CN114589676A

CN114589676A - Falling object collecting robot and method

Info

Publication number: CN114589676A
Application number: CN202011404114.4A
Authority: CN
Inventors: 王岳; 张丛昱; 王明杰; 李文杰; 吴长静; 王瑞; 郝永鑫; 梁健; 胡宁; 董贯雷; 解鹏; 赵亚博; 李瑜
Original assignee: Dongying Power Industry Bureau Of State Grid Shandong Electric Power Co; State Grid Intelligent Technology Co Ltd
Current assignee: Dongying Power Industry Bureau Of State Grid Shandong Electric Power Co; State Grid Intelligent Technology Co Ltd
Priority date: 2020-12-04
Filing date: 2020-12-04
Publication date: 2022-06-07
Anticipated expiration: 2040-12-04
Also published as: CN114589676B

Abstract

The utility model provides a falling object collecting robot and method, including robot, collection frame, tilting mechanism and conveying platform, be provided with the conveying platform on the robot, the conveying platform with be provided with tilting mechanism between the robot, the collection frame has a supporting part, tilting mechanism connects the one end of collection frame, can drive the collection frame and carry out the upset action, and when the collection frame was in the primary importance, the supporting part with the robot is parallel, and when the collection frame was in the second place, the supporting part with conveying platform surface parallel and relative. The present disclosure enables dropped items to be collected and transported to a corresponding item collection area for management.

Description

Falling object collecting robot and method

Technical Field

The disclosure belongs to the field of automation and manufacturing, and particularly relates to a falling object collecting robot and a method.

Background

The statements in this section merely provide background information related to the present disclosure and may not necessarily constitute prior art.

In the article management industry, take archives as an example, the quantity of archives increases day by day, the transmission of archives is the heavy work that archives staff must face every day, it is big to deposit and withdraw archives intensity of labour, and archives access efficiency is lower, especially to some archives that involve in secret, does not hope that more people have more chances to come into contact, because the existence of these problems for archives automation system establishes, realizes that the automated management of each working link of archives has great meaning.

At present, in the service robot industry, a plurality of cases of application of file robots, such as an integrated file management robot, a truss or guide rail type file management robot and the like, all realize that files are taken out of a file cabinet by using the robot and then are conveyed to an automatic transportation of a docking window of a manager; however, no matter what operation method is adopted, the problem that the files fall off in the transportation process is inevitable when the files are managed by the robot. At this time, the above-mentioned robot cannot pick up the fallen files, and usually needs the administrator to enter the archive office for processing, which obviously runs counter to the object of the automatic management of the files, and is not favorable for protecting the files.

Disclosure of Invention

In order to solve the above problems, the present disclosure provides a fallen article collecting robot and a method thereof, and the collecting robot of the present disclosure can collect fallen articles and transport the articles to a corresponding article collecting area for management.

According to some embodiments, the following technical scheme is adopted in the disclosure:

the utility model provides a fall article collecting robot, includes robot body, collects frame, tilting mechanism and carries the platform, wherein:

the upper end of robot body is provided with carries the platform, still be provided with on the robot body and collect the frame, it has a bearing part to collect the frame, the one end of collecting the frame is connected with tilting mechanism, can drive and collect the frame and carry out the action of overturning, and then changes the place plane that collects the frame bearing part. The picking and the collection of the objects are realized.

The bearing part is a platform with a certain containing area and can contain or bear the falling articles. For example, the support plate or the support plate can be a support plate or a support plate with grooves. When provided with a recess, the recess portion is adapted to receive a falling item.

When the collecting frame is at the first position, the collecting frame is positioned at the bottom of the robot, the spacing distance between the collecting frame and the ground is less than a set value, and when the collecting frame is at the second position, the collecting frame is positioned above the conveying table and is opposite to the surface of the conveying table.

Further, when the collecting rack is at the first position, the bearing part is parallel to the ground, and the distance between the bearing part and the ground is smaller than a set value, and when the collecting rack is at the second position, the bearing part is parallel to and opposite to the surface of the conveying table, and the distance between the bearing part and the ground is greater than or equal to the distance between the surface of the conveying table and the ground.

The bearing part of the collecting rack is used for containing articles to be collected. When collecting the frame and being in the primary importance, can think that tilting mechanism drives and collects before the frame upset, collect the frame bearing part with ground is parallel, can pick up and fall article, when collecting the frame and being in the second place, tilting mechanism drives promptly and collects the frame and takes place the upset back, bearing part with carry a parallel and relative in surface, with article back-off to the surface of carrying the platform.

As one or more possible embodiments, the moving mechanism of the robot body is a crawler-type moving mechanism.

As one or more possible embodiments, the collecting rack further comprises a connecting bracket, the bearing part is vertically connected with one end of the connecting bracket, and the other end of the connecting bracket is connected with the turnover mechanism.

As one or more implementable modes, the turnover mechanism comprises a driving piece and a turnover transmission shaft, the driving piece can drive the turnover transmission shaft to rotate, the other end of the connecting support is connected with the turnover transmission shaft, and the turnover transmission shaft is connected with the connecting support of the collecting frame.

As one or more possible embodiments, the length of the connecting bracket is adapted to the distance between the surface/floor of the robot body and the transport table, typically about half of the distance between the surface/floor of the robot body and the transport table.

As one or more possible embodiments, the two sides of the bearing part are provided with clamping mechanisms which can move towards each other.

As a possible implementation mode, the clamping mechanism comprises a hub motor, a hub transmission shaft and a clamping hub, the hub motor drives the hub transmission shaft to rotate, and the hub transmission shaft is provided with a plurality of clamping hubs.

As one or more possible embodiments, the clamping hub is a cam structure, and the falling object can be clamped in the effective stroke of the cam structure.

As one or more possible embodiments, a distance sensor is disposed on the collection frame.

As one or more possible embodiments, the bottom of the robot body is provided with a positioning mechanism, one end of the positioning mechanism extends to the bearing part, the other end of the positioning mechanism extends to the edge of the robot body, and the positioning mechanism is contracted from the robot body to the bearing part.

As one or more possible embodiments, the positioning mechanism is parallel to the bearing part.

In one or more embodiments, the conveyor table is provided with parallel running conveyor belts.

As one or more possible embodiments, a vision system is provided on the robot body. Such as binocular vision or a camera.

After article fall when detecting, the collection robot is called out, and before arriving archives, the collection robot gathers the article gesture according to the position of article to adjust collection robot gesture according to this, make article one side towards the robot, the robot traveles forward, takes place relative motion with article, treats that article are received by positioning mechanism completely and gathers inside the collection frame, utilizes clamping mechanism to press from both sides tight article, and tilting mechanism drives the collection frame and overturns to carry bench end, unclamps clamping mechanism, makes article drop to and carries the platform, transports article to appointed target area.

Compared with the prior art, the beneficial effect of this disclosure is:

1. the whole body of the robot disclosed by the invention is made of hard aluminum alloy, so that the rigidity of the robot body is ensured on the premise of reducing the dead weight, and the endurance of the robot is favorably improved;

2. the conveying mechanism applied by the method is simple and reliable, and is easy to realize and maintain;

3. the method can be used for correcting the posture of the fallen article, and can be beneficial to other automatic operation and management aiming at the managed article after correction;

4. the file storage system is matched with a file management robot for use and can improve the operation efficiency of the file management robot;

5. the present disclosure can be applied to archive management, and can also be applied to the management of other precious documents, such as the automatic management of books, electronic audio-video data, etc.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the application and, together with the description, serve to explain the application and are not intended to limit the application.

FIG. 1 is a schematic overall structure of the present disclosure;

FIGS. 2(a) - (c) are schematic diagrams of a file capture process according to the present disclosure;

FIGS. 3(a) - (b) are schematic diagrams illustrating archive procedures of the present disclosure;

fig. 4 is a schematic view of the cam structure of the present disclosure.

Wherein, 1, the robot body, 2, archives collection frame, 3, archives body, 4, tilting mechanism, 5, archives transport platform, 6, wheel hub motor, 7, press from both sides tight wheel hub, 8, wheel hub transmission shaft, 9, upset motor, 10, upset transmission shaft, 11, transport mechanism, 12, conveyer, 13, distance sensor, 14, horn mouth positioning mechanism.

The specific implementation mode is as follows:

the present disclosure is further described with reference to the following drawings and examples.

It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the disclosure. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.

It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.

In the present disclosure, terms such as "upper", "lower", "left", "right", "front", "rear", "vertical", "horizontal", "side", "bottom", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only relational terms determined for convenience in describing structural relationships of the parts or elements of the present disclosure, and do not refer to any parts or elements of the present disclosure, and are not to be construed as limiting the present disclosure.

In the present disclosure, terms such as "fixedly connected", "connected", and the like are to be understood in a broad sense, and mean either a fixed connection or an integrally connected or detachable connection; may be directly connected or indirectly connected through an intermediate. The specific meanings of the above terms in the present disclosure can be determined on a case-by-case basis by persons skilled in the relevant art or technicians, and are not to be construed as limitations of the present disclosure.

The document is taken as an example of the picked-up object.

A full-automatic file storage box is shown in figure 1, and the invention discloses a falling file collecting robot capable of improving the automation level of a file management system, wherein falling files are collected by the falling file collecting robot in the conveying process of a file robot and are conveyed to a corresponding file collecting area so as to be managed by the file robot;

specifically, as shown in fig. 1, the robot body 1 is used to drive the robot to move as a whole, the file collection rack 2 and the file delivery platform 5 are fixed on the robot body 1, one end of the turnover mechanism 4 is connected with the file collection rack 2, and the other end is fixed on the robot body 1.

The file collecting rack 2 is L-shaped and comprises a supporting plate and a connecting rod connected with the supporting plate, one end of the connecting rod is connected with the supporting plate, and the other end of the connecting rod is connected with a turnover mechanism.

Be provided with the rectangle recess on the layer board, can hold archives.

In order to ensure that the robot has higher stability and positioning accuracy, the robot body 1 adopts a track motion mode;

the bottom of the robot body 1 is provided with a bell mouth positioning mechanism 14 which can be used for collecting files into the file collecting rack 2;

two clamping hubs 7 are respectively designed on the left side and the right side of the file collecting frame 2, the clamping hubs 7 are fixed on a hub transmission shaft 8 through flat keys, and can rotate around the transmission shaft 8 under the action of a hub motor 6, so that the effect of clamping files is achieved;

the turnover transmission shaft 10 is connected with the file collection frame 2 through a flat key, and under the action of the turnover motor 9, the file collection frame 2 can perform turnover movement of 180 degrees;

the file conveying table 5 mainly comprises a conveying mechanism 11 and a conveying belt 12, and files falling on the conveying belt 12 are conveyed to a file management window;

as shown in fig. 2(a), when the archive robot finds that the archive falls, the archive falling position point location is transmitted to the collection robot through the archive management system, the collection robot reaches the front of the archive 3 according to the position, the speeds of the left and right crawler belts are adjusted through visual feedback, the posture of the robot is adjusted to the direction that the robot collection port faces the wide side of the archive 3, then the collection robot moves to the right, and the archive 3 keeps static under the action of ground friction, so that the archive 3 moves to the left relative to the robot; after the file 3 touches the bell mouth positioning mechanism 14 of the robot body 1, the pose of the file 3 is further adjusted to be in a correct state;

as shown in fig. 2(b), the robot continues to drive to the right, and the file 3 finally enters the file collection rack 2; when the robot body 1 determines that the file 3 reaches the position designated by the file collecting rack 2 through the distance sensor 13, the robot body 1 stops moving;

as shown in fig. 2(c), the left and right hub motors 6 are started, and the clamping hubs 7 are driven by the hub transmission shafts 8 to rotate in the same direction, so that the posture of the file 3 is forced to be further straightened, and the file 3 is clamped;

as shown in fig. 4, the clamping hub 7 is a cam structure, and can ensure the file to be clamped in the effective stroke;

as shown in fig. 3(a), under the action of the turning motor 9, the robot turns the file collecting rack 2 and the file 3 clamped by the rack 180 degrees to the file conveying table 5;

as shown in fig. 3(b), after the file collection frame 2 is turned over to the file delivery platform 5, the hub motor 6 is started reversely, the clamping hubs 7 on the left and right sides are loosened, the files 3 fall onto the conveying belt 12 from the gap in the middle of the file collection frame 2 under the action of gravity, then the file collection frame 2 is turned over to the initial position, the collection robot moves to the designated area, and the files 3 are conveyed to the file management area for the administrator or the file robot to take;

the utility model provides a set of cooperation archives management robot uses, can improve archives management robot operating efficiency's archives system of accomodating, its simple structure, reliable.

The file management robot can assist the file robot to temporarily store files, can be used for correcting the problem that the file posture is not correct due to pose precision and various accidents when the file management robot grabs the files, and provides support for automatic management of rear-end files.

According to the design, the clamping hub is made of polyurethane, so that noise can be reduced, and the surface of a file can be effectively prevented from being scratched by the wheel body;

the automatic guide wheel designed by the disclosure adopts a mode of clamping and correcting the posture of the file, abandons a mode of rough hard centering in an original logistics system, effectively avoids the damage and accidental falling of the file in the transportation process, and is especially important for precious files;

the system can be applied to automatic management of files, and can also be applied to management of other similar books, image data and the like, and the application range is wide;

the structure of the device is simple and reliable, and is easy to realize and maintain.

The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Although the present disclosure has been described with reference to specific embodiments, it should be understood that the scope of the present disclosure is not limited thereto, and those skilled in the art will appreciate that various modifications and changes can be made without departing from the spirit and scope of the present disclosure.

Claims

1. A falling object collecting robot is characterized in that: including robot body, collection frame, tilting mechanism and transport platform, wherein:

the upper end of robot body is provided with carries the platform, still be provided with on the robot body and collect the frame, it has a bearing part to collect the frame, the one end of collecting the frame is connected with tilting mechanism, can drive and collect the frame and carry out the action of overturning, and then changes the place plane that collects the frame bearing part.

2. A dropped article collecting robot according to claim 1, characterized in that: when the collecting frame is at the first position, the collecting frame is positioned at the bottom of the robot, the spacing distance between the collecting frame and the ground is less than a set value, and when the collecting frame is at the second position, the collecting frame is positioned above the conveying table and is opposite to the surface of the conveying table.

3. A dropped article collecting robot according to claim 1, characterized in that: the collecting frame further comprises a connecting support, the bearing part is vertically connected with one end of the connecting support, and the other end of the connecting support is connected with the turnover mechanism.

4. A dropped article collecting robot according to claim 3, characterized in that: the turnover mechanism comprises a driving piece and a turnover transmission shaft, the driving piece can drive the turnover transmission shaft to rotate, and the other end of the connecting support is connected with the turnover transmission shaft.

5. A dropped article collecting robot according to claim 3, characterized in that: the length of the connecting bracket is matched with the distance between the surface/ground of the robot body and the conveying table;

or, the two sides of the bearing part are provided with clamping mechanisms which can move oppositely.

6. The dropped article collecting robot according to claim 5, wherein: clamping mechanism includes wheel hub motor, wheel hub transmission shaft and presss from both sides tight wheel hub, wheel hub motor drives the wheel hub transmission shaft and rotates, be provided with a plurality of tight wheel hubs that press from both sides on the wheel hub transmission shaft.

7. A dropped article collecting robot according to claim 1, characterized in that: and a distance sensor is arranged on the collecting frame.

8. A dropped article collecting robot according to claim 1, characterized in that: the bottom of robot body is provided with positioning mechanism, positioning mechanism's one end extends to the portion of bearing, and the other end extends to the edge of robot body, positioning mechanism is the shrink form from robot body department to the portion of bearing.

9. A dropped article collecting robot according to claim 8, wherein: the positioning mechanism is parallel to the bearing part;

or a vision system is arranged on the robot body.

10. Working method of a collection robot according to any of the claims 1-9, characterized in that: after article fall when detecting, the collection robot is called out, and before arriving archives, the collection robot gathers the article gesture according to the position of article to adjust collection robot gesture according to this, make article one side towards the robot, the robot traveles forward, takes place relative motion with article, treats that article are received by positioning mechanism completely and gathers inside the collection frame, utilizes clamping mechanism to press from both sides tight article, and tilting mechanism drives the collection frame and overturns to carry bench end, unclamps clamping mechanism, makes article drop to and carries the platform, transports article to appointed target area.