CN112622049B

CN112622049B - Stirring transportation robot with automatically, keep away barrier function

Info

Publication number: CN112622049B
Application number: CN202011493075.XA
Authority: CN
Inventors: 李宏策; 李文芳
Original assignee: Hunan Mechanical and Electrical Polytechnic
Current assignee: Hunan Mechanical and Electrical Polytechnic
Priority date: 2020-12-17
Filing date: 2020-12-17
Publication date: 2022-10-04
Anticipated expiration: 2040-12-17
Also published as: CN112622049A

Abstract

The invention discloses a stirring and transporting robot with an automatic obstacle avoidance function.A route is automatically planned and an automatic navigation driving is automatically performed by an electric control module of an AGV chassis assembly according to a loading address and a discharging address in a transportation task; in the automatic driving process, the detected obstacles are positioned and classified, the position information of the obstacles is obtained by combining laser information, and the laser and the vision are integrated to realize the obstacle avoidance function, so that the obstacle avoidance function of the transport robot is ensured safely, the obstacle avoidance accuracy and robustness are improved, the environment adaptability of the transport robot is improved, and the method is particularly suitable for the complex environment of cement transportation; during feeding and transportation, the mixing drum is controlled to rotate forwards, so that rapid feeding and effective mixing can be ensured, and segregation of fluid such as cement during transportation is prevented; during discharging, the mixing drum is controlled to rotate reversely to realize automatic discharging; need not artifical the participation in whole transportation, promoted the efficiency of construction greatly, alleviateed intensity of labour.

Description

Stirring and transporting robot with automatic obstacle avoidance function

Technical Field

The invention belongs to the technical field of cement transportation tools, and particularly relates to a stirring and transporting robot with an automatic obstacle avoidance function.

Background

The transportation of cement and other fluid bodies in commercial markets generally adopts a large-scale stirring transport vehicle for transportation, and the technology is very mature; however, in scattered cement construction or fluid construction in the market at present, the transportation is generally carried out by manually hauling by a trolley or by adopting a mixing drum type trailer, and more advanced, a small mixing drum trailer is adopted, for example, the granted bulletin number is CN208249400U, and the patent document named as a novel dust-proof cement transportation tool for building construction is provided, the stirring roller is driven to rotate by a driving device, the stirring blade breaks up the cement blocks, and the dust adsorption and removal function is also provided; for example, patent document CN109352827A, entitled portable small cement mixer, is provided with a motor drive, and has the functions of forward rotation mixing and reverse rotation automatic discharging. Although mechanical stirring can be realized to replace manual stirring, the manual stirring is required to participate in transportation.

With the application and popularization of the small-sized transportation robot, the application of the small-sized transportation robot to the transportation of materials or building materials and the like greatly improves the labor efficiency of building construction and reduces the labor intensity, but the obstacle avoidance module of the small-sized transportation robot mainly comprises an ultrasonic obstacle avoidance module and an infrared obstacle avoidance module; the ultrasonic obstacle avoidance method comprises the steps that an ultrasonic module is connected to a conveying device or a robot, ultrasonic waves are emitted and received in a directional mode, and then the obstacle avoidance function is achieved according to detected distance information; the infrared obstacle avoidance is to emit infrared beams through an infrared emitter, detect reflected light and calculate the distance of an obstacle.

These obstacle avoidance methods all use a single ultrasonic sensor or infrared sensor, and because a single sensor has limitations, perfect obstacle position information cannot be obtained only by one sensor. For example, the ultrasonic measurement period is long, about 20ms is required for sound wave transmission for an object of about 3 meters, the ultrasonic obstacle avoidance has high requirements on a reflecting surface, and the obstacle avoidance cannot be effectively performed on an obstacle without reflection capability or with weak reflection capability, even if a plurality of ultrasonic sensors are arranged, the plurality of ultrasonic sensors may interfere with each other because different materials reflect or absorb sound waves differently. For example, when the distance between obstacles is close enough, the infrared sensor exceeds the detection range of the CCD, and even if the obstacles are close, the infrared sensor cannot detect the obstacles. As a transportation device using ultrasonic wave for obstacle avoidance, patent document CN206202061U entitled base point type automatic obstacle avoidance transportation device may be referred to.

Disclosure of Invention

The invention aims to provide a stirring and transporting robot with an automatic obstacle avoidance function, and aims to solve the problems that scattered fluid construction materials need to be transported manually in the prior art, and the obstacle avoidance function of the existing transporting device cannot be guaranteed safely.

The invention solves the technical problems through the following technical scheme: a stirring and transporting robot with an automatic obstacle avoidance function comprises a stirring drum assembly, a control device and an AGV chassis assembly; the control device is respectively in communication connection with a first drive control module of the mixing drum assembly and an electric control module of the AGV chassis assembly;

the control device is used for coordinating the work between the mixing drum assembly and the AGV chassis assembly;

the AGV chassis assembly comprises a vehicle body, and an electric control module, a path planning module, a navigation positioning module, an obstacle avoidance module, a motion driving module and a power supply module which are arranged on the vehicle body;

the obstacle avoidance module comprises a depth camera, a laser radar, an obstacle positioning module, an obstacle classification module and an information fusion module; the barrier positioning module is used for processing the visual information acquired by the depth camera to obtain barrier positioning information; the barrier classification module is used for processing the visual information acquired by the depth camera to obtain barrier classification information; the information fusion module is used for fusing the laser information, the obstacle positioning information and the obstacle classification information collected by the laser radar to obtain obstacle position information;

the path planning module is used for generating an optimal path from a starting point of the mixing and transporting robot to the loading address and an optimal path from the loading address to the discharging address according to the loading address and the discharging address; the navigation positioning module is used for generating and acquiring track information among path points in the driving process and determining an accurate driving direction; the motion driving module is used for driving the stirring and transporting robot to run according to the motion control instruction and avoiding the barrier; the electronic control module is used for sending a motion control instruction according to the optimal path, the driving direction and the position information of the obstacle; and the power supply module is used for providing power supply for each module.

According to the invention, when a transportation task exists, the control device sends the transportation task to an electric control module of an AGV chassis assembly, the electric control module automatically plans a route and automatically navigates to run according to a loading address and a discharging address in the transportation task, the electric control module automatically runs to the loading address firstly, and then automatically runs to the discharging address to discharge after loading at the loading address; in the automatic driving process, the detected obstacles are positioned and classified, the position information of the obstacles is obtained by combining laser information, the laser and the vision are integrated to realize the obstacle avoidance function, the obstacle avoidance function of the transportation robot is ensured to be safe, the obstacle avoidance accuracy and robustness are improved, the environment adaptability of the transportation robot is improved, and the method is particularly suitable for the complex environment of cement transportation. During feeding and transportation, the stirring cylinder is controlled to rotate forwards, so that rapid feeding and effective stirring can be ensured, segregation of cement and other fluid bodies during transportation is prevented, and stable quality of the fluid bodies during transportation is ensured; during discharging, the mixing drum is controlled to rotate reversely to realize automatic discharging; the stirring and transporting robot can realize automatic feeding, transportation and discharging of fluid such as cement and the like, does not need manual participation in the whole transportation process, greatly improves the construction efficiency, lightens the labor intensity and simultaneously ensures the stable quality of the fluid.

Further, the motion driving module comprises a steering component and a driving wheel which are respectively electrically connected with the electronic control module, and a suspension mechanism which is respectively connected with the steering component and the driving wheel; each driving wheel is provided with a steering component and a suspension mechanism; each suspension mechanism comprises an outer shaft sleeve, an upper cover plate, a lower cover plate, an elastic assembly, a support frame, a sliding column and an inner shaft sleeve; the bottom of the sliding column is connected with a hub component of the driving wheel through a support frame, and the top of the sliding column is provided with a limiting piece; the inner shaft sleeve is coaxially sleeved outside the sliding column, the outer shaft sleeve is coaxially sleeved outside the inner shaft sleeve, and the outer shaft sleeve is fixedly arranged on the vehicle body; the bottom parts of the outer shaft sleeve and the inner shaft sleeve are provided with lower cover plates, the top part of the outer shaft sleeve and the middle upper part of the inner shaft sleeve are provided with upper cover plates, and the upper part of the inner shaft sleeve is fixedly connected with a corresponding steering assembly; the bottom of the elastic component is connected with the supporting frame, and the top of the elastic component is connected with the lower cover plate.

Under the control of the electric control module, the torque output by the steering assembly is transmitted to the inner shaft sleeve, the inner shaft sleeve transmits the torque to the sliding column, and the sliding column drives the driving wheel to steer, so that the independent steering control of each wheel is realized, and the steering is flexible. Every drive wheel all is equipped with independent suspension mechanism, and suspension mechanism is located the drive wheel directly over, has increased suspension mechanism's effective working distance, and lateral rigidity is good. When the sliding column is in a free state, the sliding column moves downwards in the inner shaft sleeve to enable the top of the inner shaft sleeve to be in contact with the limiting piece, so that the inner shaft sleeve is prevented from being separated from the sliding column, the elastic assembly plays a role in absorbing vibration and has good obstacle crossing capability; when the robot is fully loaded, the elastic component is compressed, the sliding column moves upwards in the inner shaft sleeve, the lower cover plate is in contact with the support frame, the suspension mechanism is in a rigid and incompressible state, each driving wheel has good ground attaching performance, the suspension phenomenon can be avoided, sufficient power performance can be ensured, and the robot has good stability and accurate positioning performance when fully loaded; when the sliding column is in half-load, certain travel distances are reserved between the inner shaft sleeve and the limiting piece and between the lower cover plate and the supporting frame, the sliding column moves up and down in the inner shaft sleeve, and the elastic component plays a role in absorbing vibration; the loading state and the speed of the transport robot are matched, namely the transport robot runs at a high speed when no load exists and runs at a low speed when the transport robot is fully loaded, so that the speed of the transport robot is increased, and the transport efficiency is improved.

Further, the elastic assembly comprises an inner spring, an outer spring and a guide shaft sleeve; the inner spring is sleeved outside the sliding column, the outer spring is sleeved outside the inner spring, and a guide shaft sleeve is arranged on the supporting frame between the inner spring and the outer spring.

When the steering wheel is fully loaded, the lower cover plate is in line contact with the guide shaft sleeve, so that the friction force is reduced, and the torsion of the inner spring and the outer spring due to the friction force during steering is avoided.

Furthermore, the inner shaft sleeve is connected with the outer shaft sleeve through a bearing, the bearing comprises an upper bearing and a lower bearing, and a positioning shaft sleeve is arranged between the upper bearing and the lower bearing. The bearing reduces the friction force during steering, and the steering is smoother.

Further, the sliding column is a polygonal sliding column; or a convex block is arranged outside the sliding column, and a sliding groove matched with the convex block is arranged in the inner shaft sleeve; or a sliding groove is arranged outside the sliding column, and a convex block matched with the sliding groove is arranged in the inner shaft sleeve.

The structural form of the sliding column or the structural forms of the sliding column and the inner shaft sleeve not only ensures that the inner shaft sleeve transmits steering torque to the sliding column, so that the sliding column drives the driving wheel to steer, but also can enable the sliding column to move up and down in the inner shaft sleeve.

Further, the steering assembly comprises a steering motor, a second speed reducer, a pinion and a bull gear; the input of turning to the motor with automatically controlled module electric connection, the output of turning to the motor and the input electric connection of second reduction gear, the second reduction gear through the parallel key with the pinion is connected, the pinion with gear wheel toothing, the fixed cover of gear wheel is established on the inner shaft cover.

Further, the inner shaft sleeve is of a boss structure, and the boss structure is provided with a first boss, a second boss and a clamping groove; the outer shaft sleeve is coaxially sleeved on the second boss, the steering assembly is fixedly connected with the first boss, the upper cover plate is arranged on the top of the outer shaft sleeve and the first boss, and the clamping groove is formed in the first boss.

Furthermore, the stirring and transporting robot further comprises a lifting platform, the lifting platform is arranged between the AGV chassis assembly and the stirring drum assembly, and a second driving control module of the lifting platform is in communication connection with the control device;

and the lifting platform is used for adjusting the height of the mixing drum assembly during feeding and discharging.

During material loading, the lifting platform is controlled to ascend or descend according to the height of the mixing station so as to realize the butt joint of the mixing drum and the mixing station during material loading, and during material discharging, the lifting platform is controlled to ascend or descend according to the height of the material receiving equipment so as to realize the butt joint of the mixing drum and the material receiving equipment during material discharging.

Furthermore, the lifting platform is a scissor-fork type lifting platform, a gear chain type lifting platform or a screw rod type lifting platform.

Advantageous effects

Compared with the prior art, the stirring and transporting robot with the automatic obstacle avoidance function, provided by the invention, has the advantages that the electric control module of the AGV chassis assembly automatically plans a route and automatically navigates to drive according to the loading address and the discharging address in a transportation task, automatically drives to the loading address, loads materials at the loading address and then automatically drives to the discharging address to discharge materials; in the automatic driving process, the detected obstacles are positioned and classified, the position information of the obstacles is obtained by combining laser information, and the laser and the vision are integrated to realize the obstacle avoidance function, so that the obstacle avoidance function of the transport robot is ensured safely, the obstacle avoidance accuracy and robustness are improved, the environment adaptability of the transport robot is improved, and the method is particularly suitable for complex environments of cement transportation; during feeding and transportation, the stirring cylinder is controlled to rotate forwards, so that rapid feeding and effective stirring can be ensured, segregation of cement and other fluid bodies during transportation is prevented, and stable quality of the fluid bodies during transportation is ensured; during discharging, the mixing drum is controlled to rotate reversely to realize automatic discharging; this stirring transport robot can realize automatic feeding, transportation and the ejection of compact of fluid such as cement class, need not artifical the participation in whole transportation, has promoted the efficiency of construction greatly, has alleviateed intensity of labour, has ensured the steady quality of fluid simultaneously.

Drawings

In order to more clearly illustrate the technical solution of the present invention, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only one embodiment of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on the drawings without creative efforts.

Fig. 1 is a schematic structural diagram of a running state of a mixing and transporting robot with an automatic obstacle avoidance function in an embodiment of the invention;

FIG. 2 is a schematic structural diagram of a discharge state of a mixing and transporting robot with an automatic obstacle avoidance function according to an embodiment of the present invention;

FIG. 3 is a schematic diagram of the AGV chassis assembly of an embodiment of the present invention;

FIG. 4 is a partial cross-sectional view of an AGV chassis assembly in an embodiment of the present invention;

FIG. 5 is a schematic structural view of a suspension mechanism in the embodiment of the invention;

FIG. 6 is a cross-sectional view of an inner hub in an embodiment of the present invention;

FIG. 7 is a schematic structural view of a strut and a support bracket according to an embodiment of the present invention;

FIG. 8 is a cross-sectional view of a guide sleeve in an embodiment of the present invention;

FIG. 9 is a schematic diagram of the suspension mechanism in a suspended state during idle operation in accordance with an embodiment of the present invention;

FIG. 10 is a schematic illustration of the suspension mechanism in a half-loaded condition under an embodiment of the present invention;

FIG. 11 is a schematic view of the suspension mechanism in a rigid fully loaded condition when fully loaded in an embodiment of the present invention;

the system comprises 100 parts of a mixing drum assembly, 110 parts of a discharge hopper, 120 parts of a chute assembly, 121 parts of a chute, 122 parts of a driving motor, 123 parts of a first speed reducer, 130 parts of a mixing drum, 140 parts of a first driving control module, 200 parts of a lifting platform, 300 parts of an AGV chassis assembly, 310 parts of a depth camera and a laser radar, 320 parts of a vehicle body, 330 parts of a motion driving module, 331 parts of a hub component, 332 parts of a steering motor, 333 parts of a second speed reducer, 334 parts of a pinion gear, 335 parts of a large gear, 336 parts of a suspension mechanism, 3361 parts of a limiting piece, 3362 parts of a sliding column, 33621 parts of a guide shaft sleeve, 3363 parts of a clamp, 3364 parts of a positioning shaft sleeve, 3365 parts of an outer shaft sleeve, 3366 parts of an inner spring, 3367 parts of an outer spring, 3368 parts of a screw, 3369 parts of a lower cover plate, 3370 parts of a bearing, 3371 parts of an upper cover plate, 3372 parts of an inner shaft sleeve, 3372 parts of a first boss, 33722 parts of a second boss, 33723 parts of a clamping groove, 3373 parts of a supporting frame, 340 parts of a power supply module and 350 parts of an electronic control module.

Detailed Description

The technical solutions in the present invention are clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without inventive efforts based on the embodiments of the present invention, shall fall within the scope of protection of the present invention.

As shown in fig. 1 and 2, the stirring and transporting robot with an automatic obstacle avoidance function according to the present embodiment includes a stirring cylinder assembly 100, a control device, a lifting platform 200, and an AGV chassis assembly 300, wherein the lifting platform 200 is disposed between the AGV chassis assembly 300 and the stirring cylinder assembly 100; the control device is respectively connected with the first drive control module 140 of the mixing drum assembly 100, the second drive control module of the lifting platform 200 and the electric control module 350 of the AGV chassis assembly 300 in a communication way.

The AGV chassis assembly 300 is used for automatically planning a route and automatically navigating according to a feeding address and a discharging address in a transportation task, and transporting the mixing drum assembly 100 to the feeding address and the discharging address; the lifting platform 200 is used for adjusting the height of the mixing drum assembly 100 during feeding and discharging; and the control device is used for coordinating the work among the mixing drum assembly 100, the lifting platform 200 and the AGV chassis assembly 300.

As shown in fig. 3, the AGV chassis assembly 300 includes a vehicle body 320, and an electronic control module 350, a path planning module, a navigation positioning module, an obstacle avoidance module, a motion driving module 330, and a power module 340 disposed on the vehicle body 320. The obstacle avoidance module comprises a depth camera and laser radar 310, an obstacle positioning module, an obstacle classification module and an information fusion module; the barrier positioning module is used for processing the visual information acquired by the depth camera to obtain barrier positioning information; the barrier classification module is used for processing the visual information acquired by the depth camera to obtain barrier classification information; and the information fusion module is used for fusing the laser information, the obstacle positioning information and the obstacle classification information acquired by the laser radar to obtain the obstacle position information. And the path planning module is used for generating an optimal path from the starting point of the mixing and transporting robot to the loading address and an optimal path from the loading address to the discharging address according to the loading address and the discharging address. And the navigation positioning module is used for generating and acquiring track information between path points in the driving process and determining an accurate driving direction. The motion driving module 330 is used for driving the mixing and transporting robot to run according to the motion control instruction and avoiding the obstacle. And the electronic control module 350 is configured to send a motion control instruction according to the optimal path, the driving direction, and the position information of the obstacle. And a power supply module 340 for providing power supply to each module.

In the automatic driving process, the detected obstacles are positioned and classified, the position information of the obstacles is obtained by combining laser information, the laser and the vision are integrated to realize the obstacle avoidance function, the obstacle avoidance function of the transportation robot is ensured to be safe, the obstacle avoidance accuracy and robustness are improved, the environment adaptability of the transportation robot is improved, and the method is particularly suitable for the complex environment of cement transportation. The AGV chassis assembly 300 has functions of automatic obstacle avoidance, automatic path planning, and automatic driving control.

In order to solve the problems of low speed, low transportation efficiency, inflexible steering, poor obstacle crossing capability, poor positioning accuracy and the like of the conventional AGV, the embodiment is provided with a suspension mechanism 336 in a driving module, and the specific structure is as follows:

as shown in fig. 4 and 5, the motion driving module 330 includes a steering assembly and a driving wheel electrically connected to the electronic control module 350, respectively, and a suspension mechanism 336 connected to the steering assembly and the driving wheel, respectively; a steering assembly and a suspension mechanism 336 are provided for each drive wheel; each suspension mechanism 336 includes an outer bushing 3365, an upper cover plate 3371, a lower cover plate 3369, resilient members, a support frame 3373, a strut 3362, and an inner bushing 3372; the bottom of the sliding column 3362 is connected with a hub component 331 of the driving wheel through a support frame 3373, and the top of the sliding column 3362 is provided with a limiting piece 3361; the inner shaft sleeve 3372 is coaxially sleeved outside the sliding column 3362, the outer shaft sleeve 3365 is coaxially sleeved outside the inner shaft sleeve 3372, and the outer shaft sleeve 3365 is fixedly arranged on the vehicle body 320; the bottom parts of the outer shaft sleeve 3365 and the inner shaft sleeve 3372 are provided with a lower cover plate 3369, the top part of the outer shaft sleeve 3365 and the middle upper part of the inner shaft sleeve 3372 are provided with an upper cover plate 3371, and the upper part of the inner shaft sleeve 3372 is fixedly connected with a corresponding steering assembly; the bottom end of the elastic component is connected with the supporting frame 3373, and the top end of the elastic component is connected with the lower cover plate 3369.

Under the control of the electronic control module 350, the torque output by the steering assembly is transmitted to the inner shaft sleeve 3372, the inner shaft sleeve 3372 transmits the torque to the sliding column 3362, and the sliding column 3362 drives the driving wheels to steer, so that the independent steering control of each wheel is realized, and the steering is flexible. Each driving wheel is provided with an independent suspension mechanism 336, and the suspension mechanism 336 is located right above the driving wheel, so that the effective acting distance of the suspension mechanism 336 is increased, and the lateral rigidity is good. When the sliding block is unloaded, in order to enable the elastic component to be in a free state, the sliding column 3362 moves downwards in the inner shaft sleeve 3372, the top of the inner shaft sleeve 3372 is enabled to be in contact with the limiting piece 3361, the inner shaft sleeve 3372 is prevented from being separated from the sliding column 3362, the elastic component plays a role in absorbing vibration and reducing vibration, and has better obstacle crossing capability; when the robot is fully loaded, the elastic component is compressed, the sliding column 3362 moves upwards in the inner shaft sleeve 3372, the lower cover plate 3369 is in contact with the support frame 3373, the suspension mechanism 336 is in a rigid and incompressible state, each driving wheel has good ground-attaching performance, the suspension phenomenon can be avoided, the abundant power performance can be ensured, and the robot has good stability and accurate positioning performance when fully loaded; when the vehicle is in a half-load state, certain travel distances are reserved between the inner shaft sleeve 3372 and the limiting piece 3361 and between the lower cover plate 3369 and the support frame 3373, the sliding column 3362 moves up and down in the inner shaft sleeve 3372, and the elastic component plays a role in absorbing vibration; the load state and the speed of the transport robot are matched, namely the transport robot runs at a high speed when the transport robot is in no load and runs at a low speed when the transport robot is in full load, so that the speed of the transport robot is increased, and the transport efficiency is improved.

In this embodiment, the position-limiting piece 3361 is a thin nut. The upper cover plate 3371 and the lower cover plate 3369 are both of an annular structure, the annular upper cover plate 3371 is arranged at the top of the outer shaft sleeve 3365 and on the first boss 33721 of the inner shaft sleeve 3372, the annular lower cover plate 3369 is arranged at the bottoms of the outer shaft sleeve 3365 and the inner shaft sleeve 3372, the upper cover plate 3371 and the lower cover plate 3369 are both fixed on the outer shaft sleeve 3365 through a screw 3368 and a gasket, the outer shaft sleeve 3365 is fixedly connected with the vehicle body 320, so that the inner shaft sleeve 3372 can rotate between the upper cover plate 3371 and the lower cover plate 3369 in the process of transmitting steering torque, and the stability in steering is ensured.

As shown in fig. 5, the elastic member includes an inner spring 3366, an outer spring 3367, and a guide boss 33621; the inner spring 3366 and the outer spring 3367 are two concentric compression coil springs. The inner spring 3366 is sleeved outside the sliding column 3362, the outer spring 3367 is sleeved outside the inner spring 3366, the support frame 3373 between the inner spring 3366 and the outer spring 3367 is arranged on the guide shaft sleeve 33621, and the structure of the guide shaft sleeve 33621 is shown in fig. 8. In order to prevent the inner spring 3366 and the outer spring 3367 from being twisted by friction force during steering, a guide boss 33621 is provided, and the guide boss 33621 makes the contact between the guide boss 33621 and the lower cover 3369 in a linear contact state during a rigid full load state, thereby reducing friction force.

To facilitate smooth steering, the inner housing 3372 is coupled to the outer housing 3365 by a bearing 3370, the bearing 3370 includes an upper bearing 3370 and a lower bearing 3370, and a positioning housing 3364 is disposed between the upper bearing 3370 and the lower bearing 3370, as shown in fig. 5.

The outer shaft sleeve 3365 is fixed on the vehicle body 320, the large gear 335 of the steering assembly transmits steering torque to the inner shaft sleeve 3372, the inner shaft sleeve 3372 transmits the steering torque to the sliding column 3362, the sliding column 3362 drives the driving wheel to steer, and in order to realize the transmission of the steering torque from the inner shaft sleeve 3372 to the sliding column 3362, relative movement does not exist between the transverse sliding column 3362 and the inner shaft sleeve 3372, so the sliding column 3362 can be a polygonal structure, the inner wall shape of the inner shaft sleeve 3372 is matched with the polygonal structure of the sliding column 3362, for example, the sliding column 3362 is a square structure, and the inner wall of the inner shaft sleeve 3372 is also square; the sliding column 3362 can be provided with a convex block outside, the sliding groove 121 matched with the convex block is arranged in the inner shaft sleeve 3372, or the sliding groove 121 is arranged outside the sliding column 3362, and the convex block matched with the sliding groove 121 is arranged in the inner shaft sleeve 3372, so that the transmission of the steering torque to the sliding column 3362 can be ensured, and the sliding column 3362 can move up and down or vertically move in the inner shaft sleeve 3372.

In this embodiment, the steering assembly may adopt a transmission form of a motor and a reducer driving gear, and may also adopt a transmission structural form of a worm gear and a worm. As shown in fig. 4, the steering assembly in the form of a motor + reducer drive gear transmission includes a steering motor 332, a second reducer 333, a pinion gear 334, and a bull gear 335; the input end of the steering motor 332 is electrically connected with the electronic control module 350, the output end of the steering motor 332 is electrically connected with the input end of the second speed reducer 333, the second speed reducer 333 is connected with the small gear 334 through a flat key, the small gear 334 is in meshing transmission with the large gear 335, and the large gear 335 is coaxially and fixedly sleeved on the inner shaft sleeve 3372. Each driving wheel corresponds to a steering component and a suspension mechanism 336, and under the control of the electronic control module 350, independent steering control of each driving wheel can be realized.

As shown in fig. 6, the inner sleeve 3372 is a boss structure having a first boss 33721, a second boss 33722 and a locking groove 33723. The clamping groove 33723 is used for installing a clamp 3363, the clamp 3363 is used for limiting the large gear 335, and the large gear 335 is coaxially sleeved on a first boss 33721 close to the clamping groove 33723; the outer shaft sleeve 3365 is coaxially sleeved on the second boss 33722, the upper cover plate 3371 is arranged on the first boss 33721 close to the second boss 33722, the heights of the outer shaft sleeve 3365 and the second boss 33722 are consistent, so that the upper cover plate 3371 and the lower cover plate 3369 fixed on the outer shaft sleeve 3365 can limit the second boss 33722 between the upper cover plate 3371 and the lower cover plate 3369, the up-and-down movement of the inner shaft sleeve 3372 during steering is limited, and the stability during steering is ensured.

As shown in fig. 7, the structure of the sliding post 3362, the supporting frame 3373 and the guiding shaft housing 33621 is schematically illustrated, and the sliding post 3362 and the supporting frame 3373 may be an integrated structure or an independent structure. The bottom of traveller 3362 and support frame 3373 fixed connection, the both ends of support frame 3373 and the wheel hub subassembly 331 fixed connection of drive wheel, the steering torque who transmits to traveller 3362 and support frame 3373 drives the drive wheel and rotates, realizes steering control.

In this embodiment, the obstacle avoidance module is a laser radar 310 disposed on a vehicle body 320. The electric control module 350 is configured to control the speed of the transportation robot according to different states of the suspension mechanism 336 or load states, so that the speed is adapted to the states of the suspension mechanism 336 or load states, specifically, when the transportation robot is in a no-load state, the transportation robot runs at the highest speed, and the transportation speed and efficiency are improved; when the transport robot is in a full load state, the transport robot runs at a low speed, each driving wheel has good ground-attaching performance, the suspension phenomenon can be avoided, the abundant power performance is ensured, and the robot has good stability and accurate positioning performance when being in the full load state.

Under the control of the electronic control module 350, the torque output by the large gear 335 is transmitted to the inner shaft sleeve 3372, the inner shaft sleeve 3372 transmits the torque to the sliding column 3362, and the sliding column 3362 drives the driving wheels to steer, so that the independent steering control of each wheel is realized, and the steering is flexible.

Each driving wheel is provided with an independent suspension mechanism 336, and the suspension mechanism 336 is located right above the driving wheel, so that the effective acting distance of the suspension mechanism 336 is increased, and the lateral rigidity is good. The strut 3362 type structure of the suspension mechanism 336 has the characteristics of simple and compact structure.

As shown in fig. 9, when the vehicle is unloaded, in order to keep the elastic component in a free state, the elastic force of the elastic component pushes the outer shaft sleeve 3365, the inner shaft sleeve 3372 and the vehicle body 320 to move upwards through the lower cover plate 3369, so that the sliding column 3362 moves downwards relatively in the inner shaft sleeve 3372 until the top of the inner shaft sleeve 3372 contacts with the limiting piece 3361, the inner shaft sleeve 3372 is prevented from being separated from the sliding column 3362, and the unloaded state of the vehicle body 320 or the transportation robot corresponds to the suspended state of the suspension mechanism 336, at this time, the transportation robot can run at high speed, the elastic component plays a role in vibration absorption and vibration reduction, and has better obstacle crossing capability.

As shown in fig. 11, when the robot is fully loaded, the elastic components are compressed by the gravity of the load through the lower cover plate 3369, so that the outer shaft housing 3365, the inner shaft housing 3372 and the vehicle body 320 move downward, and the sliding column 3362 moves upward relatively in the inner shaft housing 3372 until the lower cover plate 3369 is in line contact with the guide shaft housing 33621, and the suspension mechanism 336 is in a rigid incompressible state, and the fully loaded state of the vehicle body 320 or the transport robot corresponds to the rigid fully loaded state of the suspension mechanism 336, at this time, the transport robot can travel at a low speed, each driving wheel has good ground contact performance, a suspension phenomenon can be avoided, sufficient power performance can be ensured, and the robot has good stability and precise positioning performance when fully loaded.

As shown in fig. 10, during half-load, a certain travel distance is provided between the inner shaft sleeve 3372 and the limiting piece 3361, and between the lower cover plate 3369 and the guide shaft sleeve 33621, the sliding column 3362 can move up and down in the inner shaft sleeve 3372, the elastic component plays a role in vibration absorption and vibration reduction, the half-load state of the vehicle body 320 or the transportation robot corresponds to the half-load state of the suspension mechanism 336, at this time, the transportation robot can run at high speed, and the elastic component plays a role in vibration absorption and vibration reduction, so that the transportation robot has good obstacle crossing capability.

In this embodiment, the mixing drum assembly and the chute assembly are both of the existing structure. As shown in fig. 1 and 2, the mixing drum assembly 100 includes a mixing drum 130, a mixing shaft disposed in the mixing drum 130, a mixing blade disposed on the mixing shaft, a feeding hopper and a discharging hopper 110 disposed on the mixing drum 130, a chute assembly 120 disposed below the discharging hopper 110, and a first driving control module 140; the input end of the first driving control module 140 is electrically connected to the control device, and the output end of the first driving control module 140 is connected to the stirring shaft. Under the control and the drive of the first drive control module 140, the forward rotation of the stirring shaft is controlled in the feeding and transporting processes, so that the rapid feeding and the effective stirring can be ensured, the segregation phenomenon of fluid such as cement during transportation is prevented, and the stable quality of the fluid in the transporting process is ensured; the stirring shaft is controlled to rotate reversely in the discharging process, and automatic discharging is realized through the discharging hopper 110 and the chute assembly 120. In this embodiment, the stirring vanes are double helix stirring vanes.

As shown in fig. 1 and 2, the chute assembly 120 includes a driving motor 122, a first reducer 123, a support shaft, and a chute 121; the input end of the driving motor 122 is electrically connected to the first driving control module 140, the output end of the driving motor 122 is electrically connected to the input end of the first reducer 123, the output end of the first reducer 123 is connected to the supporting shaft, and the sliding groove 121 is disposed on the supporting shaft. The chute assembly 120 is designed to be a rotatable structure, when the vehicle runs or is transported, the chute 121 is perpendicular to the running direction, the overall length of the transport robot is reduced, the chute 121 rotates 90 degrees during discharging, the chute and the running direction are consistent, and the chute 121 extending out of the transport robot is conveniently butted with a receiving device.

In this embodiment, the lift platform 200 includes, but is not limited to, a conventional scissor lift platform, a gear-chain lift platform, and a lead screw lift platform. The lifting of the mixing drum assembly 100 is realized by adopting a platform with a lifting function so as to be respectively butted with a mixing station and a receiving device during feeding and discharging.

The above disclosure is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of changes or modifications within the technical scope of the present invention, and shall be covered by the scope of the present invention.

Claims

1. A stirring and transporting robot with an automatic obstacle avoidance function comprises a stirring cylinder assembly; the method is characterized in that: the AGV comprises a control device and an AGV chassis assembly; the control device is respectively in communication connection with a first driving control module of the mixing drum assembly and an electric control module of the AGV chassis assembly;

the path planning module is used for generating an optimal path from a starting point of the mixing and transporting robot to the loading address and an optimal path from the loading address to the discharging address according to the loading address and the discharging address; the navigation positioning module is used for generating and acquiring track information between path points in the driving process and determining an accurate driving direction; the motion driving module is used for driving the stirring and transporting robot to run according to the motion control instruction and avoiding the barrier; the electronic control module is used for sending out a motion control command according to the optimal path, the driving direction and the position information of the obstacle; the power supply module is used for providing power supply for each module;

the motion driving module comprises a steering assembly and a driving wheel which are respectively electrically connected with the electric control module, and a suspension mechanism which is respectively connected with the steering assembly and the driving wheel; each driving wheel is provided with a steering assembly and a suspension mechanism; each suspension mechanism comprises an outer shaft sleeve, an upper cover plate, a lower cover plate, an elastic assembly, a support frame, a sliding column and an inner shaft sleeve; the bottom of the sliding column is connected with a hub component of the driving wheel through a support frame, and the top of the sliding column is provided with a limiting piece; the inner shaft sleeve is coaxially sleeved outside the sliding column, the outer shaft sleeve is coaxially sleeved outside the inner shaft sleeve, and the outer shaft sleeve is fixedly arranged on the vehicle body; the bottom parts of the outer shaft sleeve and the inner shaft sleeve are provided with lower cover plates, the top part of the outer shaft sleeve and the middle upper part of the inner shaft sleeve are provided with upper cover plates, and the upper part of the inner shaft sleeve is fixedly connected with a corresponding steering assembly; the bottom end of the elastic component is connected with the supporting frame, and the top end of the elastic component is connected with the lower cover plate;

the elastic assembly comprises an inner spring, an outer spring and a guide shaft sleeve; the inner spring is sleeved outside the sliding column, the outer spring is sleeved outside the inner spring, and a guide shaft sleeve is arranged on the support frame between the inner spring and the outer spring;

the inner shaft sleeve is connected with the outer shaft sleeve through a bearing, the bearing comprises an upper bearing and a lower bearing, and a positioning shaft sleeve is arranged between the upper bearing and the lower bearing; the sliding column is a polygonal sliding column; or a convex block is arranged outside the sliding column, and a sliding chute matched with the convex block is arranged in the inner shaft sleeve; or a sliding chute is arranged outside the sliding column, and a convex block matched with the sliding chute is arranged in the inner shaft sleeve; the steering assembly comprises a steering motor, a second speed reducer, a small gear and a large gear; the input end of the steering motor is electrically connected with the electric control module, the output end of the steering motor is electrically connected with the input end of a second speed reducer, the second speed reducer is connected with the small gear through a flat key, the small gear is meshed with the large gear, and the large gear is fixedly sleeved on the inner shaft sleeve; the inner shaft sleeve is of a boss structure, and the boss structure is provided with a first boss, a second boss and a clamping groove; the outer shaft sleeve is coaxially sleeved on the second boss, the steering assembly is fixedly connected with the first boss, the upper cover plate is arranged on the top of the outer shaft sleeve and the first boss, and the clamping groove is arranged on the first boss; the clamping groove is used for mounting a clamp, the clamp is used for limiting the large gear, and the large gear is coaxially sleeved on the first boss close to the clamping groove; the heights of the outer shaft sleeve and the second boss are consistent, and the second boss is limited between the upper cover plate and the lower cover plate;

when the transportation robot is in a suspended state, the suspension mechanism is in a suspended state, and the transportation robot runs at a high speed;

when the transportation robot runs at a low speed, the gravity of the load compresses the elastic component through the lower cover plate, so that the outer shaft sleeve, the inner shaft sleeve and the vehicle body move downwards, the sliding column moves upwards relatively in the inner shaft sleeve until the lower cover plate is contacted with the guide shaft sleeve, the suspension mechanism is in a rigid incompressible state, the full-load state of the vehicle body or the transportation robot corresponds to the rigid full-load state of the suspension mechanism;

when the semi-load is carried, certain travel distances are reserved between the inner shaft sleeve and the limiting sheet and between the lower cover plate and the guide shaft sleeve, the sliding columns move up and down in the inner shaft sleeve, the semi-load state of the vehicle body or the transport robot corresponds to the semi-load state of the suspension mechanism, and the transport robot runs at a high speed.

2. The mixing and transporting robot with the automatic obstacle avoidance function according to claim 1, wherein: the AGV comprises an AGV chassis assembly, a mixing drum assembly, a first driving control module, a second driving control module and a control device, wherein the AGV chassis assembly is arranged on the AGV chassis assembly;

3. The mixing and transporting robot with the automatic obstacle avoidance function according to claim 2, wherein: the lifting platform is a scissor-fork type lifting platform, a gear chain type lifting platform or a screw rod type lifting platform.