CN217703443U

CN217703443U - Mother robot structure of mother-son robot

Info

Publication number: CN217703443U
Application number: CN202221547829.XU
Authority: CN
Inventors: 李金波; 刘虎; 易顺勇; 李哲
Original assignee: Changsha Wanwei Robot Co ltd
Current assignee: Changsha Wanwei Robot Co ltd
Priority date: 2022-06-21
Filing date: 2022-06-21
Publication date: 2022-11-01
Anticipated expiration: 2032-06-21

Abstract

A master robot structure of a master-slave robot comprises a main body, wherein a roller mechanism for walking on a track and a driving mechanism for controlling the roller mechanism to act are arranged on the main body; the main body is also provided with a mounting track for connecting the sub-robot. The utility model has the advantages of simple structure, compact integral structure and greatly reduced occupied space, and can complete the work task without arranging an unnecessary transfer mechanism; on the other hand, the positioning is accurate, and the seamless butt joint of the mounting track and the auxiliary track can be realized, so that the sub-robot can smoothly enter the auxiliary track to execute tasks; and the parent robot can be charged in time in a non-working section, so that the time for executing tasks is not delayed, and the working efficiency is greatly improved.

Description

Mother robot structure of mother-son robot

Technical Field

The utility model relates to a robotechnology field, especially a primary and secondary robot's primary robot structure.

Background

The existing rail-mounted robot usually adopts a single robot to execute tasks along a rail, on one hand, if a plurality of robots are arranged on the rail to respectively execute the tasks, collision is easy to occur between the robots, so that the program design of the robots is more complex, the rigid condition requirements are more strict, the ordered execution between the robots can be ensured, and the rail structure arrangement is more complex; on the other hand, the robot cannot be switched freely between different tracks.

In the prior art, the son-mother robots also exist, but the son-mother robots are all used in specific fields, such as patrol or glass wiping, on one hand, most of the son-mother robots are ground walking robots and cannot perform tasks in the air; on the other hand, mother robot is complicated with sub-robot connection structure, and when mother robot release sub-robot, the sub-robot is not accurate in location when shifting to the secondary track from the primary orbit, in case the deviation appears, will lead to shifting the failure, if do not set up primary and secondary track, whole track structure will set up very complicated, the cost improves greatly.

SUMMERY OF THE UTILITY MODEL

The utility model aims at overcoming the above-mentioned not enough of prior art and providing a connection structure is simple, and is small, the accurate primary and secondary robot's of positioning accuracy female robot structure.

The technical scheme of the utility model is that: a master robot structure of a master-slave robot comprises a main body, wherein a roller mechanism for walking on a track and a driving mechanism for controlling the roller mechanism to act are arranged on the main body; the main body is also provided with a mounting track for connecting the sub-robot.

Further, the main body comprises a main frame and an extension frame extending out of the main frame, and the hanging rail is connected below the extension frame and is vertically arranged between the hanging rail and the extension frame.

Furthermore, the main body is also provided with a battery, an electric control system and a charging part, the charging part is connected with the battery, and the battery is connected with the electric control system; and a charging electrode of the charging part is disposed toward an outer side for connecting an external charging device to charge the battery.

Further, a card reader and a photoelectric sensor are further arranged on the main body, the card reader is matched with a positioning label arranged on the track, and the photoelectric sensor is matched with a positioning induction sheet arranged on the track.

Further, the roller mechanism comprises at least one group of driving wheels and at least one group of driven wheels, wherein the driving wheels are arranged oppositely, and the driving wheels are controlled to rotate through the driving mechanism.

Furthermore, the driving mechanism comprises a driving motor, the driving motor is connected with the driving wheel through a driving belt, and the driving motor drives the driving wheel to rotate through the driving belt.

Further, the track includes main track and vice track, and the parent robot passes through gyro wheel mechanism and walks on the main track, and carries the track and the butt joint of vice track, makes parent robot release child robot pass through to carry the track and get into vice track.

Further, the main track, the auxiliary track and the mounting track are I-shaped tracks, and reserved spaces for mounting the sub-robots are arranged around the mounting track.

Furthermore, the battery and the electric control system are arranged at the bottom of the main frame of the main body, and the charging part is arranged on the side face of the extension frame of the main body; the card reader and the photoelectric sensor are oppositely arranged on two sides of the roller mechanism.

Further, the electric control system is in communication connection with an external scheduling system and is used for receiving scheduling information sent by the scheduling system, controlling the master robot to move to a target stop point along the main track and sending the positioning tag information read by the target stop point to the scheduling system; the system is also used for receiving signals sent by the photoelectric sensor to control the parent robot to align the carrying guide rail with the target secondary rail and send rail alignment information to the dispatching system.

The utility model has the advantages that: the main body of the master robot is provided with the mounting rail, so that the slave robot can smoothly enter the auxiliary rail by separating from the master robot only by aligning the mounting rail with the auxiliary rail, the structure is simple, and a working task can be completed without arranging a redundant transshipment mechanism; by arranging the card reader and the photoelectric sensor, corresponding label information can be read by the card reader to serve as a stop point of the master robot, and seamless butt joint of the mounting track and the auxiliary track is realized by photoelectric induction accurate positioning, so that the slave robot can smoothly enter the auxiliary track to execute a task; by arranging the charging plate, the parent robot can be charged in time in a non-working section, so that the time for executing tasks is not delayed, and the working efficiency is greatly improved; in addition, the overall structure of the master robot is compact, and the occupied space is greatly reduced.

Drawings

FIG. 1 is a schematic structural diagram of a parent robot according to an embodiment of the present invention;

FIG. 2 is a schematic view of a connection structure between a master robot and a slave robot according to an embodiment of the present invention;

fig. 3 is a schematic structural diagram of a track according to an embodiment of the present invention.

The attached drawings indicate the following:

1. a main body; 2. mounting a track; 3. a main track; 4. a drive motor; 5. a transmission belt; 6. a sub-track; 7. a sub-robot; 8. a track hanger;

11. a main frame; 12. an extension frame; 13. a drive wheel; 14. a driven wheel; 15. a battery; 16. an electronic control system; 17. a charging plate; 18. a card reader; 19. a photosensor; 31. a charging device; 41. a motor mounting plate; 61. positioning the label; 62. positioning the induction sheet;

131. a main support; 141. a slave carrier; 181. a first connecting plate; 191. a second connecting plate.

Detailed Description

The invention will be described in further detail with reference to the drawings and specific embodiments.

As shown in fig. 1 to 3: a master robot structure of a master-slave robot comprises a main body 1, wherein a roller mechanism for walking on a track and a driving mechanism for controlling the roller mechanism to act are arranged on the main body; the main body is also provided with a mounting track 2 for connecting the sub-robot 7.

Specifically, main part 1 includes main frame 11 and the extension frame 12 that extends along the main frame, and main frame 11 is the plate body structure, and extension frame 12 and main frame 11 parallel arrangement, and be provided with the recess with the junction of extension frame 12, and the extension frame is frame construction, including a plurality of bar boards, the one end of bar board is connected with the recess block of main frame 11.

In this embodiment, a roller mechanism and a driving mechanism are mounted on the upper surface of the main frame 11. The roller mechanism comprises a pair of driving wheels 13 and a pair of driven wheels 14, wherein the driving wheels 13 and the driven wheels 14 are oppositely arranged, the driving wheels 13 are controlled to rotate through the driving mechanism, and the driven wheels 14 are not provided with power and mainly play a supporting role. The driving wheel and the driven wheel are arranged at intervals, one driving wheel and the driven wheel on the same side are positioned in the I-shaped groove of the main track, and the other driving wheel and the driven wheel are positioned in the I-shaped groove on the other side of the main track, so that the parent robot is hung on the main track 3 through the roller mechanism and moves along the main track.

In this embodiment, actuating mechanism includes two driving motor 4, and two drive wheels 14 are connected through the main support through corresponding drive belt 5 respectively to each driving motor 4, and driving motor 4 drives the drive wheel through drive belt 5 and rotates, and then drives from the driving wheel and follow the rotation. The driving motor 4 is fixed on the main frame 11 through a motor mounting plate 41, and two ends of the driving belt 5 are respectively connected with the driving motor 4 and the driving wheel 13 through shafts.

In this embodiment, a battery 15 and an electronic control system 16 are installed on the bottom surface of the plate body of the main frame 11, a charging plate 17 is installed on the side surface of the extension frame 12, the charging plate 17 is connected with the battery 15, and the battery is connected with the electronic control system 16; and a charging electrode of the charging plate 15 is disposed toward the outside for connecting an external charging device to charge the battery. The charging device 31 is installed on the main rail 3, and when the parent robot moves to the charging device of the main rail, the charging electrode on the charging plate 17 is connected to the charging device to charge the battery.

This embodiment is through carrying out the position to gyro wheel mechanism, actuating mechanism, battery, electrical system and charging panel and arranging, and the space of the main part that can rationally be profitable makes the structure more compact, and the whole volume of female robot just can design is littleer like this, and weight is lighter.

In this embodiment, a card reader 18 and a photoelectric sensor 19 are further disposed on the main frame 11 of the main body, and the card reader 18 and the photoelectric sensor 19 are electrically connected to the electronic control system 16. The card reader and the photoelectric sensor are oppositely arranged, the card reader 18 is arranged on a main bracket 131 of one driving wheel through a first connecting plate 181, and the photoelectric sensor 19 is arranged on a main bracket 131 of the other driving wheel through a second connecting plate 191. The card reader 18 is preferably an RFID card reader, and the sensing end of the card reader 18 is arranged upwards; the photoelectric sensor 19 is preferably a photoelectric switch, and the sensing terminal of the photoelectric switch is also disposed upward. The main track 3 is provided with a positioning label 61 adapted to a card reader and a positioning induction sheet 62 adapted to a photoelectric sensor at the side of the intersection of each sub-track 6. Two positioning sensors are needed to be arranged in the embodiment because the accuracy of the RFID is about +/-10 mm, the requirement of the sub-robot 7 for transferring from the master robot to the auxiliary track can not be met, and the positioning sensors are mainly used for primary positioning of the robot and used as the auxiliary track stopping points of the sub-robot to enter a certain target auxiliary track; the reader 18 reads the information in the positioning tag 61 to obtain which sub-track the sub-robot enters to perform the task, and since there may be many sub-tracks, obtaining the position by positioning the tag can save cost greatly. In order to further improve positioning accuracy, this embodiment has increased photoelectric sensor and has carried out the secondary location, and photoelectric sensor on the female robot is through removing to location response piece department promptly, through sensing the sheltering from of location response piece to it to realize the location, its positioning accuracy can reach about 1mm, for the butt joint of carry track and accessory track provides good precision, makes things convenient for the sub-robot to get into accessory track work and returns to the female robot. Therefore, this embodiment sets up two positioning sensor, can make the primary robot confirm get into the target track and obtain from the rail stop point, can make again on the primary robot carry between track and the secondary rail seamless butt joint to in order to release the secondary robot and get into secondary rail and carry out the task.

In this embodiment, the mounting rail 2 is installed at the lower end of the extension frame 12, and the mounting rail 2 is provided with a reserved space for mounting the sub-robot 7 all around, so that the sub-robot 7 is mounted on the mounting rail 2. The mounting rail 2 and the secondary rail 6 are identical in structure and size to facilitate seamless docking.

In this embodiment, the main rail 3, the auxiliary rail 6, and the mounting rail 2 are all i-shaped rails, so as to facilitate mounting of the roller mechanism. And the main track 3 is hung at the indoor ceiling and other positions through the track hanging bracket 8, thereby realizing the purpose of transferring without occupying the ground space. One main track can be respectively connected with a plurality of auxiliary tracks through connecting frames so as to realize that different sub-robots execute different tasks, and the main track and the auxiliary tracks are not interfered with each other, thereby greatly improving the working efficiency.

In this embodiment, the electronic control system 16 is in communication connection with an external scheduling system, and is configured to receive scheduling information sent by the scheduling system, control the master robot to move to a target stop point along the main track 3, and send positioning tag information read by the target stop point to the scheduling system; and the system is also used for receiving signals sent by the photoelectric sensor 19 to control the parent robot to align the carrying guide rail carried by the parent robot with the target secondary rail and sending rail alignment information to the dispatching system.

It can be understood that the arrangement of the positions of the above components is only a preferred embodiment of the present invention, and the present invention can also arrange some components at other positions, for example, the sensing end of the card reader is arranged towards the groove direction of the main track; or the whole structure of the master robot is arranged in a box body, the original open structure is changed into a semi-closed structure, namely, a cavity which is through from front to back is formed in the box body along the length direction, the open side of the cavity only needs to expose the driving wheel, the driven wheel, the card reader and the photoelectric sensor, and the charging electrode of the charging plate can extend out of the box body, so that the internal structure is protected.

It can be understood that the main body of the parent robot can be provided with the anti-collision sensor in the advancing and retreating directions, and the robot can be ensured not to collide in the front and rear driving directions.

The working principle of the embodiment is as follows:

when the parent robot releases the child robot, the method comprises the following steps: the master robot carries out charging or standby at a charging point; when an electric control system of a master robot receives a scheduling task of a scheduling system, the electric control system controls the master robot to run to a slave rail stop point where the task is located, namely, information of a corresponding positioning label on a master rail is read through a card reader of the master robot, if the information is confirmed to be the information of the positioning label, the master robot stops, an instruction is sent to the scheduling system, accurate positioning is carried out through a photoelectric sensor, after the electric control system receives a signal, the master robot is controlled to stop, and at the moment, a mounting rail is in contact alignment with a target slave rail; after the alignment of the tracks is confirmed, the dispatching system sends an instruction to the child robot, so that the child robot runs to the target secondary track along the mounting track to execute a corresponding task, and the parent robot waits in place or executes the next task and is dispatched by the dispatching system.

When the parent robot retracts the child robot, comprising: after the task of the child robot is completed, the working state is fed back to a scheduling system, and the scheduling system sends a recovery task to an idle parent robot; the electric control system controls the parent robot to move to a stop point where the child robot needs to be recovered, the parent robot reads the information of the positioning label and feeds the information back to the dispatching system, the photoelectric sensor stops after receiving a signal, and at the moment, the mounting track is in contact alignment with the secondary track; after the alignment of the tracks is confirmed, the child robot moves towards the waiting parent robot, and after the child robot completely enters the mounting track of the parent robot, the parent robot carries the child robot to execute the next task or stand by.

To sum up, the utility model can make the sub-robot separate from the main robot and enter the auxiliary track smoothly only by arranging the mounting track on the main body of the main robot and aligning the mounting track with the auxiliary track, and has simple structure, and can complete the work task without arranging a redundant transshipment mechanism; by arranging the card reader and the photoelectric sensor, corresponding label information can be read by the card reader to serve as a stop point of the master robot, and seamless butt joint of the mounting track and the auxiliary track is realized by photoelectric induction accurate positioning, so that the slave robot can smoothly enter the auxiliary track to execute a task; by arranging the charging plate, the parent robot can be charged in time in a non-working section, so that the time for executing tasks is not delayed, and the working efficiency is greatly improved; in addition, the overall structure of the master robot is compact, and the occupied space is greatly reduced.

Claims

1. A master robot structure of a master-slave robot comprises a main body, wherein a roller mechanism for walking on a track and a driving mechanism for controlling the roller mechanism to act are arranged on the main body; the robot is characterized in that the main body is also provided with a mounting track for connecting the sub-robot.

2. The parent robotic structure of a child-parent robot according to claim 1, wherein the main body comprises a main frame and an extension frame extending along the main frame, and the mounting rail is connected to a lower portion of the extension frame and vertically disposed between the extension frame and the main frame.

3. The parent robot structure of the parent robot according to claim 1, wherein the main body further comprises a battery, an electric control system and a charging part, the charging part is connected to the battery, and the battery is connected to the electric control system; and a charging electrode of the charging part is disposed toward an outer side for connecting an external charging device to charge the battery.

4. The parent robot structure of a child-parent robot according to claim 3, wherein the main body further comprises a card reader and a photoelectric sensor, the card reader is adapted to a positioning tag disposed on the track, and the photoelectric sensor is adapted to a positioning sensor disposed on the track.

5. The parent robotic structure of a child-parent robot according to claim 1, wherein the roller mechanism comprises at least one set of driving wheels and at least one set of driven wheels, the driving wheels being controlled to rotate by a driving mechanism.

6. The parent robotic structure of a child-parent robot according to claim 5, wherein the driving mechanism comprises a driving motor connected to the driving wheel through a driving belt, the driving motor driving the driving wheel to rotate through the driving belt.

7. The primary robotic structure of a primary and secondary robot according to claim 1, wherein the rail comprises a primary rail and a secondary rail, the primary robot travels on the primary rail through the roller mechanism, and the mounting rail is butted against the secondary rail, so that the primary robot releases the secondary robot into the secondary rail through the mounting rail.

8. The parent robot structure of claim 7, wherein the primary track, the secondary track and the mounting track are all I-shaped tracks, and a reserved space for mounting the child robot is provided around the mounting track.

9. The master robotic structure of a master-slave robot according to claim 4, wherein the battery and the electric control system are disposed on a bottom of a main frame of the main body, and the charging unit is disposed on a side of an extension frame of the main body; the card reader and the photoelectric sensor are oppositely arranged on two sides of the roller mechanism.

10. The master robotic structure of a master-slave robot according to claim 4, wherein the electronic control system is communicatively connected to an external scheduling system, and is configured to receive scheduling information transmitted by the scheduling system, control the master robot to move to a target stop point of the track, and transmit positioning tag information read by the target stop point to the scheduling system; the system is also used for receiving signals sent by the photoelectric sensor to control the parent robot to align the carrying track with the target secondary track and send alignment information to the dispatching system.