CN112477532A - 用于自动牵拉拖车的机器人拖车牵拉车辆 - Google Patents

用于自动牵拉拖车的机器人拖车牵拉车辆 Download PDF

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CN112477532A
CN112477532A CN202011173476.7A CN202011173476A CN112477532A CN 112477532 A CN112477532 A CN 112477532A CN 202011173476 A CN202011173476 A CN 202011173476A CN 112477532 A CN112477532 A CN 112477532A
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vehicle
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N·J·雅各布森
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Mobio Industrial Robot Co ltd
Mobile Industrial Robots AS
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60D—VEHICLE CONNECTIONS
    • B60D1/00—Traction couplings; Hitches; Draw-gear; Towing devices
    • B60D1/24—Traction couplings; Hitches; Draw-gear; Towing devices characterised by arrangements for particular functions
    • B60D1/42—Traction couplings; Hitches; Draw-gear; Towing devices characterised by arrangements for particular functions for being adjustable
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    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
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    • B25J9/106—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links
    • B25J9/1065—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links with parallelograms
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    • B60—VEHICLES IN GENERAL
    • B60D—VEHICLE CONNECTIONS
    • B60D1/00—Traction couplings; Hitches; Draw-gear; Towing devices
    • B60D1/01—Traction couplings or hitches characterised by their type
    • B60D1/04—Hook or hook-and-hasp couplings
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60D—VEHICLE CONNECTIONS
    • B60D1/00—Traction couplings; Hitches; Draw-gear; Towing devices
    • B60D1/24—Traction couplings; Hitches; Draw-gear; Towing devices characterised by arrangements for particular functions
    • B60D1/246—Traction couplings; Hitches; Draw-gear; Towing devices characterised by arrangements for particular functions for actuating the hitch by powered means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
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    • B60D1/00—Traction couplings; Hitches; Draw-gear; Towing devices
    • B60D1/58—Auxiliary devices
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    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • 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
    • G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60D—VEHICLE CONNECTIONS
    • B60D1/00—Traction couplings; Hitches; Draw-gear; Towing devices
    • B60D2001/001—Traction couplings; Hitches; Draw-gear; Towing devices specially adapted for use on vehicles other than cars
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    • Y10S901/00—Robots
    • Y10S901/01—Mobile robot
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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Abstract

用于自动牵拉拖车的机器人拖车牵拉车辆。本发明提供了一种用于自动对接和牵拉拖车(3)的机器人拖车牵拉车辆(2)，所述拖车例如为用于例如亚麻布的带车轮的医院拖车。具体地，车辆(2)设置有用于保持拖车(3)的独特的抓握器件(1)。此外，机器人车辆(2)采用定位系统以用于在医院走廊安全行驶，并且还包括一个或多个传感器以指示机器人(2)相对于周围环境的位置从而避免不必要的撞击。

Description

用于自动牵拉拖车的机器人拖车牵拉车辆
本申请是申请日为2016年4月11日、发明名称为“用于自动牵拉拖车的机器人拖车牵拉车辆”的进入中国国家阶段的发明专利申请第201680021545.8号的分案申请。
技术领域
本发明涉及一种用于自动牵引室内材料的机器人拖车牵拉车辆。更具体地，本发明涉及一种牵拉拖车的引导移动机器人系统，所述机器人系统使得能够自动对接和脱离拖车。
背景技术
在结构内或者在多个结构之间运输物品已经在一定程度上是一个问题。当今，存在作为市售产品的许多运输选择，例如输送带、气动导管、带万向接头的拖车以及移动机器人。移动机器人或者自动引导车辆是已经配备有在计算机控制下的驱动系统的车辆，所述驱动系统允许在两个位置之间的自动引导。
虽然将移动机器人引入医院和实验室中具有重大的经济动机，但是在使用移动机器人来递送医院用品方面进展相对较少。例如，对于具有500张以上床位的医院而言，亚麻布、医疗样本、药物、血液制品、患者图表、X射线和膳食的物理移动每年耗资巨大。
牵引挂车和在AGV上安装在后部的牵引装置在本领域中是所熟知的。通常，商用钩子和球形体安装在AGV的一个端部处(通常位于后部端部)，在所述一个端部处连接有包括可释放套接部(socket)和牵引杆的挂车。
用于递送或运输室内材料的机器人和自动车辆已经被研发并且用于许多应用中。一个已知的应用是邮件自动递送车辆和机器人。除了作为独立的机器人车辆之外，所述机器人和自动车辆还为沿着已准备好的轨道的自动引导车辆，例如沿着位于地面上的绘制的紫外线轨道。
在医院环境中，一些公司已经研发了用于医院的机器人快递装置(courier)。机器人快递装置基本上是带车轮的机柜(cabinet)。这些机器人快递装置具有许多缺点；例如它们仅适用于运输能够适配在安装有机器人的相关的机柜内或上的材料。在一些商用解决方案中，机器人车辆在下方行驶并且提升拖车。同时，该解决方案需要为此目的专门构建所述拖车，以用于在所述拖车的框架下方提供用于机器人车辆的所需的空间。
US2004093650公开了一种用于执行多个分离的操作的移动机器人系统，所述移动机器人系统包括至少一个自主的带车轮的移动机器人(具有至少一个驱动车轮的发动机和车载计算机)、用于在具有移动的障碍物的环境中导航、定向和操纵的器件、传感器系统、以及用于接收和发送信号的无线通信系统。US2004093650中公开的移动机器人系统有助于牵引位于使用联接钩挂钩杆(coupling hitch hook bar)作为拖车附接机构的各种拖车或挂车上的材料。同时，US2004093650中的拖车附接机构不能在枢转点上自由移动，并且不适于在不平坦的支撑件上牵引拖车。因而，需要一种自动引导车辆上的柔性拖车附接机构以用于牢固地附接各种拖车。
上述讨论的现有技术具有严重的缺点。本发明的目的是改善现有技术，并且提供一种可用于工业应用的牵拉拖车或挂车的推算定位(decuced reckoning)引导移动机器人系统，所述工业应用例如为在医院内、组件生产中、超市内等。
发明内容
因此，本发明提供了一种改进的带车轮的机器人，所述带车轮的机器人用于自动对接拖车和类似挂车以及将拖车和类似挂车从一个位置牵拉/牵引至另一位置。机器人采用定位系统以用于在医院走廊安全行驶，并且还包括一个或多个传感器以指示机器人相对于周围环境的位置从而避免不必要的碰撞。本发明的拖车移动机器人系统使得能够自动对接和脱离拖车，这是对现有方案的主要改进。
具体地，本发明提供一种用于牵引(或推动)带车轮的拖车的自动引导车辆，所述拖车具有至少四个车轮并且设置有拖车框架，所述自动引导车辆包括：
·驱动车轮；
·安装在所述驱动车轮上的机器人本体；
·使用导航系统的控制系统；
·拖车附接机构，所述拖车附接机构安装在所述机器人本体上以用于将拖车联接至所述自动引导车辆；
·安装在所述机器人本体上的至少一个接近传感器，所述控制系统联接至所述至少一个接近传感器以用于调节所计算的机器人位置并且检测任何障碍；
其中，所述拖车附接机构包括拖曳臂，所述拖曳臂能够在水平平面内自由旋转，所述拖曳臂在一个端部处安装在所述机器人本体上的枢转点中，并且在另一个端部处设置有抓握部分以用于抓握和保持待牵引的所述拖车，所述抓握部分包括：
-竖直杆元件，所述竖直杆元件附接至所述拖曳臂；
-水平杆元件，所述水平杆元件经由枢转点P1柔性地附接至所述竖直杆元件；
-挂钩元件，所述挂钩元件用于抓握所述拖车框架，所述挂钩元件设置有挂钩，并且所述挂钩元件经由枢转点P2柔性地附接至所述水平杆元件，并且其中所述挂钩能够通过驱动器件而(水平)移动；
-至少两个支撑托架，所述至少两个支撑托架定位在所述挂钩的每一个侧部上以用于提供抵接所述拖车框架的夹持力。
在本发明的一个实施例中，每个所述接近传感器为红外线测距传感器。
优选地，在水平杆元件和挂钩元件周围提供的柔性由弹簧建立。在本发明的一个实施例中，弹簧固定到公共弹簧元件(common spring element)，所述公共弹簧元件枢转地附接至枢转点P1。优选地，弹簧将迫使竖直杆元件相对于机器人在其上移动的支撑件近似竖直，并且迫使水平杆元件相对于机器人在其上移动的支撑件近似水平。
在本发明的尤为优选的实施例中，导航系统包括自动控制和引导系统，以用于到达给定目标并且同时避免与周围环境的碰撞。
附图说明
图1示出了拖车附接机构及其预期用途。
图2示出了在斜坡上行驶时的拖车附接机构。
图3示出了在斜坡上行驶时的拖车附接机构的柔性悬架。
图4示出了处于静止(中间)状态的拖车附接机构的柔性悬架。
图5示出了拖车附接机构。
图6示出了拖车附接机构和对车辆的控制。
图7示出了用于联结拖车和拖车附接机构的过程。
具体实施方式
图1示出了安装在机器人(2)上的拖车附接机构(1)。拖车附接机构已经自动地与拖车(3)形成联接，并且将所述拖车运输至目的地。
图2示出了在小的斜坡(4)上行驶时的拖车附接机构(1)。柔性悬架确保可以穿过例如斜坡等的障碍物，而无需任何补偿措施。所述柔性悬架还确保与支撑托架(22)和车辆框架之间的联接表面的柔性联结的负担最小化，由此达到防止受牵引拖车意外脱开的高的安全性。
图3示出了具有两级机构的拖车附接机构(1)，所述拖车附接机构(1)具有柔性悬架，所述柔性悬架具有轴(13)和轴(14)的枢转点。杆(10)允许连杆(11)围绕轴(13)旋转。安装有拖车附接机构的接合部(12)可以围绕轴(14)旋转。当附接结构未附接至拖车时，弹簧(15)和(16)将不断地试图将角度δ和ε最小化至中间位置。
图4示出了处于中间位置的柔性悬架，所述中间位置即为当除重力之外未施加其他力时，双接合部机构将返回的位置。弹簧(15)和(16)以最小弹簧张力将两个部分(11)和(12)牵拉至其中间位置。
图5示出了拖车附接机构如何抓握和保持拖车。在该联接之前，挂钩(20)和支撑托架(22)之间的间隙(S)较大。当线性致动器21延伸时，间隙(S)减小，直至在挂钩(20)、基部框架(50)和支撑托架(22)之间形成接触并且发生联接。当致动器(21)开始从其缩回状态延伸时，间隙(S)快速减小并且夹持力F将较小。随着间隙(S)减小，由于角度α较小，夹持力F显著增加。这导致了在致动器21停止之前基部框架(50)少量的弹性变形。在图5中，有意地未正确绘制基部框架(50)的变形。弹性变形确保与基部框架的联接耐受振动和其他机械应力。因而，确保防止基部框架(50)意外脱开的非常高的安全性。联接机构设计成使得大的夹持力主要由轴(25)、(26)、(27)和(28)吸收，并且较少地由更灵敏的线性致动器(21)吸收。
图6示出了车辆如何控制拖车。拖车(3)和拖车附接机构(1)之间的安全联接由两个支撑托架(22)和挂钩(20)建立，这意味着拖车(3)相对于车辆(2)的位置仅取决于角度β。拖车附接机构(1)上的量角器(5)测量角度β，由此机器人可以安全地操纵拖车绕过(around)障碍物，而无论机器人是在向前或是向后移动。
图7示出了用于联结拖车(3)和拖车附接机构(1)的过程，其中：
-视图A示出了如下情况：车辆(2)已经确定了拖车(3)的位置，由此拖车附接机构的柔性悬架借助于线性致动器(31)而降低；
-视图B示出了如下情况：车辆(2)向后移动直至在支撑托架(22)和拖车框架(50)之间形成接触；
-视图C示出了如下情况：柔性悬架联接机构借助于线性致动器(31)升高直至在接合部(12)和框架(50)之间形成接触；
-视图D示出了如下情况：线性致动器(21)延伸并且将基部框架(50)向后朝向挂钩(20)(视图A)推动，并且在拖车附接机构(1)和拖车(3)之间建立联接。由反序操作(未示出)实现脱离。

Claims (3)

1.一种用于牵引带车轮的拖车(3)的自动引导车辆，所述拖车具有至少四个车轮并且设置有拖车框架(50)，所述自动引导车辆包括：
·驱动车轮；
·安装在所述驱动车轮上的机器人本体(2)；
·拖车附接机构(1)，所述拖车附接机构安装在所述机器人本体(2)上以用于将所述拖车联接至所述自动引导车辆；
其特征在于，
所述拖车附接机构(1)包括拖曳臂，所述拖曳臂能够在水平平面内旋转，所述拖曳臂在一个端部处安装在所述机器人本体上的枢转点中，并且在另一个端部处设置有抓握部分以用于抓握和保持待牵引的所述拖车(3)，所述抓握部分包括：
-竖直杆元件(10)，所述竖直杆元件附接至所述拖曳臂；
-水平杆元件(11)，所述水平杆元件附接至所述竖直杆元件(10)；
-挂钩元件，所述挂钩元件用于抓握所述拖车框架(50)，所述挂钩元件设置有挂钩(20)，并且所述挂钩元件附接至所述水平杆元件，
-支撑部件(22)，所述支撑部件用于提供抵接所述拖车框架(50)的夹持力，其中所述支撑部件(22)能够通过驱动器件(21)而移动并且附接至引导部件(25、26、27和28)，其中所述引导部件(25、26、27和28)布置成用以将所述驱动器件(21)提供的基本竖直移动转换成所述支撑部件的部分水平移动，以便提供抵接所述拖车框架(50)的夹持力。
2.根据权利要求1所述的自动引导车辆，其中，所述支撑部件(22)包括设置在所述挂钩(20)的各侧上的两个支撑托架(22)。
3.根据权利要求1或2所述的自动引导车辆，其中，驱动器件(21)和所述引导部件(25、26、27和28)的组合被设计成用以形成抵接所述拖车框架的夹持力，所述夹持力足以引起所述拖车框架的弹性变形。
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