CN113276123A - Self-moving transfer robot - Google Patents
Self-moving transfer robot Download PDFInfo
- Publication number
- CN113276123A CN113276123A CN202010789906.1A CN202010789906A CN113276123A CN 113276123 A CN113276123 A CN 113276123A CN 202010789906 A CN202010789906 A CN 202010789906A CN 113276123 A CN113276123 A CN 113276123A
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- robot
- self
- machine body
- transfer robot
- moving transfer
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C27/00—Fire-fighting land vehicles
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Health & Medical Sciences (AREA)
- Public Health (AREA)
- Business, Economics & Management (AREA)
- Emergency Management (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
- Manipulator (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The application provides a from removing transfer robot includes: the robot comprises a robot body, a positioning platform for bearing a target object is formed at the top of the robot body; the driving assembly is arranged at the bottom of the robot body so as to drive the robot body to move; the controller is installed inside the robot body, is in communication connection with the driving assembly, and conveys the target object to a target position according to a control instruction. The self-moving carrying robot has the advantages of being standardized in manufacturing, intelligent and automatic in operation, diversified in application and the like, and can adapt to various working areas including a transformer substation.
Description
Technical Field
The application relates to the technical field of intelligent equipment, in particular to a self-moving transfer robot.
Background
Along with the development of the power industry, the precautionary measure to electric fire accident has more and more strict requirements in the power industry, to the conventional transformer substation of arranging in the open air of electrical equipment, because it has characteristics such as the place scope is big and electrical equipment is in large quantity, need set up the fire-fighting room according to certain interval and near important electrical equipment in the station district scope of transformer substation usually, however, traditional fire-fighting room generally adopts the site to build by laying bricks or stones, not only the construction time is long and the position is fixed, can't develop the processing of putting out a fire fast when leading to the regional fire accident that takes place of part of transformer substation.
Meanwhile, the novel transformer substations such as the assembled transformer substation, the prefabricated cabin transformer substation and the intelligent transformer substation are more and more widely applied, and the intellectualization, intensification and simplification become the development trend of the current transformer substation, so that the improvement of the fire-fighting efficiency of the transformer substation by using intelligent equipment becomes a feasible research direction.
Disclosure of Invention
The application aims to overcome the defects of the prior art and provides a self-moving transfer robot.
In order to achieve the purpose, the following technical scheme is adopted in the application:
a self-moving transfer robot comprising:
the robot comprises a robot body, a positioning platform for bearing a target object is formed at the top of the robot body;
the driving assembly is arranged at the bottom of the robot body so as to drive the robot body to move;
the controller is installed inside the robot body, is in communication connection with the driving assembly, and conveys the target object to a target position according to a control instruction.
Optionally, the robot body includes:
the machine body floor is provided with the driving assembly and the controller;
the bottom of the machine body side plate is arranged along the periphery of the machine body floor;
the machine body top plate is arranged at the top of the machine body side plate, and the placing platform is formed at one end, far away from the machine body floor, of the machine body top plate.
Optionally, the driving assembly includes:
at least one driving wheel is rotatably arranged on the machine body floor;
and at least one driver is correspondingly arranged with each driving wheel and is in transmission connection with the driving wheels, so that the driving wheels are driven to rotate.
Optionally, the driving assembly further includes:
the connecting piece is arranged on the side wall of the machine body side plate and corresponds to each driving wheel;
and one end of the independent suspension is arranged on the connecting piece, and the other end of the independent suspension is connected with the hub of the driving wheel.
Optionally, the driver includes:
the servo motor is in transmission connection with the driving wheel through a rotating shaft;
and the speed reducing mechanism is arranged between the servo motor and the driving wheel and is respectively connected with the rotating shaft and the driving wheel.
Optionally, the driving assembly includes four driving wheels, the four driving wheels are respectively rotatably installed at four corners of the machine body floor, and each driving wheel is correspondingly provided with a driver.
Optionally, the driving assembly further includes:
a driven wheel, at least one of said rotations mounted on said body floor and changing direction under control of said controller.
Optionally, the robot further comprises:
and the battery component is detachably arranged on the robot body and is respectively connected with the driving component and the controller.
Optionally, the target object is a fire fighting compartment, and the fire fighting compartment comprises a fire fighting compartment box body and fire fighting equipment arranged in the fire fighting compartment box body;
the surface of the placing platform is provided with a plurality of anti-skid plates, and each anti-skid plate is provided with a plurality of anti-skid grooves.
Optionally, the robot further comprises:
a memory, at least one of which is installed inside the robot body and stores a computer program;
the controller is configured to generate the control instruction according to a calculation program stored in the memory, or directly acquire the control instruction according to an external input.
The self-moving transfer robot has the advantages of being standardized in manufacturing, intelligent in operation automation, diversified in use and the like, can adapt to various working areas including a transformer substation, improves logistics transportation efficiency under the large bearing capacity of the robot by carrying target objects to target positions, can perform quick emergency response on emergency situations in the working areas, and improves the efficiency of handling the emergency situations.
Drawings
Fig. 1 is a schematic view of an overall structure of a self-moving transfer robot according to an embodiment of the present application;
FIG. 2 is a bottom view of a self-moving handling robot provided in an embodiment of the present application;
FIG. 3 is a top view of a self-moving handling robot provided in an embodiment of the present application;
FIG. 4 is a front view of a self-moving transfer robot provided in an embodiment of the present application;
FIG. 5 is a left side view of a self-moving transfer robot provided in an embodiment of the present application;
FIG. 6 is a right side view of a self-moving transfer robot provided in an embodiment of the present application;
FIG. 7 is a schematic structural diagram of a driving assembly provided in an embodiment of the present application;
FIG. 8 is a schematic diagram of a combination of a self-moving transfer robot and a target object according to an embodiment of the present application.
Reference numerals
1-machine body floor, 2-machine body side plate, 3-machine body top plate, 4-driving wheel, 5-driving mechanism, 51-servo motor, 52-speed reducing mechanism, 6-connecting piece, 7-independent suspension, 8-target object, 9-controller and 10-antiskid plate.
Detailed Description
The following description of specific embodiments of the present application refers to the accompanying drawings.
In this document, "upper", "lower", "front", "rear", "left", "right", and the like are used only to indicate relative positional relationships between relevant portions, and do not limit absolute positions of the relevant portions.
In this document, "first", "second", and the like are used only for distinguishing one from another, and do not indicate the degree and order of importance, the premise that each other exists, and the like.
In this context, "equal", "same", etc. are not strictly mathematical and/or geometric limitations, but also include tolerances as would be understood by a person skilled in the art and allowed for manufacturing or use, etc.
Unless otherwise indicated, numerical ranges herein include not only the entire range within its two endpoints, but also several sub-ranges subsumed therein.
First, the noun terms to which one or more embodiments of the present invention relate are explained.
Self-moving transfer robot: an Automated Guided Vehicle (AGV) is a generic concept of an AGV equipped with an electromagnetic or optical automatic guide device, which can travel along a predetermined guide path and has safety protection and various transfer functions
The application provides a self-moving transfer robot, as shown in fig. 1, comprising a robot body, a driving assembly and a controller 9, wherein a placing platform for bearing and placing a target object 8 is formed at the top of the robot body, the target object 8 can be placed on or taken off from the placing platform through a transfer mechanism, the driving assembly is arranged at the bottom of the robot body so as to drive the robot body to move, so that the self-moving transfer robot can move quickly and stably in a preset working area, the target object 8 is prevented from shaking or dropping, the controller 9 is installed in the robot body and is in communication connection with the driving assembly, the controller 9 builds or obtains an area environment map corresponding to the working area, and controls and drives the driving assembly according to the acquired control instruction, so that the target object 8 is conveyed to a specific target position in the working area.
The self-moving transfer robot has the advantages of being standardized in manufacturing, intelligent in operation automation, diversified in use and the like, can adapt to various working areas including a transformer substation, improves logistics transportation efficiency under the large bearing capacity of the robot by carrying the target object 8 to a target position, can perform quick emergency response on emergency in the working areas, and improves efficiency of handling the emergency.
In one embodiment of the present application, as shown in fig. 2 to 4, the robot body includes a body floor 1, body side plates 2 and a body top plate 3, the drive assembly and controller 9 are mounted on the body floor 1 to form the basic structure of the self-moving transfer robot, the bottom of the machine body side plate 2 is arranged along the periphery of the machine body floor 1, so as to provide the self-moving transfer robot with integral thickness and installation space, one end of the machine body top plate 3 is arranged at the top of the machine body side plate 2, thereby forming the integral structure of the robot body, the placing platform is formed at one end of the machine body top plate 3 far away from the machine body floor 1, the target object 8 is placed on the placing platform and bears the weight of the whole formed by the machine body floor 1, the machine body side plates 2 and the machine body top plate 3.
In the above embodiment, as shown in fig. 5 to 7, the driving assembly includes driving wheels 4 and drivers 5, at least one of the driving wheels 4 is rotatably mounted on the machine body floor 1, at least one of the drivers 5 is correspondingly disposed and in transmission connection with each of the driving wheels 4, and by configuring one driver 5 for each driving wheel 4 independently so as to drive the driving wheel 4 to rotate, it is ensured that each driving wheel 4 has abundant power to cope with complicated terrain in the working area and reduce the time required for transportation.
Specifically, as shown in fig. 7, the driving assembly further includes a connecting member 6 and an independent suspension 7, at least one of the connecting member 6 is mounted on the side wall of the machine body side plate 2 and is respectively arranged corresponding to each of the driving wheels 4, one end of the independent suspension 7 is mounted on the connecting member 6, the other end of the independent suspension 7 is connected with a hub of the driving wheel 4, the stability of the self-moving carrying machine in the moving process is further improved through the independent suspension 7, and the vibration and the offset of the target object 8 are effectively avoided.
The driver 5 comprises a servo motor 51 and a speed reducing mechanism 52, the servo motor is in transmission connection with the driving wheels 4 through a rotating shaft and used for providing power, the speed reducing mechanism is arranged between the servo motor and the driving wheels 4 and respectively connected with the rotating shaft and the driving wheels 4, and the rotating speed of the rotating shaft can be adjusted through the speed reducing mechanism, so that different requirements are met.
Optionally, as shown in fig. 2, the driving assembly includes four driving wheels 4, the four driving wheels 4 are respectively rotatably installed at four corners of the machine body floor 1, and each driving wheel 4 is correspondingly provided with one driver 5.
Optionally, the driving assembly further comprises driven wheels, at least one of which is rotatably mounted on the machine body floor 1 and changes direction under the control of the controller 9, for example, the self-moving handling machine of the present application may adopt a rear-drive structure, and at least one driven wheel is disposed at the front end or both sides of the self-moving handling machine so as to control the direction of the self-moving handling machine and moves under the action of the driving wheels 4.
Alternatively, the drive wheels 4 may be mecanum wheels.
In one embodiment of the present application, the robot further includes a battery assembly detachably mounted on the robot body and connected to the driving assembly and the controller 9 respectively, so as to provide power for the servo motor 51, for example, the battery assembly may be a rechargeable battery pack.
In an embodiment of the present application, as shown in fig. 8, the target object 8 may be a fire-fighting compartment, the fire-fighting compartment includes a fire-fighting compartment box and fire-fighting equipment disposed in the fire-fighting compartment box, under the condition that fire occurs in the working area, the self-moving transfer robot of the present application can rapidly react under the control of the controller 9, transport the fire-fighting compartment to the target position where the fire occurs, so that fire fighters can rapidly carry out fire extinguishing work.
In one embodiment of the present application, as shown in fig. 1, a plurality of anti-slip plates 10 are disposed on the surface of the placement platform, each anti-slip plate 10 is laid on the surface of the placement platform for preventing the target object 8 from slipping, and a plurality of anti-slip grooves are formed on each anti-slip plate 10, thereby further increasing the friction force between the target object 8 and the placement platform.
In one embodiment of the present application, the robot further includes a memory, at least one of the memories is installed inside the robot body and stores a computer program, the controller 9 is configured to generate the control instruction according to the computer program stored in the memory, or directly acquire the control instruction input from the outside according to a user, wherein the processor implements the following steps when executing the control instruction:
acquiring and analyzing a control instruction, and determining a target position in a preset regional environment map;
obtaining a target object, and placing the target object on a robot body;
the target object is transported to the target location by a drive assembly.
It is noted that the one or more processors, the one or more memories, and the like are primarily configured to store computer instructions that are executable by the one or more processors to cause the one or more processors to control the robot body of the mobile transfer robot to perform transfer tasks. In addition to storing computer instructions, the one or more memories may be configured to store various other data to support operations on the self-moving handling robot. Examples of such data include instructions for any application or method operating on the self-moving carrier robot, map data of the environment/scene in which the self-moving carrier robot is located, information of the target object, a movement route, and the like.
The memory or memories may be implemented by any type or combination of volatile or non-volatile memory devices, such as Static Random Access Memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic or optical disks.
The specific application scenario is as follows:
the working scene is the transformer substation just under the condition of carrying the fire control cabin on the self-moving carrying machine, if the condition of a fire appears in the transformer substation, then the monitored control system in the transformer substation in the controller 9 of self-moving carrying machine carries out the communication, perhaps the staff is direct right the self-moving carrying machine carries out remote control, the target position that the condition of a fire took place is confirmed according to received control command to the self-moving carrying to this target position is removed fast, makes things convenient for the fire fighter to carry out the work of putting out a fire, has compensatied the not enough that traditional fire control room exists.
The foregoing is an illustrative solution of a self-moving transfer robot of the present embodiment. It should be noted that the technical solution of the self-moving transfer robot is the same concept as the technical solution of the cleaning method of the self-moving transfer robot described above, and details of the technical solution of the self-moving transfer robot, which are not described in detail, can be referred to the description of the technical solution of the cleaning method of the self-moving transfer robot described above.
It should be noted that, for the sake of simplicity, the above-mentioned method embodiments are described as a series of acts or combinations, but those skilled in the art should understand that the present application is not limited by the described order of acts, as some steps may be performed in other orders or simultaneously according to the present application. Further, those skilled in the art should also appreciate that the embodiments described in the specification are preferred embodiments and that the acts and modules referred to are not necessarily required in this application.
In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.
The preferred embodiments of the present application disclosed above are intended only to aid in the explanation of the application. Alternative embodiments are not exhaustive and do not limit the invention to the precise embodiments described. Obviously, many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the application and the practical application, to thereby enable others skilled in the art to best understand and utilize the application. The application is limited only by the claims and their full scope and equivalents.
Claims (10)
1. A self-moving transfer robot, characterized by comprising:
the robot comprises a robot body, wherein a placing platform for bearing a target object (8) is formed at the top of the robot body;
the driving assembly is arranged at the bottom of the robot body so as to drive the robot body to move;
a controller (9), wherein the controller (9) is installed inside the robot body and is in communication connection with the driving assembly, and conveys the target object (8) to a target position according to a control command.
2. The self-moving transfer robot of claim 1, wherein the robot body comprises:
a machine body floor (1), the drive assembly and controller (9) being mounted on the machine body floor (1);
the bottom of the machine body side plate (2) is arranged along the periphery of the machine body floor (1);
the machine body comprises a machine body top plate (3), one end of the machine body top plate (3) is installed at the top of the machine body side plate (2), and the placing platform is formed at one end, far away from the machine body floor (1), of the machine body top plate (3).
3. The self-moving transfer robot of claim 2, wherein the drive assembly comprises:
the driving wheel (4), at least one of the driving wheels (4) is rotatably arranged on the machine body floor (1);
and at least one driver (5) is arranged corresponding to each driving wheel (4) and is in transmission connection with the driving wheels (4) so as to drive the driving wheels (4) to rotate.
4. The self-moving transfer robot of claim 3, wherein the drive assembly further comprises:
the connecting piece (6), at least one said connecting piece (6) is installed on sidewall of the said organism lateral plate (2) and set up with every said drive wheel (4) separately;
and one end of the independent suspension (7) is arranged on the connecting piece (6), and the other end of the independent suspension (7) is connected with a hub of the driving wheel (4).
5. The self-moving transfer robot of claim 3, wherein the drive 5 comprises:
the servo motor (51) is in transmission connection with the driving wheel (4) through a rotating shaft;
and the speed reducing mechanism (52) is arranged between the servo motor and the driving wheel (4) and is respectively connected with the rotating shaft and the driving wheel (4).
6. A self-moving transfer robot according to claim 3, wherein the drive assembly comprises four drive wheels (4), the four drive wheels (4) are rotatably mounted at four corners of the body floor (1), respectively, and each drive wheel (4) is provided with a corresponding driver (5).
7. The self-moving transfer robot of claim 3, wherein the drive assembly further comprises:
and at least one driven wheel, wherein the rotation is arranged on the machine body floor (1) and changes direction under the control of the controller (9).
8. The self-moving transfer robot of claim 1, further comprising:
and the battery component is detachably arranged on the robot body and is respectively connected with the driving component and the controller (9).
9. The self-moving transfer robot of claim 1, wherein the target object (8) is a fire-fighting compartment comprising a fire-fighting compartment box and fire-fighting equipment disposed within the fire-fighting compartment box;
a plurality of anti-skid plates (10) are arranged on the surface of the placing platform, and a plurality of anti-skid grooves are formed on each anti-skid plate (10).
10. The self-moving transfer robot of claim 1, further comprising:
a memory, at least one of which is installed inside the robot body and stores a computer program;
the controller (9) is configured to generate the control instruction according to a calculation program stored in the memory, or directly acquire the control instruction according to an external input.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010789906.1A CN113276123A (en) | 2020-08-07 | 2020-08-07 | Self-moving transfer robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010789906.1A CN113276123A (en) | 2020-08-07 | 2020-08-07 | Self-moving transfer robot |
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| Publication Number | Publication Date |
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| CN113276123A true CN113276123A (en) | 2021-08-20 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202010789906.1A Pending CN113276123A (en) | 2020-08-07 | 2020-08-07 | Self-moving transfer robot |
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| CN109969713A (en) * | 2019-04-02 | 2019-07-05 | 燕山大学 | A kind of heavy duty Omni-mobile AGV carrying platform |
| CN110753633A (en) * | 2017-03-15 | 2020-02-04 | 香港物流及供应链管理应用技术研发中心 | Self-leveling automatic guiding vehicle |
| CN111332386A (en) * | 2020-03-31 | 2020-06-26 | 平湖丞士机器人有限公司 | Self-following dual-purpose fire-fighting robot |
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2020
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| US20170080846A1 (en) * | 2015-09-17 | 2017-03-23 | Clearpath Robotics, Inc. | Mobile platform for materials transport |
| CN110753633A (en) * | 2017-03-15 | 2020-02-04 | 香港物流及供应链管理应用技术研发中心 | Self-leveling automatic guiding vehicle |
| CN108945148A (en) * | 2017-10-12 | 2018-12-07 | 深圳市安泽智能工程有限公司 | A kind of independent suspension device and omni-directional mobile robots |
| CN108839725A (en) * | 2018-07-11 | 2018-11-20 | 苏州元谋智能机器人系统有限公司 | A kind of suspension and full backpack mobile robot |
| CN109969713A (en) * | 2019-04-02 | 2019-07-05 | 燕山大学 | A kind of heavy duty Omni-mobile AGV carrying platform |
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