CN117001630A - Mobile robot and control system thereof - Google Patents
Mobile robot and control system thereof Download PDFInfo
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- CN117001630A CN117001630A CN202311155893.2A CN202311155893A CN117001630A CN 117001630 A CN117001630 A CN 117001630A CN 202311155893 A CN202311155893 A CN 202311155893A CN 117001630 A CN117001630 A CN 117001630A
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- 230000007246 mechanism Effects 0.000 claims abstract description 83
- 230000005540 biological transmission Effects 0.000 claims abstract description 17
- 230000010354 integration Effects 0.000 claims description 13
- 238000001514 detection method Methods 0.000 claims description 11
- 230000000712 assembly Effects 0.000 claims description 7
- 238000000429 assembly Methods 0.000 claims description 7
- 238000004891 communication Methods 0.000 claims description 3
- 238000012546 transfer Methods 0.000 description 11
- 238000010586 diagram Methods 0.000 description 8
- 230000001105 regulatory effect Effects 0.000 description 7
- 230000033001 locomotion Effects 0.000 description 5
- 230000000694 effects Effects 0.000 description 3
- 238000010030 laminating Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000002146 bilateral effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 239000003638 chemical reducing agent Substances 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
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- 230000003137 locomotive effect Effects 0.000 description 1
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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
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
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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
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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
- B25J19/02—Sensing devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0093—Programme-controlled manipulators co-operating with conveyor means
Abstract
The application discloses a mobile robot and a control system thereof, which relate to the technical field of mobile robots, and the mobile robot comprises a mobile trolley, wherein a turntable is rotatably arranged on the mobile trolley, a carrying mechanical arm is arranged on the turntable, and the mobile robot further comprises: the bearing mechanism is movably embedded and connected to the tail end of the mobile trolley; the linkage adjusting piece is embedded at the bottom of the mobile trolley and is connected with the turntable; the linkage adjusting piece is in transmission connection with the bearing mechanism. According to the application, when the turntable drives the carrying mechanical arm to rotate towards the tail end of the moving trolley, the bearing mechanism is passively opened to realize that the goods grabbed by the carrying mechanical arm are placed on the bearing mechanism in cooperation with the carrying mechanical arm, so that the stability of the moving trolley in transferring and moving the goods is improved.
Description
Technical Field
The application relates to the technical field of mobile robots, in particular to a mobile robot and a control system thereof.
Background
As is well known, with the gradual development of factory automation and computer integrated manufacturing system technology and the wide application of flexible manufacturing systems and automatic stereoscopic warehouses, an intelligent transfer robot is used as a necessary automatic transfer loading and unloading means for connecting and adjusting a discrete logistics management system to enable the operation of the intelligent transfer robot to be continuous, the application range and the technical level of the intelligent transfer robot are developed rapidly, and the intelligent transfer robot achieves the transfer task of materials efficiently, accurately and flexibly.
The mobile robot for carrying goods comprises a moving mechanism and a carrying mechanism arranged on the moving mechanism, wherein the carrying mechanism comprises a grabbing mechanical arm, the moving mechanism comprises a carriage, four driving wheels which are arranged in a rectangular mode are arranged at the bottom end of the carriage, the driving wheels are all omni-directional wheels, each driving wheel is connected with a driving wheel servo motor, and a planetary gear reducer is arranged on each driving wheel; two grabbing mechanical arms are arranged at the top end of the carriage, the grabbing mechanical arms are joint robots, and a clamp holder is arranged at the tail end of each grabbing mechanical arm.
For another example, the authorized bulletin number is CN105500333B, the authorized bulletin day is 2017.06.09, and the name of the authorized bulletin number is "transfer robot based on mobile mechanical arm", which includes MACNUM wheel, vehicle body base, rotating platform and mechanical arm, wherein: the MANUM wheels are arranged at the lower part of the vehicle body base, the MANUM wheels are respectively driven by four rotary hydraulic motors, the hydraulic motors are arranged in the vehicle body base, and the movement of the hydraulic motors is controlled by an electrohydraulic proportional control center positioned in the rotary platform; the rotary platform is arranged at the upper part of the vehicle body base through a rotary mechanism, a fixed seat of the rotary mechanism is fixedly connected with the vehicle body base, a rotary shaft of the rotary mechanism is fixedly connected with the rotary platform, the rotary motion of the rotary mechanism is driven by a hydraulic motor adopting PID dynamic pressure feedback control, and the motion of the hydraulic motor is also controlled by an electrohydraulic proportional control center positioned in the rotary platform.
In the prior art, the transfer robot carries the arm through travelling car and realizes that the goods carries and shifts, but like "a travelling robot for goods transport" application, it snatchs then cooperates travelling car to remove through the arm and realizes that the goods is transported, the stability of dolly when moving is poor, and like "travelling robot based on travelling robot arm" application, it is through setting up the car hopper at travelling car tail end, realize placing the goods that the arm snatched at the locomotive then carries out the goods transportation, it is nevertheless can improve travelling car stability, but is showing volume and length of increase travelling car, influence security and the convenience that the dolly operation was removed.
Disclosure of Invention
The application aims to provide a mobile robot and a control system thereof, which are used for solving the defects in the prior art.
In order to achieve the above object, the present application provides the following technical solutions: the utility model provides a mobile robot, includes the travelling car, the rotation is provided with the revolving stage on the travelling car, and installs the transport arm on the revolving stage, still includes: the bearing mechanism is movably embedded and connected to the tail end of the mobile trolley; the linkage adjusting piece is embedded at the bottom of the mobile trolley and is connected with the turntable; the linkage adjusting piece is in transmission connection with the bearing mechanism, and when the turntable drives the carrying mechanical arm to rotate towards the tail end of the mobile trolley, the turntable passively drives the linkage adjusting piece to drive the bearing mechanism to slide and open so as to bear goods.
As a further description of the above technical solution: the bottom of travelling car has seted up the open slot, the linkage regulating part includes the dish seat, the dish seat rotates to inlay to establish in the open slot and with revolving stage coaxial coupling, cam adjustment groove has been seted up to open slot one side surface, oval adjustment groove has been seted up to open slot opposite side face, and oval adjustment groove one end is the same with cam adjustment groove's convex part orientation, cam adjustment groove's convex part orientation is the same with the orientation of handling mechanical arm.
As a further description of the above technical solution: the bearing mechanism comprises a moving frame, the moving frame is fixedly provided with a bearing support plate, limiting frames are symmetrically fixed above two sides of the bearing support plate on the moving frame, the bearing support plate and the limiting frames are all slidably embedded at the tail end of the moving trolley, the end of the bearing support plate is fixedly provided with an L-shaped adjusting rod, and the L-shaped adjusting rod is rotationally embedded in the cam adjusting groove.
As a further description of the above technical solution: and a limiting convex part is also fixed on the bearing support plate, and when the bearing support plate is opened in a sliding way, the limiting convex part is abutted to the edge of the open slot.
As a further description of the above technical solution: two sides of the movable trolley are symmetrically embedded with stacking supporting mechanisms, and the two stacking supporting mechanisms are in transmission connection with the linkage adjusting piece;
when the turntable drives the carrying mechanical arm to rotate towards the two sides of the movable trolley, the turntable passively drives the linkage adjusting piece to drive the stacking supporting mechanism to slide and extend to the outer side of the movable trolley and rotate to abut against the ground.
As a further description of the above technical solution: rectangular openings are symmetrically formed in two sides of the movable trolley, the rectangular openings are communicated with the opening grooves, racks are embedded into the bottoms of the inner sides of the rectangular openings, and a plurality of convex teeth are arranged on one side section of each rack, close to the rectangular opening.
As a further description of the above technical solution: pile up neatly supporting mechanism is including sliding the articulated seat of U type of inlaying in the rectangle opening, it is connected with the supporting seat to rotate through the regulating spindle on the articulated seat of U type, and the fixed annular ring gear that has cup jointed cooperation rack in regulating spindle middle section position department and used is fixed with L type transfer line in the rear side of articulated seat of U type, and L type transfer line rotates to inlay to establish in oval adjustment tank.
As a further description of the above technical solution: the side of travelling car is located rectangle open-ended bilateral symmetry activity and is provided with the spacing subassembly of wheel, has two operating condition, first operating condition, the spacing subassembly of wheel inlays and establishes in travelling car's bottom, second frock state: the wheel limiting assembly is abutted to a gap position between the ground and the roller at the bottom of the mobile trolley.
As a further description of the above technical solution: the wheel limiting assembly is in transmission connection with the stacking support mechanism, and when the stacking support mechanism abuts against the ground, the passive driving wheel limiting assembly is switched from a first working state to a second working state.
The mobile robot control system based on the mobile robot comprises a dispatching control unit, an on-vehicle control unit and a safety detection unit;
the dispatching control unit is in communication connection with the vehicle-mounted control unit, and is used for transmitting mobile dispatching information to the vehicle-mounted control unit, and the vehicle-mounted control unit controls the mobile trolley to carry out mobile dispatching based on the dispatching information;
the safety detection unit comprises a state acquisition module, a data acquisition module and an integration analysis module;
the state acquisition module is used for acquiring the opening state information of the bearing mechanism of the current mobile trolley and transmitting the information to the integration analysis module;
the data acquisition module is used for acquiring time information and path information in the current mobile trolley mobile scheduling information and transmitting the time information and the path information to the integration analysis module
The integration analysis module performs security detection analysis on time information and path information of the mobile trolley based on state information of the mobile trolley so as to judge whether the mobile trolley can execute mobile scheduling.
In the technical scheme, the mobile robot and the control system thereof provided by the application have the following beneficial effects: through inlay in the tail end activity of travelling car and establish and connect and bear the weight of the mechanism, and the bottom of travelling car is provided with the linkage regulating part of being connected with the revolving stage of transport arm, realize when the revolving stage drives transport arm and rotates towards travelling car tail end, bear the weight of the mechanism passive opening in order to realize that the cooperation transport arm places the goods that its snatched on bearing the weight of the mechanism, improve travelling car and transport the stability of removal to the goods, when the revolving stage drives transport arm and rotates the tail end that the orientation is not travelling car, bear the weight of the mechanism promptly at this moment and do not need place the goods, the passive drive linkage regulating part of revolving stage drive is born the weight of the mechanism shrink laminating at travelling car's tail end this moment, show the length that reduces travelling car, improve travelling car operation's security and convenience and work efficiency.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments described in the present application, and other drawings may be obtained according to these drawings for a person having ordinary skill in the art.
Fig. 1 is a schematic structural diagram of a mobile robot during a mobile operation according to an embodiment of the present application;
fig. 2 is a schematic diagram of a bottom structure of a mobile robot according to an embodiment of the present application;
fig. 3 is a schematic structural diagram of a mobile robot during a carrying operation according to an embodiment of the present application;
FIG. 4 is a schematic diagram of two side structures of a linkage adjuster according to an embodiment of the present application;
fig. 5 is a schematic diagram of a disassembled structure of a stacking support mechanism according to an embodiment of the present application;
fig. 6 is a schematic structural diagram of a stacking support mechanism according to an embodiment of the present application;
FIG. 7 is a schematic view of an installation structure of a wheel restraint assembly according to an embodiment of the present application;
FIG. 8 is a schematic diagram of a rectangular slide hole according to an embodiment of the present application;
FIG. 9 is a schematic view of a wheel restraint assembly according to an embodiment of the present application;
fig. 10 is a schematic structural diagram of a connection state of an L-shaped abutment rod according to an embodiment of the present application.
Reference numerals illustrate:
1. a moving trolley; 11. a rectangular opening; 111. a rack; 12. an open slot; 13. a roller; 2. a turntable; 3. a handling robot arm; 4. a moving rack; 41. a bearing plate; 42. a limiting frame; 43. a limit protrusion; 44. an L-shaped adjusting rod; 5. a stacking support mechanism; 51. a U-shaped hinging seat; 511. a wedge-shaped driving surface; 52. an adjusting shaft; 53. an L-shaped transmission rod; 54. an annular gear ring; 55. a support base; 6. a linkage adjusting member; 61. a tray seat; 62. cam adjusting groove; 63. an elliptical adjusting groove; 7. a wheel limit assembly; 71. rectangular slide holes; 711. wedge-shaped adjustment notches; 72. a slide bar; 721. a first support spring; 722. a wedge-shaped abutment surface; 73. an L-shaped abutting rod; 731. a limit abutting part; 732. and a second supporting spring.
Detailed Description
In order to make the technical scheme of the present application better understood by those skilled in the art, the present application will be further described in detail with reference to the accompanying drawings.
Referring to fig. 1-10, the embodiment of the application provides a technical scheme: the utility model provides a mobile robot, includes travelling car 1, rotates on the travelling car 1 and is provided with revolving stage 2, installs the motor on the revolving stage 2, and the motor is used for driving its rotation, and installs transport arm 3 on the revolving stage 2, drives transport arm 3 through revolving stage 2 promptly and rotates, and transport arm 3's end has the goods tongs, realizes snatching the goods, still includes: the bearing mechanism is movably embedded and connected to the tail end of the mobile trolley 1; the bearing mechanism is provided with two working states, the first working state is that the bearing mechanism is attached to the tail of the mobile trolley 1, the whole length of the mobile trolley 1 is short at the moment, and the second working state is that the bearing mechanism is drawn out from the tail of the mobile trolley 1 in a sliding way to bear goods, and the whole length of the mobile trolley 1 is long at the moment;
the linkage adjusting piece 6 is embedded and arranged at the bottom of the mobile trolley 1 and is connected with the turntable 2; the linkage adjusting piece 6 is in transmission connection with the bearing mechanism, and when the turntable 2 drives the carrying mechanical arm 3 to rotate towards the tail end of the mobile trolley 1, the turntable 2 passively drives the linkage adjusting piece 6 to drive the bearing mechanism to slide and open so as to bear goods. When the turntable 2 drives the carrying mechanical arm 3 to rotate towards the tail end of the moving trolley 1, the carrying mechanism is passively opened to realize that the goods which are grabbed by the carrying mechanical arm 3 are placed on the carrying mechanism in cooperation, so that the stability of the moving trolley 1 for transferring and moving the goods is improved, (when the goods are carried on the carrying mechanism at the tail end of the moving trolley 1 and move, the carrying mechanical arm 3 faces the tail end of the moving trolley 1, when the goods on the carrying mechanism at the tail end of the moving trolley 1 are carried and transferred, the carrying mechanical arm 3 carries and transfers from two sides of the moving trolley 1, when the trolley returns in a no-load mode, the carrying mechanical arm 3 is contracted and folded towards the front side of the moving trolley 1, when the turntable 2 drives the carrying mechanical arm 3 to rotate towards the tail end which is not the moving trolley 1, namely, the carrying mechanism is not required to place the goods, and the turntable 2 is passively driven by the linkage adjusting piece 6 to drive the carrying mechanism to shrink and attach to the tail end of the moving trolley 1, so that the length of the moving trolley 1 is obviously reduced.
The embodiment provides a mobile robot, through inlaying the connection at the tail end activity of travelling car and establishing and bear the weight of the mechanism, and the bottom of travelling car 1 is provided with the linkage regulating part of being connected with the revolving stage 2 of transport arm 3, realize when revolving stage 2 drives transport arm 3 and rotates towards travelling car 1 tail end, bear the weight of the mechanism passive opening in order to realize that cooperation transport arm 3 places the goods that it snatched on bearing the weight of the mechanism, improve travelling car 1 and transport the stability of removal to the goods, when revolving stage 2 drive transport arm 3 rotate the orientation and not when the tail end of travelling car 1, bear the weight of the mechanism promptly and not being in need to place the goods at this moment, the 6 drive of this moment revolving stage 2 passive drive linkage regulating part bearing the weight of mechanism shrink laminating at the tail end of travelling car 1, show the length that reduces travelling car 1, improve travelling car operation's security and convenience and work efficiency.
The bottom of the mobile trolley 1 is provided with an open slot 12, the open slot 12 is in a circular groove structure, the area of the open slot close to the tail end of the mobile trolley 1 is provided with a rectangular notch, the linkage adjusting piece 6 comprises a disc seat 61, the disc seat 61 is rotationally embedded in the open slot 12, the center position of the disc seat 61 is coaxially connected with the rotary table 2 through a connecting shaft, namely, the rotary table 2 can drive the disc seat 61 to synchronously rotate through the connecting shaft when rotating, one side surface of the open slot 12 is provided with a cam adjusting slot 62, the cam adjusting slot 62 is a slot body which is integrally in a cam-shaped structure, the convex part of the cam adjusting slot 62 faces towards the same direction as the carrying mechanical arm 3, the other side surface of the open slot 12 is provided with an elliptical adjusting slot 63, and elliptical adjustment groove 63 one end is the same with cam adjustment groove 62's convex part orientation, bearing mechanism includes removes frame 4, wherein, the bottom four corner positions department of travelling car 1 is provided with gyro wheel 13, the bottom both sides of removing frame 4 also are provided with gyro wheel 13, it is fixed with and bears layer board 41 to remove frame 4, it is fixed with spacing 42 to be located on the removal frame 4 and bear layer board 41 both sides top symmetry, it constitutes a goods space to bear the layer board 41 cooperation both sides remove frame 4, realize placing the goods when the goods transport removes, bear layer board 41 and spacing 42 all slide and inlay the tail end of establishing at travelling car 1, bear the end of layer board 41 is fixed with L type regulation pole 44, L type regulation pole 44 rotates and inlays and establishes in cam adjustment groove 62. Specifically, when the turntable 2 drives the carrying mechanical arm 3 to rotate towards the tail end of the mobile trolley 1, the turntable 2 synchronously drives the disc seat 61 to rotate at the moment, the convex groove area of the cam adjusting groove 62 on the surface of the disc seat 61 rotates towards the tail end of the mobile trolley 1, so that the bearing plate 41 is driven to slide and protrude from the tail end of the mobile trolley 1 by the cooperation of the cam adjusting groove 62 and the L-shaped adjusting rod 44, the bearing mechanism is passively opened to realize that goods grabbed by the cooperation of the carrying mechanical arm 3 are placed on the bearing mechanism, the stability of the mobile trolley 1 in transferring and moving the goods is improved, and when the turntable 2 drives the carrying mechanical arm 3 to rotate towards the tail end which is not the mobile trolley 1, the cam adjusting groove 62 cooperates with the L-shaped adjusting rod 44 to drive the bearing plate 41 to shrink and fit at the tail end of the mobile trolley 1, so that the length of the mobile trolley 1 is obviously reduced, and the safety, convenience and the working efficiency of the mobile trolley moving operation are improved.
In still another embodiment of the present application, the supporting plate 41 is further fixed with a limiting protrusion 43, and when the supporting plate 41 slides open, the limiting protrusion 43 abuts against the edge of the open slot 12. Through being provided with spacing convex part 43 on bearing plate 41 for bearing plate 41 can realize carrying out the traction to bearing plate 41 and remove frame 4 through spacing convex part 43 butt open slot 12 edge when the state is fully opened, L type regulation pole 44 atress when reducing the removal and pulling prevents its deformation, improves stability.
In still another embodiment provided by the application, the two sides of the movable trolley 1 are symmetrically embedded with the stacking support mechanisms 5, and the two stacking support mechanisms 5 are in transmission connection with the linkage adjusting piece 6; the pile up neatly supporting mechanism 5 is used for carrying mechanical arm 3 on the travelling car 1 carries auxiliary stay to travelling car 1 when carrying the pile up neatly to the goods, prevents to lead to the focus to change when carrying mechanical arm 3 carries the goods and influence the stability of travelling car 1, when revolving stage 2 drive the both sides of travelling car 1 of travelling mechanical arm 3 rotation orientation, revolving stage 2 passive drive linkage adjustment piece 6 drive pile up neatly supporting mechanism 5 slip protrusion to the outside of travelling car 1 and rotate the butt ground. When the turntable 2 drives the carrying mechanical arm 3 to rotate towards the front end or the tail end of the mobile trolley 1, the turntable 2 passively drives the linkage adjusting piece 6 to drive the stacking supporting mechanism 5 to shrink and embed at two sides of the mobile trolley 1. So as not to affect the movement of the mobile trolley 1.
The embodiment provides a mobile robot, through set up pile up neatly supporting mechanism 5 at the both sides symmetry embedding of travelling car 1, and pile up neatly supporting mechanism 5 is connected with linkage adjustment piece 6 transmission, realize when revolving stage 2 drives transport arm 3 rotation and carries out pile up neatly goods towards the both sides of travelling car 1, revolving stage 2 passive drive linkage adjustment piece 6 drive pile up neatly supporting mechanism 5 slide the protrusion to the outside of travelling car 1 and rotate the butt ground, realize supporting it from the both sides of travelling car 1, show improvement travelling car transport operation's security and stability, simultaneously when revolving stage 2 drive transport arm 3 rotation towards the front end or the tail end of travelling car 1, the passive drive pile up neatly supporting mechanism 5 shrink embedding in the both sides of travelling car 1 when travelling car carries out travelling operation this moment. Therefore, the moving trolley 1 is not influenced when moving, and the convenience of moving operation of the trolley is improved.
In still another embodiment provided by the application, rectangular openings 11 are symmetrically formed on two sides of the mobile trolley 1, the rectangular openings 11 are communicated with the opening grooves 12, racks 111 are embedded in the bottoms of the inner sides of the rectangular openings 11, a plurality of convex teeth are arranged on one side section of each rack 111 close to the rectangular openings 11, the stacking support mechanism 5 comprises a U-shaped hinging seat 51 which is embedded in the rectangular openings 11 in a sliding mode, a support seat 55 is connected to the U-shaped hinging seat 51 in a rotating mode through an adjusting shaft 52, an annular gear ring 54 which is matched with the racks 111 in a sleeved mode is fixedly arranged at the middle section of the adjusting shaft 52 in a sleeved mode, an L-shaped transmission rod 53 is fixedly arranged on the rear side of the U-shaped hinging seat 51, and the L-shaped transmission rod 53 is embedded in the elliptical adjusting groove 63 in a rotating mode. Specifically, when the turntable 2 drives the carrying mechanical arm 3 to rotate towards two sides of the moving trolley 1 to carry stacked goods, at this time, the turntable 2 synchronously drives the disc seat 61 to rotate, two ends of the oval adjusting groove 63 on the surface of the disc seat 61 rotate towards two sides of the moving trolley 1, at this time, the oval adjusting groove 63 cooperates with the L-shaped transmission rod 53 to drive the U-shaped hinging seats 51 on two sides of the moving trolley 1 to protrude towards the outer side of the moving trolley 1, when the U-shaped hinging seats 51 protrude to a position close to an opening position of the rectangular opening 11, at this time, the convex teeth on the rack 111 are meshed with the annular gear ring 54 on the adjusting shaft 52, so that the U-shaped hinging seats 51 synchronously drive the supporting seat 55 to rotate during movement, and finally the supporting seat 55 is supported and abutted against the ground. Likewise, when the turntable 2 drives the carrying mechanical arm 3 to rotate towards the front end or the tail end of the mobile trolley 1, the stacking support mechanism 5 is driven to be internally contracted in the rectangular opening 11 during passive operation, so that the stacking support mechanism 5 is lifted and contracted to be adjusted, and no influence is caused when the mobile trolley normally moves.
In still another embodiment provided by the application, wheel limiting assemblies 7 are movably arranged on two sides of the rectangular opening 11 at the side edges of the mobile trolley 1, wherein two groups of wheel limiting assemblies 7 are arranged on two sides of the mobile trolley 1, the two groups of wheel limiting assemblies 7 are in two working states, the first working state is that the wheel limiting assemblies 7 are embedded in the bottom of the mobile trolley 1, and the second tooling state is that: the wheel limiting assemblies 7 are abutted to the gap between the ground and the rollers 13 at the bottom of the mobile trolley 1, namely the inner sides of the two rollers 13 respectively abutted to the front and rear of the mobile trolley 1 are symmetrically arranged at the two sides of the rectangular opening 11, so that the rollers 13 of the mobile trolley 1 are limited and locked.
The wheel limiting assembly 7 is in transmission connection with the stacking support mechanism 5, and when the stacking support mechanism 5 abuts against the ground, the wheel limiting assembly 7 is passively driven to switch from the first working state to the second working state. Namely, when the turntable 2 drives the carrying mechanical arm 3 to rotate towards the two sides of the mobile trolley 1 to carry stacked cargoes, the turntable 2 passively drives the linkage adjusting piece 6 to drive the stacking supporting mechanism 5 to slide and convexly stretch to the outer side of the mobile trolley 1 and rotate to abut against the ground, so that the two sides of the mobile trolley 1 are supported, at the moment, the stacking supporting mechanism 5 synchronously drives the wheel limiting assembly 7 to abut against a gap position between the ground and the roller 13 at the bottom of the mobile trolley 1, limiting locking of the roller 13 of the mobile trolley 1 is realized, sliding of the mobile trolley 1 is prevented, and stability and safety of carrying cargoes are further improved.
Further, the wheel limiting assembly 7 includes a rectangular sliding hole 71 and a sliding rod 72 disposed on two sides of the rectangular opening 11 on the moving trolley 1, a wedge-shaped adjusting notch 711 is disposed on the rectangular sliding hole 71 near the top of the end position of the moving trolley 1, (wherein the wedge-shaped adjusting notch 711 is lower as it is closer to the roller 13), the bottom of the rectangular sliding hole 71 is in an open state relative to the wedge-shaped adjusting notch 711, the sliding rod 72 is slidably embedded in the rectangular sliding hole 71, one end of the sliding rod 72 extends to the inner side of the rectangular opening 11, a wedge-shaped abutting surface 722 is disposed on one end of the sliding rod 72 located on the inner side of the rectangular opening 11, a wedge-shaped driving surface 511 used in cooperation with the wedge-shaped abutting surface 722 is disposed on two side frame ends of the U-shaped hinge seat 51, the other end of the sliding rod 72 is connected with the rectangular sliding hole 71 through a first supporting spring 721, the elastic force of the first supporting spring 721 is used for driving the sliding rod 72 to move towards one end of the rectangular opening 11, an L-shaped abutting rod 73 is slidably embedded on the sliding rod 72, the horizontal section end of the L-shaped abutting rod 73 is fixedly provided with a limiting abutting part 731, the bottom end of the L-shaped abutting rod 73 abuts 732 is abutted against the wedge-shaped adjusting notch 732, the bottom end of the L-shaped abutting rod 73 is abutted against the inner side of the sliding rod 73 is connected with a second supporting spring, and the second supporting spring is used for driving the second supporting the L-shaped abutting rod 73.
Obviously, the chassis of travelling car 1 is higher than ground, when spacing gyro wheel 13 is carried out to the clearance between bottom surface and gyro wheel 13 through the bottom surface, wheel stop assembly 7 has two working strokes, first working stroke, wheel stop assembly 7 moves down and laminates to the bottom surface, the second working stroke, wheel stop assembly 7 translation butt is in the clearance position department between gyro wheel 13 and the ground, specifically, when U type articulated seat 51 slides the protruding stretching in rectangle opening 11 in pile up neatly supporting mechanism 5, the wedge driving surface 511 butt at the end of U type articulated seat 51 both sides frame at this moment drives slide bar 72 and moves to gyro wheel 13 side on the rectangular slide hole 71, slide bar 72 drives L type butt pole 73 and moves to gyro wheel 13 side simultaneously, the wedge adjustment notch 711 butt that sets up on the rectangular slide hole 71 is on this moment L type butt pole 73 and drive it and move down, thereby realize driving L type butt pole 73 upper limit joint part 731 butt is in the clearance position department between ground and travelling car 1 bottom 13, realize carrying out the locking to gyro wheel 13 of travelling car 1 at this moment, when the moment U type articulated seat 51 is not contracted to the slider bar 72, realize that the reset spring support 72 is in order to reset spring support the inside when the slider 72 is not to reset to the slider bar 72.
The embodiment of the application provides another technical scheme that: the mobile robot control system based on the mobile robot comprises a dispatching control unit, an on-vehicle control unit and a safety detection unit; the dispatching control unit is in communication connection with the vehicle-mounted control unit, and is used for transmitting mobile dispatching information to the vehicle-mounted control unit, and the vehicle-mounted control unit controls the mobile trolley 1 to carry out mobile dispatching based on the dispatching information; the safety detection unit comprises a state acquisition module, a data acquisition module and an integration analysis module; the output ends of the state acquisition module and the data acquisition module are electrically connected with the input end of the integration analysis module, and the state acquisition module is used for acquiring the opening state information of the bearing mechanism of the current mobile trolley 1 and transmitting the opening state information to the integration analysis module; the data acquisition module is used for acquiring time information and path information in the current mobile trolley 1 mobile scheduling information and transmitting the time information and the path information to the integration analysis module; the integration analysis module performs security detection analysis on the time information and the path information of the mobile trolley 1 based on the state information of the mobile trolley 1 to determine whether the mobile trolley 1 can execute the mobile scheduling, namely calculates the speed information of the mobile trolley 1 according to the path information and the time information, and performs comparison analysis based on the speed threshold values of the mobile trolley 1 in different states (namely, the speed threshold value when the carrying mechanism of the mobile trolley 1 is opened and the speed threshold value when the carrying mechanism of the mobile trolley 1 is contracted) to determine whether the mobile trolley 1 can execute the mobile scheduling. The mobile robot control system realizes the integrated comparison safety detection based on the path information and the time information according to the state information of the mobile trolley, and improves the accuracy and pertinence of the detection.
While certain exemplary embodiments of the present application have been described above by way of illustration only, it will be apparent to those of ordinary skill in the art that modifications may be made to the described embodiments in various different ways without departing from the spirit and scope of the application. Accordingly, the drawings and description are to be regarded as illustrative in nature and not as restrictive of the scope of the application, which is defined by the appended claims.
Claims (10)
1. The utility model provides a mobile robot, includes travelling car (1), the rotation is provided with revolving stage (2) on travelling car (1), and installs transport arm (3) on revolving stage (2), its characterized in that still includes:
the bearing mechanism is movably embedded and connected to the tail end of the mobile trolley (1);
the linkage adjusting piece (6) is embedded and arranged at the bottom of the mobile trolley (1) and is connected with the turntable (2);
the linkage adjusting piece (6) is in transmission connection with the bearing mechanism, and when the turntable (2) drives the carrying mechanical arm (3) to rotate towards the tail end of the moving trolley (1), the turntable (2) passively drives the linkage adjusting piece (6) to drive the bearing mechanism to slide and open so as to bear goods.
2. The mobile robot according to claim 1, wherein the bottom of the mobile trolley (1) is provided with an open slot (12), the linkage adjusting piece (6) comprises a disc seat (61), the disc seat (61) is rotationally embedded in the open slot (12) and is coaxially connected with the turntable (2), one side surface of the open slot (12) is provided with a cam adjusting slot (62), the other side surface of the open slot (12) is provided with an elliptical adjusting slot (63), one end of the elliptical adjusting slot (63) faces the same as the convex part of the cam adjusting slot (62), and the convex part of the cam adjusting slot (62) faces the same as the conveying mechanical arm (3).
3. The mobile robot according to claim 2, wherein the bearing mechanism comprises a moving frame (4), the moving frame (4) is fixed with a bearing support plate (41), limiting frames (42) are symmetrically fixed above two sides of the bearing support plate (41) on the moving frame (4), the bearing support plate (41) and the limiting frames (42) are slidably embedded in the tail end of the mobile trolley (1), an L-shaped adjusting rod (44) is fixed at the end head of the bearing support plate (41), and the L-shaped adjusting rod (44) is rotatably embedded in the cam adjusting groove (62).
4. A mobile robot according to claim 3, wherein the carrying plate (41) is further fixed with a limit protrusion (43), and the limit protrusion (43) abuts against the edge of the open slot (12) when the carrying plate (41) is slid open.
5. A mobile robot according to claim 2, characterized in that the two sides of the mobile trolley (1) are symmetrically embedded with stacking support mechanisms (5), and the two stacking support mechanisms (5) are in transmission connection with the linkage adjusting piece (6);
when the turntable (2) drives the carrying mechanical arm (3) to rotate towards the two sides of the movable trolley (1), the turntable (2) drives the linkage adjusting piece (6) to drive the stacking supporting mechanism (5) to slide and protrude to the outer side of the movable trolley (1) and rotate to abut against the ground.
6. The mobile robot as claimed in claim 5, wherein rectangular openings (11) are symmetrically formed on both sides of the mobile trolley, the rectangular openings (11) are communicated with the open grooves (12), racks (111) are embedded in the bottoms of the inner sides of the rectangular openings (11), and a plurality of convex teeth are arranged on one side section of the racks (111) close to the rectangular openings (11).
7. The mobile robot of claim 6, wherein the stacking support mechanism (5) comprises a U-shaped hinge seat (51) which is slidably embedded in the rectangular opening (11), the U-shaped hinge seat (51) is rotatably connected with a support seat (55) through an adjusting shaft (52), an annular gear ring (54) which is used in cooperation with a rack (111) is fixedly sleeved at the middle section position of the adjusting shaft (52), an L-shaped transmission rod (53) is fixed at the rear side of the U-shaped hinge seat (51), and the L-shaped transmission rod (53) is rotatably embedded in an elliptical adjusting groove (63).
8. The mobile robot of claim 7, wherein the two sides of the mobile trolley (1) located at the rectangular opening (11) are symmetrically and movably provided with wheel limiting assemblies (7), the two working states are two, the first working state is that the wheel limiting assemblies (7) are embedded in the bottom of the mobile trolley (1), and the second working state is that: the wheel limiting assembly (7) is abutted to a gap position between the ground and the bottom roller (13) of the mobile trolley (1).
9. A mobile robot according to claim 8, characterized in that the wheel limiting assembly (7) is in transmission connection with the palletizing support mechanism (5), and when the palletizing support mechanism (5) abuts against the ground, the wheel limiting assembly (7) is passively driven to switch from the first working state to the second working state.
10. A mobile robot control system based on the mobile robot of any of the preceding claims 1-9, characterized by comprising a dispatch control unit, an on-board control unit and a safety detection unit;
the dispatching control unit is in communication connection with the vehicle-mounted control unit, and is used for transmitting mobile dispatching information to the vehicle-mounted control unit, and the vehicle-mounted control unit controls the mobile trolley (1) to carry out mobile dispatching based on the dispatching information;
the safety detection unit comprises a state acquisition module, a data acquisition module and an integration analysis module;
the state acquisition module is used for acquiring the opening state information of the bearing mechanism of the current mobile trolley (1) and transmitting the opening state information to the integration analysis module;
the data acquisition module is used for acquiring time information and path information in the mobile scheduling information of the current mobile trolley (1) and transmitting the time information and the path information to the integration analysis module;
the integration analysis module performs security detection analysis on time information and path information of the mobile trolley (1) based on state information of the mobile trolley so as to judge whether the mobile trolley (1) can execute mobile scheduling.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311155893.2A CN117001630A (en) | 2023-09-08 | 2023-09-08 | Mobile robot and control system thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311155893.2A CN117001630A (en) | 2023-09-08 | 2023-09-08 | Mobile robot and control system thereof |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN117001630A true CN117001630A (en) | 2023-11-07 |
Family
ID=88572866
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202311155893.2A Withdrawn CN117001630A (en) | 2023-09-08 | 2023-09-08 | Mobile robot and control system thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN117001630A (en) |
-
2023
- 2023-09-08 CN CN202311155893.2A patent/CN117001630A/en not_active Withdrawn
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Application publication date: 20231107 |