CN106272415A - Omni-mobile transport robot - Google Patents

Abstract

The invention discloses an omnidirectional mobile transfer robot, which includes a mobile chassis, a cargo rack, a rotating mechanism, a lifting mechanism, a manipulator, a vision system, a laser sensor, a control system and a charging system. The mobile chassis adopts a mecanum wheel to realize omnidirectional movement. , the lifting mechanism can adjust the height of the manipulator, the rotating mechanism can realize the rotary motion of the column at any angle, and cooperate with the manipulator with seven degrees of freedom to increase the working range. The laser sensor and vision system can realize precise guidance and easy operation. The action is fast, replacing manual work by it not only reduces the work intensity and improves production efficiency, but also has high flexibility and flexibility.

Description

Omnidirectional Mobile Transfer Robot

technical field

The invention relates to a transfer robot, in particular to an omnidirectional mobile transfer robot.

Background technique

Mobile robots are an important part of the field of robotics research. At present, in developed countries such as the United States and Japan, robots have been used in multiple service areas such as shopping guides, item transfers, home services, and large-scale cleaning. How to move freely and flexibly in narrow and crowded places has become a difficult problem in robot research and design. The robot of the present invention can realize omnidirectional movement, simplifies the action of the robot, and is used in complex, narrow and special working environments.

With the widespread application of factory production automation, flexible manufacturing systems, and automated three-dimensional warehouses, it is particularly important to establish a new logistics management system to achieve continuous operation. In recent years, the application range and technical level of automated handling and loading and unloading have been rapidly developed, and the application of robots is becoming more and more extensive. For all the requirements and characteristics of handling and loading and unloading operations, this patent is a highly flexible and flexible omnidirectional mobile transfer robot.

Contents of the invention

The technical problem to be solved by the present invention is to provide an omnidirectional mobile transfer robot, which can move and work flexibly and quickly in narrow and crowded places, realize accurate positioning and navigation, object detection, loading and unloading, detection of objects and Transshipment of the item solves the problem of insufficient demand for manual receiving and loading and damage to the goods caused by manual loading and unloading, and can realize the characteristics of continuous and large-scale sorting of goods.

The present invention solves the above-mentioned technical problems through the following technical solutions: an omnidirectional mobile transfer robot, including a mobile chassis, a carrier, a rotating mechanism, a lifting mechanism, a manipulator, a visual system, a laser sensor, a control system and a charging system, The loading rack is located above the mobile chassis, the lifting mechanism is located in front of the loading rack and connected with the rotating mechanism and the mobile chassis, the manipulator is connected with the lifting mechanism through the rotating mechanism, the control system and the charging system are located in the mobile chassis, and the laser sensor is fixed on the bottom of the mobile chassis. At the lower left of the front and rear parts, the vision system is fixed on the mobile chassis and manipulator.

Preferably, the mobile chassis includes a servo motor, a mecanum wheel, a coupling, and a motor bracket, and is the main body of the omnidirectional mobile transfer robot. The servo motor is fixed on the motor bracket, and one end of the coupling is connected to the servo The motor is connected, the motor bracket is connected with the mobile chassis, there are four mecanum wheels on the mobile chassis, and each mecanum wheel is controlled by a servo motor respectively.

Preferably, the mecanum wheels are mecanum wheels, which enable the robot to move in all directions, and each mecanum wheel is controlled by a motor, which can realize point-to-point movement of the chassis in any direction, and the motor is a servo motor.

Preferably, the lifting mechanism includes a column, a synchronous pulley, a gear, a gear shaft, a deep groove ball bearing, a second bearing seat, a motor, a guide rail, a slider, and the synchronous pulley is matched with the gear and fixed to the square plate, and the gear is connected to the The gear shaft is connected, the gear shaft is matched with the deep groove ball bearing, the deep groove ball bearing is matched with the second bearing seat, the second bearing seat, the motor and the guide rail are all fixed on the column, the slider is matched with the guide rail, and the square board connection.

Preferably, the column is a cuboid with a square cross-sectional area, and the motor is a right-angle reducer.

Preferably, the rotating mechanism includes a rotating shaft, a worm gear motor, a coupling, a thrust bearing, and a first bearing seat, the rotating shaft is located at the center of the column and connected thereto, and the worm gear motor is fixed at the bottom of the column And it is connected with one end of the shaft coupling, the other end of the shaft coupling is connected with the rotating shaft, the thrust bearing is fixed with the mobile chassis and cooperates with the rotating shaft, the thrust bearing is located on the first bearing seat, and the first bearing seat is fixed on the bottom of the column.

Preferably, the control system includes an industrial computer, a controller, and a fan. The industrial computer is located on the left side of the middle of the mobile chassis, the controller is fixed on the right side of the mobile chassis, and the fan is located at the front of the mobile chassis. The control system involves transmission Sensor technology, drive technology, control theory and control algorithms are used to analyze and issue data from mobile chassis, manipulators, control systems, vision systems and laser sensors.

Preferably, the controller is a PLC programmable controller.

Preferably, the manipulator includes a base, an arm, a wrist, a gripper, and an end effector, and has seven degrees of freedom to increase the working range. height, the base is fixed on a connecting plate of the slider of the lifting mechanism, the arm is connected with the base and the wrist, the wrist is connected with the arm and the claw, and the end effector is fixed on the claw.

Preferably, the gripper includes a slide rail, an electric cylinder, a side plate, and a force sensor, the force sensor is fixed on the wrist to detect the magnitude of the grasping force, and the side plate is connected to the slide rail so that the side plate can be freely stretched , to complete the action of grabbing objects; the end effector is a set of slide rails driven by an electric cylinder.

Preferably, the laser sensor includes a first laser sensor and a second laser sensor, which scan and draw a map around the robot, and the control system analyzes and distributes the data to effectively ensure the transfer accuracy.

Preferably, the vision system includes a first vision sensor and a second vision sensor, the first vision sensor is fixed at the middle position of the front of the mobile chassis, and the second vision sensor is fixed on the claw; the first vision sensor and the second vision sensor The sensor constitutes the binocular vision mechanism of the omnidirectional mobile transfer robot.

Preferably, the second vision sensor identifies the object to be grasped, and transmits a control signal to the actuator at the end of the manipulator.

Preferably, the loading rack is a square loading box, so as to prevent the cargo from being scattered during the movement of the robot.

Preferably, the charging system includes a battery pack.

The beneficial effects of the present invention are: the omnidirectional mobile transfer robot has a high degree of automation and intelligence, the characteristics of omnidirectional movement enable it to expand the working range, and the omnidirectional transfer platform is completed through the cooperation of laser sensors, visual sensors and torque sensors Autonomous positioning and navigation, precise target positioning and convenient and fast object detection in the structural environment of the factory. Integrating multiple sensors to complete the intelligent transfer and loading and unloading tasks of the automated sorting center, replacing manual tasks that are complex, heavy and prone to damage. Through the cooperation of laser sensor and vision sensor, the positioning accuracy compensation is completed to realize the precise positioning of the robot. The omnidirectional mobile robot platform focuses on the intelligent improvement of the automated logistics center, and provides a reference for the transformation and upgrading of the logistics industry. Secondly, the omnidirectional mobile transfer robot can be used in subway maintenance, assembly and spraying of large wind power and nuclear power equipment, automatic welding and gluing, intelligent riveting of rocket and aircraft skins, modern unmanned factories and new generation assembly lines. Replacing manual operations by it will increase production efficiency and improve safety performance.

Description of drawings

Fig. 1 is the overall structure schematic diagram of omnidirectional mobile transfer robot of the present invention;

Fig. 2 is a structural schematic diagram of the mobile chassis of the omnidirectional mobile transfer robot of the present invention;

Fig. 3 is the schematic structural view of the lifting mechanism and the rotating mechanism of the omnidirectional mobile transfer robot of the present invention;

Fig. 4 is a schematic structural view of the gripper in the present invention.

detailed description

Preferred implementation cases of the present invention are described in detail as follows in conjunction with accompanying drawings:

The technical solutions of the present invention will be further described below in conjunction with the accompanying drawings and through specific implementation methods.

Please refer to Figures 1 to 3, in this embodiment, an omnidirectional mobile transfer robot includes a mobile chassis 1, a lifting mechanism, a rotating mechanism, a cargo rack 3, a laser sensor, a vision system, a manipulator, a control system and a charging system , the cargo rack 3 is located above the mobile chassis 1, the lifting mechanism is located in front of the cargo rack 3 and is connected with the rotating mechanism and the mobile chassis 1, the manipulator is connected with the lifting mechanism through the rotating mechanism, the control system and the charging system are located in the mobile chassis 1, and the laser The sensor is fixed on the lower left side of the front and rear parts of the mobile chassis 1, and the vision system is fixed on the mobile chassis 1 and the manipulator.

The mobile chassis 1 includes a servo motor 29, a mecanum wheel 2, a coupling, and a motor bracket, and is the main part of the omnidirectional mobile transfer robot. The servo motor is fixed on the motor bracket, and one end of the coupling is connected to the servo motor , the motor bracket is connected with the mobile chassis;

There are four mecanum wheels 2 on the mobile chassis, and each mecanum wheel is controlled by a servo motor 29, which can be transferred and stopped freely. Through the synthesis of the motion of the four mecanum wheels, point-to-point in any direction of the chassis can be realized of the mobile.

Cargo rack 3 is formed by connecting upper and lower two-layer aluminum profile square frames through four aluminum profile columns. Cargo rack 3 is made into a box to prevent the robot from being scattered during the moving process.

The lifting mechanism includes a column 4, a synchronous pulley 5, a gear 6, a gear shaft, a deep groove ball bearing 13, a second bearing seat 14, a motor, a guide rail 8, a slider 9, and the synchronous pulley 5 and the gear 6 cooperate with the square plate Fixed, the gear 6 is connected with the gear shaft, the gear shaft cooperates with the deep groove ball bearing 13, the deep groove ball bearing 13 cooperates with the second bearing seat 14, the second bearing seat 14, the motor and the guide rail 8 are all fixed on the column 4, slide The block 9 cooperates with the guide rail 8, and the sliders 9 are connected by a square plate. When the chassis trolley moves to a suitable position, the elevator starts to adjust in a small range to compensate for the space that the manipulator cannot reach;

Column 4 is a cuboid with a square cross-sectional area, and the motor is a right-angle reducer 7 .

The rotating mechanism includes a rotating shaft, a worm gear motor 10, a shaft coupling, a thrust bearing 11, and a first bearing seat 12. The rotating shaft is located at the center of the column 4 of the lifting mechanism and is connected thereto. The worm gear motor 10 is fixed on the The bottom of the column 4 is connected with one end of the shaft coupling, and the other end of the shaft coupling is connected with the rotating shaft. The thrust bearing 11 is fixed with the mobile chassis 1 and cooperates with the rotating shaft. The thrust bearing 11 is located on the first bearing seat 12. The first bearing seat 12 is fixed on the bottom surface of the column 4, and when the chassis trolley moves to a suitable position, the rotating mechanism can perform a 360-degree rotary motion.

The laser sensor includes a first laser sensor 22 and a second laser sensor 30. The first laser sensor 22 is located at the lower left corner of the front of the mobile chassis 1. It scans around the robot and draws a map. When a "foreign object" appears on the map, The first laser sensor 22 sends out an alarm signal, and the motion system of the robot responds, such as automatically stopping or decelerating, so that the robot can be avoided from collision and the failure rate can be reduced.

Vision system comprises first visual sensor 21, second visual sensor 27, and first visual sensor 21 is fixed on the middle position of mobile chassis 1 front, and second visual sensor 27 is fixed on the claw 18; The second vision sensor 27 constitutes the binocular vision mechanism of the omnidirectional mobile transfer robot, one of which is to control the movement of the mobile chassis 1 to the vicinity of the box to be transported, the vision system scans the objects in the vicinity, and the scanned image is recognized by a specific algorithm Find the object and the pose of the object, and then pass the obtained data to the manipulator through the control system. The vision system at the end of the manipulator is mainly used to identify a single object, identify a group of opposite sides of the object, and send the control signal It is passed to the actuator at the end of the manipulator to achieve precise grasping of objects.

The manipulator includes a base 15, an arm 16, a wrist 17, a gripper 18, and an end effector, and has seven degrees of freedom. The manipulator moves up and down on the column 4 of the lifting mechanism driven by a synchronous pulley 5, and the height can be adjusted freely. The base 15 is fixed on the connecting plate of the lifting mechanism slide block 9 , the arm 16 is connected with the base 15 and the wrist 17 , the wrist 17 is connected with the arm 16 and the claw 18 , and the end effector is fixed on the claw 18 .

Claw 18 comprises slide rail 19, electric cylinder 20, side plate, force sensor 28, and force sensor 28 is fixed on described wrist 17 and implements the size of detection grasping force, and side plate and slide rail 19 are connected, and side plate can Freely expand and contract to complete the action of grabbing the object; the end effector is a set of slide rails 19, driven by the electric cylinder 20, to perform the final grabbing action;

When the robot moves to the vicinity of the object to be transported, the vision system determines the position and size of the cargo. After the lifting system is adjusted, the manipulator starts to work. Through the rotation of the elevator and the manipulator, ensure that the two sides of the object to be transported are located at the gripper 18. Within the range, the gripper 18 is then clamped and grasped so as to realize the handling, loading and unloading of the object.

The control system includes an industrial computer 23, a controller 24, and a fan 25. The industrial computer 23 is located on the left side of the middle of the mobile chassis 1, the controller 24 is fixed on the right side of the mobile chassis 1, and the fan 25 is located at the front of the mobile chassis 1. The control system mainly controls the action sequence, the position and posture to be reached, the path trajectory and planning, the action time interval, and the force and torque exerted by the end effector on the object during the working process of the robot. The control system involves sensor Technology, drive technology, control theory and control algorithm to analyze and distribute the data of mobile chassis 1, manipulator, control system, vision system and laser sensor;

The controller 24 is a PLC programmable controller, which is more common and reduces costs.

The charging system is installed in the middle position in the mobile chassis 1, and when the power detection module detects that the battery pack 26 is lower than 10%, it will actively send a signal to the industrial computer 23. When the industrial computer 23 finds that the car satisfies the charging conditions, it will order the car to go to the charging station for automatic charging. After the charging is completed, the car will automatically break away from the charger and move to the work area.

The present invention adopts servo motor 29, and adopts shaft coupling transmission, and the positioning accuracy can reach 0.01mm. The optimal path sends instructions to the robot mobile chassis 1, and the robot stops when it moves near the object to be transported. The vision system starts to work, scans the pose of the object and sends the data to the robot control system. The industrial computer 23 controls the lifting mechanism and the rotation mechanism to adjust Its own pose drives the manipulator to reach its own working range, and the vision system at the end of the manipulator recognizes the object to be transported, and sends an instruction to grab the object after the recognition is completed.

The above embodiments have only set forth the basic principles and characteristics of the present invention. The present invention is not limited by the above embodiments. On the premise of not departing from the spirit and scope of the present invention, the present invention also has various changes and changes. These changes and changes are all fall within the scope of the claimed invention. The protection scope of the present invention is defined by the appended claims and their equivalents.

Claims (10)

1. An omnidirectional mobile transfer robot, characterized in that, the omnidirectional mobile transfer robot comprises a mobile chassis, a cargo rack, a rotating mechanism, a lifting mechanism, a manipulator, a vision system, a laser sensor, a control system and a charging system, and the cargo rack Located above the mobile chassis, the lifting mechanism is located in front of the cargo rack and connected to the rotating mechanism and the mobile chassis. The manipulator is connected to the lifting mechanism through the rotating mechanism. The control system and charging system are located in the mobile chassis, and the laser sensor is fixed on the front and rear parts of the mobile chassis. At the bottom left of , the vision system is fixed on the mobile chassis and manipulator. 2. The omnidirectional mobile transfer robot according to claim 1, wherein the mobile chassis includes a servo motor, a mecanum wheel, a coupling, and a motor bracket, and is the main body of the omnidirectional mobile transfer robot In the first part, the servo motor is fixed on the motor bracket, one end of the coupling is connected to the servo motor, and the motor bracket is connected to the mobile chassis. There are four mecanum wheels on the mobile chassis, and each mecanum wheel is controlled by a servo motor. 3. The omnidirectional mobile transfer robot according to claim 2, wherein the lifting mechanism comprises a column, a synchronous pulley, a gear, a gear shaft, a deep groove ball bearing, a second bearing seat, a motor, a guide rail, a slide block, the synchronous pulley and the gear are matched and fixed with a square plate, the gear is connected with the gear shaft, the gear shaft is matched with the deep groove ball bearing, the deep groove ball bearing is matched with the second bearing seat, the second bearing seat, the motor and the guide rail are all It is fixed on the column, the slider is matched with the guide rail, and the slider is connected by a square plate. 4. The omnidirectional mobile transfer robot according to claim 3, wherein the rotating mechanism includes a rotating shaft, a worm gear motor, a shaft coupling, a thrust bearing, and a first bearing seat, and the rotating shaft is located at the center of the column. The worm gear motor is fixed at the bottom of the column and connected to one end of the coupling, and the other end of the coupling is connected to the rotating shaft. The thrust bearing is fixed to the mobile chassis and cooperates with the rotating shaft. The thrust The bearing is located on the first bearing seat, and the first bearing seat is fixed on the bottom surface of the column. 5. The omnidirectional mobile transfer robot according to claim 4, wherein the control system includes an industrial computer, a controller, and a fan, the industrial computer is located on the left side of the middle of the mobile chassis, and the controller is fixed on the right side of the mobile chassis. On the side, the fan is located at the front of the mobile chassis, and the control system involves sensing technology, drive technology, control theory and control algorithms to analyze and issue data from the mobile chassis, manipulator, control system, vision system and laser sensors. 6. The omnidirectional mobile transfer robot according to claim 5, wherein the manipulator includes a base, an arm, a wrist, a gripper, and an end effector, and has seven degrees of freedom, and the manipulator is mounted on the column by The synchronous pulley drives it to move up and down, and the height can be adjusted freely. The base is fixed on a connecting plate of the slider of the lifting mechanism, the arm is connected with the base and wrist, the wrist is connected with the arm and the claw, and the end effector is fixed on the claw. . 7. The omnidirectional mobile transfer robot according to claim 6, wherein the laser sensor comprises a first laser sensor and a second laser sensor, scans around the robot and draws a map, and the control system performs data analysis Analysis and distribution can effectively ensure the accuracy of transfer. 8. The omnidirectional mobile transfer robot according to claim 7, wherein the vision system comprises a first vision sensor and a second vision sensor, the first vision sensor is fixed at the middle position of the front part of the mobile chassis, and the second vision sensor The vision sensor is fixed on the claw; the first vision sensor and the second vision sensor constitute the binocular vision mechanism of the omnidirectional mobile transfer robot. 9. The omnidirectional mobile transfer robot according to claim 1, wherein the carrier is a square carrier box. 10. The omnidirectional mobile transfer robot according to claim 1, wherein the charging system comprises a battery pack.