CN114772067A - Self-unlocking mobile robot carrying system and method - Google Patents
Self-unlocking mobile robot carrying system and method Download PDFInfo
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- CN114772067A CN114772067A CN202210209841.8A CN202210209841A CN114772067A CN 114772067 A CN114772067 A CN 114772067A CN 202210209841 A CN202210209841 A CN 202210209841A CN 114772067 A CN114772067 A CN 114772067A
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- 238000000034 method Methods 0.000 title claims abstract description 28
- 230000007246 mechanism Effects 0.000 claims abstract description 53
- 230000033001 locomotion Effects 0.000 claims abstract description 13
- 238000001338 self-assembly Methods 0.000 claims abstract description 7
- 230000008569 process Effects 0.000 claims description 19
- 230000005540 biological transmission Effects 0.000 claims description 10
- 239000003638 chemical reducing agent Substances 0.000 claims description 9
- 238000006073 displacement reaction Methods 0.000 claims description 8
- 230000003044 adaptive effect Effects 0.000 claims description 7
- 238000010586 diagram Methods 0.000 description 4
- 238000009434 installation Methods 0.000 description 3
- 239000000463 material Substances 0.000 description 3
- 239000000758 substrate Substances 0.000 description 3
- 238000004064 recycling Methods 0.000 description 2
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- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65D—CONTAINERS FOR STORAGE OR TRANSPORT OF ARTICLES OR MATERIALS, e.g. BAGS, BARRELS, BOTTLES, BOXES, CANS, CARTONS, CRATES, DRUMS, JARS, TANKS, HOPPERS, FORWARDING CONTAINERS; ACCESSORIES, CLOSURES, OR FITTINGS THEREFOR; PACKAGING ELEMENTS; PACKAGES
- B65D61/00—External frames or supports adapted to be assembled around, or applied to, articles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
- B62D63/04—Component parts or accessories
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65D—CONTAINERS FOR STORAGE OR TRANSPORT OF ARTICLES OR MATERIALS, e.g. BAGS, BARRELS, BOTTLES, BOXES, CANS, CARTONS, CRATES, DRUMS, JARS, TANKS, HOPPERS, FORWARDING CONTAINERS; ACCESSORIES, CLOSURES, OR FITTINGS THEREFOR; PACKAGING ELEMENTS; PACKAGES
- B65D25/00—Details of other kinds or types of rigid or semi-rigid containers
- B65D25/20—External fittings
- B65D25/24—External fittings for spacing bases of containers from supporting surfaces, e.g. legs
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/0492—Storage devices mechanical with cars adapted to travel in storage aisles
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- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a self-unlocking mobile robot carrying system and a method, wherein the carrying system comprises: a bearing table; the locking and unlocking mechanism is arranged at the bottom of the bearing table and comprises a lock tongue; a mobile robot; the self-adaptive joint is arranged in the middle of the mobile robot and is a six-degree-of-freedom self-adaptive joint, the self-adaptive joint comprises a locking and unlocking disc, the locking and unlocking disc is provided with a lock hole, and the lock tongue is connected with the lock hole in a clamping mode or separated from the lock hole to achieve self-assembly and self-unlocking of the mobile robot and the bearing table. The locking and unlocking mechanism can be locked and unlocked with a locking and unlocking disc of the self-adaptive joint, and then self-assembly and self-unlocking of the mobile robot and the bearing table are achieved. The telescopic supporting legs are arranged on two sides of the bearing platform and can be lifted to adjust the height of the bearing platform. The carrying system can realize the automatic unloading of the load; the mobile robot can be repeatedly used for many times, so that the efficiency is improved; meanwhile, the self-adaptive joint has spatial six-degree-of-freedom motion capability, so that the carrying system can move on a non-flat road surface.
Description
Technical Field
The invention relates to the technical field of carrying mobile robots, in particular to a self-unlocking mobile robot carrying system and a self-unlocking mobile robot carrying method.
Background
The mobile robot has been widely applied in the fields of warehouse logistics, home service, star detection and the like. In the face of transportation tasks with different load sizes, weights and other special requirements, a single mobile robot is often difficult to meet the use requirements, or transportation equipment needs to be made large, and manpower and material resources are wasted. In recent years, a multi-unit cooperative conveyance system is used. The multi-machine handling system can realize small handling and large handling, and meanwhile, the flexibility and the robustness of the system are greatly improved. However, in the current multi-machine carrying system, automatic loading and unloading of loads are difficult to realize, and the mobile robot is difficult to realize recycling, which hinders further improvement of the utilization efficiency of the robot.
Disclosure of Invention
The invention provides a self-locking mobile robot carrying system and a self-locking mobile robot carrying method, aiming at the technical problems that a multi-machine carrying system in the prior art is difficult to realize automatic loading and unloading of loads, and a mobile robot is difficult to realize recycling.
In one aspect, the present invention provides a self-unlocking mobile robot handling system, including:
a bearing platform;
the locking and unlocking mechanism is arranged at the bottom of the bearing table and comprises a lock tongue;
a mobile robot;
the self-adaptive joint is arranged in the middle of the mobile robot and is a six-degree-of-freedom self-adaptive joint, the self-adaptive joint comprises a locking and unlocking disc, the locking and unlocking disc is provided with a lock hole, and the lock tongue is connected with or separated from the lock hole to realize self-assembly and self-unlocking of the mobile robot and the bearing table.
In some embodiments, the latch tongue is connected to a slider-crank mechanism that reciprocates the latch tongue on the first guide rail.
In some embodiments, the crank-slider mechanism comprises a connecting rod, one end of the connecting rod is hinged with the first slider, and one end of the connecting rod, which is far away from the first slider, is hinged with the rotary disc.
In some embodiments, the turntable is fixedly connected with a worm wheel, the worm wheel drives the turntable to rotate around a transmission shaft, a worm drives the worm wheel to rotate, the worm is connected with a speed reducer through a belt transmission assembly, and the speed reducer is connected with a driving motor.
In some embodiments, the locking mechanism is fixedly mounted on the carrier by the rail mounting plate.
In some embodiments, the telescopic legs are arranged on two opposite sides of the plummer, the telescopic legs are two-degree-of-freedom telescopic legs, and the telescopic legs are used for realizing the lifting of the vertical height of the plummer and the approaching or the departing of two adjacent telescopic legs.
In some embodiments, the telescoping leg comprises:
the sliding connecting plate is fixedly provided with a second sliding block, and the second sliding block reciprocates along a second guide rail;
one end of the bearing leg is hinged with the sliding connecting plate, and the other end of the bearing leg, which is far away from the sliding connecting plate, is hinged with the foot cup;
one end of the lifting electric push rod is hinged with one end of the sliding connecting plate, which is far away from the bearing supporting leg, and one end of the lifting electric push rod, which is far away from the sliding connecting plate, is hinged with the foot cup;
the opening and closing electric push rod is used for pushing the second sliding block to move, and the fixed end of the opening and closing electric push rod and the second guide rail are fixedly arranged on the bearing platform.
In some embodiments, the adaptive joint further comprises:
the revolute pair module has two modes of active rotation and passive rotation and is used for realizing the rotation of the unlocking disc around a vertical shaft;
the XY moving module is used for realizing the movement of the unlocking disc in two directions of a horizontal plane;
the airbag module is fixedly connected with the unlocking disc through the switching disc, and the unlocking disc moves along a vertical shaft and rotates around two horizontal shafts through deformation of the airbag module.
In some embodiments, the revolute pair module comprises:
the middle part of the support shaft is hinged with the bearing block through a bearing;
the gear disc is fixedly arranged on the upper part of the supporting shaft, the upper end of the gear disc is fixedly connected with the airbag module, and the gear disc is driven by a rotary joint motor when the gear disc rotates actively;
and the angle sensor is arranged at the lower part of the supporting shaft and is used for measuring the angular displacement of the supporting shaft.
On the other hand, the invention provides a self-locking and unlocking mobile robot carrying method, which comprises a self-locking process and a self-unlocking process, wherein the self-locking process comprises the following steps:
the mobile robot moves to a target position;
the unlocking disc rotates to a target position and is locked;
the telescopic supporting legs of the bearing table contract to drive the locking and unlocking mechanism to descend to a target position;
the lock tongue is clamped with the lock hole, and the locking mechanism locks;
the telescopic supporting legs of the bearing table are contracted to a target position, and self-locking is completed;
the self-unlocking process comprises the following steps:
the telescopic supporting legs of the bearing table are far away from each other and extend to the ground;
the lock tongue is separated from the lock hole, and the locking mechanism is unlocked;
the telescopic supporting legs of the bearing table extend to drive the locking and unlocking mechanism to ascend to a target position;
and the mobile robot drives away from the bearing table and completes self-unlocking.
Compared with the prior art, the invention has the beneficial effects that:
the self-unlocking mobile robot carrying system provided by the invention realizes the locking and connection of the mobile robot and the plummer through the self-adaptive joint, the telescopic supporting leg and the locking and unlocking mechanism, further realizes the automatic loading and unloading of the load and the repeated utilization of the mobile robot, and improves the utilization rate of the mobile robot.
The locking and unlocking mechanism of the self-locking mobile robot carrying system and the locking and unlocking disc of the self-adaptive joint realize locking and unlocking, and further realize self-assembly and self-unlocking of the mobile robot and the bearing table.
The self-adaptive joint of the self-unlocking mobile robot carrying system provided by the invention has spatial six-degree-of-freedom motion capability, so that the carrying system can move on a non-flat road surface.
Drawings
The foregoing and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 is an isometric view of a self-unlocking mobile robotic handling system;
FIG. 2 is a front view of the self-unlocking mobile robotic handling system;
FIG. 3 is a left side view of the self-unlocking mobile robotic handling system;
FIG. 4 is a schematic view of a self-unlocking mobile robot handling system in a decentralized state;
FIG. 5 is a schematic diagram of a mobile robot provided with adaptive joints and a lock release mechanism;
FIG. 6 is a schematic diagram of the adaptive joint generating XY displacement;
FIG. 7 is a partial exploded view of the adaptive joint;
FIG. 8 is a schematic structural view of a telescoping leg;
fig. 9 is an exploded view of the XY moving module;
FIG. 10 is a schematic view of the elastic member being a rubber ring;
FIG. 11 is a schematic view of the elastic member being a coil spring;
FIG. 12 is a schematic view of the lock release mechanism;
FIG. 13 is a schematic diagram of a mobile robot locking process;
fig. 14 is a self-locking process of the mobile robot;
fig. 15 is a self-unlocking process of the mobile robot.
Description of reference numerals:
the automatic locking device comprises a bearing platform 1, a telescopic supporting leg 2, a self-adaptive joint 3, a mobile robot 4, a locking mechanism 5, a sliding rail mounting plate 6, a motor mounting plate 7, a connecting column 8, a locking plate 9, a locking hole 10, an air bag module 11, a revolute pair module 12, an XY mobile module 13, an air bag 14, an adapter plate 15, an inflation and deflation valve 16, a gear plate 17, a supporting shaft 18, a bearing 19, a bearing seat 20, a locking nut 21, an angle sensor 22, a gear 23, a rotary joint motor 24, a motor seat 25, a first sliding block 26, a first guide rail 27, a sliding connecting plate 28, a bearing supporting leg 29, a foot cup 30, a lifting electric push rod 31, an opening and closing electric push rod 32, a driving motor 33, a speed reducer 34, a belt transmission assembly 35, a connecting rod 36, a second sliding block 37, a locking tongue 38, a second guide rail 39, a rotary table 40, a transmission shaft 41, a worm 42, a worm wheel 43, an X mobile module 44, a Y mobile module 45, The device comprises a sliding base plate 46, an elastic element mounting seat 47, an elastic element 48, a movable push plate 49, a third guide rail 50, a third slide block 51, a fixed limiting block 52, a movable limiting block 53, a linear displacement sensor 54, a sensor connecting rod block 55, a guide rod 56, a spiral spring 57, a rubber ring 58, a second fixed base plate 59 and a first fixed base plate 60.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are illustrative and intended to explain the present invention and should not be construed as limiting the present invention.
The following describes a self-unlocking mobile robot handling system and method according to an embodiment of the present invention with reference to the accompanying drawings.
As shown in fig. 1 to 15, the self-unlocking mobile robot handling system of the present invention includes: plummer 1, locking and unlocking mechanism 5, mobile robot 4, self-adaptation joint 3 and telescopic leg 2.
The locking and unlocking mechanism 5 is arranged at the bottom of the bearing platform 1, and specifically, the locking and unlocking mechanism 5 is fixedly arranged on the bearing platform 1 through a slide rail mounting plate 6. It can be understood that the bottom of the bearing platform 1 is provided with a slide rail mounting groove matched with the slide rail mounting plate 6, and the slide rail mounting plate 6 is mounted in the slide rail mounting groove, so that the locking mechanism 5 is fixedly mounted at the bottom of the bearing platform 1.
The unlocking mechanism 5 comprises a lock tongue 38, and the lock tongue 38 is clamped with or separated from the lock hole 10 to realize self-assembly and self-unlocking of the mobile robot 4 and the bearing table 1. The latch tongue 38 is connected to a slider-crank mechanism which drives the latch tongue 38 to reciprocate on the first guide rail 27. Specifically, the crank block mechanism includes a connecting rod 36, a first slider 26 and a rotary table 40, one end of the connecting rod 36 is hinged to the first slider 26, the other end of the connecting rod 36 is hinged to the rotary table 40, one end of the first slider 26, which is far away from the connecting rod 36, is connected to a latch tongue 38, and the first slider 26 is matched with the first guide rail 27, so that the latch tongue 38 is driven to reciprocate when the first slider 26 slides on the first guide rail 27.
The rotary disk 40 is fixedly connected with a worm wheel 43, and the worm wheel 43 drives the rotary disk 40 to rotate around the transmission shaft 41. Specifically, a worm wheel 43 of the worm and gear mechanism is fixedly connected with a turntable 40, a worm 42 of the worm and gear mechanism is connected with a speed reducer 34 through a belt transmission assembly 35, the speed reducer 34 is connected with a driving motor 33, the driving motor 33 drives the belt transmission assembly 35 through the speed reducer 34 in the working process, further drives the worm 42, the worm 42 drives the worm wheel 43 to rotate, the rotation of the worm wheel 43 drives the turntable 40 to rotate around a transmission shaft 41, the rotation of the turntable 40 drives a connecting rod 36 to move, the connecting rod 36 moves to drive a first sliding block 26 to move on a first guide rail 27, so that a locking tongue 38 is driven to reciprocate, the locking tongue 38 is adapted to a locking hole 10 on a locking and unlocking disc 9, and further self-locking and unlocking of the mobile robot 4 are realized.
The driving motor 33, the speed reducer 34 and the worm and gear mechanism are fixedly installed on the motor installation plate 7, and the motor installation plate 7 is fixedly connected with the slide rail installation plate 6 through the connecting column 8.
The telescopic legs 2 are arranged on two opposite sides of the bearing platform 1, and the telescopic legs 2 can support the bearing platform 1. The telescopic supporting legs 2 have two degrees of freedom, and the telescopic supporting legs 2 can realize the lifting of the vertical height of the plummer 1 and the distance and the approach of the two adjacent telescopic supporting legs 2.
The telescopic leg 2 comprises a sliding connection plate 28, a bearing leg 29, a lifting electric push rod 31, an opening and closing electric push rod 32 and a foot cup 30. A second sliding block 37 is fixedly arranged on the sliding connection plate 28, and the opening and closing electric push rod 32 pushes the second sliding block 37 to reciprocate on a second guide rail 39, so that the distance and the approach between two adjacent telescopic supporting legs 2 are realized. The fixed end of the opening and closing electric push rod 32 and the second guide rail 39 are fixedly arranged on the bearing platform 1. One end of the sliding connecting plate 28 is hinged with the bearing leg 29, and the other end of the sliding connecting plate 28 is hinged with the lifting electric push rod 31. The end of the lifting electric push rod 31 far away from the sliding connection plate 28 and the end of the bearing leg 29 far away from the sliding connection plate 28 are hinged with the foot cup 30, namely, the three are hinged with each other.
The height of the plummer 1 is adjusted by the extension and contraction of the lifting electric push rod 31. It can be understood that when the lifting electric push rod 31 extends, the distance between two adjacent telescopic legs 2 increases; when the lifting electric push rod 31 is shortened, the distance between two adjacent telescopic supporting legs 2 is reduced; when the lifting electric push rod 31 extends to the bottom, the telescopic legs 2 support the plummer 1.
The self-adaptive joint 3 is arranged in the middle of the mobile robot 4, and the self-adaptive joint 3 is a six-freedom-degree self-adaptive joint, namely the self-adaptive joint 3 has six-freedom-degree spatial motion capability, so that the carrying system can adapt to uneven road surfaces.
The adaptive joint 3 includes an unlocking disk 9, an airbag module 11, a revolute pair module 12, and an XY moving module 13.
The unlocking disc 9 is provided with a lock hole 10, and the lock hole 10 is matched with the lock tongue 38 to realize self-assembly and self-unlocking of the mobile robot 4 and the bearing platform 1. The airbag module 11 is fixedly connected with the locking and unlocking disk 9 through the adapter disk 15, and the locking and unlocking disk 9 moves along a vertical axis and rotates around two axes of a horizontal plane through the deformation of the airbag module 11, wherein the horizontal plane refers to a bearing plane of the mobile robot 4. The air bag module 11 comprises an air bag 14 and an inflation and deflation valve 16 arranged on the air bag 14, the air bag 14 is one-bent or multi-bent, and the rigidity and the bearing capacity of the air bag 14 are adjusted by inflating and deflating the air bag. The air bag 14 can realize the motion with six degrees of freedom in space, but the rigidity of the horizontal movement of the air bag 14 is much higher than the rigidity of the horizontal movement of the XY moving module 13, so the horizontal movement of the adaptive joint 3 is mainly realized by the XY moving module 13.
The revolute pair module 12 has two modes of active rotation and passive rotation, and the revolute pair module 12 is used for realizing the rotation of the unlocking disc 9 around the vertical shaft. The revolute pair module 12 includes a gear plate 17, a support shaft 18, and an angle sensor 22. The upper end of the gear disc 17 is fixedly connected with the airbag module 11, and when the gear disc 17 rotates actively, the gear disc 17 is driven by the rotary joint motor 24, so that the orientation of the locking and unlocking disc 9 is actively adjusted; when passively rotating, the rotary joint motor 24 is disabled, and the revolute pair is changed into a free passive rotation form. The rotary joint motor 24 is fixedly connected with the motor base 25, and the rotary joint motor 24 is driven by the gear 23, so that the gear disc 17 is driven to rotate, and the unlocking disc 9 is further driven to rotate. The lower end of the gear plate 17 is fixedly connected with a support shaft 18, the middle part of the support shaft 18 is hinged with a bearing seat 20 through a bearing 19, and the end part is locked through a locking nut 21. An angle sensor 22 is provided at a lower portion of the support shaft 18, and the angle sensor 22 is used to measure an angular displacement of the support shaft 18. The bearing housing 20 is fixedly connected to the XY moving module 13 at the center of the XY moving module 13.
The XY moving module 13 is used to realize the movement of the unlocking dial 9 in both directions in the horizontal plane. The XY moving module 13 is divided into an X moving module 44 and a Y moving module 45, and the X moving module 44 and the Y moving module 45 are arranged perpendicular to each other. The XY-moving module 13 includes a fixed base plate and a sliding base plate 46, the sliding base plate 46 is movably connected with the fixed base plate through a sliding mechanism, and the sliding mechanism includes a third guide rail 50 and a third slider 51 slidably disposed on the third guide rail 50. The fixed base plate is divided into a first fixed base plate 60 and a second fixed base plate 59, and the sliding base plate 46 is movably connected with the first fixed base plate 60 and the second fixed base plate 59 respectively.
Sliding mechanisms are arranged on two sides of the second fixed base plate 59, a third guide rail 50 of each sliding mechanism is fixedly arranged on the second fixed base plate 59, and the third sliding block 51 reciprocates on the third guide rail 50. The elastic element mounting seat 47 is fixedly arranged on the second fixed base plate 59, the guide rod 56 penetrates through the movable push plate 49, two ends of the guide rod 56 are fixedly arranged on the elastic element mounting seat 47, and the elastic element 48 is sleeved on the guide rod 56, namely the elastic element 48 is arranged between the movable push plate 49 and the elastic element mounting seat 47. The movable push plate 49 is located at the middle position of the guide rod 56 and can do reciprocating linear motion along the guide rod 56. The movable push plate 49 is fixedly connected to the middle of the slide base 46. At least one group of elastic elements 48 are arranged, the elastic elements 48 can be coil springs 57 or rubber rings 58, and the elastic elements 48 on both sides of the movable push plate 49 are the same so as to ensure that the movable push plate 49 is located at the middle position when no external force exists. When the movable push plate 49 makes a reciprocating linear motion along the guide rod 56, the elastic member 48 is compressed, and the compressed elastic member 48 blocks the movement of the movable push plate 49, and when the external force is removed, the elastic member 48 provides a restoring force to push the movable push plate 49 back to the neutral position. When the external force is too large, the fixed stopper 52 provided on the second fixed substrate 59 and the movable stopper 53 provided on the bottom surface of the sliding substrate 46 contact each other to prevent the sliding substrate 46 from moving, thereby realizing the switching from flexibility to rigidity and protecting the moving module. A linear displacement sensor 54 is provided on the second fixed base plate 59, and the linear displacement sensor 54 cooperates with the sensor link block 55 to measure the displacement of the sliding base plate 46. The same components as the second fixed base plate 59 are provided on the upper surface of the slide base plate 46.
The self-unlocking mobile robot carrying method comprises a self-locking process and a self-unlocking process. Wherein, the self-locking process comprises the following steps:
(1) the mobile robot moves to a target position;
(2) the unlocking disc rotates to a target position and is locked;
(3) the telescopic supporting legs of the bearing table contract to drive the locking and unlocking mechanism to descend to a target position;
(4) the lock tongue is clamped with the lock hole, and the locking mechanism is locked;
(5) and the telescopic supporting legs of the bearing table are contracted to the target position, and self-locking is completed.
Specifically, in the self-locking process, the mobile robot 4 moves to a target position, the rotary joint motor 24 is driven by the gear 23 to drive the gear disc 17 to rotate, and the locking and unlocking disc 9 is further driven to rotate, so that the locking and unlocking disc 9 reaches the target position; the telescopic supporting legs 2 of the bearing table 1 contract to drive the locking and unlocking mechanism 5 to descend to a target position, after the locking and unlocking mechanism 5 reaches the target position, the turntable 40 drives the first sliding block 26 to move through the connecting rod 36, the bolt 38 is further driven to move to the target position, and the bolt 38 is clamped with the lock hole 10, so that the locking and unlocking mechanism 5 is locked; after the locking mechanism 5 is locked, the telescopic supporting legs 2 of the plummer 1 are contracted and folded to a target position, and self-locking is completed; after the self-locking is completed, the mobile robot 4 can carry the bearing platform 1 to move.
Fig. 13 shows a schematic diagram of a self-locking process of the mobile robot 4, in a state 1, the unlocking disk 9 does not reach a target position, and at this time, the position of the unlocking disk 9 does not correspond to the unlocking mechanism 5; in the state 2, the locking and unlocking disc 9 reaches the target position, and at the moment, the position of the locking and unlocking disc 9 corresponds to the locking and unlocking mechanism 5; in the state 3, the unlocking mechanism 5 descends to a target position; in the state 4, the bolt 38 is clamped with the lock hole 10, and the locking mechanism 5 is locked.
The self-unlocking process comprises the following steps:
(1) the telescopic supporting legs of the bearing table are far away from each other and extend to the ground;
(2) the lock tongue is separated from the lock hole, and the locking mechanism is unlocked;
(3) the telescopic supporting legs of the plummer extend to drive the locking mechanism to rise to a target position;
(4) and the mobile robot drives away from the bearing table and completes self-unlocking.
Specifically, in the self-unlocking process, the telescopic supporting legs 2 of the plummer 1 extend to the ground; the rotating disc 40 drives the bolt 38 to be separated from the lock hole 10 of the unlocking disc 9, so that the bolt 38 is separated from the lock hole 10, and the unlocking mechanism 5 is unlocked; after the locking mechanism 5 is unlocked, the telescopic legs 2 of the plummer 1 extend, so that the locking mechanism 5 is driven to rise to a target position; after the locking mechanism 5 is lifted to the target position, the bearing platform 1 is also lifted to the target position, and the bearing platform 1 is supported by the telescopic supporting legs 2; the mobile robot 4 drives away from the bearing table 1, and self-locking is completed; after the self-locking is completed, the mobile robot 4 can be reused for carrying next time.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, schematic representations of the above terms may be directed to different embodiments or examples. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
While embodiments of the invention have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.
Claims (10)
1. A self-unlocking mobile robot handling system, comprising:
a bearing platform;
the locking and unlocking mechanism is arranged at the bottom of the bearing table and comprises a lock tongue;
a mobile robot;
the self-adaptive joint is arranged in the middle of the mobile robot and is a six-degree-of-freedom self-adaptive joint, the self-adaptive joint comprises a locking and unlocking disc, the locking and unlocking disc is provided with a lock hole, and the lock tongue is connected with or separated from the lock hole to realize self-assembly and self-unlocking of the mobile robot and the bearing table.
2. The system of claim 1, wherein the locking bolt is coupled to a slider-crank mechanism that reciprocates the locking bolt on the first guide rail.
3. The system of claim 2, wherein the crank block mechanism comprises a connecting rod, one end of the connecting rod is hinged to the first block, and one end of the connecting rod, which is far away from the first block, is hinged to the rotary table.
4. The system of claim 3, wherein the turntable is fixedly connected with a worm wheel, the worm wheel drives the turntable to rotate around a transmission shaft, a worm drives the worm wheel to rotate, the worm is connected with a speed reducer through a belt transmission component, and the speed reducer is connected with a driving motor.
5. The system of claim 1, wherein the lock release mechanism is fixedly mounted to the load table by the skid mounting plate.
6. The system as claimed in claim 1, further comprising telescopic legs disposed at opposite sides of the platform, wherein the telescopic legs are two-degree-of-freedom telescopic legs, and the telescopic legs are used to realize the elevation of the vertical height of the platform and the approaching or separating of two adjacent telescopic legs.
7. The system of claim 1, wherein the telescoping leg comprises:
the sliding connecting plate is fixedly provided with a second sliding block, and the second sliding block reciprocates along a second guide rail;
one end of the bearing leg is hinged with the sliding connecting plate, and the other end of the bearing leg, which is far away from the sliding connecting plate, is hinged with the foot cup;
one end of the lifting electric push rod is hinged with one end of the sliding connecting plate, which is far away from the bearing supporting leg, and one end of the lifting electric push rod, which is far away from the sliding connecting plate, is hinged with the foot cup;
the opening and closing electric push rod is used for pushing the second sliding block to move, and the fixed end of the opening and closing electric push rod and the second guide rail are fixedly arranged on the bearing platform.
8. The system of claim 1, wherein the adaptive joint further comprises:
the revolute pair module has two modes of active rotation and passive rotation and is used for realizing the rotation of the unlocking disc around a vertical shaft;
the XY moving module is used for realizing the movement of the locking and unlocking disc in two directions of a horizontal plane;
the airbag module is fixedly connected with the unlocking disc through the switching disc, and the unlocking disc moves along a vertical shaft and rotates around two horizontal shafts through deformation of the airbag module.
9. The system of claim 8, wherein the rotating sub-module comprises:
the middle part of the support shaft is hinged with the bearing seat through a bearing;
the gear disc is fixedly arranged on the upper part of the supporting shaft, the upper end of the gear disc is fixedly connected with the airbag module, and the gear disc is driven by a rotary joint motor when the gear disc rotates actively;
and the angle sensor is arranged at the lower part of the supporting shaft and is used for measuring the angular displacement of the supporting shaft.
10. A self-unlocking mobile robot handling method, characterized in that the self-unlocking mobile robot handling system of any one of claims 1 to 9 is used, and comprises a self-locking process and a self-unlocking process, wherein the self-locking process comprises the following steps:
the mobile robot moves to a target position;
the unlocking disc rotates to a target position and is locked;
the telescopic supporting legs of the bearing table contract to drive the locking and unlocking mechanism to descend to a target position;
the lock tongue is clamped with the lock hole, and the locking mechanism locks;
the telescopic supporting legs of the bearing table are contracted to a target position, self-locking is completed,
the self-unlocking process comprises the following steps:
the telescopic legs of the bearing table are far away from each other and extend to the ground;
the lock tongue is separated from the lock hole, and the locking mechanism is unlocked;
the telescopic supporting legs of the bearing table extend to drive the locking and unlocking mechanism to ascend to a target position;
and the mobile robot drives away from the bearing table and completes self-unlocking.
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