CN112706679A - Appearance self-adaptation flexible transfer robot and material management application system - Google Patents
Appearance self-adaptation flexible transfer robot and material management application system Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60P—VEHICLES ADAPTED FOR LOAD TRANSPORTATION OR TO TRANSPORT, TO CARRY, OR TO COMPRISE SPECIAL LOADS OR OBJECTS
- B60P3/00—Vehicles adapted to transport, to carry or to comprise special loads or objects
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B62D—MOTOR VEHICLES; TRAILERS
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- B62D21/14—Understructures, i.e. chassis frame on which a vehicle body may be mounted of adjustable length or width
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- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
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Abstract
The invention relates to a flexible transfer robot with a self-adaptive appearance, which comprises a plurality of frames, a telescopic supporting beam, a traveling mechanism and a bearing mechanism, wherein the telescopic supporting beam is sequentially connected with the frames and forms a rectangular structure by enclosing; the material management application system comprises a robot task scheduling and monitoring system, a material management system and a production task management system; the invention provides a flexible carrying robot with a self-adaptive appearance, which realizes automatic carrying operation of materials and solves the problems of large labor amount, time and labor waste and low efficiency of manual searching and carrying of the materials in the conventional manual mode; the telescopic length of the telescopic supporting beam can be adjusted in a self-adaptive manner according to the size of the bracket used in cooperation, and the conveying stability is enhanced; the automatic material position adjusting device has an automatic identification function, can realize automatic guide control to search materials, and can automatically adjust according to different material positions through accurate identification and control.
Description
Technical Field
The invention relates to the technical field of carrying equipment for the logistics transportation industry, in particular to a flexible carrying robot with a self-adaptive appearance and a material management application system.
Background
Materials need to be carried in the industries of aerospace, logistics and the like, along with the development of science and technology, a high and new technology of a carrying robot in the automatic control field appears, and the carrying robot relates to the subject fields of mechanics, electrics, automation control technology, sensor technology, single chip microcomputer technology, computer technology and the like, and becomes an important component in a modern mechanical manufacturing production system.
The appearance of the transfer robot directly reduces the requirement of production on manpower, the robot has higher stability and can continuously work, and the transfer robot is applied to auxiliary production at present for a production line with higher automation comprehensive level; however, in view of the fact that materials required in production are different in size, a carrying robot can only carry materials with similar size generally, and a small carrying bracket carries large materials, so that the carrying robot in the prior art has a potential safety hazard of unstable gravity center, and the adaptability of the carrying robot in the prior art is relatively poor due to the limitation of structural design, the invention develops the carrying robot with a flexible shape self-adaption and the material management application system to solve the problems in the prior art, and through retrieval, a technical scheme which is the same as or similar to that of the invention is not found.
Disclosure of Invention
The invention aims to: the utility model provides a flexible type transfer robot of appearance self-adaptation and material management application system to solve among the prior art transfer robot structural design singleness, same equipment can only carry the approximate material of size and the poor problem of adaptability that causes, overcome the amount of labour that the manual mode exists big, work efficiency is low, has the defect of potential safety hazard to the porter.
The technical scheme of the invention is as follows: a flexible transfer robot with a self-adaptive appearance comprises a plurality of frames, a telescopic supporting beam, a traveling mechanism and a bearing mechanism, wherein the telescopic supporting beam is sequentially connected with the frames and forms a rectangular structure in an enclosing mode; the bearing mechanism comprises a bearing tray and a driving assembly for driving the bearing tray to lift along the vertical direction, and the driving assembly can drive the height of the upper end face of the bearing tray after the bearing tray rises to be higher than the height of the upper end face of the frame.
Preferably, the walking mechanism adopts mecanum wheels, and the telescopic supporting beam comprises a first connecting beam and an electric cylinder for driving the first connecting beam to stretch and retract.
Preferably, the frame comprises a first lower frame body and a first upper frame body, and the Mecanum wheels are arranged on the side edge of the first lower frame body and driven by a servo motor; the electric cylinder is fixed in the first lower frame body, is fixedly connected with one end of the first connecting cross beam and drives the first connecting cross beam to stretch and retract; one end of the first connecting beam, which is far away from the electric cylinder, is fixed in a first lower frame body of an adjacent frame; the drive assembly is installed in first last support body, it is connected and runs through first last support body up end with drive assembly to bear the tray.
Preferably, the running gear selects a steering wheel, the telescopic supporting beam comprises a second connecting beam and an optical axis which are coaxially arranged, and the optical axis is connected with the second connecting beam in an inserting and movable matching manner.
Preferably, the frame comprises a second lower frame body and a second upper frame body, and the steering wheel is arranged in the second lower frame body; one end of the second connecting cross beam, which is far away from the optical axis, is fixed in the second lower frame body of the adjacent frame; the drive assembly is installed in the second upper frame body, and the bearing tray is connected with the drive assembly and penetrates through the upper end face of the second upper frame body.
Preferably, the driving assembly is a jacking screw mechanism, and the jacking screw mechanism is connected with the bearing tray and is driven by separate speed reducing motors respectively.
Preferably, a vehicle-mounted control system is further arranged in the frame, and the vehicle-mounted control system comprises a master control system, a navigation system, a posture recognition system and a communication system which are sequentially connected with the master control system; the navigation system can be one of a laser navigation system, an electromagnetic navigation system, an inertial navigation system or a visual navigation system; the gesture recognition system adopts a two-dimensional code recognition system; the communication system is used for remote information interaction and remote control.
Based on the shape-adaptive flexible transfer robot, the invention also provides a material management application system, which comprises:
the robot task scheduling and monitoring system is in wireless communication connection with a communication system in the transfer robot in a wireless communication mode and is used for controlling tasks of the transfer robot;
the material management system is used for controlling material storage positions, is connected with the robot task scheduling and monitoring system in an electric communication mode and transmits the material storage positions to the robot task scheduling and monitoring system;
and the production task management system is used for managing and controlling the production task demand information, is connected with the robot task scheduling and monitoring system in an electric communication mode, and transmits the production task demand information to the robot task scheduling and monitoring system.
Compared with the prior art, the invention has the advantages that:
(1) the invention provides a flexible carrying robot with a self-adaptive appearance, which realizes automatic carrying operation of materials and solves the problems of large labor amount, time and labor waste and low efficiency of manual searching and carrying of the materials in the conventional manual mode; in the working process, the telescopic length of the telescopic supporting beam can be adaptively adjusted according to the size of the bracket used in cooperation, so that the conveying stability is enhanced; overall structure has the automatic identification function, can realize automatic guide control and look for the material, can carry out automatically regulated according to the material position of difference through accurate discernment and control.
(2) The invention also relates to a material management application system applied to the appearance-adaptive flexible type carrying robot, the automation degree is high, and full-automatic material carrying work is realized under the operation of the robot task scheduling and monitoring system through the informationized butt joint of the material management system and the production task management system.
Drawings
The invention is further described with reference to the following figures and examples:
fig. 1 is a schematic structural view of an adaptive appearance flexible transfer robot according to embodiment 1 of the present invention;
fig. 2 is a schematic view (with a part of the structure removed) of the internal structure of a shape-adaptive flexible transfer robot according to embodiment 1 of the present invention;
fig. 3 is a front view of an internal structure of a shape-adaptive flexible transfer robot according to embodiment 1 of the present invention;
fig. 4 is a front view of the configuration-adaptive flexible transfer robot according to embodiment 1 of the present invention just before entering under a carrier;
fig. 5 is a front view of the adaptive shape flexible transfer robot according to embodiment 1 of the present invention, which is moved below a carrier and lifts the carrier upward.
Fig. 6 is a schematic structural view of an adaptive appearance flexible transfer robot according to embodiment 2 of the present invention;
fig. 7 is a schematic view of an internal structure of an adaptive-appearance flexible transfer robot according to embodiment 2 of the present invention (a part of a frame structure is removed);
fig. 8 is a schematic structural view of the telescopic supporting beam of embodiment 2 of the present invention during telescopic adjustment;
FIG. 9 is a schematic structural diagram of a material management application system according to the present invention;
fig. 10 is a schematic diagram of a carrying process and a returning process of the shape-adaptive flexible carrying robot according to the present invention during operation.
Wherein: 1. a frame;
11. a first lower frame body 12, a first upper frame body 13, a second lower frame body 14 and a second upper frame body;
2. a retractable support beam;
21. a first connecting beam 22, an electric cylinder 23, a second connecting beam 24 and an optical axis;
3. a traveling mechanism;
31. a Mecanum wheel 301 and a servo motor;
32. a steering wheel;
4. a carrying mechanism;
41. bearing tray, 42, drive assembly.
Detailed Description
The present invention will be further described in detail with reference to the following specific examples:
example 1
As shown in fig. 1 and 2, a flexible transfer robot with a self-adaptive shape comprises a plurality of frames 1, a retractable support beam 2 sequentially connected with the frames 1 and enclosing a rectangular structure, a traveling mechanism 3 driving the frames 1 to move synchronously, and a bearing mechanism 4 mounted on the frames 1 and capable of lifting.
In this embodiment, four vehicle frames 1 are selected and arranged at four top corners capable of enclosing a rectangular structure, and the vehicle frame 1 includes a first lower frame body 11 and a first upper frame body 12; the traveling mechanism 3 is mounted on the side of the first lower frame 11 by using a mecanum wheel 31 and driven by a servo motor 301.
Referring to fig. 2 and 3, the retractable support beam 2 includes a first connecting beam 21 and an electric cylinder 22 for driving the first connecting beam 21 to retract; the electric cylinder 22 is fixed in the first lower frame body 11, fixedly connected with one end of the first connecting beam 21 and drives the first connecting beam to extend and retract; one end of the first connecting beam 21 far away from the electric cylinder 22 is fixed in the first lower frame body 11 of the adjacent vehicle frame 1.
The bearing mechanism 4 comprises a bearing tray 41 and a driving assembly 42 for driving the bearing tray 41 to lift along the vertical direction, the driving assembly 42 is installed in the first upper frame body 12, a jacking screw mechanism can be selected, and the driving assembly can be driven by a separate speed reduction motor respectively; the bearing tray 41 is connected with the jacking screw mechanism and penetrates through the upper end surface of the first upper frame body 12, and the driving assembly 42 can drive the height of the upper end surface of the bearing tray 41 after rising to be higher than the height of the upper end surface of the first upper frame body 12.
Regarding the control part, a vehicle-mounted control system is also arranged in the frame 1, and the vehicle-mounted control system comprises a master control system, a navigation system, a posture recognition system and a communication system which are sequentially connected with the master control system; the navigation system can be one of a laser navigation system, an electromagnetic navigation system, an inertial navigation system or a visual navigation system; the gesture recognition system adopts a two-dimensional code recognition system; the communication system is used for remote information interaction and remote control; the master control system is also connected with the servo motor 301, the electric cylinder 22 and the speed reducing motor.
In this embodiment, the traveling mechanism 3 is driven by the mecanum wheels 31, and the mecanum wheels 31 are used as driving wheels to realize omnidirectional movement, so that the traveling mechanism is more flexible; the retractable support beam 2 and the carrying tray 41 need to be driven independently, wherein the retractable support beam 2 is driven to extend and retract by the electric cylinder 22, and the carrying tray 41 is driven to move up and down by the jacking screw mechanism.
The invention needs to be matched with a bracket for placing materials to be carried, as shown in fig. 4, the bracket is used for placing materials above, and supporting legs are arranged below the bracket, so that a space for a carrying robot to enter is formed between the bracket and the ground; meanwhile, a two-dimensional code containing bracket size information is also pasted below the bracket; when the two-dimensional code recognition system works, firstly, the carrying robot enters the lower part of the bracket in a contraction state, scans the two-dimensional code through the two-dimensional code recognition system, and sends scanning information to the master control system; then, as shown in fig. 5, the handling robot controls the electric cylinder 22 to operate through the master control system, so as to adjust the extension length of the first connecting beam 21, and then continuously controls the driving assembly 42 to operate, so as to lift the carrying tray 41 and jack the bracket upwards, so that the bracket and the material can be driven to move, and a handling action is realized.
Example 2
The present embodiment is different from embodiment 1 in that: referring to fig. 6 and 7, the steering wheel is selected as the traveling mechanism 3, and the retractable support beam 2 adopts the second connecting beam 23 and the optical axis 24 which are coaxially arranged, and the optical axis 24 is connected with the second connecting beam 23 in an inserting and movable fit manner.
More specifically, the frame 1 comprises a second lower frame body 13 and a second upper frame body 14, and the steering wheel is installed in the second lower frame body 13; one end of the second connecting beam 23, which is far away from the optical axis 24, is fixed in the second lower frame body 13, and one end of the optical axis 24, which is far away from the second connecting beam 23, is fixed in the second lower frame body 13 of the adjacent frame 1; the driving assembly 42 is installed in the second upper frame 14, and the carrying tray 41 is connected to the driving assembly 42 and penetrates through the upper end surface of the second upper frame 14.
In this embodiment, the running mechanism 3 adopts a driving mode of the steering wheel 32, the steering wheel 32 is used as a driving wheel, and the telescopic supporting beam 2 (the second connecting beam 23 and the optical axis 24) can be stretched and contracted by the friction force with the ground, so that other driving structures are omitted, and the bearing tray 41 still needs to be driven to lift by the driving component 42; however, the transfer robot driven by the steering wheel 32 needs to park before steering, perform the shaft deflection operation in the direction of the steering wheel 32, and then perform the steering operation; the principle of relative expansion and contraction of the second connecting beam 23 and the optical axis 24 due to friction between the steering wheel 32 and the ground is as follows:
referring to fig. 8, taking a pair of parallel second connecting beams a as an example, the advancing direction of the overall structure is shown by a dotted arrow in the figure, and if the second connecting beam a needs to be changed from the stretched state of fig. 5 to the contracted state of fig. 6, the steering wheel 32 is rotated from the illustrated orientation in the direction of the arrow, and the steering wheels 32 on both sides of the single second connecting beam a are in the shape of "eight" along the advancing direction, the optical axis will be continuously contracted into the second connecting beam a during the advancing process, otherwise, the optical axis will be stretched, and the telescopic support beam 2 is further stretched.
Based on the above-mentioned shape-adaptive flexible transfer robot, the present invention further provides a material management application system, as shown in fig. 9, including:
the robot task scheduling and monitoring system is in wireless communication connection with a communication system in the transfer robot in a wireless communication mode and is used for carrying out task control on the transfer robot.
And the material management system is used for controlling the material storage position, is connected with the robot task scheduling and monitoring system in an electric communication mode, and transmits the material storage position to the robot task scheduling and monitoring system.
And the production task management system is used for managing and controlling the production task demand information, is connected with the robot task scheduling and monitoring system in an electric communication mode, and transmits the production task demand information to the robot task scheduling and monitoring system.
The carrying robot works between the material storage areas and the production line area, when the production line has production task demand information, the carrying robot moves to the corresponding material storage areas to carry materials (at the moment, the materials need to be placed on the brackets), and the materials are carried to target stations of the production line area; when the materials are moved to the empty position, the carrying robot moves to the target station of the production line area to complete the carrying of the empty bracket and moves to the designated position of the material storage area.
More specifically, as shown in fig. 10, the working principle of the present invention is as follows:
the invention relates to a shape self-adaptive flexible transfer robot which performs full-automatic work under the control of a robot task scheduling and monitoring system; when a material demand is generated in a production line area, a material demand signal is sent by a production task management system, a carrying robot executes a carrying process, the carrying robot firstly moves to a material target position of a material storage area under the action of a navigation system, then a two-dimensional code below a bracket corresponding to a material is scanned by a posture recognition system (namely the two-dimensional code recognition system), the postures of a telescopic supporting beam 2 and a bearing tray 41 are defined, the length of the telescopic supporting beam 2 is adjusted (the length of the telescopic supporting beam is matched with the size of the bracket for placing the material) and the bearing tray 41 is jacked upwards under the control of a master control system, so that the bracket with the material is jacked upwards and moves to a production line target station under the action of the navigation system along with the carrying robot, and the material is carried; when the materials are moved to the air, the production task management system sequentially sends out an empty bracket homing signal and material requirements, the carrying robot executes an empty bracket homing process, the carrying robot goes to a target station of a production line, scans two-dimensional codes below the empty bracket through the gesture recognition system, determines the gestures of the telescopic supporting beam 2 and the bearing tray 41, and realizes the adjustment of the length of the telescopic supporting beam 2 (which is adaptive to the size of the empty bracket) and the upward jacking of the bearing tray 41 through the control of the master control system, so that the empty bracket is lifted upwards and is continuously repositioned to a material designated area under the action of the navigation system along with the carrying robot; when no other tasks need to be executed, the transfer robot goes to an automatic charging station under the control of the robot task scheduling and monitoring system to complete the automatic charging work so as to facilitate subsequent work.
The above embodiments are merely illustrative of the technical ideas and features of the present invention, and the purpose of the embodiments is to enable those skilled in the art to understand the contents of the present invention and implement the present invention, and not to limit the protection scope of the present invention. It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof, and it is therefore intended that the present embodiments be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein.
Claims (8)
1. A flexible transfer robot with adaptive appearance is characterized in that: the lifting device comprises a plurality of frames, a telescopic supporting beam, a walking mechanism and a bearing mechanism, wherein the telescopic supporting beam is sequentially connected with the frames and forms a rectangular structure by enclosing, the walking mechanism drives the frames to synchronously move, and the bearing mechanism is arranged on the frames and can realize lifting; the bearing mechanism comprises a bearing tray and a driving assembly for driving the bearing tray to lift along the vertical direction, and the driving assembly can drive the height of the upper end face of the bearing tray after the bearing tray rises to be higher than the height of the upper end face of the frame.
2. The form-adaptive flexible transfer robot of claim 1, wherein: the walking mechanism adopts Mecanum wheels, and the telescopic supporting beam comprises a first connecting beam and an electric cylinder for driving the first connecting beam to stretch.
3. The form-adaptive flexible transfer robot of claim 2, wherein: the frame comprises a first lower frame body and a first upper frame body, and the Mecanum wheels are arranged on the side edge of the first lower frame body and driven by a servo motor; the electric cylinder is fixed in the first lower frame body, is fixedly connected with one end of the first connecting cross beam and drives the first connecting cross beam to stretch and retract; one end of the first connecting beam, which is far away from the electric cylinder, is fixed in a first lower frame body of an adjacent frame; the drive assembly is installed in first last support body, it is connected and runs through first last support body up end with drive assembly to bear the tray.
4. The form-adaptive flexible transfer robot of claim 1, wherein: the steering wheel is selected as the travelling mechanism, the telescopic supporting beam comprises a second connecting cross beam and an optical axis which are coaxially arranged, and the optical axis is connected with the second connecting cross beam in an inserting and movable matching mode.
5. The contour adaptive flexible transfer robot as defined in claim 4, wherein: the frame comprises a second lower frame body and a second upper frame body, and the steering wheel is arranged in the second lower frame body; one end of the second connecting cross beam, which is far away from the optical axis, is fixed in the second lower frame body of the adjacent frame; the drive assembly is installed in the second upper frame body, and the bearing tray is connected with the drive assembly and penetrates through the upper end face of the second upper frame body.
6. The shape-adaptive flexible transfer robot according to any one of claims 1 to 5, wherein: the driving assembly is a jacking screw mechanism, and the jacking screw mechanism is connected with the bearing tray and is driven by an independent speed reducing motor respectively.
7. The shape-adaptive flexible transfer robot according to any one of claims 1 to 5, wherein: the vehicle frame is also internally provided with a vehicle-mounted control system, and the vehicle-mounted control system comprises a master control system, a navigation system, a posture recognition system and a communication system which are sequentially connected with the master control system; the navigation system can be one of a laser navigation system, an electromagnetic navigation system, an inertial navigation system or a visual navigation system; the gesture recognition system adopts a two-dimensional code recognition system; the communication system is used for remote information interaction and remote control.
8. A material management application system for a form-adaptive flexible transfer robot according to claim 7, characterized in that: the material management application system comprises:
the robot task scheduling and monitoring system is in wireless communication connection with a communication system in the transfer robot in a wireless communication mode and is used for controlling tasks of the transfer robot;
the material management system is used for controlling material storage positions, is connected with the robot task scheduling and monitoring system in an electric communication mode and transmits the material storage positions to the robot task scheduling and monitoring system;
and the production task management system is used for managing and controlling the production task demand information, is connected with the robot task scheduling and monitoring system in an electric communication mode, and transmits the production task demand information to the robot task scheduling and monitoring system.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202011636590.9A CN112706679A (en) | 2020-12-31 | 2020-12-31 | Appearance self-adaptation flexible transfer robot and material management application system |
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| CN202011636590.9A CN112706679A (en) | 2020-12-31 | 2020-12-31 | Appearance self-adaptation flexible transfer robot and material management application system |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20220017167A1 (en) * | 2018-12-11 | 2022-01-20 | Beijing Jingdong Qianshi Technology Co., Ltd. | Unmanned vehicle chassis and unmanned vehicle |
| CN114988038A (en) * | 2022-06-20 | 2022-09-02 | 北京京东乾石科技有限公司 | Unmanned haulage equipment |
-
2020
- 2020-12-31 CN CN202011636590.9A patent/CN112706679A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20220017167A1 (en) * | 2018-12-11 | 2022-01-20 | Beijing Jingdong Qianshi Technology Co., Ltd. | Unmanned vehicle chassis and unmanned vehicle |
| CN114988038A (en) * | 2022-06-20 | 2022-09-02 | 北京京东乾石科技有限公司 | Unmanned haulage equipment |
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