Carrying robot

Abstract

The invention relates to the technical field of transfer robots, and discloses a transfer robot which comprises at least two sets of transportation units arranged in the second direction, each transportation unit comprises a telescopic assembly and at least two transportation modules, and the two ends of each telescopic assembly are slidably connected to the two adjacent transportation modules. Every two adjacent transportation modules can relatively move in the first direction through the corresponding telescopic assembly, and each transportation module comprises a Mecanum wheel, a bearing plate, a mounting base and a control assembly. The number of the Mecanum wheels is at least two, the at least two Mecanum wheels are mounted at the bottom of the mounting base, the bearing plate is fixedly connected to the top of the mounting base, and the control assembly is arranged on the mounting base; the control assembly is electrically connected with the Mecanum wheels. According to the scheme, the robot is connected with the transportation module through the telescopic assembly and can expand or contract to adapt to different cargo sizes, the carrying efficiency is improved, and high flexibility and adaptability are achieved. After transportation is completed, the robot can reduce the occupied area through the telescopic assembly, and the space is fully utilized.

Description

Technical Field

[0001] The invention relates to the technical field of transport robots, in particular to a transport robot with adaptive size. Background Art

[0002] Handling robots are widely used in warehousing, manufacturing, healthcare, and retail to improve efficiency and reduce costs. There are various types of handling robots on the market, including AGV, AMR (autonomous mobile robot), drones, and robotic arms, etc. These handling robots have different uses and capabilities. With the advancement of handling robot perception technology and navigation technology, handling robots are better able to cope with complex environments and tasks. At the same time, the rise of automated warehousing systems has increased the demand for handling robots in the market.

[0003] At present, handling robots usually have a fixed structure and it is difficult to flexibly adjust the handling method according to the size of the goods, resulting in low space utilization, limited path planning and handling efficiency. In particular, handling robots cannot make adaptive adjustments when handling goods of irregular shapes or sizes. Summary of the invention

[0004] The technical problem to be solved by the present invention is that most transport robots have a fixed structure, are difficult to adjust according to the size of the goods, cannot meet the transport needs of goods of different sizes, and have low flexibility.

[0005] In order to solve the above technical problems, the present invention provides a handling robot including at least two groups of transport units arranged along a second direction, the transport units including a telescopic assembly and at least two transport modules, both ends of the telescopic assembly are slidably connected to two adjacent transport modules, the two adjacent transport modules can move relatively along a first direction through the telescopic assembly, and each transport module includes: a Mecanum wheel, a load-bearing plate, a mounting seat, and a control assembly;

[0006] The number of Mecanum wheels is at least two, at least two Mecanum wheels are mounted on the bottom of the mounting seat, the bearing plate is fixedly connected to the top of the mounting seat, and the control component is arranged on the mounting seat;

[0007] The control assembly is electrically connected to the Mecanum wheel, and the first direction is perpendicular to the second direction.

[0008] Furthermore, the transport module also includes a laser distance measuring sensor, which is fixedly connected to the mounting seat and electrically connected to the control component.

[0009] Furthermore, the transport module also includes an ultrasonic obstacle avoidance module, which is fixedly connected to the mounting seat and electrically connected to the control component.

[0010] Furthermore, the laser ranging sensor and the ultrasonic obstacle avoidance module are both arranged at one end of the mounting base away from the telescopic assembly.

[0011] Furthermore, a mounting groove is provided at one end of the mounting seat away from the telescopic assembly, and the laser ranging sensor is fixedly connected to the inner wall of the mounting groove.

[0012] Furthermore, the transport module also includes a motor driver, which is fixedly connected to a mounting seat of the transport module, and is electrically connected to the control component, and the motor driver can drive the Mecanum wheel to rotate.

[0013] Furthermore, the transport module also includes a battery module, which is fixedly connected to a mounting seat of the transport module, and the battery module is electrically connected to the motor driver, the laser ranging sensor and the control component.

[0014] Furthermore, the transport module also includes a universal wheel assembly, the number of the universal wheel assemblies is at least two, and the at least two universal wheel assemblies are arranged at intervals and fixedly connected to both sides of the mounting seat.

[0015] Furthermore, the telescopic component is a guide rail, and a slide groove is provided on the mounting seat of each transport module. The two ends of the guide rail are respectively slidably connected to the mounting seats of two adjacent transport modules and are arranged in the slide groove.

[0016] Compared with the prior art, a transport robot according to an embodiment of the present invention has the following beneficial effects: (1) when faced with objects of different sizes, since the transport unit is composed of a telescopic component and at least two transport modules, and the transport modules are slidably connected by the telescopic component, the two transport modules in a transport unit of the transport robot of this scheme can expand or contract to adapt to the size change of the goods in the first direction. In addition, at least two transport units arranged in the second direction can use Mecanum wheels to enable the two transport modules to move relative to each other in the first direction and the two transport units to move relative to each other in the second direction, thereby avoiding a reduction in transport efficiency due to inconsistent cargo sizes and enabling the transport unit to have a high degree of flexibility and adaptability.

[0017] (2) After the transportation is completed, the transport module can slide through the telescopic components to reduce the footprint, making full use of the storage or transportation space and avoiding the waste of space resources.

[0018] (3) Mecanum wheels enable the transport robot to move in all directions. The transport robot can move forward and backward, left and right, and diagonally, greatly improving the flexibility and mobility of the transport robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 is an axonometric view of a transport unit according to an embodiment of the present invention;

[0020] Figure 2 yes Figure 1 Exploded diagram of

[0021] Figure 3 yes Figure 2 A partial enlarged view of

[0022] Figure 4 It is an axonometric diagram of an embodiment of the present invention.

[0023] In the figure, 100, transport unit; 110, transport module;

[0024] 1. Mecanum wheel; 2. Loading plate;

[0025] 3. Mounting seat; 31. Mounting slot; 32. Slide slot;

[0026] 4. Control component; 5. Laser ranging sensor; 6. Ultrasonic obstacle avoidance module; 7. Motor driver; 8. Battery module; 9. Universal wheel assembly;

[0027] 200. Telescopic components. DETAILED DESCRIPTION

[0028] The specific implementation of the present invention is further described in detail below in conjunction with the accompanying drawings and examples. The following examples are used to illustrate the present invention, but are not intended to limit the scope of the present invention.

[0029] In the description of the present invention, it should be understood that the terms "longitudinal", "lateral", "vertical", "horizontal", "up", "down", "front", "back", "left", "right", "top", "bottom", "inside" and "outside" used in the present invention to indicate the orientation or position relationship are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0030] In the description of the invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "provided with", "connected", etc. should be understood in a broad sense. For example, "connected" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0031] like Figure 1 to Figure 4As shown, a handling robot according to a preferred embodiment of the present invention comprises two groups of transport units 100 arranged along a second direction, the transport unit 100 comprises a telescopic assembly 200 and at least two transport modules 110, two adjacent transport modules 110 can move relative to each other along a first direction through the telescopic assembly 200, both ends of the telescopic assembly 200 are slidably connected to the two adjacent transport modules 110, and each transport module 110 comprises: a Mecanum wheel 1, a load-bearing plate 2, a mounting seat 3 and a control assembly 4;

[0032] The number of the Mecanum wheels 1 is at least two, at least two Mecanum wheels 1 are mounted on the bottom of the mounting seat 3, the bearing plate 2 is fixedly connected to the top of the mounting seat 3, and the control component 4 is disposed on the mounting seat 3;

[0033] The control assembly 4 is electrically connected to the Mecanum wheel 1, and the first direction is perpendicular to the second direction.

[0034] Based on the above scheme, in this embodiment, when facing items of different sizes, since the transport unit 100 is composed of a telescopic component 200 and at least two transport modules 110, and the transport modules 110 are connected by sliding through the telescopic component 200, the two transport modules 110 in one transport unit 100 of the handling robot of this scheme can expand or contract to adapt to the size change of the goods in the first direction. In addition, at least two transport units 100 arranged in the second direction can be used by the Mecanum wheel 1 to enable the two transport modules 110 to move relative to each other in the first direction while enabling the two transport units 100 to move relative to each other in the second direction, thereby avoiding the reduction of handling efficiency due to inconsistent goods size, and enabling the transport unit 100 to have a high degree of flexibility and adaptability. After the transportation is completed, the transport module 110 slides through the telescopic component 200 to reduce the floor space, make full use of the storage or transportation space, and avoid wasting space resources. The Mecanum wheel 1 enables the handling robot to move in all directions, and the handling robot can achieve forward and backward, left and right, and diagonal movement, which greatly improves the flexibility and movement efficiency of the handling robot. At least two transport units 100 enable the transport robot to add transport units 100 as needed, so as to adapt to transport tasks of different sizes and weights, thereby improving the versatility and flexibility of the transport robot. The control components 4 of at least two transport modules 110 are electrically connected to each other, so that multiple transport units 100 can work together as a whole, achieving more efficient transport and scheduling. In this embodiment, the number of transport units 100 is two.

[0035] Specifically, in this embodiment, the control component 4 is a Raspberry Pi main controller.

[0036] Preferably, the transport module 110 further includes a laser ranging sensor 5 , an end of the mounting seat 3 away from the telescopic assembly 200 is provided with a mounting groove 31 , the laser ranging sensor 5 is fixedly connected to the inner wall of the mounting groove 31 , and the laser ranging sensor 5 is electrically connected to the control assembly 4 .

[0037] The laser distance sensor 5 can measure the distance between the handling robot and the surrounding obstacles in real time, and provide accurate positioning information for the handling robot. During the handling process, the control component 4 of the handling robot can automatically adjust the route according to this information, effectively avoid collision with obstacles, and ensure the safe progress of the handling task. The laser distance sensor 5 is fixedly connected to the end of the mounting base 3 away from the telescopic component 200, and can more accurately test whether there is an obstacle in front of the handling robot than the end of the mounting base 3 close to the telescopic component 200.

[0038] Preferably, the transport module 110 further includes an ultrasonic obstacle avoidance module 6 , which is fixedly connected to the mounting base 3 , and the ultrasonic obstacle avoidance module 6 is electrically connected to the control component 4 .

[0039] Although the laser distance sensor 5 has excellent performance, it may be subject to certain limitations at night or in low-light environments. However, the ultrasonic obstacle avoidance module 6 is not affected by light and can continue to function in these environments, ensuring the all-weather operation capability of the transport robot.

[0040] Preferably, the laser distance measuring sensor 6 and the ultrasonic obstacle avoidance module 5 are both arranged at the end of the mounting base 3 away from the telescopic assembly 200. The ultrasonic obstacle avoidance module 5 arranged at the end of the mounting base 3 away from the telescopic assembly 200 has the same effect, and can more accurately test whether there is an obstacle in front of the transport robot compared to being installed at the end of the mounting base 3 close to the telescopic assembly 200.

[0041] Preferably, a mounting groove 31 is formed at one end of the mounting base 3 away from the telescopic assembly 200, and the laser ranging sensor 6 is fixedly connected to the inner wall of the mounting groove 31. The size and shape of the mounting groove 31 match the specifications of the laser ranging sensor 6 to ensure that the laser ranging sensor 6 can be stably and accurately installed therein.

[0042] Preferably, the transport module 110 further includes a motor driver 7, which is fixedly connected to the mounting base 3 of the transport module 110, and the motor driver 7 is electrically connected to the control component 4, and the motor driver 7 can drive the Mecanum wheel 1 to rotate.

[0043] The motor driver 7 accurately controls the Mecanum wheel 1, thereby improving the safety and reliability of the handling robot. During the handling process, the handling robot avoids potential safety hazards caused by power problems.

[0044] Preferably, the transport module 110 further includes a battery module 8 , which is fixedly connected to the mounting base 3 of the transport module 110 , and the battery module 8 is electrically connected to the motor driver 7 , the laser ranging sensor 5 , the control component 4 and the Mecanum wheel 1 .

[0045] The battery module 8 enables each transport module 110 to have an independent energy supply system. The integrated design not only simplifies the overall structure of the transport robot, but also facilitates subsequent maintenance and battery replacement operations.

[0046] Preferably, the transport module 110 further includes a universal wheel assembly 9 , and the number of the universal wheel assemblies 9 is at least two, and the at least two universal wheel assemblies 9 are arranged at intervals and fixedly connected to two sides of the mounting seat 3 .

[0047] When carrying heavy objects, the Mecanum wheel 1 needs to withstand greater pressure. The addition of the universal wheel assembly 9 can share part of the pressure, reduce the burden of the Mecanum wheel 1, and extend its service life.

[0048] Preferably, the telescopic assembly 200 is a guide rail, and a slide groove 32 is provided on the mounting seat 3 of each transport module 110 . Both ends of the guide rail are respectively slidably connected to the mounting seats 3 of two adjacent transport modules 110 and are disposed in the slide groove 32 .

[0049] The cooperation between the guide rail and the slide groove 32 enables the handling robot to flexibly adjust the size according to the size and shape of the handled object. The adaptive ability greatly improves the versatility and practicality of the robot, enabling it to cope with more types of handling tasks. The guide rail as a telescopic component 200 not only provides a stable sliding track, but also ensures a firm connection between adjacent transport modules 110.

[0050] In summary, the working process of the present invention is as follows: S1. After the transport robot is powered on, each transport unit 100 performs a self-check on each hardware module (motor driver 7, laser ranging sensor 5, etc.) to confirm whether each component is in a normal working state. The control component 4 is initialized, and the control algorithm preset in the control component 4 and the physical model in the path planning system are loaded to ensure that the transport robot can adaptively expand and contract according to the size of different goods;

[0051] Among them, the control algorithm preset in the control component 4 is an algorithm for controlling the rotation of multiple Mecanum wheels 1, and the physical model in the path planning system is a path map established according to the ground obstacles in the warehouse where the transport robot is located. The transport robot can match the path map according to the size of the goods to be moved and select different routes to transport the goods.

[0052] S2. In this embodiment, when a transport unit 100 includes two transport modules 110, the laser distance measuring sensors 5 at both ends of the transport modules 110 of each transport unit 100 start working, and the control components 4 of each transport unit 100 start working, unfolding one of the transport units 100, measuring and obtaining the transverse dimension of the goods, and the other transport unit 100 measures and obtains the longitudinal dimension of the goods by longitudinal movement. The control component 4 obtains the transverse and longitudinal lengths of the goods according to the transverse and longitudinal dimensions measured by the laser distance measuring sensor 5, and determines whether it is necessary to adjust the size of the physical model in the path planning system;

[0053] Among them, the physical model in the path planning system is a path map established according to the ground obstacles in the warehouse where the transport robot is located. The transport robot can match the path map according to the size of the goods to be moved and choose different routes to transport the goods.

[0054] S3. When two transport units 100 cooperate in transporting, each control component 4 performs linkage adjustment. The control component 4 expands or contracts the lateral size of the transport robot by controlling the rotation of the Mecanum wheel 1 to adapt to the width of the goods. The two transport units 100 move toward or away from each other to adapt to the length of the goods, thereby ensuring the stability of the entire cargo transport.

[0055] S4, the control component 4 updates the physical model of the cargo in the path planning system in real time through the cargo size data measured by the laser ranging sensor 5, ensuring that the actual size of the cargo is considered during the path planning process. The control component 4 calculates the optimal transport path based on the current environment map, the size of the cargo, and the location of obstacles, and transmits it to the execution module of the robot.

[0056] S5. After completing the path planning, the handling robot realizes accurate all-round movement through the Mecanum wheels 1 and carries the goods to the target location. During the handling process, the handling robot monitors the location and status of the goods in real time, and continuously adjusts the movement of the Mecanum wheels 1 through the data of the laser ranging sensor 5 to ensure the stability and safety of the handling.

[0057] S6: After the transport robot transports the goods to the designated location, the control component 4 waits for the unloading operation. The control component 4 resets and prepares for the next task, or returns to the starting position according to the instruction and waits for the assignment of a new task.

[0058] In summary, the embodiment of the present invention provides a handling robot. When facing items of different sizes, since the transport unit 100 is composed of a telescopic component 200 and at least two transport modules 110, and the transport modules 110 are connected by sliding through the telescopic component 200, the two transport modules 110 in one transport unit 100 of the handling robot of this scheme can expand or contract to adapt to the size change of the goods in the first direction. In addition, at least two transport units 100 arranged in the second direction can be used by the Mecanum wheel 1, so that the two transport modules 110 can move relative to each other in the first direction, and the two transport units 100 can move relative to each other in the second direction, thereby avoiding the reduction of handling efficiency due to inconsistent sizes of goods, and enabling the transport unit 100 to have a high degree of flexibility and adaptability. After the transportation is completed, the transport module 110 slides through the telescopic component 200 to reduce the occupied area, make full use of the storage or transportation space, and avoid wasting space resources. The Mecanum wheel 1 enables the handling robot to move in all directions, and the handling robot can achieve forward and backward, left and right, and diagonal movement, which greatly improves the flexibility and movement efficiency of the handling robot.

[0059] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and substitutions can be made without departing from the technical principles of the present invention. These improvements and substitutions should also be regarded as the scope of protection of the present invention.

Claims

1. A transport robot, characterized in that: The invention comprises at least two groups of transport units (100) arranged along a second direction, wherein the transport units (100) comprise a telescopic assembly (200) and at least two transport modules (110), wherein two ends of the telescopic assembly (200) are slidably connected to two adjacent transport modules (110), and the two adjacent transport modules (110) can move relative to each other along a first direction via the telescopic assembly (200), and each transport module (110) comprises a Mecanum wheel (1), a load-bearing plate (2), a mounting seat (3), and a control assembly (4); The number of the Mecanum wheels (1) is at least two, at least two of the Mecanum wheels (1) are mounted on the bottom of the mounting seat (3), the bearing plate (2) is fixedly connected to the top of the mounting seat (3), and the control component (4) is disposed on the mounting seat (3); The control component (4) is electrically connected to the Mecanum wheel (1), and the first direction is perpendicular to the second direction.

2. The handling robot according to claim 1, characterized in that: The transport module (110) further comprises a laser distance measuring sensor (5), wherein the laser distance measuring sensor (5) is fixedly connected to the mounting seat (3), and the laser distance measuring sensor (5) is electrically connected to the control component (4).

3. The handling robot according to claim 2, characterized in that: The transport module (110) further comprises an ultrasonic obstacle avoidance module (6), wherein the ultrasonic obstacle avoidance module (6) is fixedly connected to the mounting seat (3), and the ultrasonic obstacle avoidance module (6) is electrically connected to the control component (4).

4. The handling robot according to claim 3, characterized in that: The ultrasonic obstacle avoidance module (6) and the laser distance measuring sensor (5) are both arranged at an end of the mounting seat (3) away from the telescopic assembly (200).

5. The handling robot according to claim 2, characterized in that: An installation groove (31) is formed at one end of the installation seat (3) away from the telescopic assembly (200), and the laser distance measuring sensor (5) is fixedly connected to the inner wall of the installation groove (31).

6. The handling robot according to claim 1, characterized in that: The transport module (110) further comprises a motor driver (7), wherein the motor driver (7) is fixedly connected to the mounting seat (3) of the transport module (110), the motor driver (7) is electrically connected to the control component (4), and the motor driver (7) is capable of driving the Mecanum wheel (1) to rotate.

7. The handling robot according to claim 6, characterized in that: The transport module (110) further comprises a battery module (8), wherein the battery module (8) is fixedly connected to the mounting seat (3) of the transport module (110), and the battery module (8) is electrically connected to the motor driver (7), the laser ranging sensor (5) and the control component (4).

8. The handling robot according to claim 1, characterized in that: The transport module (110) further comprises a universal wheel assembly (9), the number of the universal wheel assemblies (9) being at least two, and the at least two universal wheel assemblies (9) being arranged at intervals and fixedly connected to both sides of the mounting seat (3).

9. The handling robot according to claim 1, characterized in that: The telescopic assembly (200) is a guide rail, and a slide groove (32) is provided on the mounting seat (3) of each transport module (110). The two ends of the guide rail are respectively slidably connected to the mounting seats (3) of two adjacent transport modules (110) and are arranged in the slide groove (32).

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