CN111891017B - Shock-proof type welding type following transfer robot system - Google Patents
Shock-proof type welding type following transfer robot system Download PDFInfo
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- CN111891017B CN111891017B CN202010741499.7A CN202010741499A CN111891017B CN 111891017 B CN111891017 B CN 111891017B CN 202010741499 A CN202010741499 A CN 202010741499A CN 111891017 B CN111891017 B CN 111891017B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60P—VEHICLES ADAPTED FOR LOAD TRANSPORTATION OR TO TRANSPORT, TO CARRY, OR TO COMPRISE SPECIAL LOADS OR OBJECTS
- B60P3/00—Vehicles adapted to transport, to carry or to comprise special loads or objects
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G15/00—Resilient suspensions characterised by arrangement, location or type of combined spring and vibration damper, e.g. telescopic type
- B60G15/02—Resilient suspensions characterised by arrangement, location or type of combined spring and vibration damper, e.g. telescopic type having mechanical spring
- B60G15/06—Resilient suspensions characterised by arrangement, location or type of combined spring and vibration damper, e.g. telescopic type having mechanical spring and fluid damper
- B60G15/062—Resilient suspensions characterised by arrangement, location or type of combined spring and vibration damper, e.g. telescopic type having mechanical spring and fluid damper the spring being arranged around the damper
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G7/00—Pivoted suspension arms; Accessories thereof
- B60G7/008—Attaching arms to unsprung part of vehicle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D21/00—Understructures, i.e. chassis frame on which a vehicle body may be mounted
- B62D21/18—Understructures, i.e. chassis frame on which a vehicle body may be mounted characterised by the vehicle type and not provided for in groups B62D21/02 - B62D21/17
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- 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
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
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- 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
- G05D1/03—Control of position or course in two dimensions using near-field transmission systems, e.g. inductive-loop type
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2204/00—Indexing codes related to suspensions per se or to auxiliary parts
- B60G2204/10—Mounting of suspension elements
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2204/00—Indexing codes related to suspensions per se or to auxiliary parts
- B60G2204/10—Mounting of suspension elements
- B60G2204/14—Mounting of suspension arms
- B60G2204/143—Mounting of suspension arms on the vehicle body or chassis
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2300/00—Indexing codes relating to the type of vehicle
- B60G2300/50—Electric vehicles; Hybrid vehicles
Abstract
The invention relates to a shock-absorbing type welding type following carrying robot system in the technical field of robots, which comprises at least one carrying robot body with a power device and a control device, and a guiding label which is held by a guided person and is based on a UWB communication mode, wherein three base stations which establish a UWB communication connection relation with the guiding label are arranged on the carrying robot body, so that the carrying robot body tracks the guided person, and the output of the power device of the carrying robot body is controlled by the control device of the carrying robot body; the loading robot body comprises a base, a support frame and an elastic support assembly, the base is provided with a support wheel set connected with a power device in a transmission mode, the lower side of the elastic support assembly is connected with the base, the elastic support assembly supports the connection support frame at the upper side, and a loading basket used for loading is placed on the support frame. The technology based on UWB communication positioning is adopted to realize that the loading robot body always follows the leader, and has high stability and shock resistance.
Description
Technical Field
The invention relates to the technical field of robots, in particular to an automatic logistics carrying robot.
Background
In industrial production, materials needing to be carried on a production line and an assembly line are various in types and heavy in task; in libraries and archives, a lot of books and data are circulated and moved every day; in daily life, when people purchase articles in a supermarket, the articles need to be transported by a small cart. At present, in these production and living scenes, many logistics processes are implemented manually, which consumes a lot of manpower and man-hours.
In the face of rapid increase of labor cost, enterprises gradually adopt intelligent handling equipment in production to replace tasks requiring a plurality of manual operations, and production efficiency of manufacturing enterprises is improved. In the social background of rapid population aging, people also want to have more intelligent auxiliary devices in life to solve the transportation problem of the living goods.
In recent years, advanced robot technology has been rapidly developed and is being developed more and more rapidly from the production and manufacturing field to the daily life service. The service robot provides transportation logistics service for production and life by comprehensively utilizing the technologies of mechanical motion, sensing positioning, intelligent navigation and the like.
However, the existing carrying trolleys or service robots have many defects in terms of guidance algorithms, overall structures and the like. In a positioning and guiding algorithm, the existing carrying equipment needs to plan an electromagnetic or optical automatic guiding device on a running path in advance, the running path is fixed, and the walking flexibility is lacked; or a plurality of sensors need to be arranged, and various visual identification devices and transmission networks need to be configured, so that the device is too large in size, the self weight is difficult to reduce, the overall cost is expensive, and the requirements of industrial production and daily life are difficult to meet at the same time.
Disclosure of Invention
The invention aims to provide a damping type welding type following carrying robot system, which adopts a UWB communication positioning based technology to realize that a carrying robot body always follows a leader and has high stability and shock resistance.
The purpose of the invention is realized as follows: the shock-absorbing type welding type following carrying robot system comprises at least one carrying robot body with a power device and a control device and a guiding label which is held by a guided person and is based on a UWB communication mode, wherein three base stations which are based on the UWB communication mode and establish a UWB communication connection relation with the guiding label are arranged on the carrying robot body, so that the carrying robot body tracks the guided person, and the output of the power device of the carrying robot body is controlled through the control device of the carrying robot body;
the carrying robot comprises a base, a supporting frame and an elastic supporting assembly, wherein the base is rotatably connected with a supporting wheel set which rolls on the ground and is connected with a power device in a transmission mode, the lower side of the elastic supporting assembly is connected with the base, the upper side of the elastic supporting assembly supports the connecting and supporting frame, a carrying basket used for carrying is placed on the supporting frame, and the upper end of the carrying basket is of an opening structure and is provided with a detachable upper cover.
Furthermore, the elastic support assembly comprises an upper connecting seat, a lower connecting seat, a shock-absorbing spring and a damping cylinder, the upper end of the upper connecting seat is supported and connected with the support frame, the lower end of the lower connecting seat is fixedly connected to the lower supporting seat arranged on the base, the damping cylinder is arranged between the upper connecting seat and the lower connecting seat, the upper end and the lower end of the damping cylinder are respectively connected with the upper connecting seat and the lower connecting seat, the upper end and the lower end of the shock-absorbing spring are respectively connected with the upper connecting seat and the lower connecting seat, the damping cylinder is sleeved on the shock-absorbing spring, and the upper connecting seat, the lower connecting seat, the shock-absorbing spring and the damping cylinder are coaxially and vertically arranged; the elastic support assembly is provided with four sets of elastic support assemblies, the four sets of elastic support assemblies are distributed in a rectangular shape by taking the overlooking visual angle as a standard, and the four sets of elastic support assemblies are arranged at equal heights to horizontally support the support frame.
Furthermore, the carrying robot body further comprises four support connecting rods which are distributed in a rectangular shape by taking the overlooking visual angle as the standard, the four support connecting rods are arranged into a parallelogram connecting rod mechanism, the support connecting rods are arranged in an inclined mode, the upper ends of the support connecting rods are rotatably connected with the support frame, and the lower ends of the support connecting rods are rotatably connected with the base.
Furthermore, the support connecting rods correspond to the elastic support assemblies one by one, and each support connecting rod is close to the corresponding elastic support assembly.
Furthermore, the supporting wheel set in transmission connection with the power device comprises a front pair of wheel bodies and a rear pair of wheel bodies, the four wheel bodies are distributed in a rectangular shape with the overlooking view angle as the standard, and the four supporting connecting rods and the elastic supporting assemblies are in one-to-one correspondence and are close to the four wheel bodies.
Furthermore, two pairs of wheel bodies of the supporting wheel set are respectively arranged on the front side and the rear side of the base, a pair of wheel bodies arranged on the front side of the base are set as driving wheels, a pair of wheel bodies arranged on the rear side of the base are set as universal wheels, and the power device is in transmission connection with the driving wheels.
Furthermore, the power device comprises a pair of driving motors fixedly arranged on the base, and the two driving motors are respectively in transmission connection with the two driving wheels.
Further, the base is arranged to be a horizontal plate structure, and the base station is installed on the upper horizontal surface of the base; controlling means is including installing STM32 main control board and the motor drive at the last horizontal plane of base, motor drive is provided with two and two driving motor of difference signal connection, motor drive and STM32 main control board signal connection, STM32 main control board is used for handling the distance information between guide label and all basic stations to output control command causes two driving motor's output power of two motor drive controls respectively, so that carry the interval of the guide of thing robot body and handheld guide label and keep at the within range of settlement.
Furthermore, the two base stations are respectively corresponding to and close to the two driving wheels and are arranged symmetrically left and right, and the arrangement direction of the two base stations is parallel to the axes of the two driving wheels.
Furthermore, a battery for supplying power to the whole control device is installed on the upper horizontal surface of the base, and the battery is located in the center of the distance between the two universal wheels.
The invention has the beneficial effects that:
1. the UWB communication positioning technology is adopted, a safe and reliable short-distance wireless communication environment is established between a guide and the carrying robot body, the local environment positioning and the autonomous following movement of the carrying robot body are realized, the distance between the carrying robot body and the guide is in a set value, and the autonomous following state of the carrying robot body is kept;
2. the use is flexible and convenient, articles can be placed in the carrying basket, and then the carrying basket is placed on the supporting frame;
3. the supporting frame has the advantages that the supporting frame has high stability and shock resistance, the elastic supporting assembly with the shock-absorbing spring and the damping cylinder is arranged, the shock borne by the supporting frame can be obviously weakened, and the supporting frame can be always kept in a horizontal state in the conveying process due to the arrangement of the four supporting connecting rods, so that the carrying basket can be in a horizontal state, and the carrying basket has high stability in the conveying process.
Drawings
Fig. 1 is a conceptual diagram of the arrangement of the present invention.
Fig. 2 is a schematic view of a loading state of the loading robot body.
Fig. 3 is a schematic perspective view of the loading robot body.
Fig. 4 is a schematic view of a single drive wheel drive.
Fig. 5 is an overhead view of the loading robot body.
In the figure, 1 guide label, 2 base station, 3 year thing robot body, 301 base, 302 elastic support subassembly, 302a upper connecting seat, 302b shock absorber spring, 302c damping cylinder, 302d lower connecting seat, 303 support frame, 304 drive wheel, 305 driving motor, 306 universal wheel, 307 lower supporting seat, 308 support connecting rod, 309STM32 main control board, 310 motor driver, 311 battery, 4 carry the thing basket, 5 upper cover.
Detailed Description
The invention will be further described with reference to the accompanying figures 1-5 and the specific embodiments.
As shown in fig. 1, the shock-absorbing welding type following transfer robot system includes a carrying robot body 3 with a power device and a control device, and a guiding tag 1 which is held by a person to be guided and based on a UWB communication mode, three base stations 2 which are based on the UWB communication mode and establish a UWB communication connection relation with the guiding tag 1 are provided on the carrying robot body 3, so that the carrying robot body 3 tracks the person to be guided, and the output of the power device of the carrying robot body 3 is controlled by the control device of the carrying robot body 3.
Referring to fig. 2 and 3, the carrier robot body 3 includes a base 301, a supporting frame 303 and an elastic supporting assembly 302, the base 301 is rotatably connected with a supporting wheel set rolling on the ground and connected with a power device in a transmission manner, the lower side of the elastic supporting assembly 302 is connected with the base 301, the upper side of the elastic supporting assembly 302 supports the connecting supporting frame 303, a carrier basket 4 for carrying a carrier is placed on the supporting frame 303, and the upper end of the carrier basket 4 is of an open structure and is provided with a detachable upper cover 5.
As shown in fig. 4, the elastic support assembly 302 includes an upper connecting seat 302a, a lower connecting seat 302d, a suspension spring 302b, and a damping cylinder 302c, the upper end of the upper connecting seat 302a is supported and connected to the support frame 303, the lower end of the lower connecting seat 302d is fixedly connected to a lower support seat 307 on the base 301, the damping cylinder 302c is disposed between the upper connecting seat 302a and the lower connecting seat 302d, and the upper end and the lower end of the damping cylinder 302b are respectively connected to the upper connecting seat 302a and the lower connecting seat 302d, the upper end and the lower end of the suspension spring 302b are respectively connected to the upper connecting seat 302a and the lower connecting seat 302d, and are sleeved with the damping cylinder 302c, and the upper connecting seat 302a, the lower connecting seat 302d, the suspension spring 302b, and the damping cylinder 302c are coaxially and vertically disposed; as shown in fig. 2 and 5, four sets of elastic supporting assemblies 302 are arranged, the four sets of elastic supporting assemblies 302 are distributed in a rectangular shape according to the overhead view, and the four sets of elastic supporting assemblies 302 are arranged at the same height to horizontally support the supporting frame 303.
As shown in fig. 2 and 4, the objective robot body 3 further includes four support links 308, the four support links 308 are distributed in a rectangular shape with respect to the overhead view, and the four support links 308 are arranged as a parallelogram link mechanism, the support links 308 are arranged in an inclined manner, the upper end of the support links is rotatably connected to the support frame 303, and the lower end of the support links is rotatably connected to the base 301.
The support links 308 correspond to the elastic support members 302 one to one, and each support link 308 is adjacent to its corresponding elastic support member 302.
As shown in fig. 5, the supporting wheel set drivingly connected to the power device includes two pairs of front and rear wheel bodies, and the four wheel bodies are rectangular distributed based on the overhead view, and the four supporting links 308 and the elastic supporting assemblies 302 are all in one-to-one correspondence and close to the four wheel bodies.
The two pairs of wheel bodies of the supporting wheel set are respectively positioned at the front side and the rear side of the base 301, one pair of wheel bodies positioned at the front side of the base 301 is set as a driving wheel 304, one pair of wheel bodies positioned at the rear side of the base 301 is set as a universal wheel 306, and the power device is in transmission connection with the driving wheel 304.
The power device comprises a pair of driving motors 305 fixedly arranged on the base 301, and the two driving motors 305 are respectively connected with the two driving wheels 304 in a transmission way.
The base 301 is a horizontal plate structure, and the base station 2 is installed on the upper horizontal surface of the base 301; the control device comprises an STM32 main control board 309 and a motor driver 310 which are installed on the upper horizontal plane of the base 301, the motor driver 310 is provided with two driving motors 305 which are respectively connected with the two driving motors 305 in a signal mode, the motor driver 310 is connected with the STM32 main control board 309 in a signal mode, the STM32 main control board 309 is used for processing distance information between the guide tag 1 and all base stations 2, and a control command is output so that the two motor drivers 310 respectively control output power of the two driving motors 305 to enable the distance between the loading robot body 3 and a leader holding the guide tag 1 to be kept within a set range; wherein two basic stations 2 correspond respectively and are close to two drive wheels 304, and both bilateral symmetry arrange, and the array direction of both is on a parallel with the axis of two drive wheels 304, the operating mode that this overall arrangement mode can adapt to the turn well, if the leader turns, then, according to the position change condition between guide label 1 and two preceding basic stations 2, adjust two driving motor 305's output power respectively, make two drive wheels 304 have different rotational speeds, form the differential that is fit for the operating mode of turning, thereby make the distance between year thing robot body 3 and the leader keep at the setting value, with the motion of following better.
A battery 311 for supplying power to the whole control device is installed on the upper horizontal surface of the base 301, and the battery 311 is positioned at the center of the distance between the two universal wheels 306.
3 base stations 2 for positioning are arranged on a base 301 of a carrying robot body 3, and can form a DS-TWR (Double Side Two Way Ranging) based Ranging mode with a guide tag 1 through a UWB (ultra Wide band) positioning algorithm to obtain the Side length of a plane triangle formed by the guide tag 1 and three base stations 2, then calculate the angle of the plane triangle formed by the guide tag 1 and three base stations 2 based on the cosine law of the triangle, determine the orientation of the base 301 and the guide tag 1 of the carrying robot body 3, and finally realize the attitude calculation of the carrying robot body 3 and the control of the rotating speed of a driving motor 305 and the transmission of differential signals of Two driving motors 305 according to an STM32F103 multi-robot arm control algorithm through an intelligent moving Ranging module, an infrared remote control module and an intelligent control module which are arranged on an STM32 main control board 309, so that the set distance is kept between the carrying robot body 3 and a guider, and the intelligent carrying positioning and following motion of the robot body 3 are realized. Through software and hardware design and debugging, can be so that carry thing robot body 3 and the leader when near apart from, carry thing robot body 3 and just slowly follow, in case it is far away with the distance of leader to survey to carry thing robot body 3, carry thing robot body 3 and will accelerate the speed of marcing until chasing up the leader to carry thing robot body 3 can follow the leader and turn together, can not follow and lose.
Owing to set up the elastic support subassembly 302 of taking shock-absorbing spring 302b and damping cylinder 302c, make full use of shock-absorbing spring 302 b's cushioning effect and damping cylinder 302 c's damping effect, can weaken the vibrations that support frame 303 receives remarkably, owing to set up four supporting rod 308 again, can make support frame 303 can remain the horizontally state throughout in transportation process, thereby make to carry thing basket 4 to be in the horizontality, and have very high stability in transportation process, owing to carry thing robot body 3 to have very high stationarity in transportation process, thereby make three basic station 2's position can not produce great skew, thereby ensured the positioning accuracy and the following precision of following in-process thing robot body 3.
While the preferred embodiments of the present invention have been described, those skilled in the art will appreciate that various changes and modifications can be made therein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (9)
1. The shock-absorbing type welding type following carrying robot system is characterized by comprising at least one carrying robot body (3) with a power device and a control device and a guiding label (1) which is held by a guided person and is based on a UWB communication mode, wherein three base stations (2) which are based on the UWB communication mode and establish a UWB communication connection relation with the guiding label (1) are arranged on the carrying robot body (3), so that the carrying robot body (3) tracks the guided person, and the output of the power device of the carrying robot body (3) is controlled by the control device of the carrying robot body (3);
the carrier robot body (3) comprises a base (301), a supporting frame (303) and an elastic supporting assembly (302), wherein the base (301) is rotatably connected with a supporting wheel set which rolls on the ground and is in transmission connection with a power device, the lower side of the elastic supporting assembly (302) is connected with the base (301), the upper side of the elastic supporting assembly (302) is in supporting connection with the supporting frame (303), a carrier basket (4) for carrying is placed on the supporting frame (303), and the upper end of the carrier basket (4) is of an open structure and is provided with a detachable upper cover (5);
four sets of elastic supporting assemblies (302) are arranged, the four sets of elastic supporting assemblies (302) are distributed in a rectangular shape by taking an aerial view as a standard, and the four sets of elastic supporting assemblies (302) are arranged at the same height to horizontally support the supporting frame (303);
the carrying robot body (3) further comprises four supporting connecting rods (308), the four supporting connecting rods (308) are distributed in a rectangular shape by taking a bird's-eye view as a reference, the four supporting connecting rods (308) are arranged into a parallelogram connecting rod mechanism, the supporting connecting rods (308) are obliquely arranged, the upper ends of the supporting connecting rods are rotatably connected with the supporting frame (303), and the lower ends of the supporting connecting rods are rotatably connected with the base (301);
the base (301) is of a horizontal plate structure, and the base station (2) is installed on the upper horizontal surface of the base (301).
2. The shock absorbing welding-type follow-up transfer robot system according to claim 1, wherein: the elastic support assembly (302) comprises an upper connecting seat (302 a), a lower connecting seat (302 d), a shock absorbing spring (302 b) and a damping cylinder (302 c), the upper end of the upper connecting seat (302 a) is supported and connected with a support frame (303), the lower end of the lower connecting seat (302 d) is fixedly connected with a lower supporting seat (307) arranged on the base (301), the damping cylinder (302 c) is arranged between the upper connecting seat (302 a) and the lower connecting seat (302 d), the upper end and the lower end of the damping cylinder are respectively connected with the upper connecting seat (302 a) and the lower connecting seat (302 d), the upper end and the lower end of the shock absorbing spring (302 b) are respectively connected with the upper connecting seat (302 a) and the lower connecting seat (302 d) and are sleeved with the damping cylinder (302 c), and the upper connecting seat (302 a), the lower connecting seat (302 d), the shock absorbing spring (302 b) and the damping cylinder (302 c) are coaxially and vertically arranged.
3. The shock absorbing welding-type follow-up transfer robot system according to claim 2, wherein: the support connecting rods (308) correspond to the elastic support components (302) one by one, and each support connecting rod (308) is close to the corresponding elastic support component (302).
4. The shock absorbing welding-type follow-up transfer robot system according to claim 3, wherein: the supporting wheel set in transmission connection with the power device comprises a front pair of wheel bodies and a rear pair of wheel bodies, the four wheel bodies are distributed in a rectangular shape with the overlooking view angle as the standard, and the four supporting connecting rods (308) and the elastic supporting assembly (302) are uniformly and correspondingly close to the four wheel bodies.
5. The shock-absorbing welding-type follow-up transfer robot system according to claim 4, wherein: the two pairs of wheel bodies of the supporting wheel set are respectively arranged at the front side and the rear side of the base (301), a pair of wheel bodies positioned at the front side of the base (301) is set as a driving wheel (304), a pair of wheel bodies positioned at the rear side of the base (301) is set as a universal wheel (306), and the power device is in transmission connection with the driving wheel (304).
6. The shock absorbing welding-type follow-up transfer robot system according to claim 5, wherein: the power device comprises a pair of driving motors (305) fixedly arranged on the base (301), and the two driving motors (305) are respectively connected with the two driving wheels (304) in a transmission manner.
7. The shock absorbing welding-type follow-up transfer robot system of claim 6, wherein: controlling means is including installing STM32 main control board (309) and the motor drive (310) at the last horizontal plane of base (301), motor drive (310) are provided with two and two driving motor (305) of signal connection respectively, motor drive (310) and STM32 main control board (309) signal connection, STM32 main control board (309) are used for handling the distance information between guide label (1) and all base stations (2), cause two motor drive (310) output power of controlling two driving motor (305) respectively with output control command to make year thing robot body (3) and the interval of the guide person who holds guide label (1) keep at the within range of settlement.
8. The shock absorbing welding-type follow-up transfer robot system according to claim 7, wherein: the two base stations (2) are respectively corresponding to and close to the two driving wheels (304), are arranged symmetrically left and right, and are parallel to the axes of the two driving wheels (304).
9. The shock absorbing welding-type follow-up transfer robot system according to claim 7, wherein: the battery (311) for supplying power to the whole control device is installed on the upper horizontal surface of the base (301), and the battery (311) is located in the center position of the distance between the two universal wheels (306).
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