CN118025794B - "Octopus" modular gripping logistics handling robot - Google Patents
"Octopus" modular gripping logistics handling robot Download PDFInfo
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- CN118025794B CN118025794B CN202410279699.3A CN202410279699A CN118025794B CN 118025794 B CN118025794 B CN 118025794B CN 202410279699 A CN202410279699 A CN 202410279699A CN 118025794 B CN118025794 B CN 118025794B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/905—Control arrangements
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/902—Devices for picking-up and depositing articles or materials provided with drive systems incorporating rotary and rectilinear movements
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/907—Devices for picking-up and depositing articles or materials with at least two picking-up heads
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- Mechanical Engineering (AREA)
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Abstract
本发明公开了一种“八爪鱼”式模块化夹持的物流搬运机器人，涉及物流搬运机器人的技术领域，解决了机器人在仓储运输中，由于货物品类，样式繁多，使得任务也变得十分复杂的问题，本发明中，对升降机构的升降、旋转云台的转动及夹爪机构对物品抓取及放置进行控制，使抓取高度和角度更加可变，升降机构上装配有多个同种或者不同种类的夹爪机构，每一个夹爪机构由一个反馈舵机单独控制，使其能够运输不同形状，不同重量的货物，采用视觉识别模块识别物品的位置及行走路径上的障碍物，实现稳定行走，精确抓取，视觉识别模块将识别到的信息输入至智能电控系统，实现自主判断，路径优化计算，智能的点对点的精确搬运，提高搬运的效率，实现高智能化。
The invention discloses an "octopus" type modular clamping logistics handling robot, which relates to the technical field of logistics handling robots and solves the problem that the robot's tasks become very complicated due to the variety of goods categories and styles in warehousing and transportation. In the invention, the lifting and lowering of the lifting mechanism, the rotation of the rotating platform and the gripping and placement of objects by the clamping mechanism are controlled to make the gripping height and angle more variable. The lifting mechanism is equipped with a plurality of the same or different types of clamping mechanisms, each of which is individually controlled by a feedback servo, so that it can transport goods of different shapes and weights. A visual recognition module is used to identify the position of the object and obstacles on the walking path, so as to achieve stable walking and precise gripping. The visual recognition module inputs the identified information into the intelligent electric control system to achieve autonomous judgment, path optimization calculation, intelligent point-to-point precise handling, improve the efficiency of handling, and achieve high intelligence.
Description
Technical Field
The invention relates to the technical field of logistics transfer robots, in particular to an octopus-shaped modularized clamping logistics transfer robot.
Background
In recent years, industrial robots have been put into use in various fields, and particularly, the industrial robots are widely applied and popularized in intelligent warehouse transportation, and provide a wide development prospect. On one hand, based on high integration and intellectualization, the work efficiency is greatly improved, on the other hand, the labor intensity of workers is reduced, the operation cost and resource optimization configuration are reduced, the logistics transfer robot is used as an important component of an intelligent production line, the development requirement of the era is met, and a new development direction is found for solving the problems of high dependence on labor, limited operation capacity in peak period and the like in the logistics industry.
The logistics transportation is mainly divided into three modes of manual transportation, semi-automatic equipment transportation and full-automatic intelligent transportation, wherein the manual transportation is used as the most common mode, and is lower than the robot transportation [1] in speed, efficiency, cost and fineness, so that the manual transportation is gradually replaced by intelligent equipment. The utility model provides a storage logistics robot belongs to in industrial robot's the category, refers to being applied to the goods circulation link, through the mode such as program or the autonomous planning of system presets, realizes the machine device of operations such as full autonomous goods snatchs, transport, pile up neatly, according to scene and function division, includes: AGV robot, pile up neatly robot, letter sorting robot, AMR robot, RGV shuttle five main classes.
Although the technology of the logistics transfer robot is gradually mature at present, in the logistics industry, more requirements are put on the transfer sites, tasks and the degree of completion due to different shapes and sizes of articles to be transferred, so that the self-adaptive function of the robot needs to be improved, and the bottleneck problem of the logistics transfer robot still needs to be solved at present through research and analysis.
(1) The adaptability of the logistics transfer robot is enlarged, and the grabbing height and the grabbing angle are more variable.
(2) Realize commodity circulation transfer robot's multifunctionality, make it can transport the goods of different shapes, different weight.
(3) The automation of the logistics transfer robot is enhanced, and high intellectualization is truly realized.
(4) The speed of carrying back and forth of the logistics carrying robot is accelerated, and the efficiency is improved.
(5) And a vision system is added, so that autonomous judgment, path optimization calculation and intelligent point-to-point accurate transportation are realized.
Disclosure of Invention
Aiming at the problem that tasks become very complex due to various goods and types in warehouse transportation of the generated robots, the invention aims to provide the logistics transfer robot with the 'octopus' type modularized clamping, which can carry out logistics transfer by acquiring information through visual identification through algorithm optimization, mechanical integration, path planning and communication control, so that the robot can autonomously 'think and decide' to complete path planning and feedback output control, enhance the stability and expandability of the whole machine and further improve the accuracy and safety of logistics transportation.
In order to achieve the above purpose, the technical scheme adopted by the invention is as follows:
a "octopus" modular gripping logistics transfer robot, comprising:
The rotary cloud platform 1 is rotatably mounted on the wheel type chassis 3, the rotary cloud platform 5 is used for driving the rotary cloud platform 1 to rotate in the horizontal direction, and the rotary cloud platform 6 is used for driving the rotary cloud platform 1 to rotate in the horizontal direction;
The lifting mechanism 2 is slidably mounted on the rotary holder 1, the lifting driving motor 7 is used for driving the lifting operation device 8 to operate, and the lifting operation device 8 is used for driving the lifting mechanism 2 to displace in the vertical direction;
and the clamping jaw mechanisms 4 are arranged on the lifting mechanism 2, and the clamping jaw mechanisms 4 are used for clamping and carrying articles.
The above-mentioned commodity circulation transfer robot, wherein still includes: the wheel type chassis comprises rollers 10 and a traveling driving motor 9, wherein one roller 10 is arranged at each corner of the bottom surface of the wheel type chassis 3, two traveling driving motors 9 are arranged on the bottom surface of the wheel type chassis 3, one traveling driving motor 9 is used for rolling the two rollers 10 positioned on the left side, and the other traveling driving motor 9 is used for rolling the two rollers 10 positioned on the right side.
The above-mentioned logistics transfer robot, wherein, rotatory cloud platform 1 includes: the top plate support 11, the bottom plate support 12 and a plurality of connection support rods 13, the top plate support 11 and the bottom plate support 12 are parallel, a plurality of connection support rods 13 are all vertically arranged, and each corner of the top plate support 11 and one corner of the bottom plate support 12 are connected through one connection support rod 13.
The above-mentioned commodity circulation transfer robot, wherein still includes: linear bearings 14, each connecting strut 13 is slidably provided with one linear bearing 14, and a plurality of linear bearings 14 are mounted on the lifting mechanism 2.
The above-mentioned commodity circulation transfer robot, wherein still includes: the lifting motor mounting seat 15 and the rotating shaft mounting seat 16 are arranged on the bottom plate support 12, the rotating shaft mounting seat 16 is arranged on the top plate support 11, and the lifting driving motor 7 is arranged on the lifting motor mounting seat 15.
The above logistics transport robot, wherein the lifting operation device 8 comprises: the lifting driving wheel 17, the lifting driven wheel 18 and the lifting driving belt 19, wherein the lifting driving wheel 17 is arranged at the output end of the lifting driving motor 7, the lifting driven wheel 18 is rotatably arranged on the rotating shaft mounting seat 16, the inner side of the lifting driving belt 19 is provided with a tooth part, and the lifting driving wheel 17 and the lifting driven wheel 18 are meshed with the lifting driving belt 19.
The above-mentioned logistics transfer robot, wherein, install rotatable drive gear on elevating system 2, drive gear with lift drive belt 19 meshes mutually, lift drive belt 19 is used for the drive gear rotates and then drives elevating system 2 in vertical direction displacement.
The above-mentioned logistics transfer robot, wherein the rotation operation device 6 includes: the rotary driving wheel 20 and the rotary driven wheel 21, the rotary driving motor 5 is arranged on the wheel chassis 3, the rotary driving wheel 20 is arranged at the output end of the rotary driving motor 5, the rotary driven wheel 21 is arranged on the bottom plate bracket 12, and the rotary driving wheel 20 and the rotary driven wheel 21 are meshed with each other.
The above-mentioned logistics transfer robot, wherein, rotatory cloud platform 1 still includes: a plurality of support links, one end of each of which is connected to the top plate bracket 11, and the other end of each of which is connected to one of the jaw mechanisms 4;
The jaw mechanism 4 includes: the vacuum air pump comprises a sucker 41, a feedback steering engine, a vacuum driving motor 42 and a vacuum air pump 43, wherein the sucker 41 is arranged at the other end of each supporting connecting rod, the feedback steering engine is used for adjusting the position of the sucker 41, the vacuum driving motor 42 is used for driving the vacuum air pump 43 to operate, the sucker 41 is communicated with the vacuum air pump 43, and the vacuum air pump 43 is used for driving the sucker 41 to suck articles;
The jaw mechanism 4 further comprises: and the mechanical clamping jaw 44 is used for feeding back a steering engine to drive the mechanical clamping jaw 44 to clamp an article.
The above-mentioned commodity circulation transfer robot, wherein still includes: the intelligent electric control system, the visual identification module, the laser instrument measuring device and the wireless controller are in signal communication with the intelligent electric control system, and the feedback steering engine, the vacuum driving motor 42, the rotation driving motor 5, the lifting driving motor 7, the walking driving motor 9, the visual identification module, the laser instrument measuring device and the wireless controller.
The invention adopts the technology, so that compared with the prior art, the invention has the positive effects that:
(1) According to the invention, the laser assistance, visual guidance, intelligent communication feedback and segmented grabbing concepts are combined, and all links cooperate with each other to realize accurate positioning and grabbing of the carrying target, so that the carrying target can meet carrying tasks of various articles to the greatest extent;
(2) In the invention, the visual recognition module is adopted to recognize the position of an article, and simultaneously recognize the obstacle existing on the path in the walking process, so that stable walking and accurate grabbing are realized, the visual recognition module inputs the recognized information into the intelligent electric control system, autonomous judgment, path optimization calculation and intelligent point-to-point accurate carrying are realized, the carrying efficiency is improved, and high intellectualization is realized;
(3) According to the invention, the lifting driving motor is controlled by the intelligent electric control system, lifting of the lifting mechanism is realized, the rotating driving motor is controlled by the intelligent electric control system, rotation of the rotary cradle head is realized, the feedback steering engine is controlled by the intelligent electric control system, the gripping jaw mechanisms are used for gripping and placing objects, the gripping height and angle are more variable, the lifting mechanism is detachably provided with a plurality of gripping jaw mechanisms of the same kind or different kinds, each gripping jaw mechanism is independently controlled by one feedback steering engine, and multifunctionalization of the logistics carrying robot is realized, so that the logistics carrying robot can transport goods of different shapes and different weights.
Drawings
Fig. 1 is a front view of a "octopus" type modular gripping logistics transfer robot of the present invention.
Fig. 2 is a first partial enlarged view of fig. 1.
Fig. 3 is a second partial enlarged view of fig. 2.
Fig. 4 is a top view of fig. 1.
Fig. 5 is a partial enlarged view of fig. 4.
Fig. 6 is a side view of fig. 4.
Fig. 7 is a first partial enlarged view of fig. 6.
Fig. 8 is a second partial enlarged view of fig. 6.
Fig. 9 is a schematic structural view of a logistic transfer robot with "octopus" type modular gripping according to the present invention.
Fig. 10 is a first partial enlarged view of fig. 9.
Fig. 11 is a second partial enlarged view of fig. 9.
Fig. 12 is a control schematic diagram of a logistics transfer robot with "octopus" type modular gripping according to the present invention.
In the accompanying drawings: 1. rotating the cradle head; 2. a lifting mechanism; 3. a wheeled chassis; 4. a jaw mechanism; 5. a rotary drive motor; 6. rotating the operation device; 7. a lifting driving motor; 8. lifting operation device; 9. a walking driving motor; 10. a roller; 11. a top plate bracket; 12. a bottom plate bracket; 13. a connecting strut; 14. a linear bearing; 15. a lifting motor mounting seat; 16. a rotating shaft mounting seat; 17. lifting the driving wheel; 18. lifting the driven wheel; 19. lifting the transmission belt; 20. rotating the driving wheel; 21. rotating a driven wheel; 41. a suction cup; 42. a vacuum driving motor; 43. a vacuum air pump; 44. mechanical clamping jaw.
Detailed Description
The invention is further described below with reference to the drawings and specific examples, which are not intended to be limiting.
Referring to fig. 1 to 12, there is shown a logistics transfer robot with "octopus" type modular gripping, comprising:
The rotary cloud platform 1 is rotatably mounted on the wheel type chassis 3, the rotary cloud platform 5 is used for driving the rotary cloud platform 1 to rotate in the horizontal direction, and the rotary cloud platform 6 is used for driving the rotary cloud platform 1 to rotate in the horizontal direction;
The lifting mechanism 2 is slidably mounted on the rotary holder 1, the lifting driving motor 7 is used for driving the lifting operation device 8 to operate, and the lifting operation device 8 is used for driving the lifting mechanism 2 to displace in the vertical direction;
and the clamping jaw mechanisms 4 are arranged on the lifting mechanism 2, and the clamping jaw mechanisms 4 are used for clamping and carrying articles.
Further, in a preferred embodiment, the method further comprises: the wheel type chassis comprises rollers 10 and a traveling driving motor 9, wherein one roller 10 is arranged at each corner of the bottom surface of the wheel type chassis 3, two traveling driving motors 9 are arranged on the bottom surface of the wheel type chassis 3, one traveling driving motor 9 is used for rolling the two rollers 10 positioned on the left side, and the other traveling driving motor 9 is used for rolling the two rollers 10 positioned on the right side.
Further, in a preferred embodiment, the rotary head 1 comprises: the top plate support 11, the bottom plate support 12 and a plurality of connection support rods 13, the top plate support 11 and the bottom plate support 12 are parallel, a plurality of connection support rods 13 are all vertically arranged, and each corner of the top plate support 11 and one corner of the bottom plate support 12 are connected through one connection support rod 13.
Further, in a preferred embodiment, the method further comprises: the linear bearings 14 are slidably mounted on each connecting strut 13, and a plurality of linear bearings 14 are mounted on the lifting mechanism 2.
Further, in a preferred embodiment, the method further comprises: the lifting motor mounting seat 15 and the rotating shaft mounting seat 16 are arranged on the bottom plate support 12, the rotating shaft mounting seat 16 is arranged on the top plate support 11, and the lifting driving motor 7 is arranged on the lifting motor mounting seat 15.
Further, in a preferred embodiment, the lifting operation device 8 includes: the lifting driving wheel 17, the lifting driven wheel 18 and the lifting driving belt 19, wherein the lifting driving wheel 17 is arranged at the output end of the lifting driving motor 7, the lifting driven wheel 18 is rotatably arranged on the rotating shaft mounting seat 16, the inner side of the lifting driving belt 19 is provided with a tooth part, and the lifting driving wheel 17 and the lifting driven wheel 18 are meshed with the lifting driving belt 19.
Further, in a preferred embodiment, the lifting mechanism 2 is provided with a rotatable driving gear, the driving gear is meshed with a lifting driving belt 19, and the lifting driving belt 19 is used for driving the driving gear to rotate so as to drive the lifting mechanism 2 to move in the vertical direction.
Further, in a preferred embodiment, the rotary motion device 6 comprises: the rotary driving wheel 20 and the rotary driven wheel 21, the rotary driving motor 5 is arranged on the wheel chassis 3, the rotary driving wheel 20 is arranged at the output end of the rotary driving motor 5, the rotary driven wheel 21 is arranged on the bottom plate bracket 12, and the rotary driving wheel 20 and the rotary driven wheel 21 are meshed with each other.
Further, in a preferred embodiment, the rotary head 1 further comprises: a plurality of support links, one end of each of which is connected to the top plate bracket 11, and the other end of each of which is connected to one of the jaw mechanisms 4;
The jaw mechanism 4 includes: the vacuum sucking disc 41, the feedback steering engine, the vacuum driving motor 42 and the vacuum air pump 43 are arranged at the other end of each supporting connecting rod, the feedback steering engine is used for adjusting the position of the sucking disc 41, the vacuum driving motor 42 is used for driving the vacuum air pump 43 to operate, the sucking disc 41 is communicated with the vacuum air pump 43, and the vacuum air pump 43 is used for driving the sucking disc 41 to suck articles;
the jaw mechanism 4 further comprises: the mechanical clamping jaw 44, the feedback steering engine is used for driving the mechanical clamping jaw 44 to clamp the article.
Further, in a preferred embodiment, the method further comprises: the intelligent electric control system, the visual identification module, the laser instrument measuring device and the wireless controller are in signal communication with the intelligent electric control system, and the feedback steering engine, the vacuum driving motor 42, the rotation driving motor 5, the lifting driving motor 7, the walking driving motor 9, the visual identification module, the laser instrument measuring device and the wireless controller.
The foregoing is merely a preferred embodiment of the present invention, and is not intended to limit the embodiments and the protection scope of the present invention.
The present invention has the following embodiments based on the above description:
In a further embodiment of the invention, the whole machine design concept and model: based on the existing information platform and actual requirements, influences of various factors on the structure are comprehensively considered, and from the actual task requirements, a robot with environment sensing, path planning, autonomous control and communication interconnection capabilities is designed, so that autonomous working tasks in a specific space are realized, on the overall design, each unit of the robot is subjected to modularized treatment, hardware equipment and deepened information scheduling are increased, related equipment components such as a complete driver, a conveyor and an environment sensing unit are equipped, and a model capable of accurately reflecting the overall performance of the robot is built, so that automation, intellectualization and visualization of the robot are realized in the whole movement process, and convenience, accuracy and functionality [2] of article handling are improved.
In a further embodiment of the invention, the mechanical lifting device comprises: lifting main body supporting structure and lifting operation device 8, lifting main body supporting structure: the lifting mechanism 2 is carried on the rotary cradle head 1, the operations of lifting and stacking objects and the like are realized by matching with a synchronous belt and a linear bearing 14, the synchronous belt is a lifting driving belt 19 with a toothed structure on the inner side, a lifting driving wheel 17, a lifting driven wheel 18 and a driving gear positioned on the lifting mechanism 2 are all meshed with the toothed structure on the inner side of the lifting driving belt 19, the lifting driving motor 7 drives the driving wheel 17 to rotate, the lifting driving belt 19 is driven to rotate so as to drive the driving gear to rotate, the lifting of the lifting mechanism 2 is realized, the supporting main body is considered to bear certain weight and pressure, deformation is not easy to generate, the weight cannot be too large, the load is avoided to be caused to the wheel type chassis 3, the rotary cradle head 1 is made of carbon fiber, and through repeated experiments, the carbon fiber has higher strength and rigidity, the expected aim of design is effectively achieved, and the stable and reliable lifting support is realized. The lifting driving motor 7 is a Da Jiang 3508 motor, the Da Jiang 3508 motor is additionally arranged at the upper end of the mechanism and used as a power source of a synchronous belt, the lifting driving motor 7 is connected with an intelligent electric control system, meanwhile, a C610 electric control chip and an F3 control chip are connected into the intelligent electric control system, and high-strength materials and high-precision magnetic steel are fully considered, so that high-efficiency motor control is realized when the lifting driving motor runs at a high speed, stronger output power and anti-interference capability can be provided, the lifting driving motor is more suitable for various task scenes, and the lifting driving motor is matched with the C610 electric control chip and the F3 control chip, so that the mechanical clamping jaw 44 mechanism 4 can be controlled to accurately reach the required height when in grabbing.
In a further embodiment of the invention, the lifting operation means 8: the lifting device is based on aluminum alloy and carbon fiber support, and adopts a motion mode of a lifting transmission belt 19 and a linear bearing 14 system, and the synchronous belt transmission system has high-efficiency energy transmission characteristics and can effectively transmit driving force to the lifting device.
In a further embodiment of the invention, the lifting drive belt 19 has a certain elasticity and stretching capability, can bear large tension, and can provide high-precision lifting movement while reducing lifting friction so as to realize precise position control and movement synchronization.
In a further embodiment of the present invention, the linear bearing 14 can bear a larger radial load and a stable linear guide, so that the whole system can handle various load conditions, and the lifting process is more stable and accurate, and in addition, the low friction characteristic, high rigidity and other design characteristics of the linear bearing 14 can reduce energy loss and effectively improve the efficiency of the system.
In a further embodiment of the present invention, further comprising: the utility model provides a rotatory cloud platform and multiple spot position modularization gripper, for realizing diversified object snatchs, designs an inside and outside bilayer structure and can the rotatory control cloud platform of qxcomm technology, utilizes the carbon fiber stand as cloud platform direction of motion slide rail, adopts inner circle and hold-in range to link to each other control whole lift, and the inside rack of outer lane is interlock with independent internal gear each other, drives cloud platform outer lane rotary motion through the gear.
In a further embodiment of the invention, in actual article carrying, due to the different shapes, sizes and materials of carried articles, the single use of a mechanical claw cannot finish carrying work of all articles, and based on the modular concept, a scheme of reserving a plurality of points on a holder to mount different types of clamping claws is adopted, so that the design is different from the traditional carrying robot, and the mechanical claw carrying device has obvious advantages and can simultaneously realize diversified grabbing tasks.
In a further embodiment of the invention, various mechanical claws can be reasonably combined and installed according to different requirements of specific tasks, and operations such as grabbing, clamping, screwing and the like are realized, so that rapid switching is performed in operation, the versatility and applicability of the robot are effectively improved, and application to different task scenes is realized.
In a further embodiment of the invention, various mechanical claws can be reasonably combined and installed according to different requirements of specific tasks, so that the robot can be distributed fairly among objects, the number of tasks completed by the robot is effectively increased, the distribution efficiency of a system is improved, and the waiting time and the comprehensive cost are reduced.
In a further embodiment of the invention, different types of claws can be uniformly distributed on the rotary tripod head 1, so that the load is more balanced, the overall stability and the operation effect of the robot are improved, the working efficiency is improved, and the downtime is reduced.
In a further embodiment of the invention, the experimental result shows that the method can better adapt to the actual application requirement and improve the efficiency.
In a further embodiment of the invention, the design of the adaptive auxiliary gripper: the self-adaptive auxiliary mechanical claw is designed to finish some grabbing and stacking arrangement aiming at round and special shapes, the tail end executing mechanism adopts a combined mechanism of a sucker 41 and a mechanical clamping jaw 44, and the top part adopts a working principle of vacuum adsorption grabbing, so that the effects of not damaging the appearance and stably grabbing are achieved.
In a further embodiment of the invention, the sucker 41 can sense the current position and state in real time through the control of the feedback steering engine, realize more accurate position control, thereby realizing higher control precision, the motor drives the vacuum air pump 43 during operation, strong adsorption force is generated by using pressure intensity, objects with different shapes and smooth surfaces can be easily adsorbed, the external telescopic mechanical clamping jaw 44 can automatically extend out to assist clamping to maintain the stability of the adsorption force through the connection control of the intelligent feedback LX-224 serial bus steering engine when needed, and pulse signals can be timely sent to the control unit through sensing pressure, such as sensing the pressure, so that the clamping movement is limited or stopped, the damage to the objects caused by overlarge clamping force is avoided, and the safety is enhanced. The electric suction cup 41 can complete the adsorption and release in a short time by controlling the motor, thereby improving the working efficiency.
In a further embodiment of the invention, the electronic control system is designed: the electric control design core of the robot is deep learning, intelligent communication, accurate feedback and optimization algorithm, the intelligent electric control system is based on a high-efficiency processor, an STM32 singlechip is selected as a robot control processing core, a spatial position and geometric pose parameter analysis model [4] of the intelligent transfer robot is established through integrating information network communication and feedback mechanisms as ties [3], timely data correction is performed within a data calculation error constraint range, and finally accurate control of an end effector of the transfer robot is realized.
In a further embodiment of the invention, the visual recognition module: vision is used as eyes of a robot, basic image data of environments and objects are provided for the robot, through experimental comparison, openMv H vision modules are selected, because the kernel of the robot adopts MT9M114 camera modules, programming is carried out by using a Python programming language, 60FPS 640x480 8-bit gray level images or 16-bit RGB565 images are supported, 120FPS 320x240 image acquisition is supported at the highest, expansion can be added according to task and scene requirements, the robot has the advantages of simplicity in operation, accuracy in positioning, quickness in response, high efficiency and the like, the robot acquires and identifies an image of a target to be carried through the modules, decomposes a target area and calculates the centroid position, the robot can adapt to various complex sites to the greatest extent, full coverage identification of an operation area is realized, and clear and reliable implementation data support is provided for robot line planning and optimal path calculation.
In a further embodiment of the invention, the object profile recognition and planning mechanism: the operation core of the robot is that an information processor feeds back, a position error compensation method is adopted, a three-dimensional vision technology is utilized to detect objects and create three-dimensional images, the robot corrects the data of the contours and the space positions of the grabbed objects, the method of ultra-micro parameter estimation and robust parameter identification is deepened through an algorithm, the best pick-up position is analyzed and selected, and the control execution of an output terminal of the robot is realized by combining the assistance of a laser instrument measuring device.
In a further embodiment of the invention, an incremental PID algorithm is transplanted into a core processor to form a complete control logic closed loop so as to realize stable operation of the electric control system of the driving transfer robot. The result shows that the system has better stability, safety and various performance indexes, can effectively decompose and identify a working target area to the greatest extent according to the field condition, automatically detect the position of an article, accurately position the spatial position of the article and optimally plan a path, and adjust the path by utilizing feedback information of a sensor at any time so as to realize autonomous identification and guidance, thereby improving the overall working accuracy of the logistics robot.
In a further embodiment of the invention, the main control board and information feedback design: the robot adopts based on STM32 chip control system, this main control board possesses the function diversification and high integration, as robot system's bottom control board, have 6 way IO expansion mouths, 5 way PWM ripples control steering wheel, 4 way PWM ripples control direct current gear motor, write control program with SWD interface fever, can realize the encoder and control motor [5,6] with the mode of closed loop through 4 way serial ports and PC communication, two other way serial ports, communicate with camera and laser module respectively, with the self-adaptation ability [7] of improvement robot, through circuit and the required main control board of motion control and the required pneumatic board of gas circuit control, realize the optimal control of robot successfully, simplify the wiring with power, the motor simultaneously, make the wiring more firm, succinct, convenient to overhaul.
In a further embodiment of the invention, a wireless controller special for the robot is designed for use in a debugging stage, the trolley is controlled to realize omnidirectional movement through a rocker function, twenty-six custom keys are provided to realize single instruction transmission, a later debugging path is convenient, a capacitive screen is used for receiving real-time feedback data of the robot, and debugging and timely problem finding are convenient.
In a further embodiment of the invention, the optimization algorithm based on PID control: the PID algorithm refers to a PID controller (also called a PID regulator) that controls the process according to the proportion (P), integral (I) and derivative (D) of the deviation. As an intelligent optimization control, the intelligent optimization control method has the advantages of simple principle, easy realization, wide application range, mutually independent control parameters, simple parameter selection and the like, and is widely applied to various automatic control fields. The PID controller after discretization controls the transfer robot to move to the target position and complete task work [8] by calculating the given value and the detection value by calculating the proportion, the calculus and the like.
In a further embodiment of the invention, the discretization formula:
Δu(t)＝q0e(t)+q1e(t-1)+q2e(t-2)
When |e (t) | is less than or equal to beta; q0=kp (1+t/ti+td/T); q1= -Kp (1+2td/T); q2=kptd/T
When |e (t) | > β; q0=kp (1+td/T); q1= -Kp (1+2td/T); q2=kptd/T
u(t)＝u(t-1)+Δu(t)
In a further embodiment of the invention, the difference between the control quantity and the given value which are finally output is used for PID calculation so as to achieve the aim of good control, compared with the traditional manual robot, the intelligent robot does not need manual intervention, utilizes a vision module and a sensor which are carried by the intelligent robot to collect environmental data, judges the environment and corrects the numerical value through a PID algorithm, finally dynamically plans the operation path, realizes quick response, shortens the transportation time and autonomous operation, ensures that the given task is completed, and obviously improves the processing speed, the mobility, the reliability and the like through continuous iteration [9].
In a further embodiment of the present invention, the intelligent transfer robot in the complex environment is a hotspot problem in the robot field all the time, and the present design drawbacks of the transfer robot are consulted and summarized, and the present design drawbacks are taken as a starting point, so that the present design drawbacks are consulted, the advantages are used as a reference, the present design problems are combined with the internet technology and the data detection technology, and the present design method is combined with the structural reconstruction, the information exchange, and the internet technology, so that the present intelligent transfer robot capable of automatically sensing and information processing is designed, thereby further realizing the efficient logistics transfer task, and further checking the working efficiency and the control precision of the design scheme.
In a further embodiment of the present invention, the references cited herein are as follows:
[1] Ma Yaofeng, li Gongli. Automatic control system for mowing robot-based on intelligent vision and manual algorithm [ J ]. Agro-mechanization research 2020,42 (08): 222-226.
[2] Door fly, robot intelligent logistics system design based on Internet of things [ J ]. Integrated Circuit application 2022,39 (10): 164-165.
[3] Wei Jianhua, li Anyi, cheng Qiyuan, sun Xin. Operating room intelligent logistics system construction research based on intelligent shelves and logistics robots [ J ]. Chinese medical equipment, 2022,19 (02): 137-141.
[4] Hu Rong, zhang Xiaobao, tan Juhua design of intelligent logistics sorting follower robot based on deep learning, research [ J ]. China storage and transportation, 2022, (02): 141-142.
[5] Zhou Zinan, yang Qi, he Haiyan. Design of STM 32-based intelligent logistics robot [ J ]. Jiujiang university journal (Nature science edition), 2020,35 (02): 71-77.
[6] Deng Yuxin, chen Hongfang, zhang Shuang, wang, liang Chaowei, sun Reshui. Design of a smart logistics wheeled tracking robotic system [ J ]. Tool technology, 2022,56 (06): 57-60.
[7] Mao Fuxin, guanghui, chen Qiaorui, project wave. Intelligent logistics scene transfer robot systems optimization [ J ]. University of Tianjin professional technology university journal 2022,32 (03): 40-46.
[8] Li Cheng satellite, around, li Haiyan intelligent logistics sorting robot control based on laser vision guidance, J. Laser journal, 2022,43 (08): 217-222.
[9] Sun Ming, wang Saiyuan, xie Ziyang, gao Si Chi. Autonomous Mobile Robot (AMR) analysis for intelligent logistics [ J ]. Masses standardization, 2021, (06): 151-153.
In a further embodiment of the present invention, the rotary cradle head 1 is rotatably mounted on the wheel chassis 3, the rotary driving motor 5 is mounted on the wheel chassis 3, and the rotary operation device 6 includes: the rotary cloud platform comprises a rotary driving wheel 20 and a rotary driven wheel 21, wherein the rotary driving wheel 20 is arranged at the output end of a rotary driving motor 5, the rotary driven wheel 21 is arranged on the rotary cloud platform 1, the rotary driving motor 5 drives the rotary driving wheel 20 to rotate, the rotary driving wheel 20 is meshed with the rotary driven wheel 21, and the rotary driving wheel 20 drives the rotary driven wheel 21 to rotate so as to realize the rotation of the rotary cloud platform 1.
In a further embodiment of the present invention, the material of the rotary tripod head 1 is carbon fiber, and through trial and error, the carbon fiber has high strength and rigidity, the lifting mechanism 2 is slidably mounted on the rotary tripod head 1 through the linear bearing 14, the linear bearing 14 can bear large radial load and stable linear guidance, the lifting driving motor 7 is mounted on the rotary tripod head 1,
In a further embodiment of the present invention, the elevation operation device 8 includes: the lifting driving wheel 17, the lifting driven wheel 18 and the lifting driving belt 19, the lifting driving wheel 17 is arranged at the output end of the lifting driving motor 7, the lifting driving wheel 17 and the lifting driven wheel 18 are engaged with the toothed structure on the inner side of the lifting driving belt 19, the lifting driving motor 7 drives the lifting driving wheel 17 to rotate so as to drive the lifting driving belt 19 to rotate, the lifting mechanism 2 is provided with a driving gear, the driving gear is engaged with the toothed structure on the inner side of the lifting driving belt 19, and the lifting driving belt 19 rotates to drive the lifting mechanism 2 to lift.
In a further embodiment of the invention, a visual identification module is installed on the rotary holder 1, the visual identification module is OpenMv H visual modules, the visual identification module is connected with the intelligent electronic control system through signals, and the visual identification module is used for acquiring the surrounding environment information of the robot and the position relationship between the clamping jaw mechanism 4 and the articles, so that the intelligent electronic control system can conveniently control the clamping jaw mechanism 4 to grasp the articles.
In a further embodiment of the invention, a laser instrument measuring device is arranged on the rotary holder 1, and the laser instrument measuring device is used for measuring the distance between an obstacle and a robot on a walking path of the robot and measuring the distance between the clamping jaw mechanism 4 and an article.
In a further embodiment of the invention, a feedback steering engine is arranged on the rotary holder 1, the laser instrument measuring device is connected with the feedback steering engine through signals, and the feedback steering engine is used for controlling the clamping jaw mechanism 4 to rotate at a small angle, so that the grabbing precision of the clamping jaw mechanism 4 on articles is improved.
In a further embodiment of the invention, the clamping jaw mechanism 4 comprises a vacuum air pump 43 and a sucker 41, wherein the vacuum air pump 43 drives the sucker 41 to operate, and the sucker 41 sucks articles.
In a further embodiment of the invention, the clamping jaw mechanism 4 comprises a mechanical clamping jaw 44, the feedback steering engine controls the mechanical clamping jaw 44 to grab an article, meanwhile, the deformation degree of the article is monitored through the visual identification module, the grabbing force of the mechanical clamping jaw 44 to the article is controlled, and the article deformation caused by grabbing of the mechanical clamping jaw 44 is avoided.
In a further embodiment of the invention, the clamping jaw mechanism 4 can be detached and replaced, and the clamping jaw mechanism 4 can be selected from a plurality of clamping jaws of different types to realize the grabbing of different kinds of objects.
In a further embodiment of the invention, the clamping jaw mechanism 4 can be selected from a plurality of different types of clamping jaws, the expansion, rotation and grabbing of the clamping jaw mechanism 4 are controlled by the feedback steering engine, the precision is high, and meanwhile, the clamping jaw mechanism 4 is effectively prevented from damaging the surface of an article or causing the deformation of the article.
In a further embodiment of the invention, the lifting of the lifting mechanism 2 is controlled by a PID algorithm and driven by a lifting driving motor 7, so that the accurate lifting of the lifting mechanism 2 is realized.
In a further embodiment of the present invention, the two walking driving motors 9 respectively control the rollers 10 at two sides to roll to realize forward and backward movements, thereby realizing the functions of steering and walking.
In a further embodiment of the invention, after the position of an object to be grabbed is identified through the visual identification module, the intelligent electronic control system controls the driving motor 9 to operate, the driving motor 9 drives the rollers 10 at two sides to roll so as to realize forward and backward movement, the logistics carrying robot moves to a position convenient for grabbing the object to be grabbed, the driving motor 5 is rotated to drive the rotary holder 1 to rotate, the clamping jaw mechanism 4 is positioned above the object to be grabbed, the lifting driving motor 7 drives the lifting mechanism 2 to move downwards, the clamping jaw mechanism 4 on the lifting mechanism 2 grabs the object, the grabbing process is monitored in the whole process through the visual identification module and transmitted by the feedback steering engine, the intelligent electronic control system adjusts the rotation angle of the rotary holder 1 and the height of the lifting mechanism 2 at a small angle, the clamping jaw mechanism 4 is convenient for grabbing the object, the feedback steering engine controls the clamping jaw mechanism 4 to complete grabbing the object, the lifting mechanism 2 is driven to ascend, the lifting mechanism 2 is controlled to a specified height and lifts the object, the intelligent electronic control system controls the driving motor 9 to move to the next place another object to grab or place the object, the lifting driving motor 7 moves downwards, and then the steering engine controls the feedback steering engine 4 to grab the object.
In a further embodiment of the invention, the logistics carrying robot is of an 'octopus' structure, the lifting mechanism 2 is detachably provided with a plurality of clamping jaw mechanisms 4 of the same kind or different kinds, so that a plurality of different kinds of objects can be grabbed on one path, meanwhile, the time consumed in the round trip process is reduced, each clamping jaw mechanism 4 is independently controlled by one feedback steering engine, and the feedback steering engines are all connected into the intelligent electric control system.
In a further embodiment of the invention, the visual recognition module is used for recognizing the position of the article, and simultaneously recognizing the obstacle existing on the path in the walking process, so that stable walking and accurate grabbing are realized, the visual recognition module inputs the recognized information into the intelligent electronic control system, autonomous judgment, path optimization calculation, intelligent point-to-point accurate carrying are realized, carrying efficiency is improved, and high intellectualization is realized.
In a further embodiment of the invention, the lifting driving motor 7 is controlled by the intelligent electric control system to realize the lifting of the lifting mechanism 2, the rotating driving motor 5 is controlled by the intelligent electric control system to realize the rotation of the rotary holder 1, the feedback steering engine is controlled by the intelligent electric control system to realize the grabbing and placing of the clamping jaw mechanism 4 on the article, so that the grabbing height and the grabbing angle are more variable, a plurality of clamping jaw mechanisms 4 of the same kind or different kinds are detachably assembled on the lifting mechanism 2, and each clamping jaw mechanism 4 is independently controlled by one feedback steering engine to realize the multifunction of the logistics transfer robot, so that the logistics transfer robot can transport goods of different shapes and weights.
The foregoing is merely illustrative of the preferred embodiments of the present invention and is not intended to limit the embodiments and scope of the present invention, and it should be appreciated by those skilled in the art that equivalent substitutions and obvious variations may be made using the description and illustrations of the present invention, and are intended to be included in the scope of the present invention.
Claims (3)
1. The utility model provides a logistics transfer robot of "octopus" type modularization centre gripping which characterized in that includes:
The rotating cloud platform comprises a wheel type chassis (3), a rotating cloud platform (1), a rotating running device (6) and a rotating driving motor (5), wherein the rotating cloud platform (1) is rotatably installed on the wheel type chassis (3), the rotating driving motor (5) is used for driving the rotating running device (6) to run, and the rotating running device (6) is used for driving the rotating cloud platform (1) to rotate in the horizontal direction; the rotary cradle head (1) is made of carbon fiber;
The lifting mechanism (2), the lifting operation device (8) and the lifting driving motor (7), wherein the lifting mechanism (2) is slidably arranged on the rotary cradle head (1), the lifting driving motor (7) is used for driving the lifting operation device (8) to operate, and the lifting operation device (8) is used for driving the lifting mechanism (2) to displace in the vertical direction;
The clamping jaw mechanisms (4) are arranged on the lifting mechanism (2), and the clamping jaw mechanisms (4) are used for clamping and carrying articles;
the rotary pan-tilt (1) comprises: the device comprises a top plate support (11), a bottom plate support (12) and a plurality of connecting struts (13), wherein the top plate support (11) is parallel to the bottom plate support (12), the connecting struts (13) are vertically arranged, and each corner of the top plate support (11) is connected with one corner of the bottom plate support (12) through one connecting strut (13);
The linear bearings (14) are slidably arranged on each connecting support rod (13), one linear bearing (14) is arranged on each connecting support rod, and a plurality of the linear bearings (14) are arranged on the lifting mechanism (2);
the lifting operation device (8) comprises: the lifting driving wheel (17), the lifting driven wheel (18) and the lifting transmission belt (19), wherein the lifting driving wheel (17) is arranged at the output end of the lifting driving motor (7), the lifting driven wheel (18) is rotatably arranged on the rotating shaft mounting seat (16), the inner side of the lifting transmission belt (19) is provided with a tooth part, and the lifting driving wheel (17) and the lifting driven wheel (18) are meshed with the lifting transmission belt (19);
The lifting mechanism (2) is provided with a rotatable driving gear, the driving gear is meshed with the lifting transmission belt (19), and the lifting transmission belt (19) is used for driving the driving gear to rotate so as to drive the lifting mechanism (2) to move in the vertical direction; the lifting driving motor (7) drives the lifting driving wheel (17) to rotate, drives the lifting driving belt (19) to rotate and further drives the driving gear to rotate, so that the lifting of the lifting mechanism (2) is realized;
Further comprises: the wheel type chassis comprises rollers (10) and walking driving motors (9), wherein one roller (10) is arranged at each corner of the bottom surface of the wheel type chassis (3), two walking driving motors (9) are arranged on the bottom surface of the wheel type chassis (3), one walking driving motor (9) is used for rolling the two rollers (10) positioned on the left side, and the other walking driving motor (9) is used for rolling the two rollers (10) positioned on the right side;
the rotary tripod head (1) further comprises: a plurality of support links, one end of each support link being connected to the top plate bracket (11), the other end of each support link being connected to one of the jaw mechanisms (4);
the jaw mechanism (4) comprises: the vacuum air pump comprises suction cups (41), feedback steering gears, vacuum driving motors (42) and vacuum air pumps (43), wherein one suction cup (41) is arranged at the other end of each supporting connecting rod, the feedback steering gears are used for adjusting the positions of the suction cups (41), the vacuum driving motors (42) are used for driving the vacuum air pumps (43) to operate, the suction cups (41) are communicated with the vacuum air pumps (43), and the vacuum air pumps (43) are used for driving the suction cups (41) to suck articles;
the jaw mechanism (4) further comprises: a mechanical clamping jaw (44), wherein a feedback steering engine is used for driving the mechanical clamping jaw (44) to clamp an article;
Further comprises: the intelligent control system, the visual identification module, the laser instrument measuring device and the wireless controller are in signal communication with the intelligent control system, and the feedback steering engine, the vacuum driving motor (42), the rotation driving motor (5), the lifting driving motor (7), the walking driving motor (9), the visual identification module, the laser instrument measuring device and the wireless controller are all in signal communication with the intelligent control system.
2. The logistics transfer robot of claim 1, further comprising: lifting motor mount pad (15) and pivot mount pad (16), install lifting motor mount pad (15) on bottom plate support (12), install pivot mount pad (16) on roof support (11), lifting drive motor (7) are installed on lifting motor mount pad (15).
3. The logistics transfer robot of claim 1, wherein the rotational movement means (6) comprises: the rotary driving wheel (20) and the rotary driven wheel (21), the rotary driving motor (5) is arranged on the wheel type chassis (3), the rotary driving wheel (20) is arranged at the output end of the rotary driving motor (5), the rotary driven wheel (21) is arranged on the bottom plate bracket (12), and the rotary driving wheel (20) and the rotary driven wheel (21) are meshed with each other.
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Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN207903496U (en) * | 2017-12-13 | 2018-09-25 | 浙江机电职业技术学院 | A kind of grabbing device of automatic identification package |
| CN110282330A (en) * | 2018-12-29 | 2019-09-27 | 杭州慧盈智能科技有限公司 | A kind of storage transfer robot and its working method |
| CN210939322U (en) * | 2019-11-28 | 2020-07-07 | 西北农林科技大学 | Picking mechanical claw |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN209109626U (en) * | 2018-10-22 | 2019-07-16 | 河北精联物流装备制造有限公司 | Octopus cargo sorting device |
| CN110902378B (en) * | 2019-12-10 | 2021-09-17 | 邯郸学院 | Short-distance carrying device for logistics storage |
| CN111470240A (en) * | 2020-06-05 | 2020-07-31 | 北京极智嘉科技有限公司 | Container carrying robot and using method thereof |
| CN218255128U (en) * | 2021-12-14 | 2023-01-10 | 浙江理工大学 | An intelligent logistics handling robot |
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Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN207903496U (en) * | 2017-12-13 | 2018-09-25 | 浙江机电职业技术学院 | A kind of grabbing device of automatic identification package |
| CN110282330A (en) * | 2018-12-29 | 2019-09-27 | 杭州慧盈智能科技有限公司 | A kind of storage transfer robot and its working method |
| CN210939322U (en) * | 2019-11-28 | 2020-07-07 | 西北农林科技大学 | Picking mechanical claw |
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