CN114772067B - Self-locking mobile robot carrying system and method - Google Patents
Self-locking mobile robot carrying system and method Download PDFInfo
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- CN114772067B CN114772067B CN202210209841.8A CN202210209841A CN114772067B CN 114772067 B CN114772067 B CN 114772067B CN 202210209841 A CN202210209841 A CN 202210209841A CN 114772067 B CN114772067 B CN 114772067B
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- 238000000034 method Methods 0.000 title claims abstract description 28
- 230000007246 mechanism Effects 0.000 claims abstract description 55
- 230000033001 locomotion Effects 0.000 claims abstract description 18
- 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 11
- 230000003044 adaptive effect Effects 0.000 claims description 9
- 239000003638 chemical reducing agent Substances 0.000 claims description 8
- 238000006073 displacement reaction Methods 0.000 claims description 8
- 230000000694 effects Effects 0.000 claims 1
- 239000000758 substrate Substances 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 239000000463 material Substances 0.000 description 3
- 125000004122 cyclic group Chemical group 0.000 description 2
- 238000007599 discharging Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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Classifications
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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
-
- 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
-
- 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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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a self-locking mobile robot carrying system and a method, wherein the carrying system comprises: a carrying 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, the self-adaptive joint 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 clamped with or separated from the lock hole to realize 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, so that the self-assembly and self-unlocking of the mobile robot and the bearing table are realized. The telescopic supporting legs are arranged on two sides of the bearing table, and can be lifted to adjust the height of the bearing table. The carrying system can realize the independent loading and unloading of the load; the mobile robot can be reused for a plurality of times, so that the efficiency is improved; meanwhile, the self-adaptive joint has the capacity of spatial six-degree-of-freedom movement, 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-locking mobile robot carrying system and a self-locking mobile robot carrying method.
Background
Mobile robots have been widely used in the fields of warehouse logistics, home service, star detection, etc. In order to meet the transportation tasks with different load sizes, weights and other special requirements, a single mobile robot is often difficult to meet the use requirements, or the transportation equipment needs to be made very large, and manpower and material resources are wasted. In recent years, multi-machine cooperative conveyance systems have been used. The multi-machine carrying system can realize small carrying and large carrying, and meanwhile, the flexibility and the robustness of the system are greatly improved. However, the current multi-machine conveying system is difficult to realize automatic loading and unloading of the load, and meanwhile, the mobile robot is difficult to realize cyclic and repeated utilization, so that the utilization efficiency of the robot is prevented from being further improved.
Disclosure of Invention
Aiming at the technical problems that the multi-machine carrying system is difficult to realize automatic loading and unloading of loads and the mobile robot is difficult to realize cyclic and repeated utilization in the technology, the invention provides a self-unlocking mobile robot carrying system and a self-unlocking mobile robot carrying method.
In one aspect, the present invention provides a self-unlocking mobile robot handling system, comprising:
a carrying 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, the self-adaptive joint 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 clamped with or separated from the lock hole to realize the self-assembly and the self-unlocking of the mobile robot and the bearing table.
In some embodiments, the lock tongue is connected with a crank block mechanism, and the crank block mechanism drives the lock tongue to reciprocate on the first guide rail.
In some embodiments, the slider-crank mechanism comprises a connecting rod, one end of the connecting rod is hinged with a first slider, and one end of the connecting rod, which is far away from the first slider, is hinged with a turntable.
In some embodiments, the turntable is fixedly connected with a worm wheel, the worm wheel drives the turntable to rotate around a transmission shaft, the 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 lock release mechanism is fixedly mounted on the carrying platform by the slide rail mounting plate.
In some embodiments, the lifting device further comprises telescopic support legs, wherein the telescopic support legs are arranged on two opposite sides of the bearing table, the telescopic support legs are two-degree-of-freedom telescopic support legs, and lifting of the vertical height of the bearing table and approaching or separating of two adjacent telescopic support legs are achieved through the telescopic support legs.
In some embodiments, the telescoping leg comprises:
the sliding connecting plate is fixedly provided with a second sliding block which moves back and forth along a second guide rail;
the bearing support leg is hinged with the sliding connecting plate at one end, and is hinged with the foot cup at one end far away from the sliding connecting plate;
the lifting electric push rod is hinged with one end, far away from the bearing support leg, of the sliding connection plate, and one end, far away from the sliding connection plate, of the lifting electric push rod 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 table.
In some embodiments, the adaptive joint further comprises:
the rotating auxiliary module is provided with an active rotating mode and a passive rotating mode, 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;
and the air bag module is fixedly connected with the locking and unlocking disc through a switching disc, and the movement of the locking and unlocking disc along a vertical shaft and the rotation around two horizontal shafts are realized through the deformation of the air bag module.
In some embodiments, the revolute pair module comprises:
the middle part of the support shaft is hinged with the bearing seat through a bearing;
the gear disc is fixedly arranged at the upper part of the supporting shaft, the upper end of the gear disc is fixedly connected with the air bag module, and the gear disc is driven by the rotary joint motor during active rotation;
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 of:
the mobile robot moves to a target position;
the unlocking disc rotates to a target position and is locked;
the telescopic support legs of the bearing table shrink to drive the locking and unlocking mechanism to descend to the target position;
the lock tongue is clamped with the lock hole, and the locking and unlocking mechanism is locked;
the telescopic supporting legs of the bearing table are contracted to the target positions, and self-locking is completed;
the self-unlocking process comprises the following steps:
the telescopic support legs of the bearing table are mutually far away and extend to the ground;
the lock tongue is separated from the lock hole, and the locking and unlocking mechanism is unlocked;
the telescopic supporting legs of the bearing table extend to drive the locking and unlocking mechanism to rise to a target position;
and the mobile robot drives away from the bearing table, and the self-unlocking is completed.
Compared with the prior art, the invention has the beneficial effects that:
the self-locking unlocking mobile robot carrying system provided by the invention realizes the locking and connection of the mobile robot and the bearing table through the self-adaptive joint, the telescopic supporting leg and the locking and unlocking mechanism, so that the automatic loading and unloading of the load are realized, the mobile robot is recycled, and the utilization rate of the mobile robot is improved.
The self-locking unlocking mechanism of the self-locking unlocking mobile robot carrying system and the locking unlocking disc of the self-adapting joint realize locking and unlocking, so that the self-assembly and self-unlocking of the mobile robot and the bearing table are realized.
The self-adaptive joint of the self-locking mobile robot carrying system provided by the invention has the capacity of spatial six-degree-of-freedom movement, so that the carrying system can move on an uneven road surface.
Drawings
The foregoing and/or additional aspects and advantages of the invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings, in which:
FIG. 1 is an isometric view of a self-unlocking mobile robotic handling system;
FIG. 2 is a front view of a 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 view of a mobile robot provided with an adaptive joint and a lock release mechanism;
FIG. 6 is a schematic diagram of an adaptive joint producing XY displacements;
FIG. 7 is a partial exploded view of an adaptive joint;
FIG. 8 is a schematic view of a telescoping leg structure;
FIG. 9 is an exploded view of an XY movement module;
FIG. 10 is a schematic view of a resilient member as a rubber ring;
FIG. 11 is a schematic view of the elastic element being a coil spring;
FIG. 12 is a schematic view of a 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 mobile robot self-unlocking process.
Reference numerals illustrate:
the movable support comprises a bearing table 1, a telescopic support leg 2, an adaptive joint 3, a mobile robot 4, a locking and unlocking mechanism 5, a sliding rail mounting plate 6, a motor mounting plate 7, a connecting column 8, a locking and unlocking disc 9, a lock hole 10, an airbag module 11, a revolute pair module 12, an XY moving module 13, an airbag 14, an adapter disc 15, an inflation and deflation valve 16, a gear disc 17, a support shaft 18, a bearing 19, a bearing seat 20, a lock 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 connection plate 28, a bearing support 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 lock tongue 38, a second guide rail 39, a turntable 40, a transmission shaft 41, a worm 42, a worm wheel 43, an X moving module 44, a Y moving module 45, a sliding base 46, an elastic element mounting seat 47, an elastic element 48, a movable push plate 49, a third guide rail 50, a third sliding block 51, a fixed limiting block 52, a movable limiting block 53, a linear displacement sensor 54, a guide rod 55, a second circular ring sensor 57, a spiral base plate 57, a fixed base plate 60 and a fixed base plate 60.
Detailed Description
Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative and intended to explain the present invention and should not be construed as limiting the 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-locking solution mobile robot handling system of the present invention includes: the device comprises a bearing table 1, a locking and unlocking mechanism 5, a mobile robot 4, an adaptive joint 3 and a telescopic support leg 2.
The lock unlocking mechanism 5 is arranged at the bottom of the bearing table 1, and specifically, the lock unlocking mechanism 5 is fixedly arranged on the bearing table 1 through a slide rail mounting plate 6. It will be appreciated that the bottom of the carrying platform 1 has a slide mounting groove which mates with the slide mounting plate 6, and the slide mounting plate 6 is mounted into the slide mounting groove, thereby fixedly mounting the lock release mechanism 5 to the bottom of the carrying platform 1.
The locking and 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 lock tongue 38 is connected with a crank block mechanism, and the crank block mechanism drives the lock tongue 38 to reciprocate on the first guide rail 27. Specifically, the crank slider mechanism includes a connecting rod 36, a first slider 26 and a turntable 40, one end of the connecting rod 36 is hinged with the first slider 26, the other end of the connecting rod 36 is hinged with the turntable 40, one end of the first slider 26 far away from the connecting rod 36 is connected with the lock tongue 38, and the first slider 26 is matched with the first guide rail 27, so that the first slider 26 drives the lock tongue 38 to reciprocate when sliding on the first guide rail 27.
The turntable 40 is fixedly connected with a worm wheel 43, and the worm wheel 43 drives the turntable 40 to rotate around the transmission shaft 41. Specifically, a worm wheel 43 of the worm and gear mechanism is fixedly connected with the turntable 40, a worm 42 of the worm and gear mechanism is connected with the speed reducer 34 through the belt transmission assembly 35, the speed reducer 34 is connected with the driving motor 33, the driving motor 33 drives the belt transmission assembly 35 through the speed reducer 34 in the working process, the worm 42 is further driven to drive the worm wheel 43 to rotate, the rotation of the worm wheel 43 drives the turntable 40 to rotate around the transmission shaft 41, the rotation of the turntable 40 drives the connecting rod 36 to move, the connecting rod 36 moves to drive the first sliding block 26 to move on the first guide rail 27, so that the locking tongue 38 is driven to reciprocate, the locking tongue 38 is matched with the locking hole 10 on the unlocking disc 9, and self-locking unlocking of the mobile robot 4 is further achieved.
The driving motor 33, the speed reducer 34 and the worm and gear mechanism are fixedly arranged on the motor mounting plate 7, and the motor mounting plate 7 is fixedly connected with the slide rail mounting plate 6 through the connecting column 8.
The telescopic support legs 2 are arranged on two opposite sides of the bearing table 1, and the telescopic support legs 2 can support the bearing table 1. The telescopic support legs 2 have two degrees of freedom, and the telescopic support legs 2 can realize lifting of the vertical height of the bearing table 1 and the distance and the approaching of two adjacent telescopic support legs 2.
The telescopic support leg 2 comprises a sliding connection plate 28, a bearing support leg 29, a lifting electric push rod 31, an opening and closing electric push rod 32 and a foot cup 30. The 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 the second guide rail 39, so that the distance and the approaching between the two adjacent telescopic support legs 2 are further 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 table 1. One end of the sliding connection plate 28 is hinged with the bearing support leg 29, and the other end of the sliding connection 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 support 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 carrying platform 1 is adjusted by the extension and contraction of the lifting electric push rod 31. It will be appreciated that when the lifting electric push rod 31 is extended, the distance between two adjacent telescopic legs 2 increases; when the lifting electric push rod 31 is shortened, the distance between two adjacent telescopic support legs 2 is reduced; when the lifting electric push rod 31 extends to bottom, the telescopic support leg 2 plays a supporting role on the bearing table 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-degree-of-freedom self-adaptive joint, namely, the self-adaptive joint 3 has the capacity of spatial six-freedom movement, so that the carrying system can adapt to a non-flat road surface.
The adaptive joint 3 includes a lock release plate 9, an air bag module 11, a revolute pair module 12, and an XY movement 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 table 1. The airbag module 11 is fixedly connected with the locking plate 9 through the adapter plate 15, and the movement of the locking plate 9 along a vertical axis and the rotation around two axes of a horizontal plane are realized 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 air charging and discharging valve 16 arranged on the air bag 14, wherein the air bag 14 is one-curved or multi-curved, and the rigidity and the bearing capacity of the air bag 14 are adjusted by charging and discharging the air bag 14. The air bag 14 can realize the movement with six degrees of freedom in space, but the rigidity of the horizontal movement of the air bag 14 is far greater than the rigidity of the horizontal movement of the XY-movement module 13, so the horizontal movement of the adaptive joint 3 in two directions is mainly realized by the XY-movement 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 rotation of the unlocking disc 9 around a 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 air bag module 11, and when the gear disc 17 actively rotates, the gear disc 17 is driven by a rotary joint motor 24, so that the orientation of the unlocking disc 9 is actively adjusted; during passive rotation, the revolute joint motor 24 fails and the revolute pair becomes free to rotate passively. The rotary joint motor 24 is fixedly connected with the motor seat 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 disc 17 is fixedly connected with a supporting shaft 18, the middle part of the supporting shaft 18 is hinged with a bearing seat 20 through a bearing 19, and end locking is realized through a locking nut 21. An angle sensor 22 is provided at the lower portion of the support shaft 18, and the angle sensor 22 is used to measure the angular displacement of the support shaft 18. The bearing block 20 is fixedly connected with 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 plate 9 in two directions of 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 disposed perpendicular to each other. The XY moving module 13 includes a fixed base plate and a slide base plate 46, the slide base plate 46 is movably connected with the fixed base plate by a slide mechanism including a third guide rail 50 and a third slider 51 slidably provided 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.
The second fixed base plate 59 is provided with a sliding mechanism on both sides thereof, the third guide rail 50 of the sliding mechanism is fixedly provided on the second fixed base plate 59, and the third slider 51 reciprocates on the third guide rail 50. The elastic element mounting seat 47 is fixedly arranged on the second fixed substrate 59, the guide rod 56 passes 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 guide rod 56 is sleeved with the elastic element 48, 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 attached to the middle of the slide base 46. At least one group of elastic elements 48 is arranged, the elastic elements 48 can be spiral springs 57 or rubber rings 58, and the elastic elements 48 on two sides of the movable push plate 49 are the same so as to ensure that the movable push plate 49 is positioned at the middle position when no external force exists. When the movable push plate 49 moves in a reciprocating straight line along the guide rod 56, the elastic element 48 is compressed, and the compressed elastic element 48 blocks the movement of the movable push plate 49, and when the external force is removed, the elastic element 48 provides a restoring force to push the movable push plate 49 back to the middle position. When the external force is excessive, 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 are in contact with each other, preventing the movement of the sliding substrate 46, and further realizing the flexible to rigid switching, protecting the moving module. The second fixed base plate 59 is provided with a linear displacement sensor 54, and the linear displacement sensor 54 cooperates with the sensor link block 55 to measure the displacement of the slide 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. 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 support legs of the bearing table shrink to drive the locking and unlocking mechanism to descend to the target position;
(4) The lock tongue is clamped with the lock hole, and the locking and unlocking mechanism is locked;
(5) The telescopic supporting legs of the bearing table are contracted to the target position, and the self-locking is completed.
Specifically, in the self-locking process, the mobile robot 4 moves to a target position, and the rotary joint motor 24 drives the gear disc 17 to rotate through the transmission of the gear 23, and further drives the unlocking disc 9 to rotate, so that the unlocking disc 9 reaches the target position; the telescopic support leg 2 of the bearing table 1 is contracted to drive the locking and unlocking mechanism 5 to descend to the 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, and further drives the lock tongue 38 to move to the target position, and the lock tongue 38 is clamped with the lock hole 10, so that the locking and unlocking mechanism 5 is locked; after the locking and unlocking mechanism 5 is locked, the telescopic support leg 2 of the bearing table 1 is contracted and folded to the target position, and the self-locking is completed; after the self-locking is completed, the mobile robot 4 can move the carrying platform 1.
The schematic diagram of the self-locking process of the mobile robot 4 is shown in fig. 13, and in the state 1, the unlocking disc 9 does not reach the target position, and at this time, the position of the unlocking disc 9 is not corresponding to the unlocking mechanism 5; in the state 2, the unlocking disc 9 reaches a target position, and at the moment, the position of the unlocking disc 9 corresponds to the unlocking mechanism 5; the unlocking mechanism 5 descends to a target position in the state 3; in the state 4, the lock tongue 38 is clamped with the lock hole 10, and the locking and unlocking mechanism 5 is locked.
The self-unlocking process comprises the following steps:
(1) The telescopic support legs of the bearing table are mutually far away and extend to the ground;
(2) The lock tongue is separated from the lock hole, and the locking and unlocking mechanism is unlocked;
(3) The telescopic supporting legs of the bearing table extend to drive the locking and unlocking mechanism to ascend to a target position;
(4) And the mobile robot drives away from the bearing table, and the self-unlocking is completed.
Specifically, in the self-unlocking process, the telescopic support leg 2 of the bearing table 1 extends to the ground; the rotary disk 40 drives the lock tongue 38 to be separated from the lock hole 10 of the unlocking disk 9, so that the lock tongue 38 is separated from the lock hole 10, and the unlocking mechanism 5 is unlocked; after the unlocking mechanism 5 is unlocked, the telescopic support leg 2 of the bearing table 1 stretches, so that the unlocking mechanism 5 is driven to ascend to a target position; after the unlocking mechanism 5 is lifted to the target position, the bearing platform 1 is lifted to the target position, and the bearing platform 1 is supported by the telescopic supporting legs 2; the mobile robot 4 is driven away from the bearing table 1, and the self-locking solution is completed; after the self-locking solution is completed, the mobile robot 4 can be reused for carrying next time.
In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means 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 present 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, the different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those skilled in the art without contradiction.
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present invention, the meaning of "plurality" means at least two, for example, two, three, etc., unless specifically defined otherwise.
While embodiments of the present invention have been shown and described, it will be understood by those of ordinary skill in the art that: many changes, modifications, substitutions and variations may be made to the embodiments without departing from the spirit and principles of the invention, the scope of which is defined by the claims and their equivalents.
Claims (6)
1. A self-locking mobile robotic handling system, comprising:
a carrying platform;
the locking and unlocking mechanism comprises a lock tongue, the lock tongue is connected with a crank slide block mechanism, the crank slide block mechanism drives the lock tongue to reciprocate on a first guide rail, the crank slide block mechanism comprises a connecting rod, one end of the connecting rod is hinged with a first slide block, one end of the connecting rod, which is far away from the first slide block, is hinged with a rotary table, the rotary table is fixedly connected with a worm wheel, the worm wheel drives the rotary table to rotate around a transmission shaft, a worm drives the worm wheel to rotate, and the worm is connected with a speed reducer through a belt transmission assembly and is connected with a driving motor;
a mobile robot;
the self-adaptive joint is arranged in the middle of the mobile robot, the self-adaptive joint 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, the lock tongue is clamped with or separated from the lock hole to realize the self-assembly and the self-unlocking of the mobile robot and the bearing table,
the adaptive joint further comprises:
the rotating auxiliary module is provided with an active rotating mode and a passive rotating mode, 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;
and the air bag module is fixedly connected with the locking and unlocking disc through a switching disc, and the movement of the locking and unlocking disc along a vertical shaft and the rotation around two horizontal shafts are realized through the deformation of the air bag module.
2. The system of claim 1, wherein the lock release mechanism is fixedly mounted to the carrier by a slide mounting plate.
3. The system of claim 1, further comprising telescoping legs disposed on opposite sides of the carrying platform, the telescoping legs being two degree-of-freedom telescoping legs with which to effect elevation of the vertical height of the carrying platform and approaching or distancing of adjacent two of the telescoping legs.
4. The system of claim 3, wherein the telescoping leg comprises:
the sliding connecting plate is fixedly provided with a second sliding block which moves back and forth along a second guide rail;
the bearing support leg is hinged with the sliding connecting plate at one end, and is hinged with the foot cup at one end far away from the sliding connecting plate;
the lifting electric push rod is hinged with one end, far away from the bearing support leg, of the sliding connection plate, and one end, far away from the sliding connection plate, of the lifting electric push rod 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 table.
5. The system of claim 1, wherein the revolute pair module comprises:
the middle part of the support shaft is hinged with the bearing seat through a bearing;
the gear disc is fixedly arranged at the upper part of the supporting shaft, the upper end of the gear disc is fixedly connected with the air bag module, and the gear disc is driven by the rotary joint motor during active rotation;
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.
6. A self-locking mobile robot handling method, characterized by using the self-locking mobile robot handling system according to any one of claims 1-5, comprising a self-locking process and a self-unlocking process, the self-locking process comprising the steps of:
the mobile robot moves to a target position;
the unlocking disc rotates to a target position and is locked;
the telescopic support legs of the bearing table shrink to drive the locking and unlocking mechanism to descend to the target position;
the lock tongue is clamped with the lock hole, and the locking and unlocking mechanism is locked;
the telescopic supporting leg of the bearing table is contracted to the target position, the self-locking is completed,
the self-unlocking process comprises the following steps:
the telescopic support legs of the bearing table are mutually far away and extend to the ground;
the lock tongue is separated from the lock hole, and the locking and unlocking mechanism is unlocked;
the telescopic supporting legs of the bearing table extend to drive the locking and unlocking mechanism to rise to a target position;
and the mobile robot drives away from the bearing table, and the self-unlocking is completed.
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