CN114851213A - Membrane type joint of mobile robot, robot and multi-machine cooperation carrying system - Google Patents
Membrane type joint of mobile robot, robot and multi-machine cooperation carrying system Download PDFInfo
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- CN114851213A CN114851213A CN202210211003.4A CN202210211003A CN114851213A CN 114851213 A CN114851213 A CN 114851213A CN 202210211003 A CN202210211003 A CN 202210211003A CN 114851213 A CN114851213 A CN 114851213A
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/087—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices for sensing other physical parameters, e.g. electrical or chemical properties
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0258—Two-dimensional joints
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0091—Shock absorbers
Abstract
Embodiments of the present invention provide a film joint of a mobile robot, and a robot and a multi-robot cooperative transfer system having the same. The membrane type joint of the mobile robot comprises an adapter, an air bag, a bearing plate, a lower joint arm and an upper joint arm, wherein the upper joint arm is provided with a first cavity, a part of the lower joint arm is arranged in the first cavity, the lower part of the lower joint arm is connected with the adapter, an annular limiting cavity is defined between the side wall surface of the first cavity and the side surface of the lower joint arm, a part of the air bag is located in the limiting cavity, a part of the air bag is annular, the outer peripheral surface of the part of the air bag can abut against the outer wall surface of the limiting cavity, the inner peripheral surface of the part of the air bag can abut against the inner wall surface of the limiting cavity, and the bearing plate is connected with the upper part of the upper joint arm. Therefore, the membrane type joint of the mobile robot has the advantages of preventing the excessive deformation of the joint, being adjustable in rigidity, long in service life and good in motion stability.
Description
Technical Field
The invention relates to the technical field of mobile robots, in particular to a membrane type joint of a mobile robot, a robot with the membrane type joint and a multi-robot cooperative conveying system.
Background
The mobile robot is widely applied to the fields of warehouse logistics, family service, military national defense, planet detection and the like, and the market prospect is very optimistic. However, most mobile robots are designed to have special specification models according to load size, weight and other special requirements, and with the increasing variety of types and specifications of articles in the fields of warehouse logistics, aviation manufacturing, star detection and the like, the specifications of robots with different sizes and weight spans are increasing. The single robot is poor to model, the weight adaptability of article, and then causes the problem that the robot utilization ratio is low, storage and transport are inconvenient.
The mobile robots are used in cooperation to carry loads of different sizes and different weights. For example, each mobile robot is provided with a multi-machine cooperative handling system composed of mobile robots composed of joints, the multi-machine system based on Mecanum wheel mobile robots is difficult to drive on uneven road surfaces, the multi-machine cooperative handling system composed of each mobile robot is connected with loads through the joints, the existing joints are connected by adopting flexible connection, and when the road surface flatness is poor and the load capacity is overlarge, the problems of difficulty in adjusting rigidity, overlarge joint offset and poor stability in the driving process exist.
Disclosure of Invention
The present invention is directed to solving, at least to some extent, one of the technical problems in the related art. To this end, an embodiment of the present invention proposes a membrane joint of a mobile robot. The membrane type joint of the mobile robot has the advantages of controllable joint deformation, adjustable rigidity, long service life and good motion stability.
The embodiment of the invention also provides a robot with the joint.
The embodiment of the invention also provides a multi-machine cooperation carrying system.
The membrane type joint of the mobile robot comprises an adapter, an air bag, a bearing plate, at least three linear displacement sensors, a lower joint arm and an upper joint arm.
The upper joint arm is provided with a first cavity, a part of the lower joint arm is arranged in the first cavity, the lower part of the lower joint arm is connected with the adapter, an annular limiting cavity is defined between the side wall surface of the first cavity and the side surface of the lower joint arm, a part of the air bag is positioned in the limiting cavity, the part of the air bag is annular, the outer peripheral surface of the part of the air bag can abut against the outer wall surface of the limiting cavity, the inner peripheral surface of the part of the air bag can abut against the inner wall surface of the limiting cavity, and the bearing plate is connected with the upper part of the upper joint arm.
According to the membrane type joint of the mobile robot, the annular limiting cavity is defined between the first cavity of the lower joint arm and the upper joint arm, so that the horizontal offset between the upper joint arm and the lower joint arm is further limited, and the membrane type joint has the advantage of preventing the upper joint arm from being excessively offset; particularly, when the membrane type joint is greatly collided, the air bag clamped between the upper joint arm and the lower joint arm can avoid direct collision between the upper joint arm and the lower joint arm, and the upper joint arm is further limited to have larger deviation. The membrane type joint can be abutted on the adapter through the upper joint arm or the upper joint arm can be abutted on the lower joint arm in the vertical displacement direction, so that the maximum vertical downward offset of the upper joint arm and the air bag is limited, and the function of overload protection on the air bag is achieved.
Meanwhile, in the membrane type joint of the mobile robot in the embodiment of the invention, the annular limiting cavity is defined between the first cavity of the lower joint arm and the upper joint arm, the outer peripheral surface of the part of the air bag can abut against the outer wall surface of the limiting cavity, and the inner peripheral surface of the part of the air bag can abut against the inner wall surface of the limiting cavity; the membrane type joint has the characteristic of rigid-flexible coupling, and the rigidity of the membrane type joint can be adjusted through inflation and deflation.
In addition, in the membrane-type joint of the mobile robot according to the embodiment of the present invention, the upper joint arm performs a buffering motion in a plurality of dimensions by the air bag provided in the limiting chamber; because the mobile robot of traditional structure leads to upper joint arm and lower joint arm department to take place certain vibrations (lower joint arm and the conventional connection of upper joint arm are rigid connection) easily when passing through the roadblock, add the gasbag between the conventional rigid connection between lower joint arm and the upper joint arm, both played the supporting role, can absorb certain vibrations through the gasbag (the gasbag has flexibility and damping nature) again, and then realize the shock attenuation of the robot that has this diaphragm type joint, have the stability that promotes the robot motion of this diaphragm type joint.
Meanwhile, the air bag is added between the conventional rigid connection between the lower joint arm and the upper joint arm, and the connection between the upper joint arm and the lower joint arm has the characteristic of rigid-flexible coupling, so that the upper joint arm and the lower joint arm can be prevented from being worn, and the service life of the membrane type joint is prolonged.
Therefore, the membrane type joint of the mobile robot has the advantages of preventing the excessive deformation of the joint, being adjustable in rigidity, long in service life and good in motion stability.
In some embodiments, the bladder is annular, an inner end of the bladder is sealingly connected to the lower joint arm, an outer end of the bladder is sealingly captured between the upper joint arm and the bearing plate, and an inflation lumen is defined between the bearing plate, the bladder, the lower joint arm, and the upper joint arm.
In some embodiments, the cross-section of the first cavity of the upper joint arm increases along the up-down direction, the cross-section of the lower joint arm increases or decreases along the up-down direction, the inner end of the balloon is hermetically connected with the lower joint arm, and the outer end of the balloon is hermetically connected with the first cavity.
In some embodiments, the airbag includes an outer ring portion, a connecting portion and an inner ring portion, which are connected in sequence, an outer wall of the outer ring portion abuts against an outer wall surface of the restriction cavity, an inner wall of the inner ring portion abuts against an inner wall surface of the restriction cavity, the connecting portion is clamped in the restriction cavity, the outer ring portion has an outer end portion of the airbag, the inner ring portion has an inner end portion of the airbag, and an inflation cavity is defined between the lower joint arm and the upper joint arm of the bearing plate, the outer ring portion, the connecting portion and the inner ring portion.
In some embodiments, the lower articulated arm comprises: the lower cylinder is provided with a second cavity, and the limiting cavity is defined between the side wall surface of the first cavity and the outer peripheral surface of the lower cylinder; the sealing element comprises an annular clamping part and a central inflation and deflation part, the inner end of the annular clamping part is connected with the outer end of the central inflation and deflation part, the inner end of the air bag is hermetically clamped between the annular clamping part and the lower cylinder body, and the central inflation and deflation part is embedded in the second cavity.
In some embodiments, the lower cylinder further has an inflation/deflation hole, the central inflation/deflation portion has an air pipe hole, the air pipe hole penetrates through the central inflation/deflation portion in the vertical direction, the membrane type joint further includes an inflation/deflation valve, two ends of the inflation/deflation valve are connected with the central inflation/deflation portion and the inflation/deflation hole in a one-to-one correspondence manner to control the gas entering and exiting of the inflation cavity, and the inflation/deflation valve is installed in the second cavity of the lower cylinder.
In some embodiments, the annular clamping portion includes an annular flange body and an annular abutment body, an inner end of the annular abutment body is connected to an outer end of the central inflation/deflation portion, the annular flange body extends outwardly along an outer circumference of an upper portion of the annular flange body, a lower end of the annular abutment body abuts an upper end of the lower barrel, a first receiving ring groove is defined between the annular flange body and the upper end of the lower barrel, and the inner end of the air bag is disposed in the first receiving ring groove.
In some embodiments, a lower wall surface of the annular flange body is provided with a first annular caulking groove, and the inner end portion of the airbag further has a first fitting annular projection provided in the first annular caulking groove.
In some embodiments, the upper joint arm comprises: the upper cylinder is provided with the first cavity, and the limiting cavity is defined between the side wall surface of the upper cylinder and the side wall surface of the lower joint arm; the inner of crown plate links to each other with above-mentioned barrel, the loading board includes the flat body and sets up the annular of wall is protruding along under the flat body, annular protruding along with the crown plate butt, go up the upper end of barrel the flat body annular protruding along with it holds the annular to limit out the second between the crown plate, the other end setting of gasbag is in the second holds in the annular.
In some embodiments, the upper barrel comprises an upper barrel body and a lower barrel body, the inner end of the annular plate is connected with the upper end of the upper barrel body, the annular plate, the annular protrusion and the upper barrel body define a second annular caulking groove, and the other end of the airbag is arranged in the second annular caulking groove.
In some embodiments, the membrane type joint of the mobile robot comprises at least three linear displacement sensors, an angular displacement sensor, a first inclination angle sensor and a second inclination angle sensor, wherein the at least three linear displacement sensors are arranged around the circumference of the air bag at intervals, and the linear displacement sensors are installed between the bearing plate and the adapter so as to obtain the motion posture of the membrane type joint through displacement quantities detected by the linear displacement sensors, the angular displacement sensor, the first inclination angle sensor and the second inclination angle sensor.
The robot with the membrane type joint comprises a robot body and the membrane type joint of the mobile robot, wherein the membrane type joint of the mobile robot is arranged on the robot body, and the adapter is used for being connected with the upper part of the robot.
The mobile robot multi-robot cooperative handling system according to an embodiment of the present invention may include the film-type joint robot according to any one of the above embodiments, and a plurality of the film-type joint robots may be matched with each other.
Drawings
Fig. 1 is a perspective view of a film joint of a mobile robot according to an embodiment of the present invention.
Fig. 2 is a sectional view of a membrane joint of a mobile robot according to an embodiment of the present invention.
Fig. 3 is an exploded view of a membrane joint of a mobile robot according to an embodiment of the present invention.
Fig. 4 is a schematic diagram of the combination of the bearing plate, the air bag, the lower joint arm and the upper joint arm of the robot according to the embodiment of the present invention.
Fig. 5 is an enlarged view at a in fig. 4.
Fig. 6 is a perspective view of a robot having the joint according to an embodiment of the present invention.
Fig. 7 is a perspective view of a multiple-unit cooperative handling system according to an embodiment of the present invention.
Fig. 8 is a perspective view of a multiple cooperative handling system in accordance with another embodiment of the present invention.
Reference numerals:
a membrane joint 100 of a mobile robot; a robot body 200; a load 300;
an adapter 1; an upper connecting plate 11; a connecting column 12; a lower connecting plate 13;
a lower articulated arm 2; a lower cylinder 21; an air-fill hole 211; a seal 22; a central inflation/deflation portion 221; the trachea apertures 2211; an annular clamping portion 222; an annular flange body 2221; an annular abutment 2222; a first housing ring groove 23; a first annular bezel 24; an air charging and discharging valve 25; a second cavity 26;
an upper joint arm 3; an upper cylinder 31; an upper cover body 311; a lower jacket body 312; a ring plate 32; a second housing ring groove 33; a second annular bezel 34; a first cavity 35;
an air bag 4; an outer ring portion 41; a second snap-fit ring protrusion 411; a connecting portion 42; an inner ring portion 43; a first snap-fit ring cam 431;
a carrier plate 5; a flat plate body 51; an annular ledge 52;
a confinement chamber 6;
a revolute pair 7; a rotating shaft 71; a bearing 72; a bearing housing 73; a guard ring 74;
an inflation cavity 8;
a linear displacement sensor 101, a first tilt sensor 102; a second tilt sensor 103; an angular displacement sensor 104.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
A film joint 100 of a mobile robot and a multi-robot cooperative handling system having the same according to an embodiment of the present invention will be described with reference to fig. 1 to 8.
The membrane type joint 100 of the mobile robot in the embodiment of the invention comprises an adapter 1, an air bag 4, a bearing plate 5, a plurality of linear displacement sensors 101, a lower joint arm 2 and an upper joint arm 3.
The upper joint arm 3 is provided with a first cavity 35, a part of the lower joint arm 2 is arranged in the first cavity 35, and the lower part of the lower joint arm 2 is connected with the adapter 1. Wherein an annular confinement chamber 6 is defined between a side wall surface of the first chamber 35 and a side surface of the lower articulated arm 2. A part of the airbag 4 is located in the restriction chamber 6, the part of the airbag 4 is annular, an outer peripheral surface of the part of the airbag 4 can abut against an outer wall surface of the restriction chamber 6, and an inner peripheral surface of the part of the airbag 4 can abut against an inner wall surface of the restriction chamber 6. The carrier plate 5 is connected to the upper part of the upper joint arm 3. The plurality of linear displacement sensors 101 are provided at intervals around the circumferential direction of the airbag 4, that is, the plurality of linear displacement sensors 101 are provided around the airbag 4, and the plurality of linear displacement sensors 101 are provided at intervals along the circumferential direction of the airbag 4. The linear displacement sensor 101 is installed between the carrier plate 5 and the adapter 1 so as to obtain the deformation amount of the airbag 4 through the displacement amount detected by the linear displacement sensor 101.
According to the membrane type joint 100 of the mobile robot, the annular limiting cavity 6 is defined between the first cavity 35 of the lower joint arm 2 and the upper joint arm 3, one part of the air bag 4 is located in the limiting cavity 6, and therefore the offset between the upper joint arm 3 and the lower joint arm 2 in the horizontal direction is limited, and the membrane type joint has the advantage that the upper joint arm 3 is prevented from being excessively offset; particularly, when the membrane type joint 100 is greatly collided or the turning amplitude is too large, the air bag 4 clamped between the upper joint arm 3 and the lower joint arm 2 also prevents the upper joint arm 3 and the lower joint arm 2 from directly colliding, and further limits the upper joint arm 3 to have large deviation. The membrane type joint 100 is in the vertical (generally, because the oppression of load, the vertical downward displacement of upper joint arm) displacement direction, and under the oppression of load, the gasbag can take place to warp, and upper joint arm 3 butt is on adapter 1, and that is to say, upper joint arm 3 sets up in the top of adapter 1, and then restricts upper joint arm 3 and gasbag 4 at the vertical decurrent maximum offset, has the effect to gasbag 4 overload protection.
Meanwhile, the membrane type joint 100 of the mobile robot according to the embodiment of the present invention defines the annular confinement chamber 6 between the first cavity 35 of the lower joint arm 2 and the upper joint arm 3, the outer circumferential surface of a portion of the air bag 4 can abut on the outer wall surface of the confinement chamber 6, the inner circumferential surface of a portion of the air bag 4 can abut on the inner wall surface of the confinement chamber 6, and the addition of the air bladder 4 between the conventional rigid connection between the lower articulated arm 2 and the upper articulated arm 3, while the connection of the upper articulated arm 3 and the lower articulated arm 2 provides rigidity between the lower articulated arm 2 and the upper articulated arm 3, still possess the flexibility of gasbag 4, realized rigid-flexible coupling, can avoid the wearing and tearing of upper joint arm 3 and lower joint arm, have and avoid the poor problem of the simple use gasbag 4 rigidity, promoted the life of diaphragm type joint 100 and the stability of motion, have through the effect that the inflation volume realizes adjusting diaphragm type joint 100 rigidity.
In addition, the membrane-type joint 100 of the mobile robot according to the embodiment of the present invention allows the upper joint arm 3 to perform a damping motion in a plurality of dimensions by the air bag 4 provided in the confinement chamber 6. Because the conventional mobile robot with the structure easily causes the upper joint arm 3 and the lower joint arm 2 to vibrate to a certain degree (the conventional connection between the lower joint arm 2 and the upper joint arm 3 is rigid connection) when passing through a roadblock, the airbag 4 is added between the lower joint arm 2 and the upper joint arm 3, which not only plays a supporting role, but also can absorb certain vibration through the airbag 4 (the airbag 4 has flexibility and damping property), so that the motion shock absorption of the robot with the film type joint 100 is realized, and the robot with the film type joint 100 has the advantage of improving the stability of the robot motion of the film type joint 100.
In the related art, joints of a mobile robot are composed of a plurality of revolute pairs and a plurality of moving pairs, and the overall structure is complex. And, when the mobile robot passes through uneven road surface, because the connection between revolute pair and the sliding pair is rigid connection, the joint is easy to vibrate, and then the load is vibrated, which is not beneficial to the mobile robot to carry the load.
Therefore, the membrane type joint 100 of the mobile robot according to the embodiment of the present invention has advantages of preventing the joint deformation amount from being too large, adjusting the rigidity, having a long service life, and having good stability and adaptability of movement.
As shown in figures 2 and 4, the air bag 4 is annular, the inner end of the air bag 4 is hermetically connected with the lower joint arm 2, the outer end of the air bag 4 is hermetically clamped between the upper joint arm 3 and the bearing plate 5, and an inflation cavity 8 is defined between the bearing plate 5, the air bag 4, the lower joint arm 2 and the upper joint arm 3.
According to the membrane type joint 100 of the mobile robot, the inflation cavity 8 is defined among the bearing plate 5, the air bag 4, the lower joint arm 2 and the upper joint arm 3, and after a certain amount of air is filled in the inflation cavity 8, the positions of the lower joint arm 2 and the bearing plate 5 in the horizontal direction and the vertical direction can be in a relatively stable state, so that the buffer performance of the membrane type joint 100 on inertia is further improved. Thus, the robot having the film joint 100 is suitable for cooperative work among a plurality of robots because of its excellent cushioning performance, and can be flexibly arranged in accordance with the shape, size, and space of the load 300 in a better manner, and the number of robots can be adapted in accordance with the weight range of the load 300.
In addition, the inner end part of the air bag 4 is connected with the lower joint arm 2 in a sealing mode, the outer end part of the air bag 4 is hermetically clamped between the upper joint arm 3 and the bearing plate 5, the outer end part of the air bag 4 is abutted to the inner wall of the upper joint arm 3 through air filled in the air bag 4, and therefore sealing between the air bag 4 and the upper joint arm 3 can be achieved.
Alternatively, the cross section of the first cavity 35 of the upper joint arm 3 is gradually increased along the up-down direction, the cross section area of the lower joint arm 2 is gradually increased along the up-down direction, the inner end part of the air bag 4 is connected with the lower joint arm 2 in a sealing mode, and the outer end part of the air bag 4 is connected with the wall surface of the first cavity 35 in a sealing mode.
The embodiment of the present invention is not limited thereto, and in other embodiments, the cross section of the first cavity 35 of the upper joint arm 3 increases gradually along the up-down direction, and the cross section of the lower joint arm 2 decreases gradually along the up-down direction; the inner end of the air bag 4 is sealingly connected to the lower knuckle arm 2 and the outer end of the air bag 4 is sealingly connected to the wall of the first cavity 35.
As shown in fig. 2 and 4, the airbag 4 includes an outer ring portion 41, a connecting portion 42, and an inner ring portion 43, which are connected in sequence, an outer wall of the outer ring portion 41 abuts against an outer wall surface of the restriction chamber 6, an inner wall of the inner ring portion 43 abuts against an inner wall surface of the restriction chamber 6, the connecting portion 42 is held in the restriction chamber 6, the outer ring portion 41 has an outer end portion of the airbag 4, the inner ring portion 43 has an inner end portion of the airbag 4, and the bearing plate 5, the outer ring portion 41, the connecting portion 42, the inner ring portion 43, the lower joint arm 2, and the upper joint arm 3 define an inflation chamber 8 therebetween. It will be appreciated that the outer and inner annular portions 41, 43 are separated by the gas filling the plenum 8.
The membrane type joint 100 of the mobile robot provided by the embodiment of the invention is clamped in the limiting cavity 6 through the connecting part 42, when the membrane type joint 100 is greatly collided, the connecting part 42 clamped between the upper joint arm 3 and the lower joint arm 2 can deform the air bag 4 and the limiting cavity 6 through extrusion, so that the direct contact and even collision between the upper joint arm 3 and the lower joint arm 2 are avoided, and the membrane type joint 100 has the advantage of prolonging the service life of the membrane type joint 100.
As shown in fig. 2 to 5, the lower articulated arm 2 includes a lower cylinder 21 and a sealing member 22, the lower cylinder 21 has a second cavity 26, a limiting cavity 6 is defined between a side wall surface of the first cavity 35 and an outer circumferential surface of the lower cylinder 21, the sealing member 22 includes an annular clamping portion 222 and a central inflation/deflation portion 221, an inner end of the annular clamping portion 222 is connected to an outer end of the central inflation/deflation portion 221, an inner end of the air bag 4 is sealingly clamped between the annular clamping portion 222 and the lower cylinder 21, and the central inflation/deflation portion 221 is embedded in the second cavity 26.
The membrane type joint 100 of the mobile robot of the embodiment of the invention is hermetically clamped between the annular clamping part 222 and the lower cylinder 21 through the inner end part of the air bag 4, so that the connecting positions of the air bag 4, the annular clamping part 222 and the lower cylinder 21 are prevented from being deviated after the air bag 4 is deflated, and the sealing tightness of the air bag 4 and the lower joint arm 2 is improved.
As shown in fig. 2 and 4, the lower cylinder 21 further has an air vent 211, the central air inflation/deflation portion 221 has an air vent, the air vent 2211 penetrates through the central air inflation/deflation portion 221 in the up-down direction, the membrane type joint 100 further includes an air vent 25, one end of the air vent 25 is communicated with the central air inflation/deflation portion 221, and the other end of the air vent 25 is communicated with the air vent 211 to control the air in and out of the air inflation cavity 8. In other words, the inflation/deflation hole 211, the inflation/deflation valve 25 and the air tube hole 2211 control to form a passage for the gas in the inflation cavity 8 to enter and exit.
The membrane type joint 100 of the mobile robot in the embodiment of the invention is controlled by the inflation and deflation hole 211, the inflation and deflation valve 25 and the air pipe hole 2211 to form a passage for the gas in and out of the inflation cavity 8, the inflation amount of the inflation cavity 8 can be adjusted according to the weight of the corresponding load 300, the bearing rigidity of the robot with the membrane type joint 100 is further adjusted, and the overload protection effect on the air bag 4 is achieved.
In addition, the air charge and discharge valve 25 is installed in the second cavity 26 of the lower cylinder 21, so that the overall space of the membrane type joint 100 is saved, and the advantage of improving the compactness of the membrane type joint 100 is provided.
As shown in fig. 2 and 4, the annular clamping portion 222 includes an annular flange body 2221 and an annular abutting body 2222, an inner end of the annular abutting body 2222 is connected to an outer end of the central inflation/deflation portion 221, the annular flange body 2221 is formed to extend outwardly along an outer circumference of an upper portion of the annular flange body 2221, a lower end of the annular abutting body 2222 is connected to an upper end of the lower cylinder 21, a first receiving ring groove 23 is defined between the annular flange body 2221 and the upper end of the lower cylinder 21, and an inner end of the air bag 4 is sealingly disposed in the first receiving ring groove 23.
According to the membrane type joint 100 of the mobile robot, the annular flange body 2221 and the upper end of the lower cylinder body 21 define the first accommodating ring groove 23, the inner end part of the air bag 4 is arranged in the first accommodating ring groove 23, the advantage of improving the tightness of the seal between the air bag 4 and the lower joint arm 2 is achieved, and the stability of the movement process of the membrane type joint 100 is further improved.
Alternatively, the lower wall surface of the annular flange body 2221 is provided with a first annular insertion groove 24, and the inner end portion of the airbag 4 is further provided with a first fitting ring protrusion 431, and the first fitting ring protrusion 431 is disposed in the first annular insertion groove 24. By providing the first engagement ring protrusion 431 in the first annular engagement groove 24, the tightness of the seal between the air bag 4 and the upper joint arm 3 can be further improved, thereby improving the stability of the robot movement with the membrane joint 100.
As shown in fig. 2 to 5, the upper joint arm 3 includes an upper cylinder 31 and a ring plate 32. The upper cylinder 31 has a first cavity 35, a limiting cavity 6 is defined between a side wall surface of the upper cylinder 31 and a side wall surface of the lower knuckle arm 2, an inner end of the ring plate 32 is connected with the upper cylinder 31, the bearing plate 5 comprises a flat plate 51 and an annular convex edge 52 arranged on a lower wall surface of the flat plate 51, the annular convex edge 52 abuts against the ring plate 32, a second accommodating ring groove 33 is defined between an upper end of the upper cylinder 31, the flat plate 51, the annular convex edge 52 and the ring plate 32, and an outer end of the air bag 4 is arranged in the second accommodating ring groove 33.
The membrane type joint 100 of the mobile robot according to the embodiment of the present invention defines the second receiving ring groove 33 by the upper end of the upper cylinder 31, the flat plate body 51, the annular ledge 52 and the ring plate 32, and the other end of the air bag 4 is disposed in the second receiving ring groove 33. The tightness of the sealing of the air bag 4 with the upper joint arm 3 can be further improved, which in turn improves the stability of the robot movement with the membrane joint 100.
Alternatively, the upper cylinder 31 includes an upper sleeve body 311 and a lower sleeve body 312, the inner end of the ring plate 32 is connected to the upper end of the lower sleeve body 312, the ring plate 32, the annular protrusion and the upper sleeve body 311 define a second annular caulking groove 34, the other end of the airbag 4 has a second fitting annular protrusion 411, and the second fitting annular protrusion 411 is disposed in the second annular caulking groove 34. The tightness of the sealing of the air bag 4 with the upper joint arm 3 can be further improved, further improving the stability of the robot movement with the membrane joint 100.
Specifically, the second annular caulking groove 34 is a part of the second receiving ring groove 33.
The upper cylinder 31 and the lower cylinder 21 may be circular cylinders, and the central axis of the upper cylinder 31 and the central axis of the lower cylinder 21 may coincide with each other when the load 300 is not applied. This improves the stability of the robot motion of the film joint 100.
The film joint 100 of the mobile robot of the embodiment of the invention further comprises at least three linear displacement sensors 101, an angular displacement sensor 104, a first inclination angle sensor 102 and a second inclination angle sensor 103, wherein the at least three linear displacement sensors 101 are arranged at intervals around the circumferential direction of the air bag 4, and the linear displacement sensors 101 are installed between the bearing plate 5 and the adapter 1, so that the motion posture of the film joint 100 can be obtained through the displacement amounts detected by the linear displacement sensors 101, the angular displacement sensor 104, the first inclination angle sensor 102 and the second inclination angle sensor 103.
According to the film-type joint 100 of the mobile robot in the embodiment of the invention, the first inclination angle sensor 102 and the second inclination angle sensor 103 are arranged, the first inclination angle sensor 102 is arranged on the adapter 1, the second inclination angle sensor 103 is arranged on the bearing plate 5 so as to detect the inclination angle of the bearing plate 5, and accordingly the deformation information generated by the film-type joint 100 is judged and detected, and the mobile robot in the conveying system can realize the coordination operation of the conveying system with a plurality of robots according to the deformation information and the posture of the film-type joint 100, the posture of the mobile robot and the target tracking speed of the mobile robot.
Optionally, the linear displacement sensor 101 is a pull rope sensor, and two ends of the pull rope sensor are connected with the bearing plate 5 and the adapter 1 in a one-to-one correspondence manner; in other words, one end of the pull rope sensor is connected to the carrier plate 5 and the other end of the pull rope sensor is connected to the docking station 1. From this, utilize the stay cord distance of stay cord sensor to realize the measurement of relative position and gesture between loading board 5 and adapter 1, the measuring method is simple, and the precision is high, and the real-time is good.
According to the membrane type joint 100 of the mobile robot, the multidimensional posture of the bearing plate 5 relative to the adapter 1 is detected through the fusion of the inclination angle sensor and the pull wire sensor, and the posture information of the bearing plate 5 relative to the adapter 1 can be quickly obtained according to the measurement results of the inclination angle sensor (the inclination angle sensor can measure at least two-axis angles) and the small rotation angle (generally 0 ℃) of the air bag 4 around the vertical shaft; through the detection information of the stay wire sensor, the position information of the bearing plate 5 relative to the adapter 1 can be quickly obtained, so that the accuracy and the timeliness of solving are favorably improved; meanwhile, the number of the stay wire sensors is reduced, and the problem that the operational solution is not converged when the membrane type joint 100 is located at the singular point of the equivalent mechanism is effectively solved.
Alternatively, the number of the pull rope sensors may be three, and the three pull rope sensors are uniformly distributed along the circumferential direction of the airbag 4.
As shown in fig. 2 and 3, the film joint 100 of the mobile robot further includes a revolute pair 7, the revolute pair 7 includes a rotary shaft 71, a bearing 72 and a bearing seat 73, an axis of the rotary shaft 71 extends in an up-down direction, the rotary shaft 71 is connected to the adapter 1, the bearing 72 is sleeved on the rotary shaft 71, an inner ring of the bearing 72 is connected to the rotary shaft 71, the bearing seat 73 is used for being connected to the robot body 200, an angular displacement sensor 104 is disposed on the revolute pair 7 to measure a rotational angular displacement of the rotary pair, or the bearing seat 73 is connected to a substrate, and then connected to the robot body 200 through the substrate.
According to the membrane type joint 100 of the mobile robot, the rotating shaft 71, the bearing 72 and the bearing pedestal 73 are arranged, so that the bearing plate 5 can be prevented from rotating along with the rotation of the robot when the robot rotates in place to realize steering or reversing, the membrane type joint 100 has multiple degrees of freedom, each degree of freedom has a closed-loop feedback function, and the effect of the load 300 on the in-place rotation constraint of the mobile robot body 200 can be released through the rotating shaft 71. Thereby achieving the carrying work of the load 300 more favorably.
Specifically, when the airbag is not deformed during non-operation, the axis of the revolute pair is coaxial with the axis of the airbag.
As shown in fig. 2 and 3, the adapter 1 includes an upper connection plate 11, a lower connection plate 13, and a connection column 12 disposed between the upper connection plate 11 and the lower connection plate 13, two ends of the plurality of linear displacement sensors 101 are connected to the upper connection plate 11 and the bearing plate 5 in a one-to-one correspondence manner, the film-type joint further includes a protection ring 74, the protection ring 74 is sleeved outside the adapter 1, and an inner wall of the protection ring 74 is in one-to-one correspondence snap-connection with each of the upper connection plate 11 and the lower connection plate 13.
The membrane joint 100 of the mobile robot according to the embodiment of the present invention can improve the stability of the connection between the upper connection plate 11 and the lower connection plate 13 by providing the guard ring 74.
Specifically, the first tilt sensor 102 is provided on the lower connection plate 13.
The robot having a membrane joint according to the embodiment of the present invention includes a robot body 200 and the membrane joint 100 of any one of the mobile robots provided on the robot body 200.
The robot body 200 may take various forms, for example, the robot body 200 is a wheeled robot. Of course, as shown in fig. 8, the robot body 200 may also be a crawler type, a legged type, or a mixture thereof.
The mobile robot multi-machine cooperation carrying system comprises a plurality of robots, wherein the robots are matched with one another.
The number of the robots can be two or more, and the number of the robots can be adapted according to the weight range of the load 300. For example, the number of the robots is three, and for example, as shown in fig. 8, the three robots are arranged in a triangle. For example, as shown in fig. 7, the number of the robots may be four, and the four robots are arranged in a rectangular shape.
According to the multi-robot cooperative handling system of the mobile robot in the embodiment of the invention, the robot with the film joint 100 has good buffer performance, and can perform multi-robot cooperative operation among multiple robots well, so that the shape, the size and the space of the load 300 can be flexibly configured better, and the number of the robots can be adapted according to the weight range of the load 300.
In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be considered limiting of the invention.
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 such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
In the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; may be mechanically coupled, may be electrically coupled or may be in communication with each other; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those of ordinary skill in the art according to specific situations.
In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "over," and "above" a second feature may mean that the first feature is directly on or obliquely above the second feature, or that only the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.
In the present disclosure, the terms "one embodiment," "some embodiments," "example," "specific example," or "some examples" and the like are intended to 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 present disclosure. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. 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.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.
Claims (10)
1. A membrane joint of a mobile robot, comprising:
a transfer seat;
the upper joint arm is provided with a first cavity, one part of the lower joint arm is arranged in the first cavity, the lower part of the lower joint arm is connected with the adapter, and an annular limiting cavity is defined between the side wall surface of the first cavity and the side surface of the lower joint arm;
the part of the air bag is positioned in the limiting cavity, the part of the air bag is annular, the outer peripheral surface of the part of the air bag can abut against the outer wall surface of the limiting cavity, and the inner peripheral surface of the part of the air bag can abut against the inner wall surface of the limiting cavity;
a bearing plate connected with an upper portion of the upper joint arm.
2. The membrane joint of a mobile robot according to claim 1, characterized in that said air cell is ring-shaped, the inner end of said air cell is sealingly connected to said lower joint arm, the outer end of said air cell is sealingly clamped between said upper joint arm and said bearing plate, said air cell, said lower joint arm and said upper joint arm defining an inflation cavity therebetween;
optionally, the cross section of the first cavity of the upper joint arm increases gradually along the up-down direction, the cross section of the lower joint arm increases gradually or decreases gradually along the up-down direction, the inner end of the air bag is connected with the lower joint arm in a sealing manner, and the outer end of the air bag is connected with the first cavity in a sealing manner.
3. The membrane joint of a mobile robot according to claim 2, wherein the air bag comprises an outer ring portion, a connecting portion and an inner ring portion which are connected in sequence, the outer wall of the outer ring portion abuts against the outer wall surface of the limiting cavity, the inner wall of the inner ring portion abuts against the inner wall surface of the limiting cavity, the connecting portion is clamped in the limiting cavity, the outer ring portion has the outer end portion of the air bag, the inner ring portion has the inner end portion of the air bag, and an inflation cavity is defined between the lower joint arm and the upper joint arm of the bearing plate, the outer ring portion, the connecting portion and the inner ring portion.
4. The membrane joint of a mobile robot according to claim 2,
the lower joint arm includes:
the lower cylinder is provided with a second cavity, and the limiting cavity is defined between the side wall surface of the first cavity and the outer peripheral surface of the lower cylinder;
the sealing element comprises an annular clamping part and a central inflation and deflation part, the inner end of the annular clamping part is connected with the outer end of the central inflation and deflation part, the inner end of the air bag is hermetically clamped between the annular clamping part and the lower cylinder body, and the central inflation and deflation part is embedded in the second cavity.
5. The membrane type joint of a mobile robot according to claim 4, wherein the lower cylinder further has an inflation/deflation hole, the central inflation/deflation portion has an air pipe hole, the air pipe hole penetrates through the central inflation/deflation portion in the up-down direction, the membrane type joint further comprises an inflation/deflation valve, two ends of the inflation/deflation valve are connected with the central inflation/deflation portion and the inflation/deflation hole in a one-to-one correspondence manner to control the gas inlet and outlet of the inflation cavity, and the inflation/deflation valve is installed in the second cavity of the lower cylinder.
6. The membrane joint of a mobile robot according to claim 5, wherein the annular clamping portion comprises an annular flange body and an annular abutment body, the inner end of the annular abutment body is connected to the outer end of the central inflation/deflation portion, the annular flange body extends outwardly along the outer circumference of the upper portion of the annular flange body, the lower end of the annular abutment body abuts the upper end of the lower cylinder, a first receiving ring groove is defined between the annular flange body and the upper end of the lower cylinder, and the inner end of the air bag is disposed in the first receiving ring groove;
optionally, a lower wall surface of the annular flange body is provided with a first annular caulking groove, and the inner end portion of the airbag is further provided with a first embedding ring protrusion, which is disposed in the first annular caulking groove.
7. The membrane joint of a mobile robot according to claim 1,
the upper joint arm includes: an upper cylinder having the first cavity, the confinement chamber being defined between a side wall surface of the upper cylinder and a side wall surface of the lower articulated arm;
the inner end of the ring plate is connected with the upper barrel, the bearing plate comprises a flat plate body and an annular convex edge arranged on the lower wall surface of the flat plate body, the annular convex edge is abutted against the ring plate, a second containing ring groove is defined among the upper end of the upper barrel, the flat plate body, the annular convex edge and the ring plate, and the other end of the air bag is arranged in the second containing ring groove;
optionally, the upper barrel body comprises an upper barrel body and a lower barrel body, the inner end of the annular plate is connected with the upper end of the lower barrel body, the annular plate is limited by the annular protrusion and the upper barrel body, and the other end of the air bag is arranged in the second annular caulking groove.
8. The film joint of the mobile robot according to any one of claims 1 to 7, further comprising at least three linear displacement sensors, an angular displacement sensor, a first tilt sensor, and a second tilt sensor, wherein the at least three linear displacement sensors are arranged at intervals around the circumference of the airbag, and the linear displacement sensors are installed between the bearing plate and the adapter so as to obtain the motion posture of the film joint through displacement amounts detected by the linear displacement sensors, the angular displacement sensor, the first tilt sensor, and the second tilt sensor.
9. A robot with membrane joints, characterized by comprising a robot body and membrane joints of a mobile robot according to any of claims 1-8 arranged on the robot body, the adapter being intended to be connected to the upper part of the robot.
10. A mobile robot multi-robot cooperative handling system comprising a plurality of robots according to claim 9, wherein a plurality of said robots are mutually engaged.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210211003.4A CN114851213B (en) | 2022-03-04 | 2022-03-04 | Membrane type joint of mobile robot, robot and multi-machine cooperation conveying system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210211003.4A CN114851213B (en) | 2022-03-04 | 2022-03-04 | Membrane type joint of mobile robot, robot and multi-machine cooperation conveying system |
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| CN114851213A true CN114851213A (en) | 2022-08-05 |
| CN114851213B CN114851213B (en) | 2023-10-31 |
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Also Published As
| Publication number | Publication date |
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| CN114851213B (en) | 2023-10-31 |
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