CZ32622U1 - A straddle robotic mobile device for transport and handling - Google Patents

Description

The proposed equipment belongs to the field of robotic technology in logistic transport and handling areas, production and humanities, safety and inspection robotic systems and in the field of service robotics in general

BACKGROUND OF THE INVENTION

At present there is no proposed structural solution of multifunctional straddling robotic mobile device for transport and manipulation of differently shaped objects, with a new unique design, with dimensional flexibility, ability to roll over a loosely gripped lying object on the running surface, grip it by height adjustable internal effector , transport it in its interior and put it back on the running surface or the preparation component for further handling. With modular modular system design, sidewall mobility modules with built-in wheel units, with implemented electric drives, gear mechanisms and encoder directly in their space, electronically rotated in their vertical axis, or using a reversing system by changing wheel speed. There is no analogous design solution where the two side mobility modules are interconnected by a height-adjustable portal module on its bottom with the implemented multifunction module effector, which creates a self-supporting inverted U-shaped mobile skeleton.

Current robotic technologies use omnidirectional platforms for transport and handling purposes for manufacturing and assembly applications, such as YASKAWA AND CLEARPATH - the Motoman HC10 robot or the typical robotic platform for human logistics BLUEBOTICS SA, Switzerland - Oppent EVOcart, DAIFUKU WEBB robotic technology - United States and other solutions that are not only diametrically different from the world-new design of straddling robotic mobile means for the transport and handling of objects, but none of these solutions show such high technological and utility added value.

Compared to current collaborative and service robots, combining a robotic platform and a robotic manipulator placed on it, the conceptual design of a straddling robotic mobile vehicle for transporting and manipulating shape-different objects, using its internal space with a height-adjustable effector, on the running surface, without the need for external handling space.

Potential competitors include, for example, the German company NEOBOTIX with a portfolio of mobile robots MP 500, the Spanish company ROBOTNIK, which manufactures a logistic and indoor transport robot with autonomous navigation, the Italian company SYSTEM SYSTEM with the production robotic AGV (AUTOMATIC GUIDED VEHICLE) and indoor products, with laser navigation, or an L-shaped luggage robot or large platform platform with a low platform with a front drive wheel and two rear neutral wheels, including analogous INOX robotic trucks. However, none of these companies show conceptual solutions or parameters of the proposed straddling robotic mobile device for transport and manipulation of objects, all types of the mentioned robots use a platform - lifting and fixed - to transport components, some of the analyzed devices use omnidirectional wheels.

AETHON (USA) - uses a classic combination of a transport robot with a lifting platform for container transport, multi-purpose platforms for hospital operation, CORECON AGV SYSTEMS (USA) - manufactures a mobile robotic truck transporter Eagle E200 or mini tractor

- 1 GB 32622 U1

The Eagle E250 and the Eagle E210 auto-guided vehicle - all of these types utilize lifting platforms, L-shaped approach platforms or scissor lift platforms - do not utilize the proposed design concept. EGEMIN AUTOMATION INC. (USA) - manufactures auto-guided cargo robots - employs hybrid auto-controlled systems, based on automated forklifts, or freight platforms with superstructure adapted to transported products. Even these manufacturers do not use a conceptual design solution analogous to the proposed straddling robotic mobile device.

The essence of the technical solution

The aforementioned disadvantages are overcome by straddling robotic mobile means for transport and handling, utilizing its interior space, consisting of a right wheel block and a left wheel block on which height-adjustable telescopic poles with electric drives are implemented at their upper part connected by a flange structure an adapter having an adaptive effector on its lower part and a substantially multifunctional interface on its upper part is, for example, a monitoring reconnaissance head or other types of purpose-built technologies and superstructures. Its essence is that the right wheel block and the left wheel block on which the height-adjustable telescopic poles are implemented, interconnected at their top by a flange height-adjustable adapter, form a mobile chassis, the two subassemblies of the right wheel and the left block with the wheels interconnected by a flange adapter, comprising an inverted U-shaped block frame, on each side of both wheel blocks, a rear driven wheel is attached thereto by a pendulum fork mounted in a cushioning and damping rubber torsion unit elements, the stroke of the rear swinging fork being limited by the rubber stops forming part of the block frame, the two non-rotating rear driven wheels forming a rear axle, the pivoted side of the block frame being rotatably mounted in the towing fork before wheel drive, the swinging fork being mounted in a vertical pin with the arm by means of a horizontal suspension and damping torsion unit and supplemented with an individual wheel cover, the front non-driven wheels forming the front axle, with the middle of the right and left block with wheels under the block cover electric accumulators are placed next to them and telescopic columns are fixedly connected to the block frame, where in the area of the block cover between the telescopic columns are placed electric drivers, the telescopic columns are connected in the upper, sliding part by bridging, which incorporates adaptive effector and top a flange adapter is in the bypass.

These disadvantages are further eliminated by the straddling robotic mobile transport and handling means, consisting of a right wheel block and a left wheel block, an adaptive effector and a monitoring reconnaissance head, or other dedicated technology where the right wheel block and the left wheel block constitutes a mobile chassis, the two sub-assemblies of the right wheel block and the left wheel block comprise a longitudinal member, and further on each side a rear driven wheel is coupled to the longitudinal member by a swinging fork mounted in a spring and damping torsion. unit with rubber elements, the stroke of the rear swinging fork being limited by the rubber stops that are part of the block frame, the two non-rotating and rear driven wheels forming the rear axle, further on each side of the longitudinal in its front part horizontal swinging The right swing arm is connected to the joint of the right block with the wheels and in the left block with the wheels it is the left swinging arm of the left block with the wheels that are articulated

-222 32622 U1 with a longitudinal member by means of a suspension and damping unit and in its end parts are vertically pivotally mounted pegs carrying the front driven wheels, the right-hand swinging arm and the left-hand swinging arm always having a rotary drive for turning the pivoted arm. the wheels and the left wheel block form the mobile chassis and the front driven wheels form the front axle.

Advantageously, the straddling robotic mobile means for transporting objects each comprises two laser scanners recessed axially in the antero-posterior direction into the bridging, and further incorporated into the recessed pockets of the surveillance camera in the right wheel block and the left wheel block.

The advantages of the proposed straddling robotic mobile vehicle for transport and handling are mainly due to the design in the use of the robot's internal space between the sidewalls interconnected by a height-adjustable portal module with implemented interchangeable module effector for transporting and manipulating components of various shapes surface, or stored in purpose-built containers, as opposed to the robotic technologies used with handling arms mounted on electromobile bogies that require a large external handling space to function.

Furthermore, it is an advantage of the possibility of manufacturing unified robotic modules - utilizing modularity for the advantage of quick response to specific required parameters by the customer - the advantage of immediate satisfaction of customer requirements in a wide range of dimensional, performance and functional requirements.

Another advantage is the dimensional transformation of the robot skeleton - inner wheelbase between the side modules - height parameters of the side panels - extension range of the sub-modules - configuration of the side and connecting portal modules in parallel, using performance duplication of modules.

Clarification of drawings

The attached sheets show pictures and legend

GIANT. 1 is an axonometric view of a mobile robotic means for transport and handling in the basic design with the cover indicated, showing the wheel bearings, the position of the electric accumulators, the electric motor controls, the retractable masts, the adaptive effector, the flange adapter, monitoring reconnaissance head and towing front wheels

GIANT. 2 shows an axonometric view of a mobile transport and handling device in an alternative embodiment, with a cover indicated, without a monitoring reconnaissance head or other purpose-built superstructure

GIANT. 3 is an axonometric view of a mobile device showing elements allowing for space control and the ability to grip various types of objects by an adaptive effector.

GIANT. 4 is an axonometric view of the mobile device, showing elements allowing for space-handling and gripping of various types of objects by an adaptive effector.

GIANT. 5 to 7 show an axonometric view of a mobile robotic device showing the possibility of gripping by an adaptive effector of at least three types of different gripping objects, such as a block, a shapeless part of general dimensions and a cylindrical part - a container.

-3 EN 32622 U1

Example of technical solution implementation

The straddling robotic mobile means 1 for transport and handling is a versatile multifunctional autonomous robotic, electrically operated and powered manipulator allowing to grasp objects of various sizes and shapes. It consists of the right-hand wheel block 2 and the left-hand wheel block 3, the adaptive effector 4 and the monitoring reconnaissance head 5, or other dedicated technology, the right-hand wheel block 2 and the left-hand wheel block 3 forming a mobile chassis 6.

The two subassemblies of the right wheel block 2 and the left wheel block 3 each comprise a block frame 7, on one side of which the rear driven wheel 8 is connected to it by a rocker 9 mounted in a cushioning and damping torsion unit 10 with rubber elements. the stroke of the rear swinging fork 9 is limited by the rubber stops 11 which are part of the block frame 7. The two non-rotating rear driven wheels 8, although not mechanically coupled, form the rear axle 12.

On the opposite side of the block frame 7, in its cranked part, the front non-driven trailing wheel 14 is rotatably mounted in a vertical pivot 13 with an arm 9, with the pivot fork 9 mounted in a vertical pivot 13 with an arm via a horizontal spring and damping torsion unit 10 and completed with individual wheel cover 15. Here again, the mechanically unconnected front non-driven wheels 14 form the front axle 16. In the central part of the right-hand wheel block 2 and the left-hand wheel block 3 with the wheel cover 17, the electric frame 18 is mounted on the block frame 7. The telescopic masts 19 are connected in the space of the block cover 17, between the telescopic masts 19.

The telescopic columns 19 are connected in the upper, extendable part by a bridge 21 into which the adaptive effector 4 is incorporated and at the top in the bridge 21 there is a flange adapter 22.

In the alternative of the mobile robotic means 1 for transport and handling, the non-rotatable rear driven wheels 8 with the rear axle 12 remain the same, this is the embodiment with the front driven wheels 23 of the front axle 16. there is a right-hand swing arm 25 in the right-hand horizontal block 2 with the wheels and, in the left-hand wheel 3, the left-hand arm 26 of the left-hand wheel 3 which are articulated to the longitudinal 24 via the spring / damping unit 27 there are vertically pivotally mounted pegs 28 supporting the front driven wheels 23, wherein the right pivot arm 25 and the left pivot arm 26 each have a rotary pivot drive 29 controlling the rotational movement of the pinion 28. Here the right wheel block 2 and the left wheel block 3 form a mobile the chassis 6 and the front driven wheels 23 form the front n 16.

This embodiment is characterized in that it is designed for more demanding conditions and has better directional control in these conditions. It differs from the basic design in that it has front driven wheels and their forced, rotary drive controlled turning. In the case of front driven wheels, the suspension of the wheels is improved by means of special suspension and damping units.

Both embodiments of the mobile robotic means 1 for transport and handling each comprise two laser scanners 30 recessed axially in the antero-posterior direction into the bridging 21, and further incorporated into the recessed pockets of the surveillance camera 31 in the right wheel block 2 and the left wheel block 3. the effector 4 is able to encircle the displaceable arms and displace the different types of gripped objects 32.

Function

The mobile robotic means 1 for transport and handling is intended for transporting objects of various shapes without loading onto the platform. The mobile robotic means 1 for transport and handling is a mobile means allowing service intervention by means of monitoring

32622 U1 of a reconnaissance, height-adjusting warhead 5, or other purpose technology, and further includes an adaptive effector 4 allowing to move over the gripped object 32 via a mobile chassis 6 consisting of a right-hand wheel block 2 and a left-hand wheel block 3 adaptive effector 4 and perform its controlled displacement.

The supporting part of the right wheel block 2 and the left wheel block 3 is the frame of the block 7, in the end of which there is a horizontal pin on which the pivot fork 9 is supported by the spring and damping torsion unit 10. at the ends of the swinging forks 9, rear driven wheels 8 are mounted, allowing, in cooperation with the trailing front non-driven wheels 14 with wheel covers 15, to rotate the mobile chassis 6 of the mobile robotic means 1 for transport and handling. The stroke limiting element of the rear non-driven wheels 14 are rubber stops 11, the rear non-driven wheels 14 forming, even if the rear axle 12 is not mechanically coupled. The front axle 16 is formed by the front non-driven wheels 14 mounted in a vertical vertical pin 13 with 7 of the block, wherein in the end portion of the arm pin 13, a pivot fork 9 is mounted in the horizontal pin by means of a spring and damping torsion unit 10 determining the driving characteristics of the front axle 16.

In the central part of the frame 7 of the right wheel block 2 or the left wheel block 3, two telescopic columns 19 are fixedly connected to each other, and these are fixedly connected to the opposite extension pair by a bridge 21 in which an adaptive effector 4 is mounted. the telescopic columns 19 are used for the height adjustment of the adaptive effector 4. The accumulators 18 and the electric motor controls 20 are mounted between the columns, on the block frame 7 and the electric motor controls 20 above them. , used in service interventions, or it is possible to connect another functionally needed body.

An alternative which is intended for more demanding traction conditions and has better maneuverability is an alternative to a straddling robotic mobile vehicle 1 for transporting and handling the front driven front axle wheels. They differ in a different embodiment of the front axle 16, which then consists of the front driven wheels 23 with their forced directional rotation by a rotary drive 29 which is part of the right swing arm 25 or the left swing arm 26 and acts on the front driven wheel 23 via a link 28 swinging in the vertical pivot of the right rocker arm 25 or the left rocker arm 26. Another is the mobile chassis 6, where the block frame 7 changes to a longitudinal 24, in which the right rocker arm 25 or the left rocker arm 26 is mounted over the horizontal pin. whether it is the right wheel block 2 or the left wheel block 3. The right-hand rocker arm 25 and the left-hand rocker arm 26 are each positioned with respect to the longitudinal 24 by a spring and damping unit 27.

For both embodiments of the straddling robotic mobile means 1 for transport and handling, remote or programmable control is provided. Laser scanners 30 are used for orientation in space and for 3D sensing of the surroundings. They are positioned axially in the antero-posterior direction to the bridging 21, and for accurate and reliable control of the adaptive effector 4 against the gripped object 32. the wheel and the left wheel block 3 so as to follow the gripped object 32 by the adaptive effector 4 as simple as possible.

The adaptive effector 4 is capable of encircling the displaceable arms and displacing various types of gripped objects 32.

Industrial applicability

The proposed design of the new generation straddling robotic mobile device and its function, ensuring a high degree of multifunctionality and dimensional reconfigurability,

It enables a wide range of applications, especially in the field of service robotics, in logistics systems in production and humanities, in the field of new safety technologies, including the use in robotic technology systems of nuclear power engineering.

PROTECTION REQUIREMENTS

Claims (3)

A straddling robotic mobile means (1) for transporting and handling, comprising a right wheel block (2) and a left wheel block (3), an adaptive effector (4), a monitoring reconnaissance head (5), characterized in that: the right wheel block (2) and the left wheel block (3) form a mobile chassis (6), wherein both the right wheel block (2) and the left wheel block (3) subassemblies comprise a block frame (7), on both sides, the rear driven wheel (8) is attached to each side by a swinging fork (9) hinged in a spring-loaded torsion unit (10) with rubber elements, the rear swinging fork (9) being limited by rubber stops ( 11), which are part of the block frame (7), the two non-rotatable rear driven wheels (8) being part of the rear axle (12), being rotatable on the opposite side of the block frame (7) in its cranked part arm (13 ) is mounted in a swinging fork (9) of a trailing front non-driven wheel (14), the swinging fork (9) being mounted in a vertical pin with arm (13) by means of a horizontal spring and damping torsion unit (10) and supplemented with an individual wheel cover (15) wherein the front non-driven wheels (14) are part of the front axle (16), wherein electric power is mounted on the frame (7) of the block (7) in the middle of the right-hand wheel block (2) and the left-hand wheel block (3) under the block cover (17). the telescopic poles (19) are rigidly connected to the block frame (7) and next to them, where in the housing cover (17) between the telescopic poles (19) the electric motor controls (20) are stored, the telescopic poles (19) they are connected in the upper, extendable part by a bridge (21) into which an adaptive effector (4) is incorporated and a flange adapter (22) at the top in the bridge (21). Straddle robotic mobile means (1) for transporting and handling consisting of a right wheel block (2) and a left wheel block (3), an adaptive effector (4), a monitoring reconnaissance head (5), characterized in that the right wheel block (2) and the left wheel block (3) form a mobile chassis (6), wherein both the right wheel block (2) and the left wheel block (3) subassemblies comprise a longitudinal member (24), the rear driven wheel (8) is attached to each side of the longitudinal side (24) by means of a swinging fork (9) mounted in a cushioning and damping torsion unit (10) with rubber elements, the travel of the rear swinging fork (9) being limited by rubber the stops (11) which are part of the longitudinal member (24), the two non-rotatable rear driven wheels (8) being part of the rear axle (12), and on each side there is a longitudinal member (24) in each front the right-hand swing arm (25) is connected to the right-hand horizontal block (2) with the wheels, and the left-hand wheel block (3) is the left-hand swing arm (26) of the left-hand wheel block (3). 24) by means of and in the spring / damping unit (27) 32622 U1 end parts are vertically pivotally mounted claws (28) supporting front driven wheels (23), the right-hand swing arm (25) and the left-hand swing arm (26) each having a rotary drive (29) for controlling the rotary movement of the leg ( 28), wherein the front driven wheels (23) are part of the front axle (16), wherein in the middle part of the right wheel block (2) and the left wheel block (3) with wheels under the block cover (17) the electric accumulators (18) and next to them are fixedly connected to the longitudinal (24) telescopic columns (19), where in the housing cover (17) between the telescopic columns (19) are stored electric actuators (20), the telescopic columns (19) they are connected in the upper, extendable part by a bridge (21) into which an adaptive effector (4) is incorporated and a flange adapter (22) at the top in the bridge (21). Straddle mobile robotic means (1) for transport and handling according to claim 1 or claim 2, characterized in that each comprises two laser scanners (30) embedded in the front face of the bridging (21) of the adaptive effector (4), and further comprising: in the right-hand wheel block (2) and the left-hand wheel block (3) incorporated in the recessed pockets of the surveillance camera (31).