Autonomous mobile robot for large-load assembly in narrow space

Abstract

The invention discloses an autonomous mobile robot for large-load assembly in narrow and small space, which comprises a bearing vehicle body walking along with a mobile trolley, a plane adjusting module is mounted on the bearing vehicle body, and a middle connecting plate for plane position adjusting output is mounted at the top of the plane adjusting module. A space adjusting module is installed on the middle connecting plate, and a movable platform for space position adjusting output is installed on the top of the space adjusting module. The invention discloses an autonomous mobile robot for narrow and small space and heavy load assembly, a plane adjusting module of the autonomous mobile robot has three degrees of freedom of X-direction translation, Y-direction translation and rotation around Z, and a space adjusting module has three degrees of freedom of Z-direction translation, rotation around X and rotation around Y. And the two parts jointly form space six-degree-of-freedom motion. The invention has the advantages of high rigidity of the whole machine, good flexibility, large working space and low gravity center, and can realize large-load assembly application in a narrow space.

Description

Technical Field

[0001] The invention belongs to the technical field of robots, and in particular relates to an autonomous mobile robot for assembling large loads in narrow spaces. Background Art

[0002] At present, with the development of major national projects in the field of aerospace, large-scale equipment such as aircraft and rockets have been fully developed, and the research and development level of large-scale equipment is a reflection of a country's comprehensive strength. Among them, the assembly of large components is a key link in the development of large equipment. Most companies in my country mainly use hand-cranked brackets to assemble large components. The spatial posture linkage adjustment ability is poor, the assembly process is extremely dependent on experience, and the adaptability of multiple products is weak. Large components are large in size and heavy in weight; the height of the mobile robot itself occupies a certain space; the center of gravity of the whole machine is too high, which is not conducive to mobile assembly and is difficult to apply in small space scenes. In order to meet the needs of efficient, fast and flexible assembly of large components, designing an autonomous mobile robot for small space and large load assembly is an effective solution.

[0003] At present, some mobile robots can only complete the moving tasks but cannot meet the assembly requirements. For example, the AGV equipment of Chinese patent CN108609539B only has the lifting and steering functions and cannot complete the assembly tasks. In addition, some mobile assembly robots have the problem of poor rigidity. For example, the AMR equipment of Chinese patents CN217776987U and CN113858178A, although the end moving range is large, the rigidity of the serial structure is poor, which makes it difficult to meet the needs of large component assembly. In addition, some six-degree-of-freedom mobile assembly robots have the problem of too high center of gravity for assembly. For example, the mobile assembly robot of Chinese patent CN104802151A, because the large components are large in size and heavy in weight, the mobile platform and the parallel robot are connected in series and occupy a certain space, resulting in the center of gravity of the whole machine being too high, which is not conducive to mobile assembly and is difficult to apply in narrow space scenes.

[0004] The purpose of the present invention is to overcome the deficiencies of the prior art and to provide an autonomous mobile robot which has a large adjustment range, a high carrying capacity and a low center of gravity and is suitable for assembling large loads in narrow spaces. Summary of the invention

[0005] The present invention is proposed to solve the problems existing in the prior art, and its purpose is to provide an autonomous mobile robot for assembling large loads in a narrow space.

[0006] The technical solution of the present invention is: an autonomous mobile robot for assembling large loads in a narrow space, including a load-bearing body that moves with a mobile vehicle, a plane adjustment module is installed on the load-bearing body, and an intermediate connecting plate with a plane position adjustment output is installed on the top of the plane adjustment module, a space adjustment module is installed on the intermediate connecting plate, and a moving platform with a space position adjustment output is installed on the top of the space adjustment module.

[0007] Furthermore, the plane adjustment module includes a plane branch chain group connected between the load-bearing vehicle body and the middle connecting plate and performing plane position adjustment, and the plane branch chain group is installed in the longitudinal narrow space between the middle connecting plate and the load-bearing vehicle body.

[0008] Furthermore, the planar branch chain group consists of three branches, namely, a first branch chain, a second branch chain, and a third branch chain, and the first branch chain, the second branch chain, and the third branch chain have the same structure from the fixed side to the output side.

[0009] Furthermore, a first movable pair is installed in the carrier body, a second rotating pair is installed on the linear output part of the first movable pair, a first connecting rod is installed on the side wall of the rotating output part of the second rotating pair, and a first rotating pair is installed at the other end of the first connecting rod, and the top of the first rotating pair is connected and fixed to the middle connecting plate.

[0010] Furthermore, the space adjustment module includes a space branch chain group connected between the middle connecting plate and the moving platform for space position adjustment, and the space branch chain group meets the requirements of installation in a narrow space.

[0011] Furthermore, the space branch chain group consists of three branches, namely the fourth branch chain, the fifth branch chain and the sixth branch chain, and the fourth branch chain, the fifth branch chain and the sixth branch chain have the same installation structure from the middle connecting plate to the moving platform direction.

[0012] Furthermore, a fourth rotating pair is installed at the upper end of the middle connecting plate, the third connecting rod serves as the rotation output of the fourth rotating pair, the third rotating pair is installed at the output end of the third connecting rod, the second connecting rod serves as the rotation output of the third rotating pair, the output end of the second connecting rod is installed with a ball pair, and a moving platform is installed on the ball pair of each branch chain.

[0013] Furthermore, a fifth rotating pair is installed on the driving side of the third connecting rod, and the output end of the fifth rotating pair is connected to the linear moving end of the second moving pair.

[0014] Furthermore, traveling wheels are installed on both sides of the carrying body of the mobile vehicle.

[0015] The beneficial effects of the present invention are as follows: The present invention discloses an autonomous mobile robot for small space and large load assembly, wherein the plane adjustment module has three degrees of freedom, namely, translation in X direction, translation in Y direction, and rotation around Z direction, and the space adjustment module has three degrees of freedom, namely, translation in Z direction, rotation around X direction, and rotation around Y direction. The two together constitute six degrees of freedom motion in space.

[0016] The present invention has the advantages of high overall rigidity, good flexibility, large working space and low center of gravity, and can realize large-load assembly applications in narrow spaces. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a structural schematic diagram of the whole machine of the present invention; Figure 2 This is a schematic diagram of the structure of the whole machine without the housing of the present invention; Figure 3 It is a schematic diagram of the mobile trolley of the present invention; Figure 4 is a schematic diagram of a plane adjustment module of the present invention; Figure 5 This is a schematic diagram of the branch chain of the plane adjustment module of the present invention; Figure 6 is a schematic diagram of a space adjustment module of the present invention; Figure 7 It is a schematic diagram of the branch chain of the space adjustment module of the present invention; in: 1 Moving platform 2 Moving car 3 Housing 4 Plane adjustment module 5 Space adjustment module 6 Control system 7 First branch chain 8 Second branch chain 9 The third branch chain 10 The first rotating pair 11 First connecting rod 12 Second revolute pair 13 First moving pair 14 First servo motor 15 Fourth branch chain 16 Fifth branch chain 17 Sixth chain 18 Ball pair 19 The third rotation pair 20 The second connecting rod 21 Fourth rotation pair 22 Third connecting rod 24 Fifth rotation pair 25 Second translation pair 26 Sixth rotating pair 27 Second servo motor 34 wheels 35 bearing body 36 Battery 37 Guidance System 38 Intermediate connecting plate 39 Bull's eye bearing. DETAILED DESCRIPTION

[0018] Hereinafter, the present invention will be described in detail with reference to the accompanying drawings and embodiments: like Figures 1 to 7 As shown, an autonomous mobile robot for assembling large loads in a narrow space includes a carrier body 35 that moves with a mobile vehicle 2, a plane adjustment module 4 is installed on the carrier body 35, and an intermediate connecting plate 38 with a plane position adjustment output is installed on the top of the plane adjustment module 4, a space adjustment module 5 is installed on the intermediate connecting plate 38, and a moving platform 1 with a space position adjustment output is installed on the top of the space adjustment module 5.

[0019] The plane adjustment module 4 includes a plane branch chain group connected between the load-bearing vehicle body 35 and the middle connecting plate 38 and performing plane position adjustment. The plane branch chain group is installed in the longitudinal narrow space between the middle connecting plate 38 and the load-bearing vehicle body 35 .

[0020] The planar branch chain group is composed of three branches, namely, a first branch chain 7, a second branch chain 8, and a third branch chain 9, and the first branch chain 7, the second branch chain 8, and the third branch chain 9 have the same structure from the fixed side to the output side.

[0021] A first movable pair 13 is installed in the carrier body 35, a second rotating pair 12 is installed on the linear output part of the first movable pair 13, a first connecting rod 11 is installed on the side wall of the rotating output part of the second rotating pair 12, and a first rotating pair 10 is installed at the other end of the first connecting rod 11. The top of the first rotating pair 10 is connected and fixed to the middle connecting plate 38.

[0022] The space adjustment module 5 includes a space branch chain group connected between the middle connection plate 38 and the moving platform 1 for space position adjustment, and the space branch chain group meets the requirements of installation in a narrow space.

[0023] The space branch chain group is composed of three branches, namely, a fourth branch chain 15 , a fifth branch chain 16 , and a sixth branch chain 17 . The fourth branch chain 15 , the fifth branch chain 16 , and the sixth branch chain 17 have the same installation structure from the middle connecting plate 38 toward the moving platform 1 .

[0024] A fourth rotating pair 21 is installed at the upper end of the intermediate connecting plate 38. The third connecting rod 22 serves as the rotation output of the fourth rotating pair 21. The third rotating pair 19 is installed at the output end of the third connecting rod 22. The second connecting rod 20 serves as the rotation output of the third rotating pair 19. A ball pair 18 is installed at the output end of the second connecting rod 20. A moving platform 1 is installed on the ball pair 18 of each branch chain.

[0025] A fifth rotation pair 25 is installed on the driving side of the third connecting rod 22 , and an output end of the fifth rotation pair 25 is connected to a linear moving end of the second moving pair 25 .

[0026] Traveling wheels are installed on both sides of the supporting vehicle body 35 of the mobile vehicle 2.

[0027] like Figure 1 As shown, Figure 1 It is a schematic diagram of the structure of the whole machine of the present invention, which includes a shell 3 covering the moving trolley 2, and a moving platform 1 that can cover the empty space above the shell 3. The plane adjustment module 4 and the space adjustment module 5 mentioned above need to be installed in a small space and have a large load requirement.

[0028] like Figure 2 As shown, Figure 2 It is a schematic diagram of the structure of the whole machine without the housing of the present invention. Figure 1 On the basis of, in the absence of a shell, the mobile trolley 2 includes a load-bearing body 35 for large-stroke movement and running wheels for large-stroke movement, and the mobile trolley 2 provides an installation foundation.

[0029] Specifically, the plane adjustment module 4 is installed on the moving cart 2 in the longitudinal direction with the moving cart 2 as the installation base, and the plane adjustment module 4 performs a small range of plane position adjustment after the moving cart 2 performs a large stroke position adjustment.

[0030] Specifically, the space adjustment module 5 is installed based on the plane adjustment module 4. The space adjustment module 5 is installed at the plane position adjustment output end of the plane adjustment module 4. After the plane adjustment module 4 performs plane position adjustment, the space adjustment module 5 performs space position adjustment based on the plane position adjustment.

[0031] Specifically, the flat structure of the plane adjustment module 4 and the space adjustment module 5 and the connection between the two can meet the requirements of installation in a narrow space.

[0032] like Figure 3 As shown, Figure 3 It is a schematic diagram of the mobile trolley of the present invention. The mobile trolley 2 includes a load-bearing body 35 . The frame structure of the load-bearing body 35 provides an installation basis, and wheels 34 are installed on both sides of the load-bearing body 35 .

[0033] As an implementation mode, the carrier body 35 is an electric-driven vehicle, and a battery 36 is installed at the bottom of the carrier body 35 , and the battery 36 provides a power basis for the long-range movement of the carrier body 35 .

[0034] As an implementation mode, a guidance system 37 is provided in the carrier body 35 , and the guidance system 37 provides navigation and positioning information for the carrier body 35 .

[0035] like Figure 4 As shown, Figure 4It is a schematic diagram of the plane adjustment module of the present invention. The plane adjustment module 4 includes a transfer function part, namely an intermediate connecting plate 38. The lower end of the intermediate connecting plate 38 is connected to the output end of the plane branch chain group, and the plane branch chain group adjusts the plane position of the intermediate connecting plate 38.

[0036] A support seat of the rotating pair is disposed at the upper end of the middle connecting plate 38 , and two support seats are disposed for each of the fourth branch chain 15 , the fifth branch chain 16 , and the sixth branch chain 17 .

[0037] The planar branch chain group includes a first branch chain 7, a second branch chain 8, and a third branch chain 9. The first branch chain 7, the second branch chain 8, and the third branch chain 9 have the same structure, and the difference is that the first branch chain 7, the second branch chain 8, and the third branch chain 9 are arranged at different positions, that is, the direction of the bottom moving pair in the second branch chain 8 and the third branch chain 9 is perpendicular to the direction of the bottom moving pair in the first branch chain 7, and the direction of the bottom moving pair in the second branch chain 8 and the third branch chain 9 is parallel. The first branch chain 7, the second branch chain 8, and the third branch chain 9 have three degrees of freedom, namely, translation in the X direction, translation in the Y direction, and rotation around the Z direction.

[0038] like Figure 5 As shown, Figure 5 It is a schematic diagram of the branch chain of the plane adjustment module of the present invention. The first branch chain 7, the second branch chain 8, and the third branch chain 9 all include a first movable pair 13. The fixing and guiding parts of the first movable pair 13 are fixed to the supporting vehicle body 35. The first movable pair 13 includes a planar moving part capable of planar movement, and the planar moving part has a flat upper end. The second rotating pair 12 is installed at the upper end of the planar moving part. The axis of the second rotating pair 12 is perpendicular to the moving direction of the first movable pair 13. The first connecting rod 11 serves as the rotational follower of the second rotating pair 12. At the same time, the first rotating pair 10 is installed at the far end of the first connecting rod 11 to realize the rotational connection between the intermediate connecting plate 38 and the first connecting rod 11.

[0039] As an implementation manner, the first moving pair 13 is driven by a first servo motor 14. The first servo motor 14 may include but is not limited to being connected to the moving pair via a transmission belt, or may be directly driven or connected using a coupling.

[0040] like Figure 6 As shown, Figure 6 It is a schematic diagram of the space adjustment module of the present invention. The middle connecting plate 38 is omitted in this figure. The space branch chain group in the space adjustment module adjusts the position of the moving platform 1. The space branch chain group includes a fourth branch chain 15, a fifth branch chain 16, and a sixth branch chain 17. In the installation direction from the middle connecting plate 38 to the moving platform 1, the fourth branch chain 15, the fifth branch chain 16, and the sixth branch chain 17 have the same structure. The fourth branch chain 15, the fifth branch chain 16, and the sixth branch chain 17 are arranged in a manner that the drive is in the middle and the adjustment is on the outside.

[0041] As an implementation mode, the output parts of the fourth branch chain 15 , the fifth branch chain 16 , and the sixth branch chain 17 , namely the ball joint 18 , are connected to the bottom of the moving platform 1 in a triangular shape.

[0042] like Figure 7 As shown, Figure 7 Schematic diagram of the space adjustment module branch chain of the present invention. Taking one of the fourth branch chain 15, the fifth branch chain 16, and the sixth branch chain 17 as an example, the fourth rotation pair 21 is installed in the support seat of the middle connecting plate 38, and the third connecting rod 22 serves as the rotation output of the fourth rotation pair 21. The third connecting rod 22 is an L-shaped connecting rod, and the structure is thickened at its inflection point, such as Figure 7 As shown, a third rotating pair 19 is installed at the end of the long arm side of the third connecting rod 22, and a second connecting rod 20 rotating around it is installed on the third rotating pair 19. The second connecting rod 20 is a triangular structure, and the end of the second connecting rod 20 is movably connected to the moving platform 1 through a ball pair 18.

[0043] A fifth rotating pair 24 is arranged on the short arm side of the third connecting rod 22, and a second movable pair 25 rotating around the fifth rotating pair 24 is installed on the fifth rotating pair 24. A sixth rotating pair 26 is arranged on the other side of the second movable pair 25, and the sixth rotating pair 26 is installed in a supporting seat of the middle connecting plate 38. The second movable pair 25 is electrically driven by a second servo motor 27, and the entire branch chain is driven by the second movable pair 25 rotatably connected at both ends and the shape of the third connecting rod 22.

[0044] The fourth branch chain 15 , the fifth branch chain 16 , and the sixth branch chain 17 are driven by the second moving pair 25 , and the second servo motor 27 is connected to the second moving pair 25 via a belt.

[0045] As an implementation mode, the wheel 34 may be, but is not limited to, a Mecanum wheel, a steering wheel, a universal wheel, or a differential wheel. When the wheel 34 is a Mecanum wheel, it is driven by a direct motor drive.

[0046] As an implementation method, the guidance system 37 may use but is not limited to laser radar, magnetic stripe, vision, QR code, etc.

[0047] As an implementation mode, the second moving pairs 25 of the fourth branch chain 15, the fifth branch chain 16, and the sixth branch chain 17 in the space branch chain group are in an extended state in the initial state, at which time the moving platform 1 has the lowest height, which is the same height as the housing. Figure 1 State, in the working state, the movable platform 1 realizes posture adjustment relative to the middle connecting plate 38 through the extension and retraction of the second movable pair 25.

[0048] The present invention discloses an autonomous mobile robot for small space and large load assembly, wherein the plane adjustment module has three degrees of freedom, namely, translation in X direction, translation in Y direction, and rotation around Z direction, and the space adjustment module has three degrees of freedom, namely, translation in Z direction, rotation around X direction, and rotation around Y direction. The two together constitute six degrees of freedom motion in space.

[0049] The present invention has the advantages of high overall rigidity, good flexibility, large working space and low center of gravity, and can realize large-load assembly applications in narrow spaces.

Claims

1. An autonomous mobile robot for assembling large loads in a narrow space, characterized by: The invention comprises a carrier body (35) that moves with a moving vehicle (2), a plane adjustment module (4) being mounted on the carrier body (35), an intermediate connecting plate (38) for plane position adjustment output being mounted on the top of the plane adjustment module (4), a space adjustment module (5) being mounted on the intermediate connecting plate (38), and a moving platform (1) for space position adjustment output being mounted on the top of the space adjustment module (5).

2. The autonomous mobile robot for assembling large loads in a narrow space according to claim 1, characterized in that: The plane adjustment module (4) comprises a plane branch chain group connected between the carrier body (35) and the middle connecting plate (38) and performing plane position adjustment, and the plane branch chain group is installed in a narrow longitudinal space between the middle connecting plate (38) and the carrier body (35).

3. The autonomous mobile robot for assembling large loads in a narrow space according to claim 2, characterized in that: The planar branch chain group consists of three branches, namely a first branch chain (7), a second branch chain (8) and a third branch chain (9), and the first branch chain (7), the second branch chain (8) and the third branch chain (9) have the same structure from the fixed side to the output side.

4. The autonomous mobile robot for assembling large loads in a narrow space according to claim 3, characterized in that: A first movable pair (13) is installed in the carrier body (35), a second rotating pair (12) is installed on the linear output portion of the first movable pair (13), a first connecting rod (11) is installed on the side wall of the rotating output portion of the second rotating pair (12), a first rotating pair (10) is installed at the other end of the first connecting rod (11), and the top of the first rotating pair (10) is connected and fixed to the middle connecting plate (38).

5. The autonomous mobile robot for assembling large loads in a narrow space according to claim 1, characterized in that: The space adjustment module (5) comprises a space branch chain group connected between the middle connection plate (38) and the moving platform (1) for adjusting the spatial position, and the space branch chain group meets the requirements of installation in a narrow space.

6. The autonomous mobile robot for assembling large loads in a narrow space according to claim 5, characterized in that: The spatial branch chain group is composed of three branch chains, namely a fourth branch chain (15), a fifth branch chain (16) and a sixth branch chain (17), and the fourth branch chain (15), the fifth branch chain (16) and the sixth branch chain (17) have the same installation structure from the middle connecting plate (38) to the moving platform (1).

7. The autonomous mobile robot for assembling large loads in a narrow space according to claim 6, characterized in that: A fourth rotational pair (21) is installed at the upper end of the intermediate connecting plate (38); the third connecting rod (22) serves as the rotational output of the fourth rotational pair (21); the output end of the third connecting rod (22) is installed with a third rotational pair (19); the second connecting rod (20) serves as the rotational output of the third rotational pair (19); the output end of the second connecting rod (20) is installed with a ball pair (18); and a moving platform (1) is installed on the ball pair (18) of each branch chain.

8. The autonomous mobile robot for assembling large loads in narrow spaces according to claim 7, characterized in that: A fifth rotating pair (25) is installed on the driving side of the third connecting rod (22), and the output end of the fifth rotating pair (25) is connected to the linear moving end of the second moving pair (25).

9. The autonomous mobile robot for assembling large loads in a narrow space according to claim 1, characterized in that: Traveling wheels are installed on both sides of the supporting vehicle body (35) of the mobile vehicle (2).

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