CN210414527U - Electromagnetic adsorption type transfer robot - Google Patents
Electromagnetic adsorption type transfer robot Download PDFInfo
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- CN210414527U CN210414527U CN201920665776.3U CN201920665776U CN210414527U CN 210414527 U CN210414527 U CN 210414527U CN 201920665776 U CN201920665776 U CN 201920665776U CN 210414527 U CN210414527 U CN 210414527U
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Abstract
The utility model discloses an electromagnetic adsorption type transfer robot, which comprises a navigation positioning device, a control device and a control device, wherein the navigation positioning device calculates a butt joint point and a target point according to a transfer task and plans a running route of the robot; the electromagnetic adsorption mechanism generates suction force to adsorb an object to be transported after the robot reaches the butt joint point, and eliminates the suction force after the robot reaches the target point; and the moving device enables the robot to reach the butt joint point along the driving route, and enables the robot to reach the target point along the driving route after the electromagnetic adsorption mechanism adsorbs the object to be transported. The utility model has the advantages that: robot, controlling means and control method are transported to electromagnetism absorption formula, increased electromagnetism absorption mechanism on original robot's basis, from this, can adsorb the area and transport the thing, accomplish automatic butt joint and transport to, it is very little to original robot's change.
Description
Technical Field
The utility model relates to a robotechnology field particularly, relates to an electromagnetism adsorbs formula and transports robot.
Background
In the prior art, the transfer mechanisms such as jacking, rolling and traction are different in the applicable working occasions and the organization modes of transferring goods. The jacking mechanism is suitable for the integral transportation of the fixed goods shelf, the roller is used for moving goods on the conveyor belt, and the traction mechanism is used for transporting movable goods such as cage cars or floating baskets. Meanwhile, the control algorithms corresponding to different transfer mechanisms are different in complexity, the jacking and roller mechanisms cannot change the turning radius and obstacle avoidance range of the original mobile robot, and if an extra degree of freedom is introduced into the traction mechanism, the control mode of the original robot can be changed.
For occasions such as express distribution centers, packages between primary sorting lines and secondary sorting lines and express transportation need to process goods with lower gravity center, limited height and limited space, and meanwhile, the transfer mechanism is required to change the control mode of an original robot as little as possible.
An effective solution to the problems in the related art has not been proposed yet.
SUMMERY OF THE UTILITY MODEL
To the above-mentioned technical problem among the correlation technique, the utility model provides an electromagnetism adsorbs formula and transports robot for the robot that floats light load removal goods such as basket transports the operation, can accomplish the butt joint of goods completely automatically and transport and very little to the structural change of former robot. Furthermore, the utility model also provides a controlling means and a control method of electromagnetism absorption formula transfer robot.
In order to achieve the technical purpose, the technical scheme of the utility model is realized as follows:
an electromagnetic adsorption type transfer robot comprises a navigation positioning device, a positioning device and a control device, wherein the navigation positioning device calculates a butt joint point and a target point according to a transfer task and plans a running route of the robot; the electromagnetic adsorption mechanism generates suction force to adsorb an object to be transported after the robot reaches the butt joint point, and eliminates the suction force after the robot reaches the target point; and the moving device enables the robot to reach the butt joint point along the driving route, and enables the robot to reach the target point along the driving route after the electromagnetic adsorption mechanism adsorbs the object to be transported.
Preferably, the electromagnetic adsorption mechanism includes: the electromagnet is used for adsorbing the object to be transported; and the power-on switch enables the electromagnet to be powered on to generate suction force when the robot reaches the butt joint point.
Preferably, the electromagnetic adsorption mechanism further comprises a connecting rod, a trigger structure and a trigger switch, one end of the connecting rod is connected with the electromagnet, the other end of the connecting rod is connected with the trigger structure, and after the electromagnet adsorbs the object to be transported, the trigger structure contacts the trigger switch to enable the robot to start to move to a target point.
Preferably, the triggering structure comprises a first push plate, a second push plate and a spring, the spring is arranged between the first push plate and the second push plate, and when the electromagnet adsorbs the object to be transported, the first push plate contacts the trigger switch to enable the robot to start moving to a target point.
Preferably, the electromagnetic adsorption mechanism further comprises a first limiting structure for limiting the moving distance of the connecting rod in the up-down direction.
Preferably, the electromagnetic adsorption mechanism further comprises a second limit structure for limiting the moving distance of the connecting rod in the front-back direction.
Preferably, a buffer layer is arranged between the electromagnet and the connecting rod.
Preferably, the electromagnet is an electromagnet array composed of a plurality of magnet blocks.
Preferably, the electromagnetic adsorption mechanism further comprises a first limiting structure for limiting the moving distance of the connecting rod in the vertical direction.
Preferably, the electromagnetic adsorption mechanism further comprises a second limiting structure for limiting the moving distance of the connecting rod in the horizontal direction.
The utility model discloses an on the other hand relates to an electromagnetism adsorbs formula and transports robot control device, include: the navigation positioning module calculates a butt joint point and a target point according to the transfer task and plans a driving route of the robot; the electromagnetic adsorption control module controls the electromagnetic adsorption mechanism to generate attraction force to adsorb the object to be transported after the robot reaches the butt joint point, and eliminates the attraction force generated by the electromagnetic adsorption mechanism after the robot reaches the target point; and the motion control module controls the robot to reach the butt joint point along the driving route, and enables the robot to reach the target point along the driving route after the electromagnetic adsorption mechanism adsorbs the object to be transported.
The utility model discloses an on the other hand relates to a control method of electromagnetism absorption formula transfer robot, including following step: s1, calculating a butt joint point and a target point according to a transfer task, and planning a robot driving route; s2, controlling the robot to reach the butt joint point; s3, controlling the electromagnetic adsorption mechanism to generate an attraction force to adsorb the object to be transported; s4, after the electromagnetic adsorption mechanism adsorbs the object to be transported, controlling the robot to reach the target point; and S5, eliminating the suction force generated by the electromagnetic adsorption mechanism.
The utility model has the advantages that: robot, controlling means and control method are transported to electromagnetism absorption formula, increased electromagnetism absorption mechanism on original robot's basis, from this, can adsorb the area and transport the thing, accomplish automatic butt joint and transport to, it is very little to original robot's change.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required to be used 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 for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a functional block diagram of an electromagnetic adsorption transfer robot according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of an electromagnetic adsorption mechanism according to an embodiment of the present invention;
fig. 3 is a functional block diagram of a control device of an electromagnetic adsorption transfer robot according to an embodiment of the present invention;
fig. 4 is a flowchart of a control method for an electromagnetic adsorption transfer robot according to an embodiment of the present invention.
In the figure: 1. an electromagnetic adsorption mechanism; 10. an electromagnet; 20. a connecting rod; 30. a trigger structure; 40. a trigger switch; 50. a second limit structure;
31. a first push plate; 32. a second push plate; 33. a spring; 41. a first stopper; 42. a second limiting block; 43. a third limiting block; 44. and a fourth limiting block.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art all belong to the protection scope of the present invention.
Fig. 1 is a functional block diagram of an electromagnetic adsorption transfer robot according to an embodiment of the present invention.
As shown in fig. 1, according to the utility model discloses an electromagnetism absorption formula transfer robot, include: the navigation positioning device calculates the butt joint point and the target point according to the transfer task and plans a running route of the robot; the electromagnetic adsorption mechanism generates suction force to adsorb an object to be transported after the robot reaches the butt joint point, and eliminates the suction force after the robot reaches the target point; and the moving device enables the robot to reach the butt joint point along the driving route, and enables the robot to reach the target point along the driving route after the electromagnetic adsorption mechanism adsorbs the object to be transported.
In the related art, a robot having navigation positioning and movement functions is widely used, and in such a robot, a navigation positioning device for positioning a position of the robot and providing route guidance for the robot and a movement device for moving the robot along a navigation route are provided. The navigation positioning device comprises hardware devices for positioning, such as a laser radar, a two-dimensional code scanning device, an encoder inertial sensor, an ultrasonic sensor and the like, and a processor for calculating a driving route according to the positioning and transferring tasks of the robot. The motion device comprises a left differential motor and a right differential motor, and the processor controls the motion device according to the calculated running route so that the robot reaches a target point. When the robot is used for transferring, the butt joint point and the target point are calculated according to the positioning and transferring tasks of the robot, the robot reaches the butt joint point, the object to be transferred is placed on the robot, the robot goes to the target point, and the transfer of the object to be transferred is completed.
And in the utility model discloses in, still added electromagnetism adsorption apparatus on original robot's basis, therefore, when the robot reachs the butt joint, make electromagnetism adsorption apparatus produce the suction force, under this condition, only need to set up on placing the container of treating the transportation thing and can be adsorbed by the electro-magnet device (for example, add a ferromagnetism backplate in the bottom surface of placing the floating frame of area transportation), electromagnetism adsorption apparatus can adsorb automatically under the condition of treating the transportation thing certain distance apart from and treat the transportation thing, need not to place through expensive equipment such as manipulator and treat the transportation thing, and, treat that the transportation thing can firmly adsorb on electromagnetism adsorption apparatus, even the robot produces jolt at the mobile process, vibrations wait that the transportation thing also can not fall or produce the collision, can protect better and treat the transportation thing. When the robot adsorbs the object to be transported at the butt joint, the robot starts to move to the target point under the state of adsorbing the object to be transported, and after the robot reaches the target point, the electromagnetic adsorption structure eliminates the suction force, and the object to be transported can be dismounted at the moment.
The utility model discloses an electromagnetism adsorbs formula and transports robot compares with the control of the transport robot among the prior art, has increased electromagnetism adsorption apparatus and has constructed, from this, can realize taking the automatic transportation of transported substance on the basis that changes original robot's structure as few as possible, only need change keeping away of robot the barrier scope and need not change the turning radius of robot to original robot's parameter to, electromagnetism adsorbs control module makes and treats that the transported substance can transport more steadily.
Fig. 2 is a schematic structural diagram of an electromagnetic adsorption mechanism according to an embodiment of the present invention. Fig. 2 shows the vertical direction of the electromagnetic adsorption mechanism. Next, a specific structure of the electromagnetic adsorption mechanism will be described with reference to fig. 2.
As shown in fig. 2, the electromagnetic adsorption mechanism 1 according to the embodiment of the present invention includes: an electromagnet 10 for adsorbing an object to be transported; and an energizing switch (not shown) that energizes the electromagnet 10 to generate a suction force when the robot reaches the docking point. The electromagnetic adsorption mechanism 1 is in signal connection with the navigation positioning device, and when the navigation positioning device judges that the robot reaches the butt joint point, the power-on switch of the electromagnetic adsorption mechanism 1 is turned on to start to adsorb the object to be transported.
As shown in fig. 2, the electromagnetic adsorption mechanism 1 of the embodiment of the present invention further includes a connecting rod 20, a trigger structure 30 and a trigger switch 40, one end of the connecting rod 20 is connected to the electromagnet 10, and the other end of the connecting rod is connected to the trigger structure 30, when the electromagnet 10 adsorbs the object to be transported, the trigger structure 30 contacts the trigger switch 40, so that the robot starts to move to the target point. After the electromagnet 10 adsorbs the object to be transported, under the action of the gravity pressing of the object to be transported, the connecting rod 20 moves downwards to drive the trigger structure 30 to contact the trigger switch 40, the trigger switch 40 is triggered to indicate that the electromagnet 10 adsorbs the object to be transported, and at this time, the moving device controls the robot to start to go from the butt joint to the target point.
As shown in fig. 2, the triggering mechanism 30 includes a first pushing plate 31, a second pushing plate 32 and a spring 33, the spring 33 is disposed between the first pushing plate 31 and the second pushing plate 32, and when the electromagnet 10 attaches the object to be transported, the first pushing plate 31 contacts the triggering switch 40 so that the robot starts to move to the target point. When the electromagnet 10 is not attracting the tape transfer device, the trigger switch 40 is not triggered by the spring 33. When the electromagnet 10 catches the article to be transported, the link 20 moves downward, and the spring 33 is pressed, so that the trigger switch 40 is triggered. The spring 33 may buffer the link 20 to protect the trigger switch 40. The trigger switch 40 may be, for example, a mature travel switch.
As shown in fig. 2, the electromagnetic adsorption mechanism 1 includes a first limit structure that limits a moving distance of the link 20 in the vertical direction. The first limiting structure comprises a first limiting block 41 and a second limiting block 42 which are arranged on the lower side of the first push plate 31, and further comprises a third limiting block 43 and a fourth limiting block 44 which are arranged on the upper side of the second push plate 31. When the electromagnet 10 attaches the object to be transported, the connecting rod 20 moves downward, and the first push plate 31 reaches the first stopper 41 and the second stopper 42 and contacts the trigger switch 40. The first limit structure limits the stroke of the link 20 in the up-down direction to protect the trigger switch 40 and to maintain the stability of the internal structure of the battery adsorption mechanism 1.
Further, as shown in fig. 2, the electromagnetic adsorption mechanism 1 further includes a second limit structure 50 that limits the moving distance of the link 20 in the horizontal direction. In the process that the robot goes to the target point from the butt joint, the robot moves with waiting to transport the thing together, and at this moment, there is relative motion between robot and the thing of waiting to transport for connecting rod 20 can produce and control to rock (rocking on the horizontal direction promptly), and second limit structure 50 blocks rocking of connecting rod 20 on the horizontal direction, provides stable traction for waiting to transport the thing.
In addition, a buffer layer is arranged between the electromagnet 10 and the connecting rod 20 to protect the electromagnetic adsorption mechanism 1.
In addition, the electromagnet 10 is an electromagnet array composed of a plurality of magnet blocks to ensure close contact with the belt conveyers and increase the adsorption force.
Fig. 3 is a functional block diagram of a control device of an electromagnetic adsorption transfer robot according to an embodiment of the present invention.
As shown in fig. 3, the embodiment of the present invention provides an electromagnetic adsorption type transfer robot control device, including: the navigation positioning module calculates a butt joint point and a target point according to the transfer task and plans a driving route of the robot; the electromagnetic adsorption control module controls the electromagnetic adsorption mechanism to generate attraction force to adsorb the object to be transported after the robot reaches the butt joint point, and eliminates the attraction force generated by the electromagnetic adsorption mechanism after the robot reaches the target point; and the motion control module controls the robot to reach the butt joint point along the driving route, and enables the robot to reach the target point along the driving route after the electromagnetic adsorption mechanism adsorbs the object to be transported.
The functional modules are stored on the memory as programs (software), and the programs are read by the processor to control the robot to complete navigation positioning, motion driving, electromagnetic adsorption and other operations in the transfer process. The utility model discloses a robot control device is transported to electromagnetism absorption formula compares with the control of the transportation robot among the prior art, has increased electromagnetism absorption control module, from this, can realize taking the automatic transportation of transporting the thing on the basis that changes original robot's functional module as little as possible to, electromagnetism absorption control module makes and treats that the thing of transporting can transport more steadily.
Fig. 4 is a flowchart of a control method for an electromagnetic adsorption transfer robot according to an embodiment of the present invention.
As shown in fig. 4, the control method for an electromagnetic adsorption transfer robot according to the embodiment of the present invention includes the following steps:
s1, calculating a butt joint point and a target point according to a transfer task, and planning a robot driving route;
s2, controlling the robot to reach the butt joint point;
s3, controlling the electromagnetic adsorption mechanism to generate an attraction force to adsorb the object to be transported;
s4, after the electromagnetic adsorption mechanism adsorbs the object to be transported, controlling the robot to reach the target point;
and S5, eliminating the suction force generated by the electromagnetic adsorption mechanism.
Utility model's electromagnetic adsorption formula transfer robot control method compares with the control method of the transfer robot among the prior art, has increased the control step of electromagnetic adsorption mechanism, from this, can realize taking the automatic of transported substance to transport on changing original robot's control method's basis as few as possible to, make and wait the thing and can transport more steadily.
The above description is only a preferred embodiment of the present invention, and should not be taken as limiting the invention, and any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. An electromagnetic adsorption type transfer robot is characterized in that,
the robot comprises a navigation positioning device, a control device and a control device, wherein the navigation positioning device calculates a butt joint point and a target point according to a transfer task and plans a driving route of the robot;
the electromagnetic adsorption mechanism generates suction force to adsorb an object to be transported after the robot reaches the butt joint point, and eliminates the suction force after the robot reaches the target point;
and the moving device enables the robot to reach the butt joint point along the driving route, and enables the robot to reach the target point along the driving route after the electromagnetic adsorption mechanism adsorbs the object to be transported.
2. The electromagnetic adsorption type transfer robot of claim 1,
the electromagnetic adsorption mechanism includes:
the electromagnet is used for adsorbing the object to be transported;
and the power-on switch enables the electromagnet to be powered on to generate suction force when the robot reaches the butt joint point.
3. The electromagnetic adsorption type transfer robot of claim 2,
the electromagnetic adsorption mechanism also comprises a connecting rod, a trigger structure and a trigger switch,
one end of the connecting rod is connected with the electromagnet, the other end of the connecting rod is connected with the triggering structure,
when the electromagnet adsorbs the object to be transported, the trigger structure contacts the trigger switch to enable the robot to start moving to a target point.
4. The electromagnetic adsorption type transfer robot of claim 3,
the trigger structure comprises a first push plate, a second push plate and a spring,
the spring is arranged between the first push plate and the second push plate,
when the electromagnet adsorbs the object to be transported, the first push plate contacts the trigger switch to enable the robot to start moving to a target point.
5. The electromagnetic adsorption type transfer robot of claim 3,
the electromagnetic adsorption mechanism further comprises a first limiting structure for limiting the moving distance of the connecting rod in the up-down direction.
6. The electromagnetic adsorption type transfer robot of claim 3,
the electromagnetic adsorption mechanism further comprises a second limiting structure for limiting the moving distance of the connecting rod in the front-back direction.
7. The electromagnetic adsorption type transfer robot of claim 3,
a buffer layer is arranged between the electromagnet and the connecting rod.
8. The electromagnetic adsorption type transfer robot of claim 2,
the electromagnet is an electromagnet array consisting of a plurality of magnet blocks.
9. The electromagnetic adsorption type transfer robot of claim 3,
the electromagnetic adsorption mechanism further comprises a first limiting structure for limiting the moving distance of the connecting rod in the vertical direction.
10. The electromagnetic adsorption type transfer robot of claim 3,
the electromagnetic adsorption mechanism further comprises a second limiting structure for limiting the moving distance of the connecting rod in the horizontal direction.
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| CN201920665776.3U CN210414527U (en) | 2019-05-10 | 2019-05-10 | Electromagnetic adsorption type transfer robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113148650A (en) * | 2021-02-09 | 2021-07-23 | 北京工业大学 | Cache transfer device for finish machining of machine tool assembly line of spindle parts |
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- 2019-05-10 CN CN201920665776.3U patent/CN210414527U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113148650A (en) * | 2021-02-09 | 2021-07-23 | 北京工业大学 | Cache transfer device for finish machining of machine tool assembly line of spindle parts |
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