CN112318478A - Compound robot capable of carrying moving trolley - Google Patents
Compound robot capable of carrying moving trolley Download PDFInfo
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- CN112318478A CN112318478A CN202011322276.3A CN202011322276A CN112318478A CN 112318478 A CN112318478 A CN 112318478A CN 202011322276 A CN202011322276 A CN 202011322276A CN 112318478 A CN112318478 A CN 112318478A
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- composite robot
- robot
- composite
- mobile cart
- manipulator
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- 150000001875 compounds Chemical class 0.000 title description 20
- 239000002131 composite material Substances 0.000 claims abstract description 56
- 230000005540 biological transmission Effects 0.000 claims description 33
- 239000012636 effector Substances 0.000 claims description 10
- 239000000463 material Substances 0.000 claims description 7
- 230000033001 locomotion Effects 0.000 claims description 4
- 238000005192 partition Methods 0.000 claims description 3
- 238000000034 method Methods 0.000 abstract description 4
- 230000008569 process Effects 0.000 abstract description 3
- 230000005570 vertical transmission Effects 0.000 description 14
- 230000000712 assembly Effects 0.000 description 11
- 238000000429 assembly Methods 0.000 description 11
- 230000007246 mechanism Effects 0.000 description 11
- 238000005516 engineering process Methods 0.000 description 5
- 241000220317 Rosa Species 0.000 description 2
- 210000001503 joint Anatomy 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000004075 alteration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000000969 carrier Substances 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000007935 neutral effect Effects 0.000 description 1
- 230000001360 synchronised effect Effects 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
- B25J9/00—Programme-controlled manipulators
- B25J9/0096—Programme-controlled manipulators co-operating with a working support, e.g. work-table
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention provides a composite robot capable of carrying a moving trolley, which comprises an AGV chassis and a manipulator, wherein the AGV chassis is provided with a connecting device for connecting the moving trolley, and the composite robot can be butted with the moving trolley through the connecting device, so that the moving trolley moves along with the composite robot. The invention realizes the connection with the moving trolley through the chassis of the composite robot, so that the composite robot can carry the moving trolley connected with the composite robot to carry out composite operation, and the problem that the composite robot is inconvenient to work in the working process in the prior art is solved.
Description
Technical Field
The invention relates to the field of intelligent manipulators, in particular to a composite robot for scanning and picking goods.
Background
The composite robot is more and more widely applied, along with the development of manipulator technology, the idea of automation is advanced and goes deep into various industries, the content of the composite robot covers the knowledge fields of multiple subjects such as machinery, automobiles, electronics, automatic control, computers, sensing technology and the like, and as a new comprehensive technology, the composite robot can be widely applied to the technical fields of automatic material trucks in factories, carriers in fixed places and the like, and also applied to complex and severe working environments, and has good civil and military prospects.
The traditional compound robot is generally formed by integrating an end executing mechanism and a moving device, and the traditional compound robot generally has the function of moving together to grab goods, or the traditional compound robot can scan, pick up goods and the like. For example, CN210084143U of the chinese patent discloses a compound robot for transferring warehouse materials, wherein a rotary lifting device is installed in a mobile trolley, a fixed frame is connected beside the mobile trolley, a depth camera and a sensing component are installed on the fixed frame, and a multi-directional mobile platform carries a lifting device and a self-adaptive fixing device, so as to realize long-distance cargo grabbing, placing, transporting and other functions; however, the compound robot usually does not have a particularly effective method to carry a mobile cart to perform compound operation during work, so that the compound robot brings much inconvenience in the specific work process.
Disclosure of Invention
The invention aims to provide a composite robot capable of carrying a moving trolley, which is connected with the moving trolley through a chassis of the composite robot, so that the composite robot can carry the moving trolley connected with the composite robot to perform composite operation, and the problem that the composite robot is inconvenient to work in the working process in the prior art is solved.
In order to achieve the purpose, the invention provides the following technical scheme:
the utility model provides a portability travelling car's compound robot, includes AGV chassis and manipulator, the AGV chassis has the connecting device who is used for connecting the travelling car, through connecting device, compound robot can pass through connecting device docks with the travelling car, thereby makes the travelling car follow compound robot removes.
In the present invention, the traveling vehicle may be used to store tools or goods, such as a shelf with casters, which may be considered as one of the traveling vehicles.
Further, the AGV chassis includes first function position and second function position, first function position and second function position can form through integrated into one piece's mode the whole on AGV chassis, for example, the second function position can set up and be lieing in first function position side, first function position is used for connecting the manipulator, the second function position be used for passing through connecting device with the travelling car docks. Under the condition that the composite robot works independently (not combined with the movable trolley), the first functional part bears a manipulator part in the composite robot, the second functional part is left empty, the shape and the structure of the first functional part and the second functional part only need to meet the requirement of being capable of moving and maintaining the overall stability of the whole composite robot during moving and working, and when the composite robot is combined with the movable trolley, the second functional part plays a role in connecting the movable trolley.
Furthermore, be equipped with two at least truckles on the AGV chassis, the truckle can be the universal wheel for whole composite robot can realize the removal of all directions.
Further, the connecting means is configured to have two states of connection and release, and the connecting means may take a telescopic form, e.g. for connection when extended and release when retracted, or a clamping or clasping form, e.g. for connection when clamped and release when expanded.
Take a concrete form as an example, connecting device can include base, first connection position and second connection position, the base sets up in the AGV chassis, be equipped with electric actuator in the base, when need not connect (release state), electric actuator can drive the second connection position rises or descends (the form of electric round pin promptly), when electric actuator drive second connection position rose, the second connection position was worn out and is stretched out to from the base AGV chassis upper surface, when compound robot moved to the second function position when being located the travelling car bottom, electric actuator drive second connection position rose and combines with the first connection position on the travelling car, the travelling car just combines with compound robot this moment.
Further, the travelling car is equipped with the identical, the cooperation of connecting device or the first connection position that matches, first connection position can be forms such as recess, through-hole, connection piece, buckle, works as the travelling car needs work with compound robot together, will the travelling car moves on the second function position for first connection position and connecting device butt joint, at this moment the travelling car just can with connecting device butt joint on the second function position forms the composite robot that adds the portability travelling car that travelling car and composite robot constitute, and this composite robot can realize synchronous motion through the removal part on travelling car and the AGV chassis, for example truckle etc..
Furthermore, the movable trolley is also provided with casters for movement and at least one partition plate capable of containing materials, the movable trolley can adopt the movable trolley in the prior art, and the functions of moving, loading and unloading the movable trolley are not required to be improved.
Further, the manipulator comprises an end executing mechanism, a transmission component and a driving component, wherein the end executing mechanism comprises at least one end executing tool for taking and placing materials, and the driving component can drive the end executing mechanism to move and act through the transmission component.
In the invention, the manipulator can be provided with various end executing tools according to actual requirements, and can perform functions such as goods picking or goods scanning and assembling.
Further, the transmission component can enable an end execution tool of the manipulator to move in a three-dimensional space to execute work, and the transmission component comprises a vertical transmission assembly, a longitudinal transmission assembly and a transverse transmission assembly;
the vertical transmission assembly is arranged along the height direction of the manipulator;
the transverse transmission assembly is arranged between the vertical transmission assemblies along the width direction of the manipulator and can move along the vertical transmission assemblies;
the longitudinal transmission assembly is fixedly connected with the tail end executing mechanism, and the longitudinal transmission assembly is arranged on the transverse transmission assembly and can move along the transverse transmission assembly.
Further, the manipulator is mounted on the AGV chassis and connected by screws or other fasteners.
Furthermore, the vertical transmission assemblies are arranged on the inner walls of the two sides of the outer frame, and vertical rails are arranged on the vertical transmission assemblies;
the transverse transmission assembly is arranged between the vertical transmission assemblies, can move along the vertical tracks and drives the longitudinal transmission assembly and the tail end executing mechanism to move, and is provided with a transverse track;
one end of the longitudinal transmission assembly is mounted on the transverse transmission assembly and can move along the transverse track so as to drive the tail end actuating mechanism to move;
the longitudinal transmission assembly comprises a first sliding rail and a second sliding rail which are telescopic, the tail end executing mechanism is installed on the first sliding rail and can longitudinally move along with the telescopic effect of the first sliding rail, and the connecting piece of the tail end executing mechanism is installed on the second sliding rail and can move along the second sliding rail to move oppositely or reversely so as to connect or release an article.
The first sliding rail is connected with the driving assembly, and the first sliding rail is driven by the driving assembly to move in the longitudinal direction, so that the tail end executing mechanism is driven to move on the first sliding rail.
The invention has the following beneficial effects:
(1) the invention expands the concept of ' hand ' of the composite robot, breaks through the concept that the conventional mechanical hand is only used as an end execution tool, and defines another ' mechanical hand ' of the composite robot, namely a connecting device for connecting a goods shelf, so that the mechanical hand of the composite robot can also have the function of connecting with the goods shelf (a moving trolley), the composite robot can ' take goods by one hand ' and ' expand the function and application range of the composite robot.
(2) The composite robot is composed of a manipulator and an AGV chassis, and the connection between the composite robot and the goods shelf (moving trolley) can be freely disassembled and combined according to needs, so that the robot can freely select the working state of 'carrying goods' or 'not carrying goods', and can also freely select which goods shelf (moving trolley) to combine with according to the actual working needs, therefore, the composite robot can utilize the functions of the goods shelf (moving trolley), the working capacity of the composite robot is expanded, and the execution efficiency of the whole robot operation working system is improved.
Drawings
Fig. 1 is a schematic view of the overall structure of the present invention.
Fig. 2 is a partial schematic view of the end effector of the present invention.
FIG. 3 is a partial schematic view of an AGV chassis of the present invention.
Detailed Description
The following detailed description of the embodiments of the present invention is provided in conjunction with the accompanying drawings, and it should be noted that the embodiments are merely specific illustrations of the present invention, and should not be considered as limitations of the present invention, and the purpose of the embodiments is to make technical solutions of the present invention better understood and reproduced by those skilled in the art, and the protection scope of the present invention should be subject to the scope defined by the claims.
The invention is further described below with reference to the accompanying drawings.
As shown in fig. 1 to 3, a composite robot capable of carrying a mobile cart includes an AGV chassis 1 and a manipulator 2, the AGV chassis 1 is provided with a connecting device 100 for connecting the mobile cart 3, and when the connecting device 100 implements a connecting function, the mobile cart 3 can be coupled to the composite robot through the connecting device 100 and move with the composite robot.
Further, AGV chassis 1 includes first function position 11 and second function position 12, first function position 11 and second function position 12 can adopt integrated into one piece's mode, and manipulator 2 installs on first function position 11, forms compound robot, connecting device 100 sets up on second function position 12 for combine the travelling car.
Further, at least two casters are disposed on the AGV chassis 1, and the casters may be universal wheels, so that the entire composite robot can move in all directions, and the casters are not shown in the drawings of the present invention, but it should be understood by those skilled in the art that in the present invention, the casters function to move the entire apparatus, and the casters and the universal wheels can be implemented by using conventional technologies in the art.
Further, the connection device 100 is configured to have two states of connection and release, when the connection device is in the connection state, the mobile cart 3 is coupled with the compound robot, and when the connection device is in the release state, the mobile cart 3 is not fixed, and can be detached from the compound robot at any time.
As a specific example, the connection device 100 includes a base and a second connection portion 102, the base is disposed in the AGV chassis 1, the base is provided with an electric device, the electric device can drive the second connection portion 102 to ascend or descend, as shown in fig. 3, the connection device 100 can be in the form of an electric pin partially embedded in the second function portion, and the second connection portion 102 (pin portion) can penetrate out of the base and protrude to the upper surface of the second function portion. Correspondingly, the dolly 3 is provided with a first connection site 101 that mates or matches a second connection site 102, e.g. when the second connection site 102 is in the form of a pin, the first connection site 101 may be in the form of a groove, a through hole, a tab, a snap, etc. that ensures that the second connection site 102 may pass through, extend into or partly engage the first connection site 101 when the two are engaged.
When the composite robot needs to work with the mobile trolley together, the composite robot can find the position of the mobile trolley through a navigation positioning technology and find the mobile trolley, when the composite robot is combined with the mobile trolley, the composite robot moves to a neutral area where the second functional part 12 is arranged at the bottom of the mobile trolley 3, the composite robot can also confirm and correct the position through a photoelectric sensor or a position sensor to realize accurate alignment, an electric pin is started after the first connecting part 101 is aligned with the second connecting part 102 to enable the second connecting part 102 to ascend and be combined with the first connecting part 101, and at the moment, the mobile trolley 3 is locked by the connecting device 100 and is combined with the composite robot. At this time, the compound robot can carry the moving trolley 3 to move synchronously.
Of course, the above description of the specific structure of the connection device 100 is provided for better understanding and implementing the technical solution of the present invention by those skilled in the art, and should not be construed as limiting the present invention, and in practical use, the connection device 100 may also take the form of a spring pin, a clamping device, etc. For example, when a spring pin is used, an elastic member (e.g., a spring) may be disposed in the base (a cylindrical or block-shaped base embedded in the second functional portion), and the elastic member is connected to the second connecting portion 102 (pin portion) extending outside, so that when the second functional portion moves to the bottom of the mobile cart, the second connecting portion 102 is compressed first and then pops out when meeting the first connecting portion 101, thereby forming a combination of the mobile cart and the compound robot.
In addition, the connection device 100 may be connected and combined with the moving cart by clipping, protruding jacking pins or turning hook locks, and the specific connection mode of the connection device 100 may be selected according to the connected cart mode in practical use.
Further, the movable trolley 3 is also provided with a caster 31 for moving and at least one partition plate capable of placing materials, the movable trolley 3 in the prior art can be adopted in the invention, and the functions of moving, loading and unloading the movable trolley 3 do not need to be improved.
Further, the manipulator 2 comprises an end actuator 21, a transmission component 22 and a driving component 23, wherein the end actuator 21 comprises at least one end actuator 220 for picking and placing materials, the end actuator 21 can perform a cargo picking or cargo scanning assembly function, and the driving component 23 can drive the end actuator 21 to move and act through the transmission component 22.
Preferably, the robot 2 has various types of end effector that can perform functions such as picking of goods and scanning and assembling of goods.
Further, the transmission component can enable the end effector of the manipulator to move in a three-dimensional space to perform work, and the transmission component 22 comprises a vertical transmission assembly 221, a longitudinal transmission assembly 222 and a transverse transmission assembly 223;
the vertical transmission assembly 221 is arranged along the height direction of the manipulator 2;
the transverse transmission assemblies 223 are arranged between the vertical transmission assemblies 221 in the width direction of the manipulator 2 and can move along the vertical transmission assemblies 221;
the longitudinal driving component 222 is fixedly connected with the end effector 21, and the longitudinal driving component 221 is disposed on the transverse driving component 223 and can move along the transverse driving component 223.
Further, the manipulator 2 comprises an outer frame 24, and the manipulator is mounted on the AGV chassis and connected through screws.
Further, the vertical transmission assemblies 221 are installed on the inner walls of the two sides of the outer frame 24, and vertical rails are arranged on the vertical transmission assemblies 221;
the transverse transmission assembly 223 is installed between the vertical transmission assemblies 221, the transverse transmission assembly 223 can move along the vertical track and drive the longitudinal transmission assembly 222 and the end executing mechanism 21 to move, and a transverse track is arranged on the transverse transmission assembly 223;
one end of the longitudinal transmission assembly 222 is mounted on the transverse transmission assembly 223 and can move along the transverse track so as to drive the end effector 21 to move;
the longitudinal transmission assembly 222 includes a first sliding rail 2221 and a second sliding rail 2222, the end actuator 21 is mounted on the first sliding rail 2221 and can move longitudinally along with the extension and retraction of the first sliding rail 2221, and a connecting member of the end actuator 21 is mounted on the second sliding rail 2222 and can move along the second sliding rail 2222 to move in the opposite direction or the reverse direction so as to connect or release an article.
The first slide rail 2221 is connected to the driving component 23, and the driving component 23 drives the first slide rail 2221 to move in the longitudinal direction, so as to drive the end effector 21 to move on the first slide rail 2221.
While the preferred embodiments of the present application have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all alterations and modifications as fall within the scope of the application.
Claims (9)
1. The utility model provides a composite robot of portability travelling car, its characterized in that includes AGV chassis and manipulator, the AGV chassis is equipped with the connecting device who is used for connecting the travelling car, composite robot can pass through connecting device docks with the travelling car, thereby makes the travelling car follow composite robot removes.
2. The composite robot capable of carrying a mobile cart according to claim 1, wherein said AGV chassis comprises a first functional portion for connecting said manipulator and a second functional portion for interfacing with said mobile cart via said connecting means.
3. A composite robot carrying a mobile cart according to claim 1, wherein the AGV chassis is provided with at least two casters.
4. A composite robot carrying a mobile cart according to claim 1, wherein the connection means is configured to have two states of connection and release.
5. A composite robot carrying a mobile cart according to claim 1, wherein said mobile cart is provided with attachment points to engage with said attachment means.
6. A composite robot carrying a mobile cart according to claim 1, wherein the mobile cart is further provided with casters for movement and at least one partition on which material may be placed.
7. A composite robot carrying a mobile cart according to claim 1, wherein said robot arm comprises an end effector comprising at least one end effector, a transmission member and a drive member capable of driving the movement and actuation of the end effector via the transmission member.
8. A composite robot carrying a mobile cart according to claim 7, wherein the transmission means enables the end effector of the robot arm to move in three dimensions to perform work.
9. A composite robot carrying a mobile cart according to claim 1, wherein said manipulator is mounted on the AGV chassis.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011322276.3A CN112318478A (en) | 2020-11-23 | 2020-11-23 | Compound robot capable of carrying moving trolley |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011322276.3A CN112318478A (en) | 2020-11-23 | 2020-11-23 | Compound robot capable of carrying moving trolley |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112318478A true CN112318478A (en) | 2021-02-05 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011322276.3A Pending CN112318478A (en) | 2020-11-23 | 2020-11-23 | Compound robot capable of carrying moving trolley |
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| Country | Link |
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| CN (1) | CN112318478A (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20180141755A1 (en) * | 2013-09-09 | 2018-05-24 | Dematic Corp. | Autonomous mobile picking |
| CN108408315A (en) * | 2018-04-26 | 2018-08-17 | 北京极智嘉科技有限公司 | Haulage equipment |
| CN109775218A (en) * | 2019-03-01 | 2019-05-21 | 云机工业设计(义乌)有限公司 | A kind of picking robot |
| CN111605950A (en) * | 2019-12-13 | 2020-09-01 | 北京极智嘉科技有限公司 | Self-driven mobile device and warehouse system |
| CN214162986U (en) * | 2020-11-23 | 2021-09-10 | 云机工业设计(义乌)有限公司 | Compound robot capable of carrying moving trolley |
-
2020
- 2020-11-23 CN CN202011322276.3A patent/CN112318478A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20180141755A1 (en) * | 2013-09-09 | 2018-05-24 | Dematic Corp. | Autonomous mobile picking |
| CN108408315A (en) * | 2018-04-26 | 2018-08-17 | 北京极智嘉科技有限公司 | Haulage equipment |
| CN109775218A (en) * | 2019-03-01 | 2019-05-21 | 云机工业设计(义乌)有限公司 | A kind of picking robot |
| CN111605950A (en) * | 2019-12-13 | 2020-09-01 | 北京极智嘉科技有限公司 | Self-driven mobile device and warehouse system |
| CN214162986U (en) * | 2020-11-23 | 2021-09-10 | 云机工业设计(义乌)有限公司 | Compound robot capable of carrying moving trolley |
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