CN114408015B - Steering device of logistics robot and control method thereof - Google Patents
Steering device of logistics robot and control method thereof Download PDFInfo
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- CN114408015B CN114408015B CN202111574151.4A CN202111574151A CN114408015B CN 114408015 B CN114408015 B CN 114408015B CN 202111574151 A CN202111574151 A CN 202111574151A CN 114408015 B CN114408015 B CN 114408015B
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- 238000000034 method Methods 0.000 title claims description 6
- 230000005540 biological transmission Effects 0.000 claims description 22
- 238000012545 processing Methods 0.000 claims description 17
- 238000012546 transfer Methods 0.000 claims description 16
- 238000004804 winding Methods 0.000 claims description 3
- 230000003287 optical effect Effects 0.000 abstract description 5
- 230000001105 regulatory effect Effects 0.000 description 3
- 230000001276 controlling effect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
- B62D5/0475—Controlling other elements
Abstract
The invention provides a steering device of a logistics robot, wherein a steering base is provided with a steering mechanism for adjusting steering wheels; the steering mechanism comprises a steering gear for controlling steering of steering wheels, a driving gear meshed with the steering gear, and a calibration gear meshed with the steering gear; the control mechanism comprises an inner gear ring arranged on the steering base and meshed with the driving gear, an image pickup part arranged on the inner gear ring, and a control part arranged on the steering base; the angle sensor is arranged in the image pickup part, the image pickup part is used for scanning the calibration position information of the periphery of the steering wheel, and the control part controls the calibration gear to adjust the steering of the steering wheel according to the calibration position information. The control part controls the calibration gear to calibrate and adjust the steering gear through the angle information acquired by the angle sensor, so that the moving direction of the steering wheel is adjusted to be consistent with the direction of the optical axis of the camera part, the moving direction of the adjusted steering wheel faces the calibration position, and the moving direction of the steering wheel is accurately adjusted.
Description
Technical Field
The invention belongs to the field of logistics robots, and particularly relates to a steering device of a logistics robot and a control method of the steering device.
Background
With the increasing development of electronic commerce, the logistics industry matched with the electronic commerce is also continuously developed and innovated, and the logistics efficiency is always a huge pain point of each electronic commerce. In order to improve warehouse operation efficiency and reduce logistics cost, electronic commerce huge people develop logistics distribution robots in a dispute manner, and promote upgrading and optimizing of enterprise warehouse logistics systems.
At present, the logistics robot in the warehouse carries goods according to the calibration position information on the goods shelf, the steering device of the logistics robot drives the steering wheel to steer according to the calibration position information selected by the terminal through the driving motor, but when the driving motor drives the steering wheel to adjust the steering position, accurate steering information cannot be provided for the steering wheel accurately, and deviation is easily caused when the logistics robot steers.
Disclosure of Invention
The invention aims to provide a steering device of a logistics robot, and aims to solve the technical problem that steering wheels in the prior art cannot be steered accurately.
The invention is realized in the following way:
the utility model provides a logistics robot's turning device, includes the directive wheel, still includes
The steering base is arranged above the steering wheels; the steering mechanism is arranged on the steering base and comprises a steering gear, a driving gear and a calibration gear, wherein the steering gear is connected with the steering wheel and used for controlling the steering of the steering wheel, the driving gear is meshed with the steering gear, and the calibration gear is meshed with the steering gear;
the control mechanism comprises an inner gear ring, an image pickup module and a control module, wherein the inner gear ring is arranged on the steering base and is in transmission connection with the driving gear; the camera module is used for scanning the calibration position information of the periphery of the steering wheel and sending the acquired calibration position information to the control module; and the control module controls the calibration gear to adjust the steering of the steering wheel according to the calibration position information.
The angle sensor is arranged in the camera module and is used for measuring and acquiring angle information rotated when the camera module rotates from an initial position to the position opposite to the calibration position, and the angle sensor is electrically connected with the control module.
Further, a variable tooth assembly is arranged between the inner gear ring and the driving gear; the gear-changing assembly comprises a gear-changing module which is meshed with the inner gear ring intermittently, and a transmission gear which is coaxially arranged with the gear-changing module, wherein the transmission gear is meshed with the driving gear intermittently.
Further, the tooth changing assembly further includes a transfer gear slidable on the rotating base toward the drive gear and the steering gear; the transfer gear moves toward the drive gear and the steering gear and meshes with the drive gear and the steering gear when the camera module scans the calibration position information.
Further, the tooth changing module comprises a rotating base which rotates synchronously with the transmission gear and a pawl arranged on the rotating base; the rotating base is provided with a containing groove for containing the pawl, and the pawl is rotationally connected in the containing groove and can elastically reset.
Further, the tooth changing module further comprises a stay wire used for driving the pawl to be contained in the containing groove, and a rotating disc for winding the stay wire.
Further, the pawl is provided with an inclined plane, the inner gear ring comprises an inner gear and inner teeth arranged on the inner gear, and the inner teeth are provided with inclined working faces matched with the inclined planes on the pawl.
Further, the driving gear and the calibration gear are of the same type, and a counting sensor for recording the number of turns of the driving gear is arranged on the driving gear.
Further, the relationship between the steering gear and the calibration gear is that the number of teeth of the steering gear x the number of turns of the steering gear = the number of turns of the calibration gear x the number of turns of the calibration gear
Further, the steering device of the logistics robot further comprises:
the storage module is used for storing the counting information of the counting sensor;
the processing module is used for performing calibration calculation according to the calibration position information scanned by the camera module and the counting information of the counting sensor, and sending the calculated calibration information to the control module; the control module adjusts the calibration gear according to the calibration information.
A control method of a steering device of a logistics robot is applied to the steering device of the logistics robot; initial state: the transfer gear is separated from the steering gear and the driving gear, and the tooth changing module is meshed with the inner gear ring; the driving gear is meshed with the transmission gear, and at the moment, the driving gear drives the inner gear ring to rotate, so that the camera module rotates on the steering wheel;
active state: when the camera module scans the calibration position information, the pawl is folded into the storage groove so as to enable the tooth changing module to be separated from the inner gear ring; at the same time, the transfer gear moves toward the drive gear and the steering gear until the transfer gear is simultaneously engaged with the drive gear and the steering gear; the camera module sends the acquired calibration position information to the processing module; the angle sensor sends the acquired angle information to the processing module; the counting sensor sends the acquired counting information to the processing module; the processing module calculates and obtains calibration data information according to the position information, the angle information and the counting information, and sends the calibration data information to the control module; the control module controls the calibration gear to adjust the steering gear according to the calibration data information.
The invention has the beneficial effects that: the camera module is arranged on the inner gear ring, so that the inner gear ring drives the camera module to rotate on the steering base under the driving of the driving gear, the camera module can rotate on the steering base in the circumferential direction, the peripheral scanning calibration position information of the steering wheel is realized, the control module controls the calibration gear to calibrate and regulate the steering gear through the angle information acquired by the angle sensor, the moving direction of the steering wheel is regulated to be consistent with the optical axis direction of the camera module, the moving direction of the regulated steering wheel faces the calibration position, and the moving direction of the steering wheel is regulated accurately.
Drawings
Fig. 1 is a schematic structural view of a steering device of a logistics robot according to an embodiment of the present invention;
fig. 2 is an enlarged view at a in fig. 1;
fig. 3 is a schematic view of gears in the B-direction view of fig. 1.
Reference numerals:
1. a steering base; 2. a steering gear; 3. a drive gear; 4. calibrating the gear; 5. an inner gear ring; 51. an inner wheel; 52. internal teeth; 6. a camera module; 7. a control module; 8. a tooth changing module; 81. a rotating base; 82. a pawl; 83. a receiving groove; 84. a clamping groove; 85. a pull wire; 86. a rotating disc; 9. a transmission gear; 10. a transmission gear; 30. a storage module; 40. a processing module; 50. and steering wheels.
Detailed Description
The present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
It will be understood that when an element is referred to as being "mounted" or "disposed" on another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or intervening elements may also be present.
It should be noted that, in this embodiment, terms of left, right, up, down, etc. are merely relative concepts or references to normal use states of the product, and should not be construed as limiting.
As shown in fig. 1 and fig. 2, the steering device of the logistics robot provided by the embodiment of the invention comprises a steering base 1 (not marked in the figure), a steering mechanism (not marked in the figure) and a control mechanism (not marked in the figure); the steering mechanism is arranged above the steering base 1 and is used for adjusting the moving direction of the steering wheels; the steering mechanism comprises a steering gear 2 for controlling steering of the steering wheel, a driving gear 3 meshed with the steering gear 2, and a calibration gear 4 meshed with the steering gear 2; the steering gear 2 is driven to rotate by the driving gear 3, so that the steering mechanism can adjust the moving direction of the steering wheel; the control mechanism comprises an inner gear ring 5 which is arranged on the steering base 1 and meshed with the driving gear 3, an image pickup module 6 which is arranged on the inner gear ring 5, and a control module 7 which is arranged on the steering base 1;
the angle sensor is arranged in the camera module 6, and is used for measuring and acquiring angle information rotated when the camera module 6 rotates from an initial position to the position opposite to the calibration position, and is electrically connected with the control module 7, wherein the optical axis direction of the camera module 6 is consistent with the advancing direction of the steering wheel in the initial state.
The control module 7 controls the calibration gear 4 to adjust the steering of the steering wheel according to the calibration position information and the angle information, and sets the camera module 6 on the inner gear ring, so that the inner gear ring 5 drives the camera module 6 to rotate on the steering base 1 under the driving of the driving gear 3, so that the camera module 6 can rotate on the circumference of the steering base 1, and further the calibration position information of the periphery of the steering wheel is scanned, the control module 7 obtains the angle information through the angle sensor, and controls the calibration gear 4 to calibrate and adjust the steering gear 2, so that the moving direction of the steering wheel is adjusted to be consistent with the optical axis direction of the camera module 6, and the moving direction of the adjusted steering wheel faces the calibration position. The calibration position information can be a two-dimensional code attached to the warehouse commodity shelf.
A variable tooth assembly (not marked in the figure) is meshed between the inner gear ring 5 and the driving gear 3; the tooth changing assembly comprises a tooth changing module 8 which is meshed with the inner gear ring 5 intermittently, and a transmission gear 9 which is coaxially arranged with the tooth changing module 8, wherein the transmission gear 9 is meshed with the driving gear intermittently; the variable-tooth module 8 is positioned on the axis of the transmission gear 9 so as to drive the variable-tooth module 8 to synchronously rotate when the transmission gear 9 rotates; the tooth-changing module 8 is meshed with the inner gear ring 5, and can be intermittently meshed with the inner gear ring 5 through the tooth-changing module 8, so that the tooth-changing module 8 can drive the inner gear ring 5 to rotate according to the scanning requirement of the image pickup module 6. The transmission gear 9 is meshed with the driving gear 3, so that the driving gear 3 can drive the tooth changing module 8 to drive the inner gear ring 5 to rotate.
The tooth changing assembly further comprises a transfer gear 10 which can slide towards the driving gear 3 and the steering gear 2 on a rotating base; when the camera module 6 scans the calibration position information, the transfer gear 10 moves towards the driving gear 3 and the steering gear 2 and is meshed with the driving gear 3 and the steering gear 2, so as to realize whether to provide driving force for the steering gear 2 through the movable transfer gear 10, and the position of the inner gear ring 5 can be locked in time after the camera module 6 scans the calibration position information, namely, the position of the camera module 6 is locked, so that the camera module 6 can lock the calibration position information; after the camera module 6 scans and locks the calibration position information, the transmission gear 10 is simultaneously meshed with the driving gear 3 and the steering gear 2, so as to transmit the rotating force of the driving gear 3 to the steering gear 2, so that the control module 7 can adjust the moving direction of the steering gear 2 according to the image information.
The tooth changing module 8 comprises a rotating base 81 which rotates synchronously with the transmission gear 9, and a pawl 82 which is arranged on the rotating base 81 and can automatically and elastically reset, namely the teeth of the tooth changing module 8; the rotating base 81 is provided with a containing groove 83 for containing the pawl 82, and one end of the pawl 82 penetrates through the containing groove 83; when the tooth-changing module 8 drives the inner gear ring 5 to rotate, one end of the pawl 82 penetrates through the accommodating groove 83 to be meshed with the inner gear ring 5, the other end of the pawl is clamped in a clamping groove 84 arranged on the wall of the accommodating groove 83, one side of the clamping groove 84 is used for abutting against the pawl 82 when the tooth-changing module 8 is meshed with the inner gear ring 5, and a avoidance cavity for the pawl 82 to rotate is formed in one side away from the pawl 82; when the transmission gear 9 drives the tooth changing module 8 to separate from the inner gear ring 5, the teeth of the inner gear ring 5 push the pawl 82 to move into the accommodating groove 83 through one end of the accommodating groove 83, so that when the teeth of the tooth changing module 8 are separated from the engagement of the inner gear ring 5, the pawl 82 is in contact with the teeth of the inner gear ring 5, and the pawl 82 is folded into the accommodating groove, so that the pawl 82 is prevented from interfering the locked inner gear ring; and when the tooth changing module 8 needs to drive the inner gear ring, the pawl 82 can be meshed with the teeth of the inner gear ring automatically under the performance condition of automatic elastic reset.
The tooth changing module 8 further comprises a pull wire 85 for driving the limit tooth 82 into the accommodating groove 83, and a rotating disc 86 for winding the pull wire 85; when the camera module 6 rotates to a position opposite to the calibration position, the rotating disc 86 starts and winds the stay wire 85, so that the pawl 82 is accommodated in the accommodating groove 83, the stay wire 85 is wound by the rotating disc 86, so that the pawl 82 connected to the stay wire 85 can be completely wound in the accommodating groove 83, when the transmission gear 9 drives the tooth changing module 8 to rotate, the tooth changing module 8 idles, interference of the pawl 82 on the locked inner gear ring is further prevented, and stability of the calibration position of the camera module 6 is further effectively improved.
The pawl 82 is provided with an inclined surface, the inner gear ring 5 comprises an inner gear 51 and inner teeth 52 arranged on the inner gear 51, and the inner teeth 52 are provided with inclined working surfaces matched with the inclined surfaces on the pawl 5, so that the force of the pawl 82 abutting against the inclined working surfaces of the inner teeth 52 when the tooth changing module 8 is separated from the inner gear ring is reduced by arranging the inclined surfaces on the pawl 82, and the damage of the inner gear ring and the inner teeth is effectively reduced.
The driving gear 3 and the calibration gear 4 are the same gears, a counting sensor for recording the rotation number of the driving gear 3 is arranged on the driving gear 3, and the rotation number of the driving gear 3 is the rotation number of the calibration gear 4 by setting the driving gear 3 and the calibration gear 4 to be the same gears.
The relationship between the steering gear 2 and the calibration gear 4 is that the number of teeth of the steering gear 2 x the number of turns of the steering gear 2 = the number of turns of the calibration gear 4 x the number of turns of the calibration gear 4; the relation can be used for obtaining the number of turns required to be adjusted of the steering gear 2 according to the number of turns of the calibration gear 4, the number of teeth of the calibration gear 4 and the number of teeth of the steering gear 2, obtaining an included angle between an optical axis of the camera module 6 locking calibration position information and the moving direction of the unadjusted steering gear by combining angle information, and further obtaining the number of turns of the steering gear 2 positioned in the included angle, wherein the relation is angle information ≡360 ° = number of turns ≡diameter of the steering gear; i.e. the number of turns of the steering gear 2 is obtained to achieve a precise adjustment of the steering gear 2.
A storage module 30, wherein the storage module 30 is used for storing counting information of the counting sensor;
a processing module 40, where the processing module 40 is configured to perform calibration calculation according to the calibration position information and the count information of the camera module 6, and send the calculated calibration information to the control module 7; the control module 7 adjusts the calibration gear 4 according to the calibration information.
A control method of steering wheel is applied to steering device of logistics robot;
initial state
The transfer gear is separated from the steering gear 2 and the driving gear 3, and the tooth changing module 8 is meshed with the inner gear ring 5;
the driving gear 3 is meshed with the transmission gear 9, at this time, the driving gear 3 drives the inner gear ring 5 to rotate, and then the camera module 6 is realized rotating on the steering wheel, and then the camera module 6 is realized rotating on the circumference of the steering device of the logistics robot, and then the camera module 6 is convenient for scan the calibration position information.
Active state
When the camera module 6 scans the calibrated position information, the pawl 82 is folded into the storage groove so as to enable the tooth changing module 8 to be separated from the inner gear ring 5; at the same time, the transfer gear moves toward the drive gear 3 and the steering gear 2 until the transfer gear is simultaneously engaged with the drive gear 3 and the steering gear 2, so that the drive gear 3 can drive the steering gear 2;
the camera module 6 sends the acquired calibration position information to the processing module 40;
the angle sensor sends the acquired angle information to the processing module 40;
the count sensor sends the acquired count information to the processing module 40;
the processing module 40 calculates and obtains calibration data information according to the calibration position information, the angle information and the counting information, and sends the calibration data information to the control module 7;
the control module 7 controls the calibration gear 4 to adjust the steering gear 2 according to the calibration data information so as to accurately adjust the moving direction of the steering wheel.
The foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather is intended to cover all modifications, equivalents, or alternatives falling within the spirit and principles of the invention.
Claims (8)
1. The utility model provides a steering device of logistics robot, includes steering wheel, its characterized in that: and also comprises
The steering base is arranged above the steering wheels; the steering mechanism is arranged on the steering base and comprises a steering gear, a driving gear and a calibration gear, wherein the steering gear is connected with the steering wheel and used for controlling the steering of the steering wheel, the driving gear is meshed with the steering gear, and the calibration gear is meshed with the steering gear;
the control mechanism comprises an inner gear ring, an image pickup module and a control module, wherein the inner gear ring is arranged on the steering base and is in transmission connection with the driving gear; the camera module is used for scanning the calibration position information of the periphery of the steering wheel and sending the acquired calibration position information to the control module; the control module controls the calibration gear to adjust the steering of the steering wheel according to the calibration position information;
the angle sensor is arranged in the camera module and is used for measuring and acquiring angle information rotated when the camera module rotates from an initial position to the position opposite to the calibration position, and the angle sensor is electrically connected with the control module;
a variable tooth assembly is arranged between the inner gear ring and the driving gear; the tooth changing assembly comprises a tooth changing module which is meshed with the inner gear ring intermittently and a transmission gear which is coaxially arranged with the tooth changing module, and the transmission gear is meshed with the driving gear intermittently;
the tooth changing assembly further includes a transfer gear slidable on the steering base toward the drive gear and the steering gear; the transfer gear moves toward the drive gear and the steering gear and meshes with the drive gear and the steering gear when the camera module scans the calibration position information.
2. The steering device of the logistics robot of claim 1, wherein: the tooth changing module comprises a rotating base which rotates synchronously with the transmission gear and a pawl arranged on the rotating base; the rotating base is provided with a containing groove for containing the pawl, and the pawl is rotationally connected in the containing groove and can elastically reset.
3. The steering device of the logistics robot of claim 2, wherein: the tooth changing module further comprises a stay wire used for driving the pawl to be contained in the containing groove, and a rotating disc used for winding the stay wire.
4. The steering device of the logistics robot of claim 2, wherein: the pawl is provided with an inclined plane, the inner gear ring comprises an inner gear and inner teeth arranged on the inner gear, and the inner teeth are provided with inclined working faces matched with the inclined planes on the pawl.
5. The steering device of the logistics robot of claim 4, wherein: the driving gear and the calibration gear are gears of the same type, and a counting sensor used for recording the rotation number of the driving gear is arranged on the driving gear.
6. The steering device of the logistics robot of claim 5, wherein: the relationship between the steering gear and the calibration gear is that the number of teeth of the steering gear x the number of turns of the steering gear = the number of turns of the calibration gear x the number of turns of the calibration gear.
7. The steering device of the logistics robot of claim 6, wherein: the steering device of the logistics robot further comprises:
the storage module is used for storing the counting information of the counting sensor;
the processing module is used for performing calibration calculation according to the calibration position information scanned by the camera module and the counting information of the counting sensor, and sending the calculated calibration information to the control module; the control module adjusts the calibration gear according to the calibration information.
8. A control method of a steering device of a logistics robot is characterized by comprising the following steps: a steering device applied to the logistics robot of claim 7; initial state: the transfer gear is separated from the steering gear and the driving gear, and the tooth changing module is meshed with the inner gear ring; the driving gear is meshed with the transmission gear, and at the moment, the driving gear drives the inner gear ring to rotate, so that the camera module rotates on the steering wheel;
active state: when the camera module scans the calibration position information, the pawl is folded into the storage groove so as to enable the tooth changing module to be separated from the inner gear ring; at the same time, the transfer gear moves toward the drive gear and the steering gear until the transfer gear is simultaneously engaged with the drive gear and the steering gear; the camera module sends the acquired calibration position information to the processing module; the angle sensor sends the acquired angle information to the processing module; the counting sensor sends the acquired counting information to the processing module; the processing module calculates and obtains calibration data information according to the position information, the angle information and the counting information, and sends the calibration data information to the control module; the control module controls the calibration gear to adjust the steering gear according to the calibration data information.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202111574151.4A CN114408015B (en) | 2021-12-21 | 2021-12-21 | Steering device of logistics robot and control method thereof |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111574151.4A CN114408015B (en) | 2021-12-21 | 2021-12-21 | Steering device of logistics robot and control method thereof |
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| CN114408015A CN114408015A (en) | 2022-04-29 |
| CN114408015B true CN114408015B (en) | 2024-04-09 |
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