CN112896365A - Multi-agent reconstruction assembly and multi-degree-of-freedom posture adjusting system - Google Patents
Multi-agent reconstruction assembly and multi-degree-of-freedom posture adjusting system Download PDFInfo
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- CN112896365A CN112896365A CN202110193944.5A CN202110193944A CN112896365A CN 112896365 A CN112896365 A CN 112896365A CN 202110193944 A CN202110193944 A CN 202110193944A CN 112896365 A CN112896365 A CN 112896365A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
- B62D63/025—Modular vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60P—VEHICLES ADAPTED FOR LOAD TRANSPORTATION OR TO TRANSPORT, TO CARRY, OR TO COMPRISE SPECIAL LOADS OR OBJECTS
- B60P7/00—Securing or covering of load on vehicles
- B60P7/06—Securing of load
- B60P7/16—Protecting against shocks
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- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/08—Systems determining position data of a target for measuring distance only
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Abstract
The invention relates to a multi-agent reconstruction assembly and a multi-degree-of-freedom posture adjusting system, aiming at the requirements of transportation and posture adjustment of large-size, large-bearing and heterogeneous high-end equipment in a large-scale complex environment, the invention adopts a cooperative motion mode of 'Lu' character, 'Pin' character, 'Tian' character and other 'heterogeneous' combined splicing layout by AGV of different quantities, and simultaneously carries an automatic leveling two-axis overturning scheme based on a high-damping system, so that the influence of displacement on the equipment caused by climbing and uneven road surface is eliminated; be equipped with mechanical splicing device, wireless communication and laser range finder between each AGV and realize dynamic detection, real-time correction's high accuracy synchronization job scene to promote the degree of flexibility that intelligent equipment, reduce the human labor of product transportation butt joint in-process, avoid the wasting of resources that traditional transportation mode brought, realize that intelligent equipment is in coordination with the high-efficient application of operation in accurate transportation link.
Description
Technical Field
The invention relates to a multi-agent reconstruction assembly and a multi-degree-of-freedom posture adjusting system, belongs to the field of aerospace, ships, weaponry and general machinery, and is used for transferring and adjusting postures of products with large loads and large sizes.
Background
The omnidirectional AGV (Automatic Guided Vehicle) based on the Mecanum wheels can realize transverse, oblique and zero turning radius rotation and movement in any direction combination mode, and is suitable for flexible transfer and high-precision assembly butt joint of large products and equipment in the fields of rail transit, aviation, aerospace, ships, national defense and the like in a large range and limited space. For realizing the nimble transportation of different load, unidimensional product, the transportation of product is realized through customization jumbo size, the big bicycle AGV or two AGV concatenations that bear to the tradition mode, and the shortcoming is that the required customization of single product is transported the AGV and is brought the wasting of resources of one-to-one usage relation, brings the space that traditional large-scale heavy load equipment transported and is used jumbo size transportation AGV to bring simultaneously and occupies a difficult problem.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: the defects of the prior art are overcome, the multi-agent reconstruction assembly and the multi-degree-of-freedom posture adjusting system are provided, different AGV with different quantities can be flexibly customized in a 'Lu' character, 'Pin' character, 'Tian' character and other 'special-shaped' combined splicing layout modes according to user requirements, and the labor intensity in the product transferring and butting process is reduced. Simultaneously, with 4 arbitrary motions in the qxcomm technology AGV concerted movement realization plane, combine the diaxon to transfer appearance device and accomplish lift and every single move adjustment function, the shock attenuation buffer module that compromises simultaneously can weaken the influence that road surface is uneven and the angle of climbing is to equipment dynamic transfer in-process, can realize 5 degrees of freedom accurate adjustment in space finally, satisfy the demand of transporting on a large scale and debugging integration in the load factory building.
The technical scheme of the invention is as follows:
a multi-agent reconfiguration combination based on AGV concatenation includes: n omnidirectional AGVs, wherein n is a positive integer; each omnidirectional AGV is provided with a laser ranging device;
when n is a positive integer larger than 1, n omnidirectional AGVs form a synchronous moving combination body through a mechanical splicing mode or a wireless splicing mode; the assembly is used for carrying and transporting equipment for transporting;
in the mechanical splicing mode, each omnidirectional AGV is provided with a mechanical splicing device, and two adjacent omnidirectional AGVs are connected through a laser ranging device and the mechanical splicing device to form a synchronously moving assembly;
in the wireless splicing mode, each omnidirectional AGV is provided with a wireless communication signal transceiver, and two adjacent omnidirectional AGVs form a synchronous moving assembly through a laser ranging device and a wireless communication signal;
the laser ranging device is used for measuring the distance between two adjacent omnidirectional AGVs, so that the distance between the two adjacent omnidirectional AGVs meets the safety distance.
When n is 2, 2 omnidirectional AGVs are spliced to form a combined body arranged side by side or spliced to form a combined body arranged in front and back;
when n is 3, 3 omnidirectional AGVs are spliced to form a combination body in a shape like a Chinese character 'pin';
when n is 4, 4 omnidirectional AGVs are spliced to form a field-shaped assembly;
the distance between two adjacent omnidirectional AGVs is equal.
The mechanical splicing device is fixedly arranged on the side wall of the omnidirectional AGV;
and in the mechanical splicing mode, under the condition that the distance between two adjacent omnidirectional AGVs meets the safety distance, the two adjacent omnidirectional AGVs to be spliced are flexibly connected through a mechanical splicing device.
The mechanical splicing device comprises: the hinge driving assembly, the mounting seat, the hinge mechanism and the guide assembly are arranged on the base;
the hinge mechanism is used for realizing flexible connection; the hinge mechanism comprises a connecting shaft and a hook which are used in a matched mode, and the connecting shaft and the hook are fixedly installed on two adjacent omnidirectional AGVs respectively through installation seats;
the hinge driving component is used for driving the hook in the hinge mechanism to rotate so as to enable the hook to be hung on the connecting shaft or enable the hook to be released from the connecting shaft;
the guiding assembly comprises a guiding groove and a guiding block which are used in a matched mode, and the guiding groove and the guiding block are fixedly installed on two adjacent omnidirectional AGVs respectively through installation seats;
the guiding assembly is used for achieving a guiding function, and the hooks arranged on different omnidirectional AGVs are matched with the connecting shafts in position.
A multi-agent reconfiguration assembly based on AGV concatenation still includes: a shock absorbing and buffering device;
the transfer equipment is fixedly arranged on the combined body through a damping and buffering device;
the damping and buffering device has a damping and buffering effect and is used for weakening the influence of displacement variables on the overall structure of the transfer equipment, which are caused by uneven road surfaces or the change of climbing angles, in the dynamic operation process of the assembly.
Shock attenuation buffer includes: the spring assembly, the guide rod, the upper mounting plate and the lower mounting plate;
the lower mounting plate is fixedly mounted on the combined body, and the transfer equipment is fixedly mounted on the upper mounting plate;
the upper mounting plate and the lower mounting plate are connected through k symmetrically arranged spring assemblies; k is a positive integer greater than 2;
the upper mounting plate is provided with a through hole, one end of the guide rod is fixedly mounted on the lower mounting plate, and the other end of the guide rod extends upwards from the through hole of the upper mounting plate;
the through hole is matched with the guide rod for use and is used for limiting the plane movement of the upper mounting plate.
The aperture of the through hole is in clearance fit with the outer diameter of the guide rod.
The utility model provides a multi freedom accent appearance system based on AGV concatenation utilizes foretell many agents reconsitution assembly based on AGV concatenation, includes: a two-axis attitude adjusting device;
m shock absorption buffer devices are fixedly arranged on the upper surface of the combination body, and m is a positive integer;
the two-axis posture adjusting device is fixedly arranged on the upper surface of the combination body through m damping and buffering devices, and the transferring equipment is fixedly arranged on the two-axis posture adjusting device;
the two-axis attitude adjusting device has the adjusting functions of vertical lifting and pitch angle rotation, and the spatial five-degree-of-freedom attitude adjustment of the transfer equipment can be realized by the cooperative work of the two-axis attitude adjusting device and the assembly.
The two-axis posture adjusting device comprises: the lifting device comprises a base frame, a rotary driving assembly and a lifting driving assembly;
the rotary driving component is fixedly arranged on the lifting driving component, the lifting driving component is fixedly arranged on the base frame, and the base frame is fixedly arranged on the m damping and buffering devices;
transfer equipment fixed mounting is on the rotation driving subassembly, and lift driving subassembly is used for driving the up-and-down motion of rotation driving subassembly in the vertical plane, and rotation driving subassembly is used for changing the angle of pitch of transfer equipment.
The lift drive assembly includes: the guide rail sliding block assembly and the screw rod;
the guide rail sliding block component moves up and down in a vertical plane along the screw rod; the rotary driving component is fixedly arranged on the guide rail sliding block component;
be provided with mechanical interface in the pivot of rotary drive subassembly, mechanical interface is used for fixed connection transshipment equipment, and rotary drive subassembly can drive transshipment equipment and revolve the rotation of axes to change transshipment equipment's angle of pitch.
Compared with the prior art, the invention has the beneficial effects that:
1) aiming at flexible transfer of products with different loads, large sizes and heterogeneous types, the invention realizes cooperative motion by the fact that a plurality of full AGVs are in different layout modes, improves the flexibility degree of the system, solves the resource waste of one-to-one correspondence caused by customizing and transferring the AGVs required by a single product, and simultaneously solves the problem of space occupation caused by using the large-size transferring AGVs for transferring traditional large heavy-load products.
2) In order to improve the synchronous movement precision in the process of the multi-AGV splicing cooperative movement, the distance between the vehicles is monitored in real time through the laser distance measuring instrument between the vehicles, and is adjusted in real time, so that the distance between the vehicles is ensured to be unchanged; meanwhile, the mechanical splicing device is arranged in the close-range splicing movement of the double-vehicle and the four-vehicle, the problem of insufficient synchronization precision caused by uneven ground, climbing or other influences in the cooperative movement process of the vehicles can be compensated, the synchronization movement precision among the vehicles can reach +/-1 mm, and the influence of the system on the rigidity and the strength of the carried product is weakened due to the improvement of the movement synchronization precision;
3) aiming at the levelness maintaining requirement of a transported product when going up and down a slope or encountering a greatly uneven road surface, the automatic leveling two-shaft overturning scheme based on the high-damping shock absorption system is adopted to formulate an automatic detection, real-time feedback and instant adjustment strategy, eliminate the influence of displacement on the product rigidity caused by slope climbing and uneven road surface, and realize the levelness maintaining of the camera and the angle positioning precision of 0.1 degree.
Drawings
FIG. 1 is a schematic diagram of a multi-agent based reconfigurable assembly and a multi-degree-of-freedom pose adjustment system;
FIG. 2 is a schematic diagram of a functional analysis of a multi-agent reconstructed combination based on multiple AGV splices;
FIG. 3 is a schematic diagram of an omnidirectional AGV configuration (single-car mode);
FIG. 4(a) is a schematic view of a two-car splice mode (two-car mechanical splice);
fig. 4(b) is a schematic diagram of a two-vehicle splicing mode (two-vehicle wireless splicing mode);
FIG. 5(a) is a schematic diagram of a three-car splicing mode;
FIG. 5(b) is a schematic diagram of a four-car splicing mode;
FIG. 6(a) is a schematic view before a two-car mechanical splice or four-car mode hill climbing;
FIG. 6(b) is a schematic view of a two-car mechanical splice or four-car mode climbing;
FIG. 7 is a schematic structural diagram of a two-axis attitude adjusting device;
FIG. 8 is a schematic view of a shock absorbing and cushioning device;
FIG. 9 is a schematic view of a mechanical splicing apparatus;
fig. 10 is a schematic structural view of the transfer device.
Figure 11 is a schematic view of a handset.
Wherein, omnidirectional AGV100 includes: a vehicle body 101, a Mecanum wheel set 102 and a control module 103;
the two-axis posture adjustment device 200 includes: the device comprises a base frame 201, a rotating shaft 202, a rotating driving assembly 203, a mechanical interface 204, a rotating suspension ring 205, a guide rail slider assembly 206, a screw rod 207, a lifting driving assembly 208, an angle sensor 209, a mechanical limiting block 210, a limiting sensor 211, a rotating assembly mounting plate 212, a lifting support leg 213 and a control box 214;
the shock-absorbing buffer device 300 includes: a spring assembly 301, a guide rod 302, an upper mounting plate 303 and a lower mounting plate 304;
the mechanical splicing device 400 includes: a hinge driving component 401, a mounting seat 402, a hinge mechanism 403 and a guide component 404;
Detailed Description
The invention provides a multi-freedom posture adjusting system based on multi-agent cooperation. Translation and rotation in the load plane area are achieved through coordinated motion of a plurality of omnidirectional AGVs, lifting and posture adjusting functions are achieved through combination of the damping buffer device 300 and the two-axis posture adjusting device 200, finally, 5-degree-of-freedom motion of the load is achieved, and the requirement of integration of load transferring and assembling and adjusting is met.
A multi-agent reconfiguration combination based on AGV concatenation includes: n omnidirectional AGVs 100, a shock absorbing buffer 300;
n is a positive integer; each omnidirectional AGV100 is provided with a laser ranging device 500;
when n is a positive integer greater than 1, n omnidirectional AGVs 100 form a synchronous moving assembly through a mechanical splicing mode or a wireless splicing mode; the assembly is used for carrying and transporting equipment 600 for transporting;
in the mechanical splicing mode, each omnidirectional AGV100 is provided with a mechanical splicing device 400, and two adjacent omnidirectional AGVs 100 are connected with the mechanical splicing device 400 through a laser ranging device 500 to form a synchronously moving assembly;
in the wireless splicing mode, each omnidirectional AGV100 is provided with a wireless communication signal transceiver, and two adjacent omnidirectional AGVs 100 form a synchronous moving assembly through a laser ranging device 500 and a wireless communication signal;
the laser ranging device 500 is used for measuring the distance between two adjacent omnidirectional AGVs 100, so that the distance between two adjacent omnidirectional AGVs 100 satisfies the safety distance. The laser ranging device 500 is fixedly installed on the sidewall of the omnidirectional AGV 100.
When n is 2, 2 omnidirectional AGVs 100 are spliced to form a combined body arranged side by side or spliced to form a combined body arranged front and back;
when n is 3, 3 omnidirectional AGVs 100 are spliced to form a combination body in a shape like a Chinese character 'pin';
when n is 4, 4 omnidirectional AGVs 100 are spliced to form a field-shaped assembly;
the distance between two adjacent omnidirectional AGVs 100 is equal. The distance between two adjacent omnidirectional AGVs 100 ranges from 200mm to 3000 mm.
The mechanical splicing device 400 is fixedly mounted on the side wall of the omnidirectional AGV 100;
in the mechanical splicing mode, under the condition that the distance between two adjacent omnidirectional AGVs 100 meets the safety distance, the two adjacent omnidirectional AGVs 100 to be spliced are flexibly connected through the mechanical splicing device 400.
The mechanical splicing device 400 includes: a hinge drive assembly 401, a mount 402, a hinge mechanism 403, and a guide assembly 404;
the hinge mechanism 403 is used to achieve flexible connection; the hinge mechanism 403 comprises a connecting shaft and a hook which are used in a matched manner, and the connecting shaft and the hook are respectively and fixedly installed on two adjacent omnidirectional AGVs 100 through the installation seats 402;
the hinge driving assembly 401 is used for driving the hook in the hinge mechanism 403 to rotate, so that the hook is hung on the connecting shaft or released from the connecting shaft;
the guiding assembly 404 includes a guiding slot and a guiding block, which are used in a matching manner, and the guiding slot and the guiding block are respectively and fixedly installed on two adjacent omnidirectional AGVs 100 through the installation seat 402;
the guide assembly 404 is used to perform a guiding function to match the position of the hooks and connecting shafts mounted on different omnidirectional AGVs 100 in the hinge mechanism 403.
The transfer device 600 is fixedly mounted on the assembly through a damping and buffering device 300;
the damping and buffering device 300 has a damping and buffering effect and is used for weakening the influence of displacement variables on the overall structure of the transfer equipment 600 caused by uneven road surfaces or the change of climbing angles in the dynamic operation process of the assembly.
The shock-absorbing buffer device 300 includes: a spring assembly 301, a guide rod 302, an upper mounting plate 303 and a lower mounting plate 304;
the lower mounting plate 304 is fixedly mounted on the combined body, and the transfer device 600 is fixedly mounted on the upper mounting plate 303;
the upper mounting plate 303 and the lower mounting plate 304 are connected through k symmetrically arranged spring assemblies 301; k is a positive integer greater than 2;
a through hole is processed in the upper mounting plate 303, one end of the guide rod 302 is fixedly mounted on the lower mounting plate 304, and the other end of the guide rod 302 extends upwards from the through hole of the upper mounting plate 303; the inner diameter of the through hole is larger than the outer diameter of the guide rod 302.
The through holes cooperate with the guide rods 302 to limit the planar movement of the upper mounting plate 303.
Preferably, the diameter of the through hole is in clearance fit with the outer diameter of the guide rod 302.
The utility model provides a multi freedom adjusts appearance system based on AGV concatenation, utilizes above-mentioned multi-agent reconsitution assembly, includes: a two-axis attitude adjusting device 200;
m shock absorption and buffer devices 300 are fixedly arranged on the upper surface of the combination body, and m is a positive integer;
the two-axis posture adjusting device 200 is fixedly installed on the upper surface of the combination body through m damping and buffering devices 300, and the transfer equipment 600 is fixedly installed on the two-axis posture adjusting device 200;
the two-axis attitude adjusting device 200 has the adjusting functions of vertical lifting and pitch angle rotation, and the spatial five-degree-of-freedom attitude adjustment of the transfer equipment 600 can be realized by the cooperative work of the two-axis attitude adjusting device 200 and the assembly.
The two-axis posture adjustment device 200 includes: a base frame 201, a rotation driving assembly 203 and a lifting driving assembly 208;
the rotary driving component 203 is fixedly arranged on the lifting driving component 208, the lifting driving component 208 is fixedly arranged on the base frame 201, and the base frame 201 is fixedly arranged on the m shock absorption buffering devices 300;
the transfer device 600 is fixedly installed on the rotation driving assembly 203, the lifting driving assembly 208 is used for driving the rotation driving assembly 203 to move up and down in a vertical plane, and the rotation driving assembly 203 is used for changing the pitch angle of the transfer device 600.
The lift drive assembly 208 includes: a guide rail slider assembly 206 and a lead screw 207;
the guide rail slider assembly 206 moves up and down in a vertical plane along the lead screw 207; the rotary drive assembly 203 is fixedly mounted on the guide rail slider assembly 206 by a rotary assembly mounting plate 212;
the rotating shaft 202 of the rotating drive assembly 203 is provided with a mechanical interface 204, the mechanical interface 204 is used for fixedly connecting the transfer device 600, and the rotating drive assembly 203 can drive the transfer device 600 to rotate around the rotating shaft 202, so that the pitch angle of the transfer device 600 can be changed.
Examples
A multi-agent reconstruction combination and multi-degree-of-freedom posture adjusting system specifically comprises: 4 omnidirectional AGVs 100, two-axis attitude adjusting device 200, shock absorption buffer device 300, mechanical splicing device 400, laser ranging device 500 and hand-held device 700. Wherein the omnidirectional AGV cooperative motion provides 3 degrees of freedom, namely XY movement in a horizontal plane (in the horizontal plane) and Z-axis rotation; wherein, the X-axis positive direction is the forward direction of the vehicle body. The two-axis attitude adjusting device provides 2 degrees of freedom, namely Z-axis lifting and Y-axis pitching. The degrees of freedom of the two modules are complementary, and the combination of the two modules can realize the flexible movement and high-precision adjustment of the degree of freedom of the space 5. Wherein, 4 omnidirectional AGVs 100 are used as omnidirectional moving modules of horizontal movement; the mechanical splicing device 400 and the laser ranging device 500 are matched for use, wherein the mechanical splicing device 400 is installed on the outer side of the periphery of the AGV, the laser ranging device 500 is arranged inside the outer edge of the periphery of the omnidirectional AGV100, and the installation position of the laser ranging device is matched with that of the mechanical splicing device 400; the 4 sets of two-axis attitude adjusting devices 200 and the 4 sets of damping and buffering devices 300 are respectively arranged on the upper table-boards of the 4 omnidirectional AGVs 100; wherein the shock absorbing buffer 300 is disposed between the omnidirectional AGV100 and the two-axis attitude adjusting device 200. The handset 700 is the system operation controller.
The multi-freedom-degree posture adjusting system based on multi-agent reconstruction has four working modes, namely a four-vehicle splicing mode, a three-vehicle splicing mode, a two-vehicle splicing mode and a single-vehicle working mode. Four cars concatenation mode 4 all-round AGV100 be "field" style of calligraphy concatenation, confirm the installation distance back through laser rangefinder 500, utilize mechanical splicing apparatus 400 to carry out the distance locking to 4 all-round AGV100, 4 sets of shock attenuation buffer 300 install respectively at 4 all-round AGV100 last mesa, the appearance device 200 is transferred through 4 supporting legs and the shock attenuation buffer 300 of self to the diaxon and is connected. When the omnidirectional movement process meets special road conditions such as uneven road surface, climbing, ridge crossing and the like in the mode, the carried load can automatically keep a horizontal state. The double-vehicle splicing mode can be divided into a double-vehicle mechanical splicing mode and a double-vehicle wireless splicing mode; the double-car mechanical splicing mode is that 2 omnidirectional AGVs 100 are subjected to distance locking through a mechanical splicing device 400; in the double-vehicle wireless splicing mode, 2 omnidirectional AGVs 100 perform cooperative motion through wireless communication signals, and the splicing distance between the AGVs is determined through the laser distance measuring device 500, so that the double omnidirectional AGVs 100 can be spliced at any distance within the range of 200mm-3000mm, and the mechanical splicing device 400 does not work in the mode; in the three-vehicle splicing mode, 3 omnidirectional AGVs 100 are spliced in a shape like a Chinese character pin, the distance between vehicles is monitored through a laser ranging device 500, and cooperative motion is realized through wireless communication signals; the single-vehicle working mode is that each AGV works independently and is not influenced by each other; the posture adjusting mode is that the posture adjusting device can operate independently to provide lifting and pitching posture adjusting work for products.
As shown in fig. 1, a multi-agent cooperative multi-degree-of-freedom posture adjustment system mainly includes: the system comprises an omnidirectional AGV100, a two-axis attitude adjusting device 200, a damping and buffering device 300, a mechanical splicing device 400, a laser distance measuring device 500, a transfer device 600 and a handheld device 700.
Wherein, the two-axis attitude adjusting device 200 is installed on a splicing system of 4 sets of omnidirectional AGVs 100; the damping buffer device 300 is used for connecting the two-axis attitude adjusting device 200 and the omnidirectional AGV 100; the mechanical splicing device 400 is used for splicing 4 sets of omnidirectional AGVs 100, and the laser distance measuring device 500 is used for assisting in adjusting the distance between the omnidirectional AGVs 100. The whole system is operated by the handheld device 700, 4 omnidirectional AGVs 100 move in an omnidirectional manner in the system movement process, planar three-degree-of-freedom movement is provided for the system, and the posture adjusting device 200 realizes the angle monitoring and automatic leveling functions of the system through the angle sensor 209 in the system operation process.
As shown in fig. 2, a multi-agent reconstruction combination based on multiple AGVs splicing mainly includes single AGVs, double AGVs, triple AGVs and quadruple AGVs.
An omnidirectional AGV100 is shown in fig. 3, and includes: a vehicle body 101, a mecanum wheel set 102, and a control module 103. Wherein, X axle forward is the automobile body forward direction, and wherein control module 103 realizes communication signal's UNICOM with handheld ware 700, carries out walking control to the AGV.
As shown in fig. 4(a), the two-car splicing mode mainly includes two omnidirectional AGVs 100, a mechanical splicing device 400, and a laser distance measuring device 500, wherein the two omnidirectional AGVs 100 can form a two-car mechanical short splicing mode through the mechanical splicing device 400, the two omnidirectional AGVs 100 are combined with the laser distance measuring device 500, and communication soft splicing at any distance can be formed within the range of the laser distance measuring device.
As shown in fig. 4(b), a three-car and four-car splicing mode, where the three-car splicing mode mainly includes 3 omnidirectional AGVs 100 and a laser distance measuring device 500, and the three 3 omnidirectional AGVs 100 can realize cooperative motion after the laser distance measuring device 500 determines the splicing distance; four cars concatenation mode mainly includes 4 agrVs 100 of qxcomm technology, mechanical splicing apparatus 400 and laser rangefinder 500, and two agrVs 100 of qxcomm technology can form four cars machinery short concatenation mode through mechanical splicing apparatus 400, and four cars concatenation can jointly be transported and transfers appearance device to be connected.
As shown in fig. 6(a) and (b), during the splicing movement of the four-car or two-car machine, the distance between two adjacent cars before (on the horizontal plane) climbing can be set to X, and during the climbing, the distance becomes X + δ X as the AGV adapts to the change of the road surface angle. The release of the rotational degree of freedom is matched through the mechanical splicing device 400 in a four-vehicle or two-vehicle climbing mode, so that the angle change in the climbing process can be adapted; meanwhile, the shock absorption and buffering device 300 can adapt to the displacement variable δ X between two adjacent vehicles caused by the change of the climbing angle.
As shown in fig. 7, the two-axis attitude adjusting apparatus 200 includes: the device comprises a base frame 201, a rotating shaft 202, a rotating driving assembly 203, a mechanical interface 204, a rotating suspension ring 205, a guide rail slider assembly 206, a lead screw 207, a lifting driving assembly 208, an angle sensor 209, a mechanical limit block 210, a limit sensor 211, a rotating assembly mounting plate 212, a lifting leg 213 and a control box 214. Wherein the base frame 201 is the base platform of the device; the lifting driving assembly 208 consists of a guide rail sliding block assembly 206 and a lead screw 207 in the vertical direction, and is respectively arranged on two sides of the base frame 201, and the lifting driving assembly 208 realizes the lifting of the product in the vertical direction of 500mm-2000 mm; the rotary driving assembly 203 is installed at the top of the lifting assembly in series to realize +/-93-degree rotation of the product. The rotary driving assembly 203 is arranged on the guide rail slider assembly 206 through a rotary assembly mounting plate 212, and the guide rail slider assembly 206 can slide up and down along the screw rod 207; a mechanical interface 204 is arranged on the rotating shaft 202 of the rotating drive assembly 203, and the mechanical interface 204 is used for fixedly connecting with a matching interface on the transfer device 600. The two mechanical interfaces 204 are coaxially arranged. The lifting support legs 213 are in a spherical hinge structure, are used for ground support of the two-axis posture adjusting device 200, and can adapt to unevenness at a certain angle. The control box 214 is a control system of the two-axis attitude adjusting device 200, controls the movement thereof, and is also in communication connection with the control module 103 of the omnidirectional AGV100 to realize cooperative control of the system.
Wherein the guide rail sliding block component 206 has 1 degree of freedom of unidirectional up-down lifting, the rotation driving component 203 can realize that the transfer device 600 rotates around a horizontal shaft, and the pitch angle and the automatic leveling function of a remote sensor are monitored through the angle sensor 209. The mechanical limit block 210 and the limit sensor 211 are used in cooperation to limit the maximum swing angle of the pitch angle of the transfer device 600.
As shown in fig. 8, a shock absorbing and cushioning device 300 is used to provide additional stiffness support, the shock absorbing and cushioning device 300 comprising: upper mounting plate 303, lower mounting plate 304, spring assembly 301 and guide bar 302. The upper mounting plate 303 is fixedly connected with a lifting support leg 213 of the posture adjusting device, the lower mounting plate 304 is connected with the omnidirectional AGV100, and the 2 groups of spring assemblies 301 are horizontally mounted in the middle of the upper mounting plate 303 and the lower mounting plate 304 and can bear displacement variables in the vertical direction and the horizontal direction; the 2 guide rods 302 are arranged on the lower mounting plate 304, and mechanical limit (horizontal limit) in the moving process of the system is realized through a round hole reserved in the upper mounting plate 303. The spring assembly 301 provides elastic deformation for the system, matching the stiffness change of the system during movement; the guide rod 302 provides the direction for the assembly of the posture adjusting device 200, and the upper mounting plate 303 is provided with a guide hole which is matched with the guide rod 302 to play a mechanical limiting role.
As shown in fig. 9, the mechanical splicing apparatus 400 includes: a hinge drive assembly 401, a mount 402, a hinge mechanism 403, and a guide assembly 404. The mechanical splicing device 400 is arranged on the end face connected with the adjacent AGVs, and two mechanical splicing devices 400 are arranged on the end face; the hinge driving assembly 401 provides driving force for the device, the hinge driving assembly 401 is connected with the hinge mechanism 403 through a coupler, and after the laser ranging device 500 determines a mounting distance feedback signal, automatic locking can be achieved; two mounting brackets 402 are mounted on the side walls of adjacent omnidirectional AGVs 100, respectively; the guide member 404 is provided for the auxiliary hinge mechanism 403, has a guide function, and can release the degree of freedom in the vertical direction.
As shown in fig. 10, the transfer apparatus 600 includes: a main body structure 601 and a rotation shaft 602. The main structural member 600 is cylindrical, is a job name of a composite material aluminum honeycomb plate, and is characterized by large size and weak rigidity; the 2 rotating shafts 602 are coaxially installed on both sides of the main structural member 600, and are made of ceramic materials, which are characterized by high hardness and high brittleness.
As shown in fig. 11, the operation of the handset 700 comprises: the device comprises four working modes, namely a single-vehicle mode, a double-vehicle mode, a three-vehicle mode, a four-vehicle mode and a posture adjusting mode. Under the bicycle mode, a speed control rod is used for vertically shifting to control the addition and subtraction of speed gears, and an angle control rod is used for controlling the omnidirectional AGV to move in any direction and at any angle. Under the double-vehicle mode, the speed control rod is used for controlling to shift up and down to control the addition and subtraction of speed gears, and the angle control rod is used for controlling the two omnidirectional AGVs to cooperatively move in any direction and at any angle. In the three-vehicle mode, the speed control rod is used for controlling to shift up and down to control the addition and subtraction of speed gears, and the angle control rod is used for controlling three omnidirectional AGVs to cooperatively move in any direction and at any angle. In the four-vehicle mode, the speed control rod for control is used for shifting up and down to control the addition and subtraction of speed gears, and the angle control rod is used for controlling the four omnidirectional AGVs to cooperatively move in any direction and at any angle. And under the posture adjusting mode, the posture adjusting device is controlled to continuously move in the lifting and pitching actions.
The invention mainly aims at the requirements of transferring and posture adjusting of large transferring equipment 600 (especially large-size and weak-rigidity equipment), aims at overcoming the defects of the prior art, and provides a multi-freedom posture adjusting system based on multi-agent reconstruction: a multi-AGV flexible combination and cooperative motion scheme realizes multi-span and large-range omnidirectional movement; meanwhile, an intelligent lifting and overturning two-shaft motion system is integrated, the 600 pose +/-93-degree overturning and automatic leveling functions of the transfer equipment are realized, and the requirement of integration of long-distance transferring, assembling and debugging in a load factory building is met. The invention has multiple modes of a single-vehicle mode, an attitude adjusting mode, a double-vehicle splicing mode, a three-vehicle splicing mode, a four-vehicle splicing mode and a cooperative working mode of four vehicles and an attitude adjusting device, and can realize automation and intellectualization of testing and adjusting processes and integration of transferring and attitude adjusting, thereby improving the flexibility degree of intelligent equipment, reducing the labor intensity in the product transferring and butting process, avoiding the resource waste caused by the traditional transferring mode, realizing the high-efficiency application of the cooperative work of the intelligent equipment in the accurate transferring link, and providing an effective way for the accurate transferring market of large-scale high-end equipment such as rail transit, ocean engineering, aviation, weaponry and the like.
Although the invention has been described in detail above with reference to a general description and specific examples, it will be apparent to one skilled in the art that modifications or improvements may be made thereto based on the invention. Accordingly, such modifications and improvements are intended to be within the scope of the invention as claimed.
Claims (10)
1. A multi-agent reconfiguration combination based on AGV concatenation, includes: n omnidirectional AGVs (100), n being a positive integer; each omnidirectional AGV (100) is provided with a laser ranging device (500);
when n is a positive integer larger than 1, n omnidirectional AGVs (100) form a synchronous moving combination body through a mechanical splicing mode or a wireless splicing mode; the assembly is used for carrying and transporting equipment (600) for transporting;
in the mechanical splicing mode, each omnidirectional AGV (100) is provided with a mechanical splicing device (400), and two adjacent omnidirectional AGVs (100) are connected with the mechanical splicing device (400) through a laser ranging device (500) to form a synchronous moving combination body;
in the wireless splicing mode, each omnidirectional AGV (100) is provided with a wireless communication signal transceiver, and two adjacent omnidirectional AGVs (100) form a synchronous moving assembly through a laser ranging device (500) and a wireless communication signal;
the laser distance measuring device (500) is used for measuring the distance between two adjacent omnidirectional AGVs (100), so that the distance between the two adjacent omnidirectional AGVs (100) meets the safety distance.
2. The AGV-splicing based multi-agent reconfiguration combination according to claim 1, wherein:
when n is 2, 2 omnidirectional AGVs (100) are spliced to form a combined body arranged side by side or spliced to form a combined body arranged in front and at the back;
when n is 3, 3 omnidirectional AGVs (100) are spliced to form a combined body in a shape like a Chinese character 'pin';
when n is 4, 4 omnidirectional AGVs (100) are spliced to form a combined body in a shape like a Chinese character 'tian';
the distances between two adjacent omnidirectional AGVs (100) are equal.
3. An AGV concatenation based multi-agent reconfiguration combination according to claim 1 or 2, wherein: the mechanical splicing device (400) is fixedly arranged on the side wall of the omnidirectional AGV (100);
and in the mechanical splicing mode, under the condition that the distance between two adjacent omnidirectional AGVs (100) meets the safety distance, the two adjacent omnidirectional AGVs (100) to be spliced are flexibly connected through a mechanical splicing device (400).
4. An AGV splicing based multi-agent reconfiguration combination according to claim 3, wherein the mechanical splicing means (400) comprises: the hinge mechanism comprises a hinge driving assembly (401), a mounting seat (402), a hinge mechanism (403) and a guide assembly (404);
the hinge mechanism (403) is used for realizing flexible connection; the hinging mechanism (403) comprises a connecting shaft and a hook which are used in a matched mode, and the connecting shaft and the hook are fixedly installed on two adjacent omnidirectional AGVs (100) through the installation seats (402) respectively;
the hinge driving assembly (401) is used for driving the hook in the hinge mechanism (403) to rotate, so that the hook is hung on the connecting shaft or released from the connecting shaft;
the guide assembly (404) comprises a guide groove and a guide block which are used in a matched mode, and the guide groove and the guide block are fixedly installed on two adjacent omnidirectional AGVs (100) through the installation seats (402) respectively;
the guide assembly (404) is used for realizing a guiding function, so that hooks mounted on different omnidirectional AGVs (100) are matched with the positions of connecting shafts.
5. The AGV concatenation-based multi-agent reconstruction combination of claim 4, further comprising: a shock absorbing and cushioning device (300);
the transfer equipment (600) is fixedly arranged on the combined body through a damping and buffering device (300);
the damping and buffering device (300) has a damping and buffering effect and is used for weakening the influence of displacement variables caused by uneven road surfaces or the change of climbing angles on the whole structure of the conveying equipment (600) in the dynamic running process of the combined body.
6. An AGV stitching based multi-agent reconfiguration combination according to claim 5, wherein the shock absorbing buffer means (300) comprises: the spring assembly (301), the guide rod (302), the upper mounting plate (303) and the lower mounting plate (304);
the lower mounting plate (304) is fixedly mounted on the combined body, and the transfer device (600) is fixedly mounted on the upper mounting plate (303);
the upper mounting plate (303) is connected with the lower mounting plate (304) through k symmetrically arranged spring assemblies (301); k is a positive integer greater than 2;
a through hole is processed in the upper mounting plate (303), one end of the guide rod (302) is fixedly mounted on the lower mounting plate (304), and the other end of the guide rod (302) extends upwards from the through hole of the upper mounting plate (303);
the through hole is matched with the guide rod (302) for use and is used for limiting the plane movement of the upper mounting plate (303).
7. The AGV splicing based multi-agent reconfiguration combination of claim 6, wherein: the aperture of the through hole is in clearance fit with the outer diameter of the guide rod (302).
8. A multi-freedom posture adjusting system based on AGV splicing, which utilizes the multi-agent reconstruction combination body based on AGV splicing as claimed in claim 7, and is characterized by comprising: a two-axis attitude adjusting device (200);
m shock absorption and buffer devices (300) are fixedly arranged on the upper surface of the combination body, and m is a positive integer;
the two-axis posture adjusting device (200) is fixedly arranged on the upper surface of the combination body through m damping buffer devices (300), and the transfer equipment (600) is fixedly arranged on the two-axis posture adjusting device (200);
the two-axis attitude adjusting device (200) has the adjusting functions of vertical lifting and pitch angle rotation, and the spatial five-degree-of-freedom attitude adjustment of the transfer equipment (600) can be realized by the cooperation of the two-axis attitude adjusting device (200) and the combination.
9. The AGV splicing-based multiple-degree-of-freedom posture adjusting system according to claim 8, wherein the two-axis posture adjusting device (200) comprises: a base frame (201), a rotation driving component (203) and a lifting driving component (208);
the rotary driving component (203) is fixedly arranged on the lifting driving component (208), the lifting driving component (208) is fixedly arranged on the base frame (201), and the base frame (201) is fixedly arranged on the m damping buffer devices (300);
the transfer equipment (600) is fixedly installed on the rotary driving assembly (203), the lifting driving assembly (208) is used for driving the rotary driving assembly (203) to move up and down in a vertical plane, and the rotary driving assembly (203) is used for changing the pitch angle of the transfer equipment (600).
10. The AGV splicing based multiple degree of freedom attitude adjustment system of claim 9, wherein the lifting drive assembly (208) comprises: a guide rail slider assembly (206) and a lead screw (207);
the guide rail sliding block assembly (206) moves up and down in a vertical plane along the screw rod (207); the rotary driving assembly (203) is fixedly arranged on the guide rail sliding block assembly (206);
the mechanical interface (204) is arranged on the rotating shaft (202) of the rotary driving assembly (203), the mechanical interface (204) is used for fixedly connecting the transfer equipment (600), and the rotary driving assembly (203) can drive the transfer equipment (600) to rotate around the rotating shaft (202), so that the pitch angle of the transfer equipment (600) is changed.
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| PCT/CN2021/131372 WO2022174634A1 (en) | 2021-02-20 | 2021-11-18 | Multi-agent reconstructed combination and multi-degree-of-freedom posture adjustment system |
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| WO2022174634A1 (en) | 2022-08-25 |
| CN112896365B (en) | 2022-07-29 |
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