CN212221594U - Conveyor belt butt joint system for transport robot and intelligent transport robot system - Google Patents
Conveyor belt butt joint system for transport robot and intelligent transport robot system Download PDFInfo
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- CN212221594U CN212221594U CN202020422003.5U CN202020422003U CN212221594U CN 212221594 U CN212221594 U CN 212221594U CN 202020422003 U CN202020422003 U CN 202020422003U CN 212221594 U CN212221594 U CN 212221594U
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Abstract
The utility model discloses a conveyer belt butt joint system and intelligent transportation robot system for transportation robot. The conveyor belt butt joint system is used for controlling a transport robot to butt joint with a belt conveyor belt device, the belt conveyor belt device comprises a belt conveyor belt and a detection driving device, and the detection driving device comprises a distance measuring sensor and a wireless communication module which are arranged at the front end of the belt conveyor belt and a magnetic stripe which extends out of the front end of the belt conveyor belt; the conveyor belt butt joint system comprises a roller conveyor belt arranged in a transport bin of the transport robot and a detection control device arranged on the transport robot, wherein the detection control device comprises a magnetic stripe sensor arranged at the rear end of the transport robot and positioned below a bin gate of the transport bin and a laser radar arranged at the front end of the transport robot. The utility model discloses a system can directly dock the conveying with the conveyer belt and bring the conveying with the article that the transport robot loaded and transmit, reduces the manpower, improves intelligent degree.
Description
Technical Field
The utility model relates to a transportation robot technical field, concretely relates to conveyer belt butt joint system and intelligent transportation robot system for transportation robot.
Background
In the increasingly developing society of today, the cost of manpower is higher and higher, so that less manpower and better service are required, and replacing the manpower with a robot is a good solution. As one type of robot, a transport robot may be used to help people transport articles, and may be used in places such as airports and stations.
Conventional transfer robots are only used to transfer articles and cannot be docked with other systems, such as airport baggage carousels, and must manually remove articles from the transfer robot and place them on the baggage carousel.
SUMMERY OF THE UTILITY MODEL
An object of the embodiment of the utility model is to provide a conveyer belt butt joint system and intelligent transportation robot system for transportation robot to reduce the manpower, improve intelligent degree.
In order to realize the purpose of the utility model, the utility model adopts the following technical scheme.
In a first aspect, a conveyor belt butt-joint system for a transport robot is provided, which is used for controlling the transport robot to butt-joint with a belt conveyor device, wherein the belt conveyor device comprises a belt conveyor and a detection driving device, and the detection driving device comprises a distance measuring sensor and a wireless communication module which are arranged at the front end of the belt conveyor and a magnetic strip which extends out of the front end of the belt conveyor; the conveyor belt butt joint system comprises a roller conveyor belt arranged in a transport bin of the transport robot and a detection control device arranged on the transport robot, wherein the detection control device comprises a magnetic stripe sensor arranged at the rear end of the transport robot and positioned below a bin gate of the transport bin and a laser radar arranged at the front end of the transport robot.
Wherein the detection control means is for: detecting the position of the belt conveyor device, controlling the transport robot to move to the position of the belt conveyor device, enabling the bin gate of the transport bin to face the belt conveyor device, realizing butt joint with the belt conveyor device, controlling the bin gate of the transport bin to open, and controlling the roller conveyor belt to move; the roller conveyor belt is used for: transferring the articles in the transport bin onto the belt conveyor means to deliver the articles to a target location via the belt conveyor means.
Further, the detection control device is specifically configured to: determining the position of the magnetic stripe through a map in the laser radar scanning environment; controlling the transportation robot to move to the position where the magnetic stripe is located, and enabling a bin gate at the rear end to face the magnetic stripe through rotating the machine body, wherein the magnetic stripe is located below the transportation robot; detecting the magnetic strip through the magnetic strip sensor, and controlling the transportation robot to retreat along the magnetic strip; after receiving a stop signal sent by the wireless communication module, controlling the transport robot to stop moving backwards so as to enable a roller conveyor belt in the transport robot to be in butt joint with the belt conveyor belt; controlling a bin door of the transportation bin to be opened, controlling the roller conveyor belt to move, and conveying the articles in the transportation bin to the outside to the belt conveyor belt; the detection driving device is used for detecting the distance between the detection driving device and the transport robot through the ranging sensor, and when the detected distance reaches a set value, the detection driving device sends a stop signal to the detection control device through the wireless communication module, controls the belt conveyor to move, and conveys the articles conveyed in the transport bin to a target position.
In another possible implementation manner, the distance measuring sensor may be arranged on the transportation robot instead, in other words, the detection control device of the conveyor belt docking system may further include a distance measuring sensor arranged at the rear end of the transportation robot and configured to detect a distance from the belt conveyor, and when the detected distance reaches a set value, the detection control device controls the transportation robot to stop moving backwards, so that the roller conveyor in the transportation robot is docked with the belt conveyor.
In yet another possible implementation, the conveyor belt docking system and the belt conveyor apparatus may each include a distance measuring sensor, and the corresponding control method is as described above.
Optionally, the roller conveyor belt is mounted on a roller support, the roller support is mounted on the supporting chassis at the bottom of the transportation bin through a weighing module, and the weighing module is used for weighing the weight of the articles placed on the roller conveyor belt in the transportation bin.
Optionally, the conveyor belt docking system further includes: and the unpowered roller is arranged at the rear end of the conveying robot and is positioned between the roller conveyor belt and the belt conveyor belt.
In a second aspect, an intelligent transportation robot system is provided, which is characterized by comprising a transportation robot and the conveyor belt docking system for the transportation robot as described in the first aspect.
The conveyor belt butt joint system can be used for starting the roller conveyor belt after a bin door of a transport bin of the transport robot is opened, and conveying articles placed at the door opening of the transport bin into the transport bin or pushing out a part of the articles in the transport bin to the outside of the transport bin.
According to the technical solution provided by the utility model, the embodiment of the utility model has the following advantage:
the utility model discloses a conveyer belt butt joint system can directly dock the conveyer belt with the conveyer belt for the article that the transport robot loaded and carry out the transmission, reduces the manpower, improves intelligent degree. In a specific application scene such as airport luggage consignment, the conveyor belt butt joint system can realize the butt joint of the transport robot and the conveyor belt, can directly transmit the articles in the transport bin of the transport robot to the conveyor belt through the roller conveyor belt, such as to a luggage turntable, and the process is automatically finished, so that the manpower is reduced, and the system is more intelligent.
When the conveyor belt butt joint system is adopted on the transport robot, when a user puts articles, the roller conveyor belt can be automatically opened to send all the articles into the transport bin of the transport robot only by placing the luggage articles on the door of the transport bin of the transport robot; when taking articles, the roller conveyor belt can automatically push out a part of the articles, such as a half of the articles, to the outside of the transportation bin only by opening the bin door, so that a user can take the articles conveniently.
Drawings
In order to more clearly illustrate the technical solution of the embodiment of the present invention, the drawings used in the description of the embodiment will be briefly introduced below.
Fig. 1 is a schematic structural diagram of a conveyor belt docking system and a belt conveyor device for a transport robot according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a conveyor belt docking system for a transport robot and a belt conveyor belt device in a state of starting docking in an embodiment of the present invention;
fig. 3 is a schematic structural diagram of the conveyor belt docking system and the belt conveyor apparatus for a transport robot after docking is completed according to an embodiment of the present invention;
fig. 4 is a schematic view of the structure of the roller conveyor section according to an embodiment of the present invention.
Detailed Description
In order to make the technical solution of the present invention better understood, the technical solution of the embodiments of the present invention will be clearly and completely described below 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 without creative efforts shall belong to the protection scope of the present invention.
The terms "first," "second," "third," and the like in the description and in the claims, and in the drawings described above, are used for distinguishing between different objects and not necessarily for describing a particular order. Furthermore, the terms "include" and "have," as well as any variations thereof, are intended to cover non-exclusive inclusions. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those steps or elements listed, but may alternatively include other steps or elements not listed, or inherent to such process, method, article, or apparatus.
The following will explain details by way of specific examples.
Referring to fig. 1 to 3, an embodiment of the present invention provides a conveyor belt docking system for a transport robot, which is used to control a transport robot a to dock with a belt conveyor device B, so as to directly transport articles, reduce manpower, and improve intelligence.
The belt conveyor device B comprises a belt conveyor 3 and a detection driving device, and the detection driving device may comprise a distance measuring sensor 5 and a wireless communication module (not shown in the figure) arranged at the front end of the belt conveyor 3, and a magnetic strip 2 extending from the front end of the belt conveyor 3.
The conveyor belt butt joint system comprises a roller conveyor belt 6 arranged in a transport bin of the transport robot A and a detection control device arranged on the transport robot, wherein the detection control device comprises a laser radar 1 arranged at the front end of the transport robot, a magnetic strip sensor 4 arranged at the rear end of the transport robot A and positioned below a bin gate of the transport bin, and a processing module such as a micro-processing circuit, a CPU or a single chip microcomputer. Alternatively, the function of the processing module may be implemented by a processing module of the transport robot.
Wherein the detection control means is operable to: detecting the position of the belt conveyor belt device B, controlling the transport robot A to move to the position of the belt conveyor belt device B, enabling the bin gate of the transport bin to face the belt conveyor belt device B, realizing butt joint with the belt conveyor belt device B, controlling the bin gate of the transport bin to open, and controlling the roller conveyor belt 6 to move;
the roller conveyor belt 6 is used for: transferring the articles in the transport bin onto the belt conveyor means B for transporting the articles to a destination location via the belt conveyor means.
The working principle of the conveyor belt docking system according to the embodiment of the present invention is explained below. In this embodiment, the transportation robot can scan the map in the whole environment through laser radar 1 in front of the transportation robot at a certain position, determine the position of the target object including the magnetic stripe 2, and set several positions which need to pass through after the map is built, wherein one of the positions is the magnetic stripe 2. The position of the belt conveyor means, including the magnetic strip 2 and the belt conveyor 3, etc., is fixed. The whole docking process of docking the transport robot with the belt conveyor device under the control of the conveyor docking system is as follows.
The first step is as follows: the transportation robot finds the position of the magnetic strip 2 through the route set by the laser radar 1 by drawing, and then rotates 180 degrees in situ.
The second step is that: after the transportation robot rotates 180 degrees originally, the magnetic strip 2 is approximately below the magnetic strip sensor 4, and then the transportation robot moves back linearly. The in-process of retreating, set for the magnetic stripe sensor in the motion process, the adjustment movement track reaches 4 length direction of magnetic stripe sensor and is perpendicular with magnetic stripe 2 to guarantee that 6 can the center docks with belt conveyor 3 of transport robot's cylinder conveyer belt.
The third step: in the process of moving back of the transport robot, when the distance between the rear end surface of the transport robot and the distance measuring sensor 5 reaches a set value, for example, 100mm, the distance measuring sensor 5 starts to detect the distance between the belt conveyor 3 and the transport robot, and when the distance reaches 10mm, the 433 wireless module in the distribution box on the side surface of the belt conveyor 3 sends a signal to the 433 wireless module in the transport robot, and the transport robot stops moving back.
The fourth step: the distance measuring sensor 5 detects that the belt of the belt conveyor 3 starts moving when the distance between the belt conveyor 3 and the transport robot reaches a certain set value, for example, 10 mm. After the 433 wireless module on the transport robot receives the signal that 433 wireless module sent on the belt conveyer belt 3, 1 second for example after the stop motion, the door of the transport robot rises and opens, waits for the door to open completely, and after 1 second for example of the stop motion of the automatic door motor, the roller conveyer belt 6 begins to move, drives the luggage article in the transport bin to move outside the bin together.
Optionally, because there may be a certain distance between the roller conveyor belt 6 and the belt conveyor belt 3, an unpowered roller 7 may be added between the roller conveyor belt 6 and the compartment door of the transport robot, so as to ensure that baggage items can be better smoothly transported to the belt conveyor belt 3 from the transport compartment of the transport robot.
Referring to fig. 4, in some embodiments, the roller conveyor 6 may be supplemented with a weighing function. Optionally, the roller conveyor belt 6 is installed on a roller support 8, the roller support 8 is installed on a support chassis 10 at the bottom of the transportation bin through a weighing module 9, and the weighing module 9 is used for weighing the weight of the articles placed on the roller conveyor belt 6 in the transportation bin.
By arranging the weighing module 9, the luggage items can be weighed after being placed on the roller conveyor belt 6. The roller conveyor belt 6 is fixed on a roller bracket 8, the roller bracket 8 is fixed when the roller conveyor belt 6 moves, and then the roller bracket 8 and the weighing module 9 can be fixed by screws and then fixed on a supporting chassis 10 together. When the luggage articles are to be consigned, the door of the transport bin is opened, the weighing module 9 reads the weight (namely gross weight) of the luggage articles which are not put once, when the luggage articles of a client are placed on the roller conveyor belt 6 and move into the transport bin stably, the weighing module 9 reads the weight information once, and the system automatically calculates the difference value of the weight information before and after the luggage articles are put, so that the weight data of the luggage articles can be calculated.
Optionally, in some embodiments, transparent materials may be used to set two sides of the transportation robot as transparent areas, so that a customer can see his/her luggage items from outside after placing the luggage items in the transportation bin, thereby being more relieved from mind.
The embodiment of the utility model provides a still provide an intelligence transportation robot system, including transportation robot and as above the conveyer belt butt joint system for transportation robot. In this intelligence transport robot system, conveyer belt butt joint system can be used to start the cylinder conveyer belt after the door of transport compartment of transport robot is opened, sends into the transport compartment with the article that transport compartment door opening was placed in, perhaps, pushes out partly outside the transport compartment with the article in the transport compartment.
To sum up, the embodiment of the utility model discloses a conveyer belt butt joint system for transportation robot, this conveyer belt butt joint system can directly dock the conveyer belt with the conveyer belt for the article that transportation robot loaded and convey and carry out the transmission, reduces the manpower, improves intelligent degree. In a specific application scene such as airport luggage consignment, the conveyor belt butt joint system can realize the butt joint of the transport robot and the conveyor belt, can directly transmit the articles in the transport bin of the transport robot to the conveyor belt through the roller conveyor belt, such as to a luggage turntable, and the process is automatically finished, so that the manpower is reduced, and the system is more intelligent.
When the conveyor belt butt joint system is adopted on the transport robot, when a user puts articles, the roller conveyor belt can be automatically opened to send all the articles into the transport bin of the transport robot only by placing the articles such as a luggage case and the like on the door of the transport bin of the transport robot; when taking articles, the roller conveyor belt can automatically push out a part of the articles, such as a half of the articles, to the outside of the transportation bin only by opening the bin door, so that a user can take the articles conveniently.
In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to the related descriptions of other embodiments.
The above embodiments are only used to illustrate the technical solution of the present invention, and not to limit it; those of ordinary skill in the art will understand that: the technical solutions described in the above embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the present invention in its corresponding aspects.
Claims (7)
1. A conveyor belt butt-joint system for a transport robot is characterized by being used for controlling the transport robot to butt-joint with a belt conveyor belt device;
the belt conveyor device comprises a belt conveyor and a detection driving device, wherein the detection driving device comprises a distance measuring sensor and a wireless communication module which are arranged at the front end of the belt conveyor, and a magnetic strip which extends out of the front end of the belt conveyor;
the conveyor belt butt joint system comprises a roller conveyor belt arranged in a transport bin of the transport robot and a detection control device arranged on the transport robot, wherein the detection control device comprises a magnetic stripe sensor arranged at the rear end of the transport robot and positioned below a bin gate of the transport bin and a laser radar arranged at the front end of the transport robot.
2. The conveyor belt docking system of claim 1,
the detection control device is used for: detecting the position of the belt conveyor device, controlling the transport robot to move to the position of the belt conveyor device, enabling the bin gate of the transport bin to face the belt conveyor device, realizing butt joint with the belt conveyor device, controlling the bin gate of the transport bin to open, and controlling the roller conveyor belt to move;
the roller conveyor belt is used for: transferring the articles in the transport bin onto the belt conveyor means to deliver the articles to a target location via the belt conveyor means.
3. The conveyor belt docking system of claim 2,
the detection control device is specifically configured to: determining the position of the magnetic stripe through a map in the laser radar scanning environment; controlling the transportation robot to move to the position where the magnetic stripe is located, and enabling a bin gate at the rear end to face the magnetic stripe through rotating the machine body, wherein the magnetic stripe is located below the transportation robot; detecting the magnetic strip through the magnetic strip sensor, and controlling the transportation robot to retreat along the magnetic strip; after receiving a stop signal sent by the wireless communication module, controlling the transport robot to stop moving backwards so as to enable a roller conveyor belt in the transport robot to be in butt joint with the belt conveyor belt; transferring the articles in the transport bin out onto the belt conveyor;
the detection driving device is used for detecting the distance between the detection driving device and the transport robot through the ranging sensor, and when the detected distance reaches a set value, the detection driving device sends a stop signal to the detection control device through the wireless communication module, controls the belt conveyor to move, and conveys the articles conveyed in the transport bin to a target position.
4. The conveyor belt docking system of claim 1,
the roller conveyor belt is installed on a roller support, the roller support is installed on a supporting chassis at the bottom of the transportation bin through a weighing module, and the weighing module is used for weighing the weight of articles placed on the roller conveyor belt in the transportation bin.
5. The conveyor belt docking system of claim 1, further comprising:
and the unpowered roller is arranged at the rear end of the conveying robot and is positioned between the roller conveyor belt and the belt conveyor belt.
6. An intelligent transport robot system comprising a transport robot and a conveyor belt docking system for a transport robot as claimed in any one of claims 1 to 5.
7. The intelligent transportation robot system of claim 6,
the conveyor belt butt joint system is used for starting the roller conveyor belt after a bin door of a transport bin of the transport robot is opened, and conveying articles placed at the door opening of the transport bin into the transport bin or pushing out a part of the articles in the transport bin to the outside of the transport bin.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202020422003.5U CN212221594U (en) | 2020-03-28 | 2020-03-28 | Conveyor belt butt joint system for transport robot and intelligent transport robot system |
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| CN202020422003.5U CN212221594U (en) | 2020-03-28 | 2020-03-28 | Conveyor belt butt joint system for transport robot and intelligent transport robot system |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113126626A (en) * | 2021-04-22 | 2021-07-16 | 烟台清科嘉机器人联合研究院有限公司 | Docking device and docking method for mobile robot |
| CN113478501A (en) * | 2021-07-14 | 2021-10-08 | 鹿马智能科技（上海）有限公司 | Hotel's thing robot that send |
| CN114620463A (en) * | 2022-03-28 | 2022-06-14 | 昆山同日智能制造技术研究院有限公司 | Material accumulation and discharge conveying roller line depending on friction force of materials |
-
2020
- 2020-03-28 CN CN202020422003.5U patent/CN212221594U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113126626A (en) * | 2021-04-22 | 2021-07-16 | 烟台清科嘉机器人联合研究院有限公司 | Docking device and docking method for mobile robot |
| CN113478501A (en) * | 2021-07-14 | 2021-10-08 | 鹿马智能科技（上海）有限公司 | Hotel's thing robot that send |
| CN114620463A (en) * | 2022-03-28 | 2022-06-14 | 昆山同日智能制造技术研究院有限公司 | Material accumulation and discharge conveying roller line depending on friction force of materials |
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