
8. The logistics robot of claim 1, wherein: the mainboard top is provided with the roof, the size of roof is the same or bigger with the size of mainboard.
9. The logistics robot of claim 1, wherein: still including setting up in the first anticollision wheel subassembly and the second anticollision wheel subassembly of bottom plate front end left and right sides respectively, first anticollision wheel subassembly includes first support and first anticollision wheel, and the one end of first support is connected in the front end left side of bottom plate, the other end and the central swing joint of first anticollision wheel of first support, second anticollision wheel subassembly includes second support and second anticollision wheel, and the one end of second support is connected in the front end right side of bottom plate, the other end and the central swing joint of second anticollision wheel of second support.
10. The logistics robot of claim 1, wherein: the distance value between the two wheat wheels and the two straight wheels is the same.
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| CN202010047983.XA CN111168640A (en) | 2020-01-16 | 2020-01-16 | Logistics robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010047983.XA CN111168640A (en) | 2020-01-16 | 2020-01-16 | Logistics robot |
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| CN111168640A true CN111168640A (en) | 2020-05-19 |
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Application publication date: 20200519 |