CN213474692U - Mobile transfer robot system - Google Patents
Mobile transfer robot system Download PDFInfo
- Publication number
- CN213474692U CN213474692U CN202022209407.9U CN202022209407U CN213474692U CN 213474692 U CN213474692 U CN 213474692U CN 202022209407 U CN202022209407 U CN 202022209407U CN 213474692 U CN213474692 U CN 213474692U
- Authority
- CN
- China
- Prior art keywords
- robot
- arm
- motor
- fixed
- mechanical arm
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
- 238000012546 transfer Methods 0.000 title claims abstract description 24
- 230000000007 visual effect Effects 0.000 claims abstract description 12
- 210000000078 claw Anatomy 0.000 claims description 59
- 230000009471 action Effects 0.000 claims description 4
- 230000004888 barrier function Effects 0.000 claims description 4
- 238000000034 method Methods 0.000 abstract description 11
- 239000000463 material Substances 0.000 abstract description 9
- 150000001875 compounds Chemical class 0.000 abstract description 2
- 238000004519 manufacturing process Methods 0.000 description 9
- 229910000746 Structural steel Inorganic materials 0.000 description 5
- 230000008569 process Effects 0.000 description 5
- 230000008901 benefit Effects 0.000 description 3
- 238000012545 processing Methods 0.000 description 3
- 210000001503 joint Anatomy 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 239000002028 Biomass Substances 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000004927 fusion Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- GELKBWJHTRAYNV-UHFFFAOYSA-K lithium iron phosphate Chemical compound [Li+].[Fe+2].[O-]P([O-])([O-])=O GELKBWJHTRAYNV-UHFFFAOYSA-K 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 230000006855 networking Effects 0.000 description 1
- 238000012827 research and development Methods 0.000 description 1
- 230000007306 turnover Effects 0.000 description 1
Images
Landscapes
- Manipulator (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The utility model relates to a material handling equipment technical field especially relates to a portable transfer robot system, include: the robot comprises a robot moving platform, a main control computer system, a manipulator device, a two-dimensional code visual positioning system and a laser slam system. Traditional robotic arm formula robot, working range is limited, and portable transfer robot effectively enlarges the X axle and the Y axle increase working range of fixed arm, has saved the input cost of enterprise. In addition, current removal traction trolley positioning accuracy is low, and repeated positioning accuracy is only 10mm greatly, and the utility model provides a navigation control method that layering combines adopts laser slam and closely the compound navigation's of two-dimensional code vision locate mode, and repeated positioning accuracy can reach 2mm, also can not increase the control degree of difficulty because of the existence of multiple navigation mode, lets the movable base of moving platform as the arm become possible.
Description
Technical Field
The utility model relates to a material handling equipment technical field especially relates to a portable transfer robot system.
Background
The information disclosed in the background of the invention is only for enhancement of understanding of the general background of the invention and is not necessarily to be construed as an admission or any form of suggestion that this information constitutes prior art that is already known to a person of ordinary skill in the art.
In the process of industrial equipment production, the handling of materials and products is an important link, and the quality of the operation quality is directly related to the production speed and efficiency, so that the market price and the economic benefit are finally influenced.
According to the statistics of the biomass flow in China, 252 tons of loading, unloading and carrying are required for every 1 ton of finished products produced by a mechanical factory, and the cost is 15.5 percent of the processing cost. Production is destined to be accompanied by material handling, which is often several times, even tens of times, the weight of the product. In the United states, handling costs account for 20-30% of the total cost; 1/3, the German enterprise material transportation cost accounts for the turnover; the Japanese material handling cost accounts for 10.73% of GDP. In China, the initial and reached loading and unloading operation cost of railway transportation approximately accounts for about 20% of the transportation cost, and the shipping cost accounts for about 40%.
At present, most of the transportation is basically manual transportation, the labor intensity is high, the consumed time is long, and certain dangerousness is realized; some companies adopt a fixed mechanical arm to assist production, but the operation range is limited, and a plurality of robots are often required to assist production and transportation on one production line, which undoubtedly is a large cost input for enterprises. If the fixed mechanical arm is converted into the movable cooperative carrying robot, the labor intensity of people can be reduced, the labor cost is saved, the operation efficiency is improved, and the production and maintenance cost of enterprises can be reduced, so that the research and development of the movable carrying robot for realizing the mechanical automatic carrying of production data has important practical value and significance. However, since the fixed type manipulator usually determines the position and the posture of the workpiece by combining the fixed world coordinate and the mechanical coordinate during operation, it is difficult to meet the operation requirement due to the positioning accuracy in the moving state.
In summary, the current transfer robot still has the following disadvantages:
(1) fixed arm working range is limited when realizing the transport, and the length of arm exhibition has often restricted working distance, if need transport the operation in great scope, often needs many arms collaborative work, has increased the manufacturing cost of mill.
(2) The traditional mobile platform works in a single navigation mode, the precision is low, the difficulty of a control algorithm is increased if multiple navigations coexist, and the requirement on a CPU (central processing unit) for simultaneous processing of multiple navigation information is higher;
(3) the pure fusion of the AGV and the robot arm can cause the world coordinates of the robot arm to change (the repeated positioning precision is low, and the position of each stop has deviation), so that the work error is caused and even the fault is caused.
SUMMERY OF THE UTILITY MODEL
To the above problem, the utility model provides a portable transfer robot system, this kind of robot can self-guide self reach the work piece and can carry the distance, realizes that the arm clamp gets the work piece and carries, moves the chassis in coordination and advances to the code wheel and put in order, improves work piece handling efficiency. In order to achieve the above object, the technical solution of the present invention is as follows.
The utility model discloses an aspect discloses a portable transfer robot system, includes: the robot comprises a robot moving platform, a main control computer system, a manipulator device, a two-dimensional code visual positioning system and a laser slam system.
Robot moving platform keeps away barrier unit and anticollision strip including wheeled automobile body, electrical power generating system, intelligent charging mouth, wheel driving motor and controller, laser, wherein: the laser obstacle avoidance device comprises a power supply system, a wheel type vehicle body, a laser obstacle avoidance unit, an anti-collision strip, a wheel type vehicle body driving motor, a laser obstacle avoidance unit and an anti-collision strip, wherein the power supply system is fixed on the upper surface of the right end of the wheel type vehicle body and is connected with an intelligent charging port arranged on the end surface of.
The master control computer system comprises: the wheel type vehicle body control system comprises a mounting plate and a main control computer, wherein the mounting plate is fixed on the wheel type vehicle body, the main control computer is fixed on the mounting plate, and the power supply system, the wheel driving motor and a controller of the wheel driving motor are all connected with the main control computer.
The mechanical arm device comprises a longitudinal mechanical arm, a transverse mechanical arm and a mechanical claw; wherein: the vertical mechanical arm is vertically fixed on the wheel type vehicle body, the transverse mechanical arm is perpendicular to the vertical mechanical arm and is connected to the vertical mechanical arm, the mechanical claw is connected to the transverse mechanical arm, the transverse mechanical arm can move up and down along the vertical mechanical arm under the driving of a motor, and the mechanical claw can grab under the action of the motor and can stretch and rotate relative to the transverse mechanical arm. Each joint of the mechanical claw is provided with a limit sensor, and each joint servo driver of the mechanical arm is connected with a network port of a main control computer.
The two-dimensional code visual positioning system is fixed on the lower surface of the left end of the wheel type vehicle body, the laser slam system is arranged at the top end of the longitudinal mechanical arm and connected with an intelligent controller in the main control computer, so that environment scanning, map building, target recognition, coordinate operation and control are achieved conveniently.
Further, still include: gripper elevator motor, gripper rotating electrical machines and gripper grabbing motor, wherein: the mechanical claw lifting motor is fixed on the side face of the wheel type vehicle body, the mechanical claw telescopic motor is fixed on the transverse mechanical arm, the mechanical claw rotating motor and the mechanical claw rotating motor are arranged in a rotating joint of the mechanical claw, and the mechanical claw lifting motor, the mechanical claw telescopic motor, the mechanical claw rotating motor and the mechanical claw grabbing motor are all connected with the mechanical claw and the main control computer.
Furthermore, photoelectric switches are adopted by each joint of the mechanical claw as limiting sensors, and each joint servo driver of the mechanical arm is connected with a network port of the main control computer through Ethernet after being networked by a CAN bus.
Further, the laser slam system includes the laser head, and it is fixed on the top of vertical arm, and the laser head can 360 rotations, and the laser head links to each other with the intelligent control ware of installing on the main control computer.
Further, still include pulley dead lever, pulley, connect rope and balancing weight, wherein, the one end of pulley dead lever is fixed on vertical arm, and the other end extends to horizontal arm, and the both ends of pulley dead lever all are fixed with the pulley, the one end of connecting the rope is connected with horizontal arm, connects the other end of rope and is connected with the balancing weight behind passing through the pulley, and the balancing weight forms the tractive state to horizontal arm to balanced horizontal arm's moment.
Further, still include intelligent charging stake, it has and intelligent charging mouthful assorted connector to in order to charge for electrical power generating system.
Further, still include the trichromatic alarm lamp, it is fixed on the mounting panel, and the trichromatic alarm lamp is connected with intelligent control ware for show that current running state green is normal operating yellow and shows that the red appearance of barrier on the route indicates the purpose of bumping or the system breaks down.
Furthermore, the two-dimensional code vision positioning system is a two-dimensional code positioning camera, and wheels of the wheeled vehicle body are Mecanum wheels.
Furthermore, a supporting angle iron is fixed between the lower part of the longitudinal mechanical arm and the longitudinal mechanical arm, and the longitudinal mechanical arm are both connected with the supporting angle iron.
In a second aspect of the present invention, a method for controlling the mobile transfer robot system is disclosed, which comprises the steps of:
step 1: starting the system in a working environment, controlling a laser slam system to start working by a master control computer, enabling a laser head to be in a horizontal head-up position, rotating for 360 degrees to perform environment scanning, identification and ranging positioning, and then establishing a working environment map and storing the working environment map in an intelligent controller of the master control computer;
step 2: manually inputting the position information of a set workpiece taking station and a code disc, sticking a required positioning two-dimensional code on the ground of each working point, and arranging a station calling device at the station; the intelligent controller plans a running track according to the operation of the environment map, namely a set walking route during working, so as to provide information for subsequent material handling;
and step 3: setting the coordinates of the charging rest area, automatically moving to the rest area for standby after the mobile transfer robot stops working, waiting for the next workpiece to arrive, and storing energy;
and 4, step 4: a station calling signal is sent, a signal receiver sends the signal to an intelligent controller, the intelligent controller determines a specific station and then sends a set advancing route to a wheel driving motor and a wheel driving motor controller, then the wheel is controlled to move, at the moment, a laser slam system and an anti-collision strip start to work, the laser slam system detects uncertain obstacles in the set advancing route, when the obstacles are encountered, the outline of the obstacle is determined through the laser slam system, the intelligent controller gives an avoiding scheme and transmits the avoiding scheme to the wheel driving motor and the wheel driving motor controller, the intelligent controller controls the wheel to avoid according to the avoiding scheme and then returns to a set track again, and the vehicle continues to run according to the set track;
and 5: when the platform reaches a set station along with the navigation of the laser slam system, the laser slam system stops running, the main control computer starts the two-dimensional code visual positioning system to start working, the accurate deviation of the platform position and the position required by the operation is deduced according to the position deviation of the positioning two-dimensional code pasted in advance in the camera image, the signal is sent to the intelligent controller, the intelligent controller receives the signal and processes the signal, the processed signal is sent to the wheel driving motor and the controller thereof, the wheel is switched into a low-speed accurate running mode under servo driving, and the platform is accurately moved to the set position;
step 6: when the platform moves to a station, the two-dimensional code visual positioning system stops working, the wheel driving motor and the controller thereof feed back an in-place signal to the intelligent controller and control the wheel driving motor to brake, so that the platform is ensured not to move any more in the working process of the mechanical arm;
and 7: after receiving the in-place signal, the intelligent controller sends a starting signal to the mechanical arm controller, controls the corresponding motor for driving the mechanical claw to move, finishes the whole workpiece grabbing work, and feeds back a grabbing finishing signal to the intelligent controller;
and 8: after receiving the completion signal, the intelligent controller sends a starting signal to the wheel driving motor and the wheel driving motor controller, the wheel driving motor and the wheel driving motor controller close the internal contracting brake and continue to follow the flow of step 4, step 5 to move to reach the set position of the code disc, follow step 6, step 7 and place the workpiece on the code disc according to the set requirement;
and step 9: after the carrying is finished once, if no signal for continuing calling exists, the intelligent controller controls the mobile robot to return to a standby rest area and enter a dormant state, so that the electric quantity is saved;
step 10: when a factory enters a rest time or after the mobile carrying robot enters a low-power state, a worker needs to operate a button of a battery module to enter a charging mode and press a charging button of a charging pile, and the intelligent charging pile automatically extends out of a charging interface to be in butt joint with the mobile carrying robot in the rest area for charging; if the robot has run out of power, then the workman is required to insert the cable to the manual charging mouth manually and charge.
Compared with the prior art, the utility model discloses following beneficial effect has:
(1) traditional robotic arm formula robot, working range is limited, and portable transfer robot effectively enlarges the X axle and the Y axle increase working range of fixed arm, has saved the input cost of enterprise.
(2) Present simple removal traction trolley positioning accuracy is low, and repeated positioning accuracy is mostly only 10mm, and the utility model provides a navigation control method that the layering combines adopts laser slam and closely the compound navigation's of two-dimensional code vision locate mode, and repeated positioning accuracy can reach 2mm, also can not increase the control degree of difficulty because of the existence of multiple navigation mode, lets the movable base of moving platform as the arm become possible.
(3) The utility model discloses a portable transfer robot can realize that the transport of independently navigating walking and work piece target is put, and its characteristics lie in modularization, open design, draw traditional arm nimble operation in coordination's advantage, combine together with AGV moving platform, can effectively enlarge the effective working range of single arm, can keep away the barrier transport work piece in coordination and carry out the pile up neatly operation, can further improve the operating efficiency than artifical and fixed transfer robot, alleviate intensity of labour, reduce the operating cost, promote economic benefits.
Drawings
The accompanying drawings, which form a part of the specification, are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention without unduly limiting the scope of the invention.
Fig. 1 is a schematic structural view of a mobile transfer robot system according to an embodiment of the present invention.
Fig. 2 is a flowchart of a control method for a mobile transfer robot system according to an embodiment of the present invention.
Fig. 3 is a flowchart of a control method for a mobile transfer robot system according to an embodiment of the present invention.
The scores in the figure represent: 1.1-vehicle body, 1.2-power supply system, 1.3-intelligent charging port, 1.4-wheel driving motor, 1.5-laser obstacle avoidance unit, 1.6-collision strip, 1.7-wheel, 2.1-mounting plate, 2.2-main control computer, 3.1-longitudinal mechanical arm, 3.2-transverse mechanical arm, 3.3-mechanical claw, 3.4-mechanical claw lifting motor, 3.5-mechanical claw telescopic motor, 3.6-mechanical claw rotating motor, 3.7-mechanical claw grabbing motor, 4.1-two-dimensional code visual positioning system, 5.1-laser slam system, 6.1-pulley fixing rod, 6.2-pulley, 6.3-connecting rope, 6.4-balancing weight, 7.1-intelligent charging pile, 8.1-three-color alarm lamp and 9.1-supporting angle iron.
Detailed Description
It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the invention. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.
For convenience of description, the words "upper", "lower", "left" and "right" in the present application, if any, merely indicate that the device or element referred to in the present application is constructed and operated in a particular orientation, and thus should not be construed as limiting the present invention, since they are merely intended to be oriented in the upper, lower, left and right directions of the drawings themselves, and not to limit the structure, but merely to facilitate the description of the invention and to simplify the description.
Term interpretation section: the terms "mounted," "connected," "fixed," and the like in the present invention are to be understood in a broad sense, for example, they may be fixedly connected, detachably connected, or integrated; the two components can be connected mechanically, directly or indirectly through an intermediate medium, or connected internally or in an interaction relationship, and those skilled in the art can understand the specific meaning of the above terms in the present invention according to specific situations.
Referring to fig. 1, there is illustrated a mobile transfer robot system including: the robot comprises a robot moving platform, a main control computer system, a manipulator device, a two-dimensional code visual positioning system and a laser slam system.
Robot moving platform includes wheeled automobile body 1.1, electrical power generating system 1.2, intelligent charging mouth 1.3, wheel driving motor 1.4 and controller, laser obstacle avoidance unit 1.5 and anticollision strip 1.6, wherein: the power supply system 1.2 is fixed on the upper surface of the right end of the wheel type vehicle body 1.1, the power supply system 1.2 (including a lithium iron phosphate battery and an inverter) is connected with an intelligent charging port 1.3 arranged on the end surface of the right end of the wheel type vehicle body 1.1, the wheel driving motor 1.4 and a controller thereof are connected with the wheel 1.7, and the laser obstacle avoidance unit 1.5 and the anti-collision strip 1.6 are fixed on the upper surface of the left end of the wheel type vehicle body 1.1, namely one end of the wheel type vehicle body 1.1 facing the advancing direction.
The master control computer system comprises: the wheel type vehicle comprises a mounting plate 2.1 and a main control computer 2.2, wherein the mounting plate 2.1 is fixed on a wheel type vehicle body 1.1, the main control computer 2.2 is fixed on the mounting plate 2.1, and the power supply system 1.2, the wheel driving motor 1.4 and a controller thereof are all connected with the main control computer 2.2.
The mechanical hand device comprises a longitudinal mechanical arm 3.1, a transverse mechanical arm 3.2, a mechanical claw 3.3, a mechanical claw lifting motor 3.4, a mechanical claw telescopic motor 3.5, a mechanical claw rotating motor 3.6 and a mechanical claw grabbing motor 3.7. Wherein: the vertical mechanical arm 3.1 is vertically fixed on the wheel type vehicle body 1.1, the transverse mechanical arm 3.2 is perpendicular to the vertical mechanical arm 3.1 and is connected to the vertical mechanical arm, the mechanical claw 3.2 is connected to the transverse mechanical arm 3.2, the transverse mechanical arm 3.2 can move up and down along the vertical mechanical arm 3.1 under the drive of a motor, and the mechanical claw 3.3 can grab and move under the action of the motor and stretch and rotate relative to the transverse mechanical arm 3.2. Each joint of the mechanical claw is provided with a limit sensor, and each joint servo driver of the mechanical arm is connected with a network port of a main control computer. The mechanical claw lifting motor 3.4 is fixed on the side face of the wheel type vehicle body 1.1, the mechanical claw telescopic motor 3.5 is fixed on the transverse mechanical arm 3.2, the mechanical claw rotating motor 3.6 and the mechanical claw rotating motor 3.7 are arranged in a rotating joint of the mechanical claw 3.3, and the mechanical claw lifting motor 3.4, the mechanical claw telescopic motor 3.5, the mechanical claw rotating motor 3.6 and the mechanical claw grabbing motor 3.7 are all connected with the mechanical claw 3.3 and the main control computer 2.2. Each joint of the mechanical claw 3.3 adopts a photoelectric switch as a limit sensor, and each joint servo driver of the mechanical arm adopts CAN bus networking and is connected with a network port of a main control computer through Ethernet industrial Ethernet.
The two-dimensional code visual positioning system 4.1 is fixed on the lower surface of the left end of the wheeled vehicle body 1.1, and in the embodiment, the two-dimensional code visual positioning system 4.1 adopts a two-dimensional code positioning camera. Laser slam system 5.1 sets up on the top of vertical arm 3.1, and laser slam links to each other with the intelligent control ware in the main control computer to realize environmental scanning, map establishment, target identification, coordinate operation and control, specifically, laser slam system 5.1 includes the laser head, and its top of fixing at vertical arm 3.1, and the laser head can 360 rotations, and the laser head links to each other with the intelligent control ware of installing on the main control computer.
Further, still include pulley dead lever 6.1, pulley 6.2, connect rope 6.3 and balancing weight 6.4, wherein, pulley dead lever 6.1's one end is fixed on vertical arm 3.1, and the other end extends to horizontal arm 3.2, and pulley 6.2 all is fixed at the both ends of pulley dead lever 6.1, connect the one end and be connected with horizontal arm 3.2 of rope 6.3, connect the other end of rope 6.3 and be connected with balancing weight 6.4 behind the pulley, and balancing weight 6.4 forms the tractive state to horizontal arm 3.2 to balanced horizontal arm 3.2's moment.
Further, in other embodiments, the charging pile 7.1 is further included, and the charging pile is provided with a connecting port matched with the intelligent charging port 1.3 so as to charge the power supply system 1.2.
Further, in other embodiments, the intelligent controller further comprises a three-color alarm lamp 8.1 which is fixed on the mounting plate 2.1, and the three-color alarm lamp 8.1 is connected with the intelligent controller for the purpose of displaying the running state.
Further, in other embodiments, a support angle iron 9.1 is fixed between the lower part of the longitudinal mechanical arm 3.1 and the longitudinal mechanical arm 3.1, and the longitudinal mechanical arm 3.1 are both connected with the support angle iron 9.1.
Further, referring to fig. 1 to 3, the method for controlling the mobile transfer robot system includes the steps of:
step 1: starting the system in a working environment, controlling a laser slam system 5.1 to start working by a main control computer 2.2, enabling a laser head to be in a horizontal head-up position, rotating for 360 degrees to perform environment scanning, identification and ranging positioning, and then establishing a working environment map and storing the working environment map in an intelligent controller of the main control computer 2.2;
step 2: manually inputting the position information of a set workpiece taking station (a plurality of stations can be arranged) and a code disc, sticking a required positioning two-dimensional code on the ground of each working point, and arranging a station calling device at the station; the intelligent controller plans a running track according to the operation of the environment map, namely a set walking route during working, so as to provide information for subsequent material handling;
and step 3: the charging rest area coordinates are set, when the mobile carrying robot stops working, the mobile carrying robot automatically drives to the rest area to standby, waits for the next workpiece to arrive, and charges energy, so that the cruising ability and the continuous working ability are effectively improved;
and 4, step 4: a station calling signal is sent, a signal receiver sends the signal to an intelligent controller, the intelligent controller sends a set advancing route to a wheel driving motor 1.4 and a controller thereof after determining a specific station, then the wheel 1.7 is controlled to move, at the moment, a laser slam system 5.1 and an anti-collision strip 1.6 start to work, the laser slam system 5.1 detects uncertain obstacles (such as workers or other temporarily placed materials) in the set advancing route, when the obstacles meet the certain type, the outline of the obstacles is determined through a diffuse reflection laser head in the laser slam system 5.1, the intelligent controller gives an avoidance scheme and transmits the avoidance scheme to the wheel driving motor 1.4 and the controller thereof, and the intelligent controller controls the wheel 1.7 to return to a set track after avoiding according to the avoidance scheme and continuously drive according to the set track again;
and 5: when the platform reaches a set station along with the navigation of the laser slam system 5.1, the laser slam system 5.1 stops running, the main control computer 2.2 starts the two-dimensional code visual positioning system 4.1 to start working, the accurate deviation of the platform position and the position required by the working is deduced according to the position deviation of the positioning two-dimensional code pasted in advance in a camera image, a signal is sent to the intelligent controller, the intelligent controller receives the signal and processes the signal, the processed signal is sent to the wheel driving motor 1.4 and the controller thereof, at the moment, the wheel 1.7 is switched into a low-speed accurate running mode under servo driving, and the platform is accurately moved to the set position;
step 6: when the platform moves to a station, the two-dimensional code visual positioning system 4.1 stops working, the wheel driving motor 1.4 and the controller thereof feed back an in-place signal to the intelligent controller and control the wheel driving motor to brake, so that the platform is ensured not to move any more in the working process of the mechanical arm;
and 7: after receiving the in-place signal, the intelligent controller sends a starting signal to the mechanical arm controller to control the motor driving the mechanical claw to move (a mechanical claw lifting motor 3.4, a mechanical claw telescopic motor 3.5, a mechanical claw rotating motor 3.6 and a mechanical claw grabbing motor 3.7), finishes the whole workpiece grabbing work and feeds back the signal of completing grabbing to the intelligent controller;
and 8: after receiving the completion signal, the intelligent controller sends a starting signal to the wheel driving motor 1.4 and the controller thereof, the wheel driving motor 1.4 and the controller thereof close the brake and continue to follow the flow of the step 4 and the step 5 to move to reach the set position of the code disc, and follow the step 6 and the step 7 to place the workpiece on the code disc according to the set requirement;
and step 9: after the carrying is finished once, if no signal for continuing calling exists, the intelligent controller controls the mobile robot to return to a standby rest area and enter a dormant state, so that the electric quantity is saved;
step 10: when a factory enters a rest time, or after the mobile carrying robot enters a low-power state (power 10%), a worker needs to operate a button of a battery module to enter a charging mode, and presses a charging button of a charging pile, so that the intelligent charging pile can automatically extend out of a charging interface to be in butt joint with the mobile carrying robot in the rest area for charging; if the robot has run out of power, then the workman is required to insert the cable to the manual charging mouth manually and charge.
Finally, it should be understood that any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention. Although the present invention has been described with reference to the accompanying drawings, it is not intended to limit the scope of the present invention, and those skilled in the art should understand that various modifications or variations that can be made by those skilled in the art without inventive work are still within the scope of the present invention.
Claims (10)
1. A mobile transfer robot system, comprising: the system comprises a robot moving platform, a main control computer system, a manipulator device, a two-dimensional code vision positioning system and a laser slam system;
robot moving platform keeps away barrier unit and anticollision strip including wheeled automobile body, electrical power generating system, intelligent charging mouth, wheel driving motor and controller, laser, wherein: the power supply system is fixed on the upper surface of the right end of the wheeled vehicle body and is connected with an intelligent charging port arranged on the end surface of the right end of the wheeled vehicle body, the wheel driving motor is connected with the wheel, and the laser obstacle avoidance unit and the anti-collision strip are fixed on the upper surface of the left end of the wheeled vehicle body;
the master control computer system comprises: the wheel type vehicle comprises a mounting plate and a main control computer, wherein the mounting plate is fixed on a wheel type vehicle body, the main control computer is fixed on the mounting plate, and the power supply system, a wheel driving motor and a controller thereof are all connected with the main control computer;
the mechanical arm device comprises a longitudinal mechanical arm, a transverse mechanical arm and a mechanical claw; wherein: the longitudinal mechanical arm is vertically fixed on the wheel type vehicle body, the transverse mechanical arm is perpendicular to the longitudinal mechanical arm and connected to the longitudinal mechanical arm, the mechanical claw is connected to the transverse mechanical arm, the transverse mechanical arm can move up and down along the longitudinal mechanical arm under the driving of a motor, and the mechanical claw can perform grabbing actions under the action of the motor and can stretch and rotate relative to the transverse mechanical arm; each joint of the mechanical claw is provided with a limit sensor, and each joint servo driver of the mechanical arm is connected with a network port of a main control computer;
the two-dimensional code visual positioning system is fixed on the lower surface of the left end of the wheel type vehicle body, the laser slam system is arranged at the top end of the longitudinal mechanical arm, and the laser slam system is connected with an intelligent controller in the main control computer.
2. The mobile transfer robot system of claim 1, further comprising: gripper elevator motor, gripper rotating electrical machines and gripper grabbing motor, wherein: the mechanical claw lifting motor is fixed on the side face of the wheel type vehicle body, the mechanical claw telescopic motor is fixed on the transverse mechanical arm, the mechanical claw rotating motor and the mechanical claw rotating motor are arranged in a rotating joint of the mechanical claw, and the mechanical claw lifting motor, the mechanical claw telescopic motor, the mechanical claw rotating motor and the mechanical claw grabbing motor are all connected with the mechanical claw and the main control computer.
3. The mobile carrier robot system of claim 1, wherein each joint of the gripper is a photoelectric switch as a limit sensor, and each joint servo driver of the robot is connected to a network port of the main control computer through ethernet industrial ethernet after being networked by a CAN bus.
4. The mobile transfer robot system of claim 1, wherein the laser slam system comprises a laser head fixed to the top end of the longitudinal robot arm, the laser head being capable of 360 ° rotation, the laser head being connected to an intelligent controller installed on a main control computer.
5. The mobile carrier robot system as claimed in claim 1, further comprising a pulley fixing rod, a pulley, a connecting rope, and a weight block, wherein one end of the pulley fixing rod is fixed to the longitudinal robot arm and the other end thereof extends toward the transverse robot arm, the pulley is fixed to both ends of the pulley fixing rod, one end of the connecting rope is connected to the transverse robot arm, the other end of the connecting rope passes through the pulley and then is connected to the weight block, and the weight block forms a pulling state for the transverse robot arm.
6. The mobile carrier robot system of claim 1, further comprising a smart charging post having a connection port that is mated with the smart charging port to facilitate charging of the power system.
7. The mobile transfer robot system of claim 1, further comprising a tri-color warning lamp fixed to the mounting plate, the tri-color warning lamp being connected to the intelligent controller.
8. The mobile carrier robot system of claim 1, wherein a support angle is fixed between the lower portion of the longitudinal robot arm and the longitudinal robot arm, and the longitudinal robot arm are connected to the support angle.
9. The mobile transfer robot system of any one of claims 1-8, wherein the two-dimensional code vision positioning system is a two-dimensional code positioning camera.
10. The mobile transfer robot system of any one of claims 1-8, wherein the wheels of the wheeled cart are mecanum wheels.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022209407.9U CN213474692U (en) | 2020-09-30 | 2020-09-30 | Mobile transfer robot system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022209407.9U CN213474692U (en) | 2020-09-30 | 2020-09-30 | Mobile transfer robot system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN213474692U true CN213474692U (en) | 2021-06-18 |
Family
ID=76365985
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202022209407.9U Expired - Fee Related CN213474692U (en) | 2020-09-30 | 2020-09-30 | Mobile transfer robot system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN213474692U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112093467A (en) * | 2020-09-30 | 2020-12-18 | 中国计量大学 | Mobile carrying robot system and control method thereof |
| CN114055454A (en) * | 2021-12-15 | 2022-02-18 | 重庆远创光电科技有限公司 | Engine end cover and line box robot vision guide positioner |
-
2020
- 2020-09-30 CN CN202022209407.9U patent/CN213474692U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112093467A (en) * | 2020-09-30 | 2020-12-18 | 中国计量大学 | Mobile carrying robot system and control method thereof |
| CN114055454A (en) * | 2021-12-15 | 2022-02-18 | 重庆远创光电科技有限公司 | Engine end cover and line box robot vision guide positioner |
| CN114055454B (en) * | 2021-12-15 | 2023-07-14 | 重庆远创光电科技有限公司 | Engine end cover and wire box robot vision guiding and positioning device |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN112093467A (en) | Mobile carrying robot system and control method thereof | |
| CN103950673B (en) | A kind of shuttle with turning function | |
| CN213474692U (en) | Mobile transfer robot system | |
| WO2016197610A1 (en) | Agv comb-type transfer robot | |
| CN112936275A (en) | Mechanical arm grabbing system based on depth camera and control method | |
| CN209833821U (en) | Intelligent logistics trolley | |
| CN202897859U (en) | Vision-based obstacle avoidance pre-warning device of crown block robot | |
| CN113443585A (en) | Stacking robot | |
| CN112811352A (en) | Robot forklift for intelligent logistics | |
| CN111153353A (en) | Laser navigation unmanned forklift and control system thereof | |
| CN109025439A (en) | Intelligent robot for carrying automobiles | |
| CN111716359B (en) | Composite navigation type differential storage robot and working method thereof | |
| CN116620802B (en) | Transportation method utilizing indoor construction intelligent material transportation system | |
| CN205809696U (en) | Cross-country heavy duty AGV | |
| CN113510680A (en) | Mud adding robot and method for blast furnace mud gun | |
| CN111285137A (en) | Loading system and loading method | |
| CN214456566U (en) | Robot forklift for intelligent logistics | |
| CN114092000A (en) | Unmanned delivery system of wisdom commodity circulation based on natural navigation | |
| CN114092001A (en) | AGV carrier loader for intelligent logistics unmanned distribution system and packing box used by same | |
| CN211642414U (en) | Intelligent AGV (automatic guided vehicle) carrying trolley and AGV traffic control system thereof | |
| CN211920788U (en) | L-shaped transportation robot | |
| CN203921781U (en) | A kind of shuttle with turning function | |
| CN110640759B (en) | Full-automatic road garbage picking robot and using method thereof | |
| CN211998639U (en) | Intelligent conveying robot | |
| CN215867594U (en) | Automatic logistics trolley transfer device for special-shaped heavy-weight plate |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20210618 |