CN112479054A - Intelligent hoisting, conveying and loading robot - Google Patents
Intelligent hoisting, conveying and loading robot Download PDFInfo
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- CN112479054A CN112479054A CN202011222674.8A CN202011222674A CN112479054A CN 112479054 A CN112479054 A CN 112479054A CN 202011222674 A CN202011222674 A CN 202011222674A CN 112479054 A CN112479054 A CN 112479054A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
- B66C23/18—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes specially adapted for use in particular purposes
- B66C23/26—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes specially adapted for use in particular purposes for use on building sites; constructed, e.g. with separable parts, to facilitate rapid assembly or dismantling, for operation at successively higher levels, for transport by road or rail
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/40—Applications of devices for transmitting control pulses; Applications of remote control devices
- B66C13/44—Electrical transmitters
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/46—Position indicators for suspended loads or for crane elements
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C15/00—Safety gear
- B66C15/04—Safety gear for preventing collisions, e.g. between cranes or trolleys operating on the same track
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Abstract
The invention discloses an intelligent hoisting, conveying and loading robot, which comprises a robot body; the robot body is provided with a hoisting component and a conveying belt; the hoisting assembly comprises a mechanical arm, a mechanical arm and a hoisting control module; a placing area and a throwing area are sequentially arranged on the conveying belt along the conveying direction of the conveying belt; the putting area is connected with an external bearing device and positioned below the manipulator; the hoisting control module comprises an image processing module, a camera and a driving module for controlling the motion states of the mechanical arm and the mechanical arm; the camera transmits the captured goods position information to the image processing module, the image processing module analyzes and judges the distance and the position of the goods and sends the coordinate information to the driving module, and the driving module controls the mechanical arm and the mechanical arm to grab the goods according to the coordinate information; the invention has the advantages of high intelligent level, no limitation of field working environment, strong maneuverability, high flexibility and high working efficiency.
Description
Technical Field
The invention relates to the technical field of engineering equipment, in particular to an intelligent hoisting, conveying and loading robot.
Background
The construction work operation mode at the present stage is generally completed manually, even if the construction machinery on the market assists people to solve the problems of large labor force, high technical difficulty and complicated engineering work, the work still needs manual cooperation machinery work, people need to go to the operation machinery, the real complete mechanization cannot be realized, the intelligent construction work operation mode consumes a large amount of manpower in the process of loading and transporting goods, the labor cost is high, the limitation of the working face is received, the mobility and the flexibility are not high, and the efficiency is low. But also by human mechanical operation errors, cause mechanical failure or cause significant loss of life and loss of life. Typical or common prior art techniques are:
for example, CN106809752A discloses a lifting device. Wherein, this hoisting accessory includes: a fixing base having a connecting member connected with an external fixing object; the supporting frame is rotatably connected to the fixing seat, wherein a first pulley block used for lifting an object is arranged on the supporting frame. The invention solves the technical problem of long installation time caused by the adoption of the traditional manual column switch hoisting mode in the prior art. Another classic hoisting device is disclosed in CN104418233A, comprising: a lifting rod assembly; the lifting rod assembly is arranged on the lifting rod assembly, and the lifting rod assembly is arranged on the lifting rod assembly; the plugging part is arranged at the lower end of the lifting rod component. When the hoisting device is used, the lifting hook of the hoisting device is connected with the lifting lug of the liner, and the plugging part of the hoisting device is abutted in the magnesium rod hole of the liner. Because the hoisting device is connected with the liner through at least two lifting hooks, the connection reliability of the liner and the hoisting device is improved, the positioning stability and the operation stability of the liner are improved, and the production qualification rate of the enamel liner is improved. The magnesium rod hole of the inner container is blocked by the blocking part, so that the glaze slip is prevented from overflowing from the magnesium rod hole, the environment pollution is avoided, the use reliability of the hoisting device is improved, and the production qualification rate of the enamel inner container is ensured. It is further seen that EP1680063a1 discloses a hoisting device comprising a hoisting module which is replaceably connected with coupling means for a trolley which is mounted in ceiling-mounted rail means, wherein the coupling means is provided with a first part and a second part is mounted in connection with the trolley, and wherein the hoisting module comprises that characterized in that said first part of said coupling means is releasably mounted on said hoisting module, that said hoisting belt is arranged for winding and unwinding and for fastening the hoisting bracket and the cross-sectional parts of the coupling means to each other is a wire connection to a winding arrangement comprising means dimensioned for lifting the weight of the hoisting module, and a hoisting canvas.
In summary, through mass search of the applicant, it is found that at least the construction work mode existing in the field at the present stage is generally completed manually, and even though the construction machinery assistance work for people with large labor force, high technical difficulty and complex engineering appears on the market, the construction work mode still needs manual cooperation for mechanical work, needs people to operate machinery, cannot realize a real fully mechanical and intelligent construction work mode, consumes a large amount of manpower in the cargo shipping process, is high in labor cost, is limited by a working face, is low in mobility and flexibility and is low in efficiency. But also by human mechanical operation errors, cause mechanical failure or cause significant loss of life and loss of life.
Therefore, there is a need to develop or improve an intelligent lifting transport and loading robot to solve the above problems.
Disclosure of Invention
The invention aims to provide an intelligent hoisting, conveying and loading robot to solve the problem.
In order to achieve the purpose, the invention adopts the following technical scheme:
an intelligent hoisting, conveying and transporting robot is characterized by comprising a robot body; the robot body is provided with a hoisting assembly and a conveyer belt for hoisting goods; the hoisting assembly comprises a mechanical arm, a mechanical arm and a hoisting control module, wherein the mechanical arm can do telescopic motion; one end of the mechanical arm is connected with the robot body, and the other end of the mechanical arm is connected with the mechanical arm; a placing area and a throwing area are sequentially arranged on the conveying belt along the conveying direction of the conveying belt; the putting area is located in connection with an external bearing device, and the placing area is located below the manipulator; the hoisting control module comprises an image processing module for image storage and image analysis, a camera for capturing the position of goods and a driving module for controlling the motion states of the mechanical arm and the mechanical arm; the camera transmits the captured goods position information to the image processing module, the image processing module analyzes and judges the distance and the position of the goods and sends coordinate information to the driving module, and the driving module controls the mechanical arm and the mechanical arm to grab the goods according to the coordinate information; the wireless communication device also comprises a wireless communication module, a setting module, a control module and a processor module; the wireless communication module, the setting module and the control module are respectively connected with the processor module; the control module comprises an obstacle avoidance module used for judging the distance and the position of a front obstacle, a positioning module used for limiting the running path of the robot body and a driving module used for controlling the motion state of the robot body; the obstacle avoidance module is connected with the driving module; the processor module is used for setting the cargo position and the destination through a setting module and transmitting position information to the processor module, the processor module sends the position information to the positioning module, and the positioning module controls the driving module to start; the mobile terminal is connected with the processor module through the wireless communication module and is in communication connection with the driving module and the positioning module through the processor module.
Preferably, the processor module controls the obstacle avoidance module to send pulse signals with a certain frequency at fixed time intervals, return data are collected and processed by the processor module, the distance and the position of the obstacle in front are judged, an instruction is sent to the driving module, and the driving module controls the driving state of the robot body to avoid the obstacle in front.
Preferably, the obstacle avoidance module adopts an HC-HR04 ultrasonic obstacle avoidance module and adopts an IO port TRIG to trigger distance measurement, 8 square waves of 40khz are automatically sent to a trigger port for sending a high level signal of at least 10us, whether the signal returns or not is automatically detected, when the signal returns, a high level is output through an IO port ECHO, and the duration time of the high level is the time from the transmission to the return of the ultrasonic wave; the test distance is (high level time) speed of sound (340M/S))/2.
Preferably, the setting module adopts Labview software to realize the receiving and sending of data.
Preferably, the robot body is further provided with a two-dimensional code scanner; a user generates a two-dimensional code from engineering information in advance, the two-dimensional code is placed in a scanning port of a two-dimensional code scanner for scanning, and the two-dimensional code scanner converts the engineering information of the two-dimensional code into an electric signal to be conveyed to a positioning module.
Preferably, the measuring device further comprises a measuring sensor arranged on the manipulator; and the metering inductor is in communication connection with the mobile terminal through the processor module.
Preferably, the robot body is further provided with an object carrying platform, and the placing area of the conveying belt is connected with the object carrying platform.
The beneficial effects obtained by the invention are as follows:
1. the invention solves the problems that the traditional building construction machinery needs manual actual operation, and the labor intensity is high, the engineering is complex, and the energy and physical consumption of workers are large due to high technical difficulty of operation
2. The invention has high intelligent level, is not limited by a working face, and has strong maneuverability, high flexibility and high working efficiency.
3. The invention avoids the mechanical failure or the huge loss of casualties caused by the mechanical operation error of people.
Drawings
The invention will be further understood from the following description in conjunction with the accompanying drawings. The components in the figures are not necessarily to scale, emphasis instead being placed upon illustrating the principles of the embodiments. Like reference numerals designate corresponding parts throughout the different views.
FIG. 1 is a schematic structural diagram of an intelligent lifting, conveying and loading robot in embodiments 1-2 of the present invention;
fig. 2 is a system flow chart of the intelligent lifting, conveying and loading robot in embodiments 1-2 of the present invention.
Description of reference numerals: 1-a robot body; 2-hoisting the assembly; 21-a mechanical arm; 22-a robot arm; 3-a conveyor belt; 4-an image processor module; 5-a camera; 6-a drive module; 7-a wireless communication module; 8-setting a module; 9-obstacle avoidance module; 10-a processor module; 11-a positioning module; 12-a driving module; 13-a two-dimensional code scanner; 14-stage platform.
Detailed Description
The invention is further illustrated with reference to the following figures and examples.
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail below with reference to embodiments thereof; it should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. Other systems, methods, and/or features of the present embodiments will become apparent to those skilled in the art upon review of the following detailed description. It is intended that all such additional systems, methods, features and advantages be included within this description, be within the scope of the invention, and be protected by the accompanying claims. Additional features of the disclosed embodiments are described in, and will be apparent from, the detailed description that follows.
The same or similar reference numerals in the drawings of the embodiments of the present invention correspond to the same or similar components; in the description of the present invention, it should be understood that if there is an orientation or positional relationship indicated by the terms "upper", "lower", "left", "right", etc. based on the orientation or positional relationship shown in the drawings, it is only for convenience of describing the present invention and simplifying the description, but it is not intended to indicate or imply that the device or component referred to must have a specific orientation, be constructed in a specific orientation, and be operated, and therefore, the terms describing the positional relationship in the drawings are only used for illustrative purposes and are not to be construed as limiting the present patent, and the specific meaning of the terms described above will be understood by those of ordinary skill in the art according to the specific circumstances.
The first embodiment is as follows:
the intelligent hoisting, conveying and loading robot as shown in fig. 1-2 comprises a robot body 1; the robot body 1 is provided with a hoisting component 2 and a conveyer belt 3 for hoisting goods; the hoisting assembly 2 comprises a mechanical arm 21 capable of telescopic motion, a manipulator 22 and a hoisting control module; one end of the mechanical arm 21 is connected with the robot body 1, and the other end of the mechanical arm is connected with the manipulator 22; a placing area and a throwing area are sequentially arranged on the conveying belt 3 along the conveying direction; the putting area is connected with an external bearing device, and the placing area is positioned below the manipulator 22; the hoisting control module comprises an image processing module 4 for image storage and image analysis, a camera 5 for capturing the position of goods and a driving module 6 for controlling the motion states of the mechanical arm 21 and the mechanical arm 22; the camera 5 transmits the captured position information of the goods to the image processing module 4, the image processing module 4 analyzes and judges the distance and the position of the goods and sends coordinate information to the driving module 6, and the driving module 6 controls the mechanical arm 21 and the mechanical arm 22 to capture the goods according to the coordinate information; the device also comprises a wireless communication module 7, a setting module 8, a control module and a processor module 10; the wireless communication module 7, the setting module 8 and the control module are respectively connected with the processor module 10; the control module comprises an obstacle avoidance module 9 used for judging the distance and the position of a front obstacle, a positioning module 11 used for limiting the running path of the robot body 1 and a driving module 12 used for controlling the motion state of the robot body 1; the obstacle avoidance module 9 is connected with the driving module 12; the cargo position and the destination are set through the setting module 8, the position information is transmitted to the processor module 10, the processor module 10 sends the position information to the positioning module 11, and the positioning module 11 controls the driving module 12 to start; the mobile terminal is connected with the processor module 10 through the wireless communication module 7 and is in communication connection with the driving module 12 and the positioning module 11 through the processor module 10; wherein, the setting module 8 adopts Labview software to realize the receiving and sending of data.
In order to improve the mobility and flexibility of the robot body and flexibly avoid obstacles to reach a designated place, the processor module 10 in this embodiment 1 controls the obstacle avoidance module 9 to send pulse signals with a certain frequency at a fixed time interval, collects and processes return data to the processor module 10, determines the distance and position of the obstacle in front, and sends an instruction to the driving module 12, and the driving module 12 controls the driving state of the robot body 1 to avoid the obstacle in front.
The obstacle avoidance module 9 adopts an HC-HR04 ultrasonic obstacle avoidance module and adopts an IO port TRIG to trigger distance measurement, 8 square waves of 40khz are automatically sent to a trigger port for sending high level signals of at least 10us, whether signals return or not is automatically detected, when signals return, a high level is output through an IO port ECHO, and the duration time of the high level is the time from the emission to the return of ultrasonic waves; the test distance is (high level time) speed of sound (340M/S))/2.
In order to improve the intelligent level and facilitate a user to input an action instruction to the robot quickly, the robot body 1 in this embodiment 1 is further provided with a two-dimensional code scanner 13; the user generates the two-dimensional code with the engineering information in advance, places the two-dimensional code in the scanning port of the two-dimensional code scanner 13 for scanning, and the two-dimensional code scanner 13 converts the engineering information of the two-dimensional code into an electric signal and transmits the electric signal to the positioning module 11.
In addition, in order to facilitate the user to count the workload and work efficiency, the present embodiment 1 further includes a measurement sensor disposed on the manipulator 22; the metering sensor is in communication connection with the mobile terminal through the processor module 10.
Still in order to improve the conveying efficiency of conveyer belt among this embodiment 1, still be equipped with cargo platform 14 on the robot body 1, the district of placing of conveyer belt 3 with cargo platform 14 links up.
Firstly, a user inputs preset engineering information through a two-dimensional code scanner on the robot body 1, and then the processor module 10 receives an engineering information instruction and sends a position coordinate to the positioning module 11; further, the driving module 12 controls the robot body 1 to travel to a specified place according to the coordinates from the positioning module 11; further, the camera 5 captures the position of the goods and sends the coordinate information of the goods to the image processing module 4, and the image processing module 4 analyzes the images of the goods and analyzes the position of the goods; further, the image processing module 4 sends the coordinate information to the driving module 6, and the driving module 6 controls the mechanical arm 21 and the mechanical arm 22 to move to the specified coordinate and grab the goods; further, the goods are placed on the loading platform 14 and transported to an external loading device by the conveyor belt 3 connected to the loading platform 14.
Example two:
the intelligent hoisting, conveying and loading robot as shown in fig. 1-2 comprises a robot body 1; the robot body 1 is provided with a hoisting component 2 and a conveyer belt 3 for hoisting goods; the hoisting assembly 2 comprises a mechanical arm 21 capable of telescopic motion, a manipulator 22 and a hoisting control module; one end of the mechanical arm 21 is connected with the robot body 1, and the other end of the mechanical arm is connected with the manipulator 22; a placing area and a throwing area are sequentially arranged on the conveying belt 3 along the conveying direction; the putting area is connected with an external bearing device, and the placing area is positioned below the manipulator 22; the hoisting control module comprises an image processing module 4 for image storage and image analysis, a camera 5 for capturing the position of goods and a driving module 6 for controlling the motion states of the mechanical arm 21 and the mechanical arm 22; the camera 5 transmits the captured position information of the goods to the image processing module 4, the image processing module 4 analyzes and judges the distance and the position of the goods and sends coordinate information to the driving module 6, and the driving module 6 controls the mechanical arm 21 and the mechanical arm 22 to capture the goods according to the coordinate information; the device also comprises a wireless communication module 7, a setting module 8, a control module and a processor module 10; the wireless communication module 7, the setting module 8 and the control module are respectively connected with the processor module 10; the control module comprises an obstacle avoidance module 9 used for judging the distance and the position of a front obstacle, a positioning module 11 used for limiting the running path of the robot body 1 and a driving module 12 used for controlling the motion state of the robot body 1; the obstacle avoidance module 9 is connected with the driving module 12; the cargo position and the destination are set through the setting module 8, the position information is transmitted to the processor module 10, the processor module 10 sends the position information to the positioning module 11, and the positioning module 11 controls the driving module 12 to start; the mobile terminal is connected with the processor module 10 through the wireless communication module 7 and is in communication connection with the driving module 12 and the positioning module 11 through the processor module 10; wherein, the setting module 8 adopts Labview software to realize the receiving and sending of data.
In order to improve the mobility and flexibility of the robot body and flexibly avoid obstacles to reach a designated place, the processor module 10 in this embodiment 1 controls the obstacle avoidance module 9 to send pulse signals with a certain frequency at a fixed time interval, collects and processes return data to the processor module 10, determines the distance and position of the obstacle in front, and sends an instruction to the driving module 12, and the driving module 12 controls the driving state of the robot body 1 to avoid the obstacle in front.
The obstacle avoidance module 9 adopts an HC-HR04 ultrasonic obstacle avoidance module and adopts an IO port TRIG to trigger distance measurement, 8 square waves of 40khz are automatically sent to a trigger port for sending high level signals of at least 10us, whether signals return or not is automatically detected, when signals return, a high level is output through an IO port ECHO, and the duration time of the high level is the time from the emission to the return of ultrasonic waves; the test distance is (high level time) speed of sound (340M/S))/2.
In this embodiment 2, the setting module 8 adopts Labview software to implement data receiving and sending; acquiring an image of a USB camera under Labview: preferably, a character string array including all USB cameras connected to the PC is output through the IMAQUSBEnumerecameras sub-VI. Typically, the first element of the array is selected, the selected camera is connected through IMAQUSBInit sub-VI, and then image capture by the USB camera is initiated via IMAQUSBGrabSetup. The capture of the image of the USB camera is realized by using an IMAQUSBGrabAcquire sub-VI, and the buffer space required by the sub-VI needs to be set by using the IMAQCate sub-VI. The captured graph may be displayed by using the ImageDisplay control.
In order to improve the intelligent level and facilitate a user to input an action instruction to the robot quickly, the robot body 1 in this embodiment 1 is further provided with a two-dimensional code scanner 13; the user generates the two-dimensional code with the engineering information in advance, places the two-dimensional code in the scanning port of the two-dimensional code scanner 13 for scanning, and the two-dimensional code scanner 13 converts the engineering information of the two-dimensional code into an electric signal and transmits the electric signal to the positioning module 11.
In addition, in order to facilitate the user to count the workload and work efficiency, the present embodiment 2 further includes a measurement sensor disposed on the manipulator 22; the metering sensor is in communication connection with the mobile terminal through the processor module 10.
Still in order to improve the conveying efficiency of conveyer belt among this embodiment 2, still be equipped with cargo platform 14 on the robot body 1, the district of placing of conveyer belt 3 with cargo platform 14 links up.
Firstly, a user inputs preset engineering information through a two-dimensional code scanner on the robot body 1, and then the processor module 10 receives an engineering information instruction and sends a position coordinate to the positioning module 11; further, the driving module 12 controls the robot body 1 to travel to a specified place according to the coordinates from the positioning module 11; further, the camera 5 captures the position of the goods and sends the coordinate information of the goods to the image processing module 4, and the image processing module 4 analyzes the images of the goods and analyzes the position of the goods; further, the image processing module 4 sends the coordinate information to the driving module 6, and the driving module 6 controls the mechanical arm 21 and the mechanical arm 22 to move to the specified coordinate and grab the goods; further, the goods are placed on the loading platform 14 and transported to an external loading device by the conveyor belt 3 connected to the loading platform 14.
In this embodiment 2, in order to ensure that the robot operates normally, the robot body 1 further includes an oil amount detection device for measuring the oil amount of the robot body 1 in real time, a communication device for transmitting a detection result of the oil amount detection device to a control center of the mobile terminal, and a display device for displaying the oil amount of the robot body 1 on the mobile terminal; the oil quantity detection device comprises a magnetic turning plate liquid level meter arranged in a diesel oil tank of the robot body 1, and a reed pipe remote transmission transmitter and a diesel engine controller which are matched with the magnetic turning plate liquid level meter; the reed pipe remote transmitter transmits a diesel residual oil quantity signal on the output site of the magnetic turning plate liquid level meter back to an oil level detection port of the diesel engine controller in a current form of 4-20 mA, an oil level curve is set in the diesel engine controller to correspond to the oil level, and the numerical value of the oil level is displayed.
The communication device comprises a slave station S7-200CN of the PLC of the diesel engine side collection trolley input to the robot body 1 by adopting an RS485 serial port communication mode, a master station S7-200CN of the PLC of the collection trolley of the electric room side collection trolley transmitted by internal network Modbus communication, and an intelligent expansion module CP243 connected to an Ethernet 4G ROUTER and transmitted to a remote RCMS server.
In order to prevent the robot from being damaged due to collision to the greatest extent, in this embodiment 2, the front end of the robot body and the anti-collision mechanism at the rear end of the robot body include an anti-collision portion and two mutually parallel connection portions, two one ends of the connection portions are connected with the detachable fixed connection of the chassis through a connection member, and two ends of the anti-collision portion are respectively connected with the other ends of the two connection portions.
Although the invention has been described above with reference to various embodiments, it should be understood that many changes and modifications may be made without departing from the scope of the invention. That is, the methods, systems, and devices discussed above are examples. Various configurations may omit, substitute, or add various procedures or components as appropriate. For example, in alternative configurations, the methods may be performed in an order different than that described, and/or various components may be added, omitted, and/or combined. Moreover, features described with respect to certain configurations may be combined in various other configurations, as different aspects and elements of the configurations may be combined in a similar manner. Further, elements therein may be updated as technology evolves, i.e., many elements are examples and do not limit the scope of the disclosure or claims.
Specific details are given in the description to provide a thorough understanding of the exemplary configurations including implementations. However, configurations may be practiced without these specific details, for example, well-known circuits, processes, algorithms, structures, and techniques have been shown without unnecessary detail in order to avoid obscuring the configurations. This description provides example configurations only, and does not limit the scope, applicability, or configuration of the claims. Rather, the foregoing description of the configurations will provide those skilled in the art with an enabling description for implementing the described techniques. Various changes may be made in the function and arrangement of elements without departing from the spirit or scope of the disclosure.
It is intended that the foregoing detailed description be regarded as illustrative rather than limiting, and that it be understood that it is the following claims, including all equivalents, that are intended to define the spirit and scope of this invention. The above examples are to be construed as merely illustrative and not limitative of the remainder of the disclosure. After reading the description of the invention, the skilled person can make various changes or modifications to the invention, and these equivalent changes and modifications also fall into the scope of the invention defined by the claims.
Claims (7)
1. An intelligent hoisting, conveying and transporting robot is characterized by comprising a robot body; the robot body is provided with a hoisting assembly and a conveyer belt for hoisting goods; the hoisting assembly comprises a mechanical arm, a mechanical arm and a hoisting control module, wherein the mechanical arm can do telescopic motion; one end of the mechanical arm is connected with the robot body, and the other end of the mechanical arm is connected with the mechanical arm; a placing area and a throwing area are sequentially arranged on the conveying belt along the conveying direction of the conveying belt; the putting area is located in connection with an external bearing device, and the placing area is located below the manipulator; the hoisting control module comprises an image processing module for image storage and image analysis, a camera for capturing the position of goods and a driving module for controlling the motion states of the mechanical arm and the mechanical arm; the camera transmits the captured goods position information to the image processing module, the image processing module analyzes and judges the distance and the position of the goods and sends coordinate information to the driving module, and the driving module controls the mechanical arm and the mechanical arm to grab the goods according to the coordinate information; the wireless communication device also comprises a wireless communication module, a setting module, a control module and a processor module; the wireless communication module, the setting module and the control module are respectively connected with the processor module; the control module comprises an obstacle avoidance module used for judging the distance and the position of a front obstacle, a positioning module used for limiting the running path of the robot body and a driving module used for controlling the motion state of the robot body; the obstacle avoidance module is connected with the driving module; the processor module is used for setting the cargo position and the destination through a setting module and transmitting position information to the processor module, the processor module sends the position information to the positioning module, and the positioning module controls the driving module to start; the mobile terminal is connected with the processor module through the wireless communication module and is in communication connection with the driving module and the positioning module through the processor module.
2. The intelligent hoisting, conveying, and loading robot as claimed in claim 1, wherein the processor module controls the obstacle avoidance module to send pulse signals of a certain frequency at fixed time intervals, collects and processes returned data to the processor module, determines the distance and position of a front obstacle, and sends an instruction to the driving module, and the driving module controls the driving state of the robot body to avoid the front obstacle.
3. The intelligent hoisting, transporting and loading robot as claimed in claim 1, wherein the obstacle avoidance module adopts HC-HR04 ultrasonic obstacle avoidance module and IO port TRIG to trigger ranging, and gives a high level signal of at least 10us at a trigger port, the module automatically sends 8 square waves of 40khz to automatically detect whether a signal returns, when a signal returns, a high level is output through IO port ECHO, and the duration of the high level is the time from transmission to return of the ultrasonic wave; the test distance is (high level time) speed of sound (340M/S))/2.
4. The intelligent hoisting, transporting and loading robot as claimed in claim 1, wherein the setting module adopts Labview software to receive and send data.
5. The intelligent hoisting, transporting and loading robot as claimed in claim 1, wherein the robot body is further provided with a two-dimensional code scanner; a user generates a two-dimensional code from engineering information in advance, the two-dimensional code is placed in a scanning port of a two-dimensional code scanner for scanning, and the two-dimensional code scanner converts the engineering information of the two-dimensional code into an electric signal to be conveyed to a positioning module.
6. The intelligent lifting, conveying and shipping robot of claim 5, further comprising a metering sensor disposed on said robot arm; and the metering inductor is in communication connection with the mobile terminal through the processor module.
7. The intelligent hoisting conveying and loading robot of claim 1, wherein the robot body is further provided with a loading platform, and the placement area of the conveying belt is connected with the loading platform.
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| CN202011222674.8A CN112479054A (en) | 2020-11-05 | 2020-11-05 | Intelligent hoisting, conveying and loading robot |
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| CN202011222674.8A CN112479054A (en) | 2020-11-05 | 2020-11-05 | Intelligent hoisting, conveying and loading robot |
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Application publication date: 20210312 |