CN215364735U - Robot - Google Patents

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CN215364735U
CN215364735U CN202121679899.6U CN202121679899U CN215364735U CN 215364735 U CN215364735 U CN 215364735U CN 202121679899 U CN202121679899 U CN 202121679899U CN 215364735 U CN215364735 U CN 215364735U
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robot
container
gravity
telescopic fork
lifting system
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王鹏飞
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Beijing Jizhijia Technology Co Ltd
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Beijing Jizhijia Technology Co Ltd
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Abstract

The application provides a robot, which comprises a movable chassis and a door frame arranged on the movable chassis; the lifting system is assembled on the gantry in a sliding mode, and the telescopic fork system is arranged on the lifting system; the weighing system is arranged on the lifting system; the weighing system is used for detecting the weight of the container borne by the telescopic fork system; and the control device is used for determining the gravity center of the robot according to the height of the lifting system and the weight of the container detected by the weighing system, and acquiring the acceleration of the robot during walking according to the set maximum allowable offset and the gravity center of the robot. In the technical scheme, the gravity centers of the robot in different states can be obtained in real time by matching the weighing system with the lifting system, and the acceleration of the robot can be determined according to the gravity centers, so that the safety of the robot during walking is ensured, and the carrying efficiency is also improved.

Description

Robot
Technical Field
The utility model relates to the technical field of warehouse logistics, in particular to a robot.
Background
Along with the promotion to the logistics efficiency requirement, at the storage stage, also promote gradually to the requirement of robot, how high-efficient quick transshipment goods becomes the key that improves work efficiency. However, when the robot carries goods, the equivalent gravity center position of the whole robot has certain influence on the walking stability of the whole robot, for example, for a multi-box robot, because the robot can return multiple boxes, how to determine the equivalent gravity center position of the whole robot and adjust the walking parameters in real time is determined, and the walking efficiency of the whole robot is determined. However, the current robot does not consider the change of the robot when carrying the container, and the robot is easy to topple when running, which affects the carrying efficiency.
SUMMERY OF THE UTILITY MODEL
In view of this, the present invention provides a robot to improve safety of the robot during walking and improve transportation efficiency.
The application provides a robot, which comprises a moving chassis and a door frame arranged on the moving chassis; the lifting system is assembled on the gantry in a sliding mode, and the telescopic fork system is arranged on the lifting system; the weighing system is arranged on the lifting system; the weighing system is used for detecting the weight of a container carried by the telescopic fork system; and the control device is used for determining the gravity center of the robot according to the height of the lifting system and the weight of the container detected by the weighing system, and acquiring the acceleration of the robot during walking according to the set maximum allowable offset and the gravity center of the robot. In the technical scheme, the gravity centers of the robot in different states can be obtained in real time by matching the weighing system with the lifting system, and the acceleration of the robot can be determined according to the gravity centers, so that the safety of the robot during walking is ensured, and the carrying efficiency is also improved.
In a particular possible embodiment, the control device is further configured to determine a maximum operating speed of the robot based on the determined center of gravity of the robot. The safety of the robot during walking is improved.
In a specific possible embodiment, the control device is further configured to determine the center of gravity of the container based on the height of the lifting system and the weight of the container detected by the weighing system;
the control device is further used for determining the current gravity center of the robot according to the gravity center of the robot before the goods taking box and the gravity center of the goods box.
In a specific embodiment, a plurality of buffer trays for storing the containers are arranged on the gantry along the height direction; the control device is also used for controlling the lifting system and the telescopic fork system to buffer one buffer storage tray in the container;
the control device is further used for determining the gravity center of the container when the container is placed into the buffer storage disc according to the height of the lifting system when the container is placed into the corresponding buffer storage disc and the weight of the container detected by the weighing system.
In a specific possible embodiment, the weight and the center of gravity of the robot in the current state are as follows:
Figure BDA0003175040720000021
wherein M is the total weight, x1、y1、z1Respectively the center of gravity of the robot; m is the weight of the container, and x ', y ', z ' are the center of gravity of the container, respectively.
In a specific possible embodiment, when the robot travels in the X direction, the determined acceleration of the current state of the robot is:
Figure BDA0003175040720000031
wherein a is the allowable acceleration of the robot in the current state; x is the number ofmaxIs the set maximum allowable X-direction offset.
In a specific embodiment, the telescopic fork system is rotatably connected to the lifting system via a slewing bearing. The goods taking in different directions is realized.
In a particular possible embodiment, the slewing bearing comprises nested inner and outer rings; wherein the inner ring and the outer ring rotate relatively;
the lifting system is fixedly connected with the inner ring through the weighing system; the telescopic fork system is fixedly connected with the outer ring; or the like, or, alternatively,
the lifting system is fixedly connected with the outer ring through the weighing system; the telescopic fork system is fixedly connected with the inner ring. The goods taking in different directions is realized.
In a particular possible embodiment, the slewing bearing comprises nested inner and outer rings; wherein the inner ring and the outer ring rotate relatively;
the telescopic fork system is fixedly connected with the inner ring through the weighing system; the lifting system is fixedly connected with the outer ring; or the like, or, alternatively,
the telescopic fork system is fixedly connected with the outer ring through the weighing system; the lifting system is fixedly connected with the inner ring. The goods taking in different directions is realized.
In a specific possible embodiment, the weighing system comprises at least three sensors.
Drawings
Fig. 1 is a schematic structural diagram of a robot provided in an embodiment of the present invention;
fig. 2 is a schematic connection diagram of a lifting system and a telescopic fork system of the robot provided in the embodiment of the present invention;
fig. 3 is a schematic connection diagram of a lifting system and a telescopic fork system of a robot according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the utility model and are not intended to limit the utility model.
First, in order to facilitate understanding of the robot provided in the embodiments of the present application, an application scenario of the robot is described first. In the existing storage and transportation process, when the robot carries a container, the gravity center of the robot can be changed, and the influence of the gravity center change of the robot on the acceleration and the speed of the robot after the container is carried is not considered by the robot in the prior art, so that the robot is very easy to topple during carrying, and the carrying efficiency and the carrying safety are influenced. In view of this, the present embodiment provides a method for determining the acceleration and the speed of the robot when the robot travels according to the working state of the robot, so as to improve the safety of the robot when the robot travels, and further improve the efficiency of transportation.
The following describes a robot provided in an embodiment of the present application with reference to the drawings.
Firstly, in the embodiment of the application, the robot walks in the roadway between the goods shelves to take back the containers with different heights on the goods shelves. In addition, the container in this application refers to a box for containing products or semi-finished products in the logistics industry, and includes but is not limited to plastic boxes, cartons, wooden boxes and other common containers.
Referring to fig. 1, a main structure of a robot provided in an embodiment of the present application includes: a moving chassis 10, a gantry 20 provided on the moving chassis 10; a lift system 30 slidably mounted on the gantry 20, and a telescoping fork system 40 disposed on the lift system 30. The robot may remove a container from the pallet or place a container onto the pallet by cooperation of the lift system 30 and the telescopic fork system 40. To facilitate understanding of the structure of the robot, the components thereof will be described one by one.
For convenience of description, an XYZ coordinate system is established in which the X direction, the Y direction, and the Z direction are perpendicular to each other. The X direction and the Y direction are parallel to the ground plane, and the X direction and the Y direction respectively move two mutually perpendicular sides of the chassis 10 in parallel; the Z direction is vertical and perpendicular to the ground plane.
The movable chassis 10 includes a chassis body, wheels, a suspension device, and the like, the wheels are connected to the chassis body through the suspension device to realize the moving function of the movable chassis 10, and the specific connection mode may be a known connection mode, which is not described herein again. The mobile chassis 10 serves as a bearing base for other components, and enables the robot to perform various traveling, steering and other movements on the ground.
The gantry 20 is vertically installed on the robot moving chassis 10 and is fixedly connected with the moving chassis 10. As shown in fig. 1, the door frame 20 is a doorframe-type structure that is fixed to and supported by the chassis body. The gantry 20 is also a robot supporting structure for supporting the robot lifting system 30, the telescopic fork system 40, and the like. It should be appreciated that in the embodiment of the present application, the mast 20 has a height such that the robot can handle containers on the shelves that are stored in relatively high positions. The height of the gantry 20 is not specifically limited in this application, and may be set according to actual needs.
As an alternative, a plurality of buffer trays 50 for storing the containers are provided on the gantry in the height direction. As shown in fig. 1, a buffer pallet 50 is provided on the gantry 20 in the Z direction, the buffer pallet 50 can be used to store containers, and containers removed from the racks by the telescopic fork system 40 can be buffered in the buffer pallet 50.
The lift system 30 is mounted in the gantry 20 and is slidably coupled to the gantry 20. in the configuration shown in FIG. 1, the lift system 30 is slidable up and down in the Z-direction. In addition, the lifting system 30 serves as a driving mechanism for the telescopic fork system 40, and is used for driving the telescopic fork system 40 to move up and down along the Z direction, so that the telescopic fork system 40 can obtain containers with different heights.
A telescopic fork system 40 is provided on the lift system 30, the telescopic fork system 40 acting as a mechanism for the robot to remove a container from the pallet. The telescopic fork system 40 comprises a tray and a holding fork arranged on the tray; the holding forks are arranged on two sides of the pallet in pairs and can extend out to take down the container from the goods shelf when in use. It should be understood that in the embodiment of the present application, the embracing fork is at least a two-stage telescopic embracing fork. Of course, the holding fork may be a three-stage telescopic holding fork, a four-stage telescopic holding fork, a five-stage telescopic holding fork, etc., and is not limited herein. When the container is used, the holding fork can be driven to extend and retract through the driving element, and the container can be stored and taken;
as an alternative, the robot further comprises a pivoting support 60, and the telescopic fork system 40 is rotatably connected to the lifting system 30 via the pivoting support 60. The slewing bearing 60 acts as a connection between the telescopic fork system 40 and the lifting system 30 to enable the telescopic fork system 40 to rotate about the centre of the slewing bearing 60 to enable reverse retrieval of the telescopic fork system 40. At the moment, the robot can take down the containers on the goods shelves on the two sides of the roadway according to the requirement.
Referring to fig. 2 and 3 together, fig. 2 and 3 show a schematic view of the construction of the lift system 30 and the telescopic fork system 40. Slewing bearing 60 comprises nested inner and outer rings; wherein the inner ring and the outer ring rotate relatively. During assembly, the lifting system 30 can be fixedly connected with the inner ring, and the telescopic fork system 40 is fixedly connected with the outer ring; the lifting system 30 can also be fixedly connected with the outer ring, and the telescopic fork system 40 can be fixedly connected with the inner ring. When the inner ring and the outer ring rotate relatively, the telescopic fork system 40 can rotate relative to the lifting system 30, so that the containers can be taken and placed in different directions.
When the robot walks, because it needs to carry a plurality of packing boxes, there are the difference of packing box number to and the change of packing box weight, can cause the condition that the robot focus has the change. The safety of walking of the robot in different states is ensured. The robot in the embodiment of the present application provides a weighing system 70 and a control device to determine the walking speed and acceleration of the robot according to the center of gravity of the robot in different states. This will be explained below.
First, the weighing system 70 is described, and the weighing system 70 is provided in the lifting system 30 and is used to detect the weight of a container carried by the fork system 40. The weighing system 70 may be disposed in various locations. Illustratively, as shown in FIG. 2, a weighing system 70 is disposed between the lift system 30 and the slewing bearing 60. The weighing system 70 may be arranged in different ways when the inner and outer rings of the slewing bearing 60 are fixedly connected to the lifting system 30 and the telescopic fork system 40, respectively. If the lifting system 30 is fixedly connected with the inner ring through the weighing system 70; the telescopic fork system 40 is fixedly connected with the outer ring; or the lifting system 30 is fixedly connected with the outer ring through the weighing system 70; a telescopic fork system 40 is fixedly connected to the inner race.
As shown in fig. 3, the weighing system 70 is disposed between the slewing bearing 60 and the telescopic fork system 40. When the inner ring and the outer ring of the slewing bearing 60 are fixedly connected with the lifting system 30 and the telescopic fork system 40 respectively, the telescopic fork system 40 is fixedly connected with the inner ring through the weighing system 70; the lifting system 30 is fixedly connected with the outer ring; or the telescopic fork system 40 is fixedly connected with the outer ring through the weighing system 70; the lifting system 30 is fixedly connected with the inner ring.
The weighing system 70, whether arranged as shown in fig. 2 or 3, allows for weighing of the weight of the cargo box carried on the telescopic fork system 40. For example, the weighing system 70 may be implemented using sensors of various types that convert pressure-induced deformations into electrical signals by including, but not limited to, strain gauges.
The weighing system 70 includes at least three sensors. When arranging, at least three sensors can be evenly arranged, also can the non-equipartition arrange to the function of weighing to the packing box is realized to the cooperation different algorithms. It should be understood that the acquisition of the weight of the container through the arrangement of the sensors and the detected data is a conventional technique in the art and will not be described in detail herein.
And the control device is used for determining the gravity center of the robot according to the height of the lifting system 30 and the weight of the cargo box detected by the weighing system 70, and acquiring the acceleration of the robot when the robot walks according to the set maximum allowable offset and the gravity center of the robot. When the robot includes buffer trays 50, the control device is also used to control the lift system 30 and the fork system 40 to buffer one of the buffer trays 50 with a container therein. The maximum allowable offset refers to the maximum distance for allowing the center of gravity of the robot to shift in order to ensure the safety of the robot during driving.
In particular control, the control means may be arranged to determine the centre of gravity of the container based on the height of the lifting system 30 and the weight of the container as detected by the weighing system 70; the control device is also used for determining the current gravity center of the robot according to the gravity center of the robot in front of the cargo box and the gravity center of the cargo box. Illustratively, the weight and center of gravity of the robot at the current state are:
Figure BDA0003175040720000081
wherein M is the weight of the whole robot, and x1, y1 and z1 are the gravity centers of the robot respectively; m is the weight of the container, and x ', y ', z ' are the center of gravity of the container respectively.
The robot may be positioned in different locations when carrying the container, either on the telescoping fork system 40 or on the buffer pallet 50. If a container is stored in the buffer tray 50, the control device can determine the center of gravity of the container when it is placed in the buffer tray based on the height of the lifting system 30 when the container is placed in the corresponding buffer tray and the height of the container detected by the weighing system 70.
And determining the acceleration of the robot according to the determined gravity center of the robot, wherein when the robot runs along the X direction, the determined acceleration of the current state of the robot is as follows:
Figure BDA0003175040720000082
wherein a is the allowable acceleration of the robot in the current state; x is the number ofmaxIs the set maximum allowable X-direction offset.
For easy understanding of the above formula, the following description is made in conjunction with the working state of the robot. When the robot works, the container A is taken back through the telescopic fork system 40, after the container is taken, the gravity center height and the forward and backward offset of the robot in the current state can be calculated according to the heights of the lifting system 30 and the telescopic fork system 40 fed back from the lifting system 30 and combined with feedback data of a weighing system, corrected acceleration and deceleration and the maximum running speed are given according to the gravity center parameters of the whole machine obtained through calculation, and the whole machine walks to the next task point, which is a calculation period.
Example of calculation:
t1time whole machine center of gravity (M, x)1,y1,z1) Wherein M is the total weight of the robot, x1、y1、z1The barycentric coordinates of the robot in the XYZ coordinate system are shown, respectively. Weighing system and lift system 30 feedback weightThe increment (m, x ', y', z '), where m is the container weight and x', y ', z' are the barycentric coordinates of the container, and may be the actual real-time position of the container carried by the lifting system 30, or the position coordinates calculated by the height of the container placed in the buffer position by the telescopic fork system 40 in the previous operation, and t is calculated2Time whole machine gravity center
Figure BDA0003175040720000091
According to the set maximum allowable X-direction offset XmaxTo obtain the maximum allowable acceleration and deceleration
Figure BDA0003175040720000092
Wherein a is t2To t3The allowable acceleration/deceleration when the whole machine is running and the time increment are selected according to requirements.
In addition, the control device can also determine the maximum running speed of the robot according to the determined center of gravity of the robot. So as to ensure that the center of gravity of the robot can be in a safe driving range when the center of gravity is at different positions. It should be understood that the control device determines the driving speed of the robot according to the gravity center of the robot in a similar manner to the determination of the acceleration, and the description thereof is omitted.
As can be seen from the above description, the robot provided in the embodiment of the present application can obtain the center of gravity of the robot in different states in real time by using the weighing system 70 in cooperation with the lifting system 30, and can determine the acceleration of the robot according to the center of gravity, so that the safety of the robot during walking is ensured, and the carrying efficiency is also improved.
The present invention is not limited to the above preferred embodiments, and any modifications, equivalent substitutions and improvements made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (10)

1. A robot, comprising: the movable chassis is provided with a gantry; the lifting system is assembled on the gantry in a sliding mode, and the telescopic fork system is arranged on the lifting system;
the weighing system is arranged on the lifting system; the weighing system is used for detecting the weight of a container carried by the telescopic fork system;
and the control device is used for determining the gravity center of the robot according to the height of the lifting system and the weight of the container detected by the weighing system, and acquiring the acceleration of the robot during walking according to the set maximum allowable offset and the gravity center of the robot.
2. A robot as claimed in claim 1, wherein the control means is further arranged to determine a maximum operating speed of the robot based on the determined centre of gravity of the robot.
3. The robot of claim 1, wherein the control device is further configured to determine a center of gravity of the container based on the height of the lift system and the weight of the container detected by the weighing system;
the control device is further used for determining the current gravity center of the robot according to the gravity center of the robot before the goods taking box and the gravity center of the goods box.
4. The robot as claimed in claim 3, wherein a plurality of buffer trays for storing the containers are provided on the gantry in a height direction;
the control device is also used for controlling the lifting system and the telescopic fork system to buffer the container in one buffer tray;
the control device is further used for determining the gravity center of the container when the container is placed into the buffer storage disc according to the height of the lifting system when the container is placed into the corresponding buffer storage disc and the weight of the container detected by the weighing system.
5. The robot of claim 4, wherein the weight and center of gravity of the robot at the current state are:
Figure FDA0003175040710000021
wherein M is the total weight, x1、y1、z1Respectively the center of gravity of the robot; m is the weight of the container, and x ', y ', z ' are the center of gravity of the container, respectively.
6. The robot of claim 5, wherein the determined acceleration of the current state of the robot while the robot is traveling in the X direction is:
Figure FDA0003175040710000022
wherein a is the allowable acceleration of the robot in the current state; x is the number ofmaxIs the set maximum allowable X-direction offset.
7. A robot as claimed in any of claims 1 to 6, wherein the telescopic fork system is rotatably connected to the lifting system by a slewing bearing.
8. A robot as set forth in claim 7 wherein the slewing bearing includes nested inner and outer races; wherein the inner ring and the outer ring rotate relatively;
the lifting system is fixedly connected with the inner ring through the weighing system; the telescopic fork system is fixedly connected with the outer ring; or the like, or, alternatively,
the lifting system is fixedly connected with the outer ring through the weighing system; the telescopic fork system is fixedly connected with the inner ring.
9. The robot of claim 7, wherein said slewing bearing comprises nested inner and outer rings; wherein the inner ring and the outer ring rotate relatively;
the telescopic fork system is fixedly connected with the inner ring through the weighing system; the lifting system is fixedly connected with the outer ring; or the like, or, alternatively,
the telescopic fork system is fixedly connected with the outer ring through the weighing system; the lifting system is fixedly connected with the inner ring.
10. A robot as claimed in claim 1, characterized in that the weighing system comprises at least three sensors.
CN202121679899.6U 2021-07-22 2021-07-22 Robot Active CN215364735U (en)

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114426163A (en) * 2022-01-28 2022-05-03 北京极智嘉科技股份有限公司 Transfer robot, robot equipment and warehousing system
WO2023142951A1 (en) * 2022-01-28 2023-08-03 北京极智嘉科技股份有限公司 Transfer robot, robot device, and warehousing system

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114426163A (en) * 2022-01-28 2022-05-03 北京极智嘉科技股份有限公司 Transfer robot, robot equipment and warehousing system
WO2023142951A1 (en) * 2022-01-28 2023-08-03 北京极智嘉科技股份有限公司 Transfer robot, robot device, and warehousing system

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