CN117775610A - Mobile robot and multi-machine cooperation type carrying system thereof - Google Patents
Mobile robot and multi-machine cooperation type carrying system thereof Download PDFInfo
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- CN117775610A CN117775610A CN202310063058.XA CN202310063058A CN117775610A CN 117775610 A CN117775610 A CN 117775610A CN 202310063058 A CN202310063058 A CN 202310063058A CN 117775610 A CN117775610 A CN 117775610A
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Abstract
The invention discloses a mobile robot and a multi-machine cooperation type carrying system thereof, wherein the mobile robot comprises: the device comprises an objective table, a movable body, a supporting mechanism, a driving device, universal wheels and a common wheel module, wherein the objective table is connected with the movable body through the supporting mechanism; the universal wheels and the common wheel modules are arranged on two sides of the movable body, the common wheel modules comprise common wheels, connecting pieces and connecting blocks, the connecting blocks are used for connecting the common wheels and the connecting pieces, and the connecting pieces are used for connecting the connecting blocks and the movable body; the movable body is internally provided with a fixing device, the fixing device comprises a rotating base, a first lifting disc, a guide rod and a second lifting disc, the top end of the rotating base is connected with the bottom end of the supporting mechanism, and the first lifting disc is connected with the second lifting disc through the guide rod. The mobile robot provided by the embodiment of the invention has the advantages of completing loading of objects in a labor-saving manner and the like.
Description
Technical Field
The invention relates to the field of robots, in particular to a mobile robot and a multi-machine cooperation type carrying system thereof.
Background
Mobile robots are widely used in logistics systems, and are usually used for carrying goods in a lifting manner.
In the conventional multi-machine cooperative carrying system, when the size of the carried goods is large, compared with the mode that the goods are directly lifted and then put on a robot platform, one more labor-saving mode can be to push the objects to incline from the side, then the mobile robot sequentially enters the parts of the objects leaving the ground until the robot completely enters the bottom of the carried objects to lift the objects, but the conventional mobile robot does not have higher degree of freedom to adapt to the bottom surface of the carried objects, so that the contact between the object table and the bottom surface of the carried objects is unstable, the carried objects are easy to fall off from the object table, and meanwhile, the mobile robot can slip in the process, so that the objects cannot be pushed onto the object table smoothly. In addition, when a plurality of mobile robots cooperatively transport an object to travel, if a convex object appears on a road surface so that one or a plurality of robots are lifted, the robots lose contact with the object, the robots easily deviate from a track after losing contact, the support to the object is lost, and the gravity center of the object is likely to be unstable and drop. Therefore, it is necessary to design a mobile robot and a multi-machine cooperative transportation system thereof that can overcome the above problems in the prior art to some extent.
Disclosure of Invention
The present invention is directed to a mobile robot and a multi-machine cooperative transportation system thereof, so as to solve at least one of the above-mentioned problems in the prior art.
The invention discloses a mobile robot, which comprises: the device comprises an objective table, a movable body, a supporting mechanism, a driving device, universal wheels and a common wheel module, wherein the objective table is connected with the movable body through the supporting mechanism;
the universal wheels and the common wheel modules are arranged on two sides of the movable body, the common wheel modules comprise common wheels, connecting pieces and connecting blocks, the connecting blocks are used for connecting the common wheels and the connecting pieces, and the connecting pieces are used for connecting the connecting blocks and the movable body;
the movable body is internally provided with a fixing device, the fixing device comprises a rotating base, a first lifting disc, a guide rod and a second lifting disc, the top end of the rotating base is connected with the bottom end of the supporting mechanism, the first lifting disc is connected with the second lifting disc through the guide rod, and the first lifting disc can lock the rotating base.
Further, the supporting mechanism comprises a universal joint and three tension springs, the universal joint and the three tension springs are connected with the objective table and the rotating base along the vertical direction, and the three tension springs are uniformly distributed around the universal joint and on the edge part of the objective table.
Further, the guide rods are four and uniformly distributed on the edge parts of the first lifting disk and the second lifting disk.
Further, the driving device comprises a first stepping motor, a second stepping motor, a first lead screw stepping motor, a second lead screw stepping motor and a cylindrical roller, wherein the first stepping motor is arranged on one side, close to the universal wheel, of the moving body, the second stepping motor is arranged on the common wheel module, the first lead screw stepping motor is arranged between the first lifting disc and the second lifting disc, and the second lead screw stepping motor is fixed at the bottom of the moving body and connected with the common wheel module through the cylindrical roller.
Further, when the first screw rod stepping motor operates, the screw rod on the first screw rod stepping motor moves linearly along the vertical direction, and simultaneously pushes the first lifting disc and the second lifting disc.
Further, when the second screw rod stepping motor operates, the screw rod on the second screw rod stepping motor moves linearly along the horizontal direction, and pushes the cylindrical roller at the same time, and the cylindrical roller pushes or tightens the common wheel module.
Further, the movable body further comprises a first driven wheel and a second driven wheel, wherein the first driven wheel and the second driven wheel are arranged between the common wheel module and the universal wheel, and are arranged at the bottom end of the movable body.
Further, the first driven wheel and the second driven wheel are spherical rollers.
Furthermore, the mobile body is provided with an Aruco code and a camera at one side close to the common wheel.
The invention also provides a mobile robot multi-machine cooperation type carrying system, which comprises three mobile robots, wherein the three mobile robots are arranged at the bottom end of an object to be carried, and the three mobile robots are any one of the mobile robots.
Meanwhile, the invention has at least one of the following technical effects:
1. the mobile robot has a certain mechanism which can assist in completing the loading operation mode of pushing the conveyed object by the inclined side and then enabling the robot to enter the bottom of the lifted object, so that the object is loaded in a labor-saving mode, and no slipping occurs between the mobile robot and the bottom surface of the object and between the mobile robot and the ground.
2. The movable robot can ensure that the array formed by the movable robot can not influence the whole carrying effect even if the advancing direction is inconsistent when carrying objects during moving and carrying, and can always keep contact with the bottom surface of the objects during carrying the objects.
3. The object tables of the three mobile robots can always keep contact with the bottom surface of the object, and the gravity center of the object is ensured to be always kept in the supporting area of the mobile robots by reasonably parking the positions of the mobile robots under the object.
4. The three mobile robots and the carrying object form a universal mobile platform, and each mobile robot serves as a universal driving wheel, and can offset the resistance caused by inconsistent advancing directions of the mobile robots due to the transverse sliding freedom degree.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic structural view of a mobile robot according to an embodiment of the present invention;
fig. 2 is a schematic structural view of a fixing device of a mobile robot according to an embodiment of the present invention;
FIG. 3 is a cross-sectional view of a mobile robot according to one embodiment of the present invention;
fig. 4 is an enlarged view of the inside of the portion a in fig. 1;
FIG. 5 is another enlarged view of the interior of portion A of FIG. 1;
fig. 6 is a schematic view showing a structure in which a fixing device of a mobile robot is connected to a first screw stepping motor according to an embodiment of the present invention;
FIG. 7 is a schematic side view of a mobile robot according to one embodiment of the present invention;
fig. 8 is a schematic state diagram of a mobile robot multi-machine cooperative conveyance system according to an embodiment of the present invention.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth such as the particular system architecture, techniques, etc., in order to provide a thorough understanding of the embodiments of the present invention. It will be apparent, however, to one skilled in the art that the present invention may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present invention with unnecessary detail.
It should be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
It should also be understood that the term "and/or" as used in the present specification and the appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes such combinations.
In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element being referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the present invention.
In the present invention, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; may be mechanically connected, may be electrically connected or may be in communication with each other; either directly or indirectly, through intermediaries, or both, may be in communication with each other or in interaction with each other, unless expressly defined otherwise. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.
Furthermore, the terms "first," "second," "third," and the like in the description of the present specification and in the appended claims, are used for distinguishing between descriptions and not necessarily for indicating or implying a relative importance.
Reference in the specification to "one embodiment" or "some embodiments" or the like means that a particular feature, structure, or characteristic described in connection with the embodiment is included in one or more embodiments of the invention. Thus, appearances of the phrases "in one embodiment," "in some embodiments," "in other embodiments," and the like in the specification are not necessarily all referring to the same embodiment, but mean "one or more but not all embodiments" unless expressly specified otherwise. The terms "comprising," "including," "having," and variations thereof mean "including but not limited to," unless expressly specified otherwise.
As described in fig. 1 to 7, a mobile robot according to an embodiment of the present invention includes: the device comprises an objective table 1, a movable body 2, a supporting mechanism 3, a driving device 4, universal wheels 5 and a common wheel module 6, wherein the objective table 1 and the movable body 2 are connected through the supporting mechanism 3;
the universal wheel 5 and the common wheel module 6 are arranged at two sides of the moving body 2, the common wheel module 6 comprises a common wheel 61, a connecting piece 62 and a connecting piece 63, the connecting piece 63 is used for connecting the common wheel 61 and the connecting piece 62, and the connecting piece 62 is used for connecting the connecting piece 63 and the moving body 2;
the movable body 2 is internally provided with a fixing device 21, the fixing device 21 comprises a rotary base 211, a first lifting disc 212, a guide rod 213 and a second lifting disc 214, the top end of the rotary base 211 is connected with the bottom end of the supporting mechanism 3, the first lifting disc 212 and the second lifting disc 214 are connected through the guide rod 213, and the first lifting disc 212 can lock the rotary base 211.
Preferably, the connector 62 is a hinge.
In some embodiments, the support mechanism 3 includes a universal joint 31 and three tension springs 32, the universal joint 31 and the three tension springs 32 are connected with the stage 1 and the rotation base 211 in a vertical direction, and the three tension springs 32 are uniformly distributed around the universal joint 31 and on an edge portion of the stage 1.
In this embodiment, as shown in fig. 1 and 7, the universal joint 31 is constituted by two orthogonal rotation axes on the horizontal plane, and is rotatable with the application of external force, so that the passive rotational degree of freedom is always maintained in the horizontal direction. When an object is loaded on the object stage 1, the universal joint 31 and the tension spring 32 are inclined under the action of the weight of the object, so that a carrier can load the object on the object stage 1 from an inclined direction more labor-saving, and the surface of the object stage 1 is kept close to the bottom surface of the object during the period, and the two cannot slip.
In some embodiments, the guide rods 213 are four and evenly distributed over the edge portions of the first lift plate 212 and the second lift plate 214.
In this embodiment, as shown in fig. 2, the four guide rods 213 are uniformly distributed on the edge portions of the first lifting disk 212 and the second lifting disk 214, so that the best stress effect can be obtained, and the first lifting disk 212 and the second lifting disk 214 can be moved up and down more easily, and no more guide rods are needed to save materials.
In some embodiments, the driving device 4 includes a first stepping motor 41, a second stepping motor 42, a first screw stepping motor 43, a second screw stepping motor 44, and a cylindrical roller 45, where the first stepping motor 41 is disposed on a side of the moving body 2 near the universal wheel 5, the second stepping motor 42 is disposed on the common wheel module 6, the first screw stepping motor 43 is disposed between the first lifting disk 212 and the second lifting disk 214, and the second screw stepping motor 44 is fixed on a bottom of the moving body 2 and is connected to the common wheel module 6 through the cylindrical roller 45.
Specifically, when the first screw stepping motor 43 is operated, the screw on the first screw stepping motor 43 moves linearly along the vertical direction, and pushes the first lifting disc 212 and the second lifting disc 214.
Specifically, when the second screw stepping motor 44 is operated, the screw on the second screw stepping motor 44 moves linearly along the horizontal direction, and pushes the cylindrical roller 45, and the cylindrical roller 45 pushes or tightens the common wheel module 6.
In this embodiment, as shown in fig. 4, 5 and 6, the first stepping motor 41 and the second stepping motor 42 are used to drive the universal wheel 5 and the common wheel 61 forward, respectively, and the first screw stepping motor 43 and the second screw stepping motor 44 each include a stepping motor and a screw. The first screw stepping motor 43 is disposed between the first lifting disk 212 and the second lifting disk 214, and the screw thereof is connected with the second lifting disk 214, and the first screw stepping motor 43 can drive the first lifting disk 212 and the second lifting disk 214 to lift when operating.
In the process of loading the object on the object stage 1, the first screw rod stepping motor 43 drives the first lifting disk 212 and the second lifting disk 214 to descend, and when the second lifting disk 214 descends to the ground, the contact area between the robot and the ground is increased, the friction force is improved, the robot is fixed in place, and the object is more convenient for a carrier to load on the object stage 1; after the mobile robot finishes loading the object, in the moving process, the first screw rod stepping motor 43 drives the first lifting disc 212 and the second lifting disc 214 to ascend, so that the first lifting disc 212 locks the rotating base 211, and the mobile robot can keep relative static with the object in the horizontal direction, thereby implementing the mobile carrying task.
The second screw rod stepper motor 44 drives the screw rod to push the cylindrical roller 45, and the cylindrical roller 45 is connected with the connecting block 63 on the common wheel module 6, and meanwhile, the connecting block 63 is connected with the movable body 2 through the connecting piece 62, so that the common wheel module 6 can be pushed or pulled when the cylindrical roller 45 rolls, and when the movable robot carries out multi-machine collaborative movement for carrying objects, the movable robot can obtain the free sliding degree of freedom in the transverse direction by lifting the common wheel module 6, and becomes an active universal wheel of an object-robot system together with other movable robots.
In some embodiments, the moving body 2 further includes a first driven wheel 22 and a second driven wheel 23, and the first driven wheel 22 and the second driven wheel 23 are disposed between the common wheel module 6 and the universal wheel 5 and disposed at the bottom end of the moving body 2. Specifically, the first driven wheel 22 and the second driven wheel 23 are spherical rollers.
In this embodiment, as shown in fig. 7, the first driven wheel 22 and the second driven wheel 23 make the mobile robot obtain better balance, and when the two driven wheels are spherical rollers, the mobile robot has a sliding degree of freedom in any direction, and can assist in supporting the mobile robot after the normal wheel 61 is lifted, and simultaneously slide in any direction in cooperation with the universal wheel 5.
In some embodiments, the side of the mobile body 2 close to the common wheel 61 is provided with an Aruco code and a camera.
In this embodiment, as shown in fig. 7, two arco codes and a camera are disposed on one side of the moving body 2 near the common wheel 61, the two arco codes are disposed at the front end and the rear end of the moving body 2, respectively, and the camera is disposed at the front end of the moving body 2. After the CharUco chessboard is used for calibrating, when the mobile robot carries out multi-machine collaborative movement for carrying objects, the camera can identify the gesture of each corresponding ArUco code and the distance from the center of the identification code to the camera, so that collaborative movement can be carried out more accurately.
The embodiment of the invention also provides a mobile robot multi-machine cooperation type carrying system, which comprises three mobile robots, wherein the three mobile robots are arranged at the bottom end of an object to be carried, and the three mobile robots are any one of the mobile robots.
In this embodiment, as shown in fig. 8, three mobile robots constitute a multi-machine cooperative conveyance system. When 1 or 2 robots execute tasks to carry large-volume objects, the gravity center of the objects is generally unstable, and the objects are difficult to ensure to be within the supporting area of the mobile robots; the robots can enclose a supporting surface, which is beneficial to enveloping the center of gravity in the supporting area, but the excessive number of mobile robots is difficult to ensure that each robot keeps in contact with the carried object all the time. In the multi-machine cooperation type carrying system of the mobile robots, provided by the embodiment of the invention, the object stages of the three mobile robots can always keep contact with the bottom surface of an object, and the gravity center of the object is ensured to always keep in the supporting area of the mobile robots by reasonably parking the position of the mobile robots under the object. Meanwhile, as the mobile robots can lift or drop the common wheels, when the three mobile robots and the object form a universal mobile platform, each mobile robot serves as a universal driving wheel, has a transverse sliding degree of freedom, and can offset the resistance caused by inconsistent advancing directions of the mobile robots. The three mobile robots capture ArUco identification codes of one adjacent mobile robot through respective cameras, and the relative distance and the relative posture between each mobile robot can be obtained in a mode that the three mobile robots mutually identify the identification codes, so that the queue coordination movement of the three robots is controlled.
The above embodiments are only for illustrating the technical solution of the present invention, and not for limiting the same; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention, and are intended to be included in the scope of the present invention.
Claims (10)
1. A mobile robot, the mobile robot comprising: the device comprises an objective table, a movable body, a supporting mechanism, a driving device, universal wheels and a common wheel module, wherein the objective table is connected with the movable body through the supporting mechanism;
the universal wheels and the common wheel modules are arranged on two sides of the movable body, the common wheel modules comprise common wheels, connecting pieces and connecting blocks, the connecting blocks are used for connecting the common wheels and the connecting pieces, and the connecting pieces are used for connecting the connecting blocks and the movable body;
the movable body is internally provided with a fixing device, the fixing device comprises a rotating base, a first lifting disc, a guide rod and a second lifting disc, the top end of the rotating base is connected with the bottom end of the supporting mechanism, the first lifting disc is connected with the second lifting disc through the guide rod, and the first lifting disc can lock the rotating base.
2. The mobile robot of claim 1, wherein the support mechanism comprises a universal joint and three tension springs, the universal joint and the three tension springs being connected to the stage and the rotating base in a vertical direction, the three tension springs being uniformly distributed around the universal joint and on an edge portion of the stage.
3. The mobile robot of claim 1, wherein the guide rods are four and evenly distributed over the edge portions of the first and second lift plates.
4. The mobile robot of claim 1, wherein the driving means includes a first stepping motor, a second stepping motor, a first screw stepping motor, a second screw stepping motor, and a cylindrical roller, the first stepping motor being disposed at a side of the moving body adjacent to the universal wheel, the second stepping motor being disposed on the common wheel module, the first screw stepping motor being disposed between the first lifting plate and the second lifting plate, the second screw stepping motor being fixed at a bottom of the moving body and being connected to the common wheel module through the cylindrical roller.
5. The mobile robot of claim 4, wherein when the first screw stepping motor is operated, the screw on the first screw stepping motor moves linearly in a vertical direction while pushing the first lifting disk and the second lifting disk.
6. The mobile robot of claim 4, wherein when the second screw stepping motor is operated, the screw on the second screw stepping motor moves linearly in a horizontal direction while pushing the cylindrical roller, and the cylindrical roller pushes or tightens the common wheel module.
7. The mobile robot of claim 1, wherein the mobile body further comprises a first driven wheel and a second driven wheel, the first driven wheel and the second driven wheel being disposed between the common wheel module and the universal wheel and at a bottom end of the mobile body.
8. The mobile robot of claim 7, wherein the first driven wheel and the second driven wheel are spherical rollers.
9. The mobile robot of claim 1, wherein the mobile body is provided with an Aruco code and a camera on a side thereof adjacent to the common wheel.
10. A mobile robot multi-machine collaborative handling system, characterized in that the system comprises three mobile robots, three of which are arranged at the bottom end of the object to be handled, three of which are mobile robots according to any one of claims 1 to 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310063058.XA CN117775610A (en) | 2023-01-16 | 2023-01-16 | Mobile robot and multi-machine cooperation type carrying system thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310063058.XA CN117775610A (en) | 2023-01-16 | 2023-01-16 | Mobile robot and multi-machine cooperation type carrying system thereof |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN117775610A true CN117775610A (en) | 2024-03-29 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310063058.XA Pending CN117775610A (en) | 2023-01-16 | 2023-01-16 | Mobile robot and multi-machine cooperation type carrying system thereof |
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| CN (1) | CN117775610A (en) |
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- 2023-01-16 CN CN202310063058.XA patent/CN117775610A/en active Pending
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