CN214523523U - Appearance self-adaptation flexible type transfer robot - Google Patents

Abstract

The utility model relates to an appearance self-adaptive flexible transfer robot, which comprises a plurality of frames, a telescopic supporting beam which is connected with the frames in sequence and forms a rectangular structure, a walking mechanism which drives the frames to move synchronously, and a bearing mechanism which is arranged on the frames and can realize lifting; the material management application system comprises a robot task scheduling and monitoring system, a material management system and a production task management system; the utility model provides an appearance self-adaptive flexible transfer robot, which realizes the automatic transfer operation of materials and overcomes the problems of large labor capacity, time and labor waste and low efficiency of manual material searching and transfer in the prior manual mode; the telescopic length of the telescopic supporting beam can be adjusted in a self-adaptive manner according to the size of the bracket used in cooperation, and the conveying stability is enhanced; the automatic material position adjusting device has an automatic identification function, can realize automatic guide control to search materials, and can automatically adjust according to different material positions through accurate identification and control.

Description

Appearance self-adaptation flexible type transfer robot

Technical Field

The utility model relates to a handling equipment technical field for the commodity circulation transportation trade, in particular to appearance self-adaptation nimble type transfer robot.

Background

Materials need to be carried in the industries of aerospace, logistics and the like, along with the development of science and technology, a high and new technology of a carrying robot in the automatic control field appears, and the carrying robot relates to the subject fields of mechanics, electrics, automation control technology, sensor technology, single chip microcomputer technology, computer technology and the like, and becomes an important component in a modern mechanical manufacturing production system.

The appearance of the transfer robot directly reduces the requirement of production on manpower, the robot has higher stability and can continuously work, and the transfer robot is applied to auxiliary production at present for a production line with higher automation comprehensive level; however, in view of required material is not of uniform size in the production, and transfer robot can only carry the material that the size is approximate generally, and there is the unstable potential safety hazard of focus in the great material of little transport bracket transport to make transfer robot among the prior art because structural design's limitation, and make adaptability relatively poor, consequently the utility model develops an appearance self-adaptation nimble type transfer robot, with the problem of solving existence among the prior art, through the retrieval, not discover with the utility model discloses same or similar technical scheme.

SUMMERY OF THE UTILITY MODEL

The utility model discloses the purpose is: the utility model provides a flexible type transfer robot of appearance self-adaptation to solve among the prior art transfer robot structural design singleness, same equipment can only carry the approximate material of size and the poor problem of adaptability that causes, it is big to overcome the amount of labour that the manual mode exists, and work efficiency is low, has the defect of potential safety hazard to the porter.

The technical scheme of the utility model is that: a flexible transfer robot with a self-adaptive appearance comprises a plurality of frames, a telescopic supporting beam, a traveling mechanism and a bearing mechanism, wherein the telescopic supporting beam is sequentially connected with the frames and forms a rectangular structure in an enclosing mode; the bearing mechanism comprises a bearing tray and a driving assembly for driving the bearing tray to lift along the vertical direction, and the driving assembly can drive the height of the upper end face of the bearing tray after the bearing tray rises to be higher than the height of the upper end face of the frame.

Preferably, the walking mechanism adopts mecanum wheels, and the telescopic supporting beam comprises a first connecting beam and an electric cylinder for driving the first connecting beam to stretch and retract.

Preferably, the frame comprises a first lower frame body and a first upper frame body, and the Mecanum wheels are arranged on the side edge of the first lower frame body and driven by a servo motor; the electric cylinder is fixed in the first lower frame body, is fixedly connected with one end of the first connecting cross beam and drives the first connecting cross beam to stretch and retract; one end of the first connecting beam, which is far away from the electric cylinder, is fixed in a first lower frame body of an adjacent frame; the drive assembly is installed in first last support body, it is connected and runs through first last support body up end with drive assembly to bear the tray.

Preferably, the running gear selects a steering wheel, the telescopic supporting beam comprises a second connecting beam and an optical axis which are coaxially arranged, and the optical axis is connected with the second connecting beam in an inserting and movable matching manner.

Preferably, the frame comprises a second lower frame body and a second upper frame body, and the steering wheel is arranged in the second lower frame body; one end of the second connecting cross beam, which is far away from the optical axis, is fixed in the second lower frame body of the adjacent frame; the drive assembly is installed in the second upper frame body, and the bearing tray is connected with the drive assembly and penetrates through the upper end face of the second upper frame body.

Preferably, the driving assembly is a jacking screw mechanism, and the jacking screw mechanism is connected with the bearing tray and is driven by separate speed reducing motors respectively.

Preferably, a vehicle-mounted control system is further arranged in the frame, and the vehicle-mounted control system comprises a master control system, a navigation system, a posture recognition system and a communication system which are sequentially connected with the master control system; the navigation system can be one of a laser navigation system, an electromagnetic navigation system, an inertial navigation system or a visual navigation system; the gesture recognition system adopts a two-dimensional code recognition system; the communication system is used for remote information interaction and remote control.

Based on foretell a flexible type transfer robot of appearance self-adaptation, the utility model also provides a material management application system, material management application system includes:

the robot task scheduling and monitoring system is in wireless communication connection with a communication system in the transfer robot in a wireless communication mode and is used for controlling tasks of the transfer robot;

the material management system is used for controlling material storage positions, is connected with the robot task scheduling and monitoring system in an electric communication mode and transmits the material storage positions to the robot task scheduling and monitoring system;

and the production task management system is used for managing and controlling the production task demand information, is connected with the robot task scheduling and monitoring system in an electric communication mode, and transmits the production task demand information to the robot task scheduling and monitoring system.

Compared with the prior art, the utility model has the advantages that:

(1) the utility model provides an appearance self-adaptive flexible transfer robot, which realizes the automatic transfer operation of materials and overcomes the problems of large labor capacity, time and labor waste and low efficiency of manual material searching and transfer in the prior manual mode; in the working process, the telescopic length of the telescopic supporting beam can be adaptively adjusted according to the size of the bracket used in cooperation, so that the conveying stability is enhanced; overall structure has the automatic identification function, can realize automatic guide control and look for the material, can carry out automatically regulated according to the material position of difference through accurate discernment and control.

(2) The utility model discloses related to simultaneously and being applied to appearance self-adaptation nimble type transfer robot's material management application system, degree of automation is high, and through material management system and production task management system's informationization butt joint, under robot task scheduling and monitored control system's operation, realize full-automatic material handling work.

Drawings

The invention will be further described with reference to the following drawings and examples:

fig. 1 is a schematic structural view of a flexible transfer robot with an adaptive appearance according to embodiment 1 of the present invention;

fig. 2 is a schematic view of an internal structure of a flexible transfer robot with an adaptive appearance according to embodiment 1 of the present invention (a part of the structure is removed);

fig. 3 is a front view of an internal structure of a flexible transfer robot with an adaptive appearance according to embodiment 1 of the present invention;

fig. 4 is a front view of the flexible transfer robot with adaptive shape according to embodiment 1 of the present invention just entering under the carrier during operation;

fig. 5 is a front view of the flexible transfer robot with adaptive appearance according to embodiment 1 of the present invention, which enters below the bracket and lifts the bracket upward during operation.

Fig. 6 is a schematic structural view of an appearance adaptive flexible transfer robot according to embodiment 2 of the present invention;

fig. 7 is a schematic view of an internal structure of an adaptive-appearance flexible transfer robot according to embodiment 2 of the present invention (a part of a frame structure is removed);

fig. 8 is a schematic structural view of the telescopic supporting beam according to embodiment 2 of the present invention during telescopic adjustment;

fig. 9 is a schematic structural diagram of a material management application system according to the present invention;

fig. 10 is a schematic diagram of a carrying process and a returning process of the flexible carrying robot with an adaptive appearance according to the present invention.

Wherein: 1. a frame;

11. a first lower frame body 12, a first upper frame body 13, a second lower frame body 14 and a second upper frame body;

2. a retractable support beam;

21. a first connecting beam 22, an electric cylinder 23, a second connecting beam 24 and an optical axis;

3. a traveling mechanism;

31. a Mecanum wheel 301 and a servo motor;

32. a steering wheel;

4. a carrying mechanism;

41. bearing tray, 42, drive assembly.

Detailed Description

The following detailed description is made in conjunction with specific embodiments of the present invention:

example 1

As shown in fig. 1 and 2, a flexible transfer robot with a self-adaptive shape comprises a plurality of frames 1, a retractable support beam 2 sequentially connected with the frames 1 and enclosing a rectangular structure, a traveling mechanism 3 driving the frames 1 to move synchronously, and a bearing mechanism 4 mounted on the frames 1 and capable of lifting.

In this embodiment, four vehicle frames 1 are selected and arranged at four top corners capable of enclosing a rectangular structure, and the vehicle frame 1 includes a first lower frame body 11 and a first upper frame body 12; the traveling mechanism 3 is mounted on the side of the first lower frame 11 by using a mecanum wheel 31 and driven by a servo motor 301.

Referring to fig. 2 and 3, the retractable support beam 2 includes a first connecting beam 21 and an electric cylinder 22 for driving the first connecting beam 21 to retract; the electric cylinder 22 is fixed in the first lower frame body 11, fixedly connected with one end of the first connecting beam 21 and drives the first connecting beam to extend and retract; one end of the first connecting beam 21 far away from the electric cylinder 22 is fixed in the first lower frame body 11 of the adjacent vehicle frame 1.

The bearing mechanism 4 comprises a bearing tray 41 and a driving assembly 42 for driving the bearing tray 41 to lift along the vertical direction, the driving assembly 42 is installed in the first upper frame body 12, a jacking screw mechanism can be selected, and the driving assembly can be driven by a separate speed reduction motor respectively; the bearing tray 41 is connected with the jacking screw mechanism and penetrates through the upper end surface of the first upper frame body 12, and the driving assembly 42 can drive the height of the upper end surface of the bearing tray 41 after rising to be higher than the height of the upper end surface of the first upper frame body 12.

Regarding the control part, a vehicle-mounted control system is also arranged in the frame 1, and the vehicle-mounted control system comprises a master control system, a navigation system, a posture recognition system and a communication system which are sequentially connected with the master control system; the navigation system can be one of a laser navigation system, an electromagnetic navigation system, an inertial navigation system or a visual navigation system; the gesture recognition system adopts a two-dimensional code recognition system; the communication system is used for remote information interaction and remote control; the master control system is also connected with the servo motor 301, the electric cylinder 22 and the speed reducing motor.

In this embodiment, the traveling mechanism 3 is driven by the mecanum wheels 31, and the mecanum wheels 31 are used as driving wheels to realize omnidirectional movement, so that the traveling mechanism is more flexible; the retractable support beam 2 and the carrying tray 41 need to be driven independently, wherein the retractable support beam 2 is driven to extend and retract by the electric cylinder 22, and the carrying tray 41 is driven to move up and down by the jacking screw mechanism.

The utility model needs to be used with a bracket for placing materials to be carried, as shown in fig. 4, the upper part of the bracket is used for placing materials, the lower part is provided with supporting legs, and a space for a carrying robot to enter is formed between the bracket and the ground; meanwhile, a two-dimensional code containing bracket size information is also pasted below the bracket; when the two-dimensional code recognition system works, firstly, the carrying robot enters the lower part of the bracket in a contraction state, scans the two-dimensional code through the two-dimensional code recognition system, and sends scanning information to the master control system; then, as shown in fig. 5, the handling robot controls the electric cylinder 22 to operate through the master control system, so as to adjust the extension length of the first connecting beam 21, and then continuously controls the driving assembly 42 to operate, so as to lift the carrying tray 41 and jack the bracket upwards, so that the bracket and the material can be driven to move, and a handling action is realized.

Example 2

The present embodiment is different from embodiment 1 in that: referring to fig. 6 and 7, the steering wheel is selected as the traveling mechanism 3, and the retractable support beam 2 adopts the second connecting beam 23 and the optical axis 24 which are coaxially arranged, and the optical axis 24 is connected with the second connecting beam 23 in an inserting and movable fit manner.

More specifically, the frame 1 comprises a second lower frame body 13 and a second upper frame body 14, and the steering wheel is installed in the second lower frame body 13; one end of the second connecting beam 23, which is far away from the optical axis 24, is fixed in the second lower frame body 13, and one end of the optical axis 24, which is far away from the second connecting beam 23, is fixed in the second lower frame body 13 of the adjacent frame 1; the driving assembly 42 is installed in the second upper frame 14, and the carrying tray 41 is connected to the driving assembly 42 and penetrates through the upper end surface of the second upper frame 14.

In this embodiment, the running mechanism 3 adopts a driving mode of the steering wheel 32, the steering wheel 32 is used as a driving wheel, and the telescopic supporting beam 2 (the second connecting beam 23 and the optical axis 24) can be stretched and contracted by the friction force with the ground, so that other driving structures are omitted, and the bearing tray 41 still needs to be driven to lift by the driving component 42; however, the transfer robot driven by the steering wheel 32 needs to park before steering, perform the shaft deflection operation in the direction of the steering wheel 32, and then perform the steering operation; the principle of relative expansion and contraction of the second connecting beam 23 and the optical axis 24 due to friction between the steering wheel 32 and the ground is as follows:

referring to fig. 8, taking a pair of parallel second connecting beams a as an example, the advancing direction of the overall structure is shown by a dotted arrow in the figure, and if the second connecting beam a needs to be changed from the stretched state of fig. 5 to the contracted state of fig. 6, the steering wheel 32 is rotated from the illustrated orientation in the direction of the arrow, and the steering wheels 32 on both sides of the single second connecting beam a are in the shape of "eight" along the advancing direction, the optical axis will be continuously contracted into the second connecting beam a during the advancing process, otherwise, the optical axis will be stretched, and the telescopic support beam 2 is further stretched.

Based on the above-mentioned appearance adaptive flexible transfer robot, still relate to a material management application, as shown in fig. 9, this material management application includes:

the robot task scheduling and monitoring system is in wireless communication connection with a communication system in the transfer robot in a wireless communication mode and is used for carrying out task control on the transfer robot.

And the material management system is used for controlling the material storage position, is connected with the robot task scheduling and monitoring system in an electric communication mode, and transmits the material storage position to the robot task scheduling and monitoring system.

And the production task management system is used for managing and controlling the production task demand information, is connected with the robot task scheduling and monitoring system in an electric communication mode, and transmits the production task demand information to the robot task scheduling and monitoring system.

The carrying robot works between the material storage areas and the production line area, when the production line has production task demand information, the carrying robot moves to the corresponding material storage areas to carry materials (at the moment, the materials need to be placed on the brackets), and the materials are carried to target stations of the production line area; when the materials are moved to the empty position, the carrying robot moves to the target station of the production line area to complete the carrying of the empty bracket and moves to the designated position of the material storage area.

More specifically, as shown in fig. 10, the working principle of the present invention is as follows:

the utility model relates to an appearance self-adaptive flexible transfer robot which can carry out full-automatic work under the control of a robot task scheduling and monitoring system; when a material demand is generated in a production line area, a material demand signal is sent by a production task management system, a carrying robot executes a carrying process, the carrying robot firstly moves to a material target position of a material storage area under the action of a navigation system, then a two-dimensional code below a bracket corresponding to a material is scanned by a posture recognition system (namely the two-dimensional code recognition system), the postures of a telescopic supporting beam 2 and a bearing tray 41 are defined, the length of the telescopic supporting beam 2 is adjusted (the length of the telescopic supporting beam is matched with the size of the bracket for placing the material) and the bearing tray 41 is jacked upwards under the control of a master control system, so that the bracket with the material is jacked upwards and moves to a production line target station under the action of the navigation system along with the carrying robot, and the material is carried; when the materials are moved to the air, the production task management system sequentially sends out an empty bracket homing signal and material requirements, the carrying robot executes an empty bracket homing process, the carrying robot goes to a target station of a production line, scans two-dimensional codes below the empty bracket through the gesture recognition system, determines the gestures of the telescopic supporting beam 2 and the bearing tray 41, and realizes the adjustment of the length of the telescopic supporting beam 2 (which is adaptive to the size of the empty bracket) and the upward jacking of the bearing tray 41 through the control of the master control system, so that the empty bracket is lifted upwards and is continuously repositioned to a material designated area under the action of the navigation system along with the carrying robot; when no other tasks need to be executed, the transfer robot goes to an automatic charging station under the control of the robot task scheduling and monitoring system to complete the automatic charging work so as to facilitate subsequent work.

The above embodiments are only for illustrating the technical concept and features of the present invention, and the purpose of the embodiments is to enable those skilled in the art to understand the contents of the present invention and to implement the present invention, which cannot limit the protection scope of the present invention. It is obvious to a person skilled in the art that the invention is not limited to details of the above-described exemplary embodiments, but that it can be implemented in other specific forms without departing from the spirit or essential characteristics of the invention, and that the embodiments are therefore to be considered in all respects as exemplary and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein.

Claims (7)

1. A flexible transfer robot with adaptive appearance is characterized in that: the lifting device comprises a plurality of frames, a telescopic supporting beam, a walking mechanism and a bearing mechanism, wherein the telescopic supporting beam is sequentially connected with the frames and forms a rectangular structure by enclosing, the walking mechanism drives the frames to synchronously move, and the bearing mechanism is arranged on the frames and can realize lifting; the bearing mechanism comprises a bearing tray and a driving assembly for driving the bearing tray to lift along the vertical direction, and the driving assembly can drive the height of the upper end face of the bearing tray after the bearing tray rises to be higher than the height of the upper end face of the frame.

2. The form-adaptive flexible transfer robot of claim 1, wherein: the walking mechanism adopts Mecanum wheels, and the telescopic supporting beam comprises a first connecting beam and an electric cylinder for driving the first connecting beam to stretch.

3. The form-adaptive flexible transfer robot of claim 2, wherein: the frame comprises a first lower frame body and a first upper frame body, and the Mecanum wheels are arranged on the side edge of the first lower frame body and driven by a servo motor; the electric cylinder is fixed in the first lower frame body, is fixedly connected with one end of the first connecting cross beam and drives the first connecting cross beam to stretch and retract; one end of the first connecting beam, which is far away from the electric cylinder, is fixed in a first lower frame body of an adjacent frame; the drive assembly is installed in first last support body, it is connected and runs through first last support body up end with drive assembly to bear the tray.

4. The form-adaptive flexible transfer robot of claim 1, wherein: the steering wheel is selected as the travelling mechanism, the telescopic supporting beam comprises a second connecting cross beam and an optical axis which are coaxially arranged, and the optical axis is connected with the second connecting cross beam in an inserting and movable matching mode.

5. The contour adaptive flexible transfer robot as defined in claim 4, wherein: the frame comprises a second lower frame body and a second upper frame body, and the steering wheel is arranged in the second lower frame body; one end of the second connecting cross beam, which is far away from the optical axis, is fixed in the second lower frame body of the adjacent frame; the drive assembly is installed in the second upper frame body, and the bearing tray is connected with the drive assembly and penetrates through the upper end face of the second upper frame body.

6. The shape-adaptive flexible transfer robot according to any one of claims 1 to 5, wherein: the driving assembly is a jacking screw mechanism, and the jacking screw mechanism is connected with the bearing tray and is driven by an independent speed reducing motor respectively.

7. The shape-adaptive flexible transfer robot according to any one of claims 1 to 5, wherein: the vehicle frame is also internally provided with a vehicle-mounted control system, and the vehicle-mounted control system comprises a master control system, a navigation system, a posture recognition system and a communication system which are sequentially connected with the master control system; the navigation system can be one of a laser navigation system, an electromagnetic navigation system, an inertial navigation system or a visual navigation system; the gesture recognition system adopts a two-dimensional code recognition system; the communication system is used for remote information interaction and remote control.

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