Multi-collaboration based robot control system and robot

Abstract

The application relates to the technical field of robot control, and particularly discloses a robot control system based on multi-collaboration and a robot, which comprises a robot body, the bottom of the robot body is rotationally provided with two rotating shafts, the two ends of the rotating shafts are both provided with moving wheels, the top of the robot body is provided with a detection mechanism, the front and rear ends of the robot body are both provided with anti-falling mechanisms, the top of the robot body is centrally provided with multiple telescopic cylinders, the telescopic ends of the multiple telescopic cylinders are jointly provided with a top plate, and multiple mounting holes for mounting mechanical arms or other robots are arranged in the top plate. In the application, the robot control system based on multi-collaboration is deeply combined with the robot body, intelligent control strategies for different volume goods are adopted, the fixing and anti-falling problems in the goods carrying process are effectively solved, and the carrying capacity and transportation safety of the mobile robot for various goods are greatly improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of robot control, in particular to a robot control system based on multi-collaboration and a robot. BACKGROUND

[0002] Mobile robots are robots that can move autonomously or under human guidance in an environment through their own power system and intelligent control, and perform specific tasks. They are the hands and body of the entire collaborative system, receiving instructions from the central control unit and relying on their own intelligence to complete the final sub-tasks flexibly and autonomously in complex environments.

[0003] Traditional mobile robots have poor adaptability to different sizes of goods during the goods carrying process, lack effective fixing and protection measures, and are prone to damage or falling. In terms of robot self-maintenance, mobile wheel wear detection and cleaning are mostly dependent on manual labor, which is inefficient and difficult to ensure accuracy. In addition, when other equipment is carried, the installation stability and safety during use also lack effective protection.

[0004] Therefore, it is of great significance to develop a comprehensive and intelligent multi-collaborative robot control system to improve the performance and reliability of mobile robots. SUMMARY

[0005] In view of the defects in the prior art, the present application provides a robot control system based on multi-collaboration and a robot.

[0006] The robot based on multi-collaborative control comprises a robot body, two rotating shafts are rotatably installed at the bottom of the robot body, mobile wheels are installed at both ends of the two rotating shafts, a detection mechanism for detecting the wear of the outer wall of the mobile wheel is arranged at the top of the robot body, anti-falling mechanisms for preventing the goods from falling downward are arranged at the front and rear ends of the robot body, a plurality of telescopic cylinders are installed at the central position of the top of the robot body, a top plate is jointly installed at the telescopic ends of the plurality of telescopic cylinders, a plurality of mounting holes for mounting mechanical arms or other robots are formed in the inside of the top plate.

[0007] Optionally, the detection mechanism comprises two groups of first sliding grooves formed in the top of the robot body, first sliding blocks are installed in the inside of the two groups of first sliding grooves, mobile plates are installed at the top of the two groups of first sliding blocks, two second sliding grooves are formed in the top of each mobile plate, second sliding blocks are installed in the inside of the two second sliding grooves, rotating seats are rotatably installed at the top end of each second sliding block, rotating blocks are rotatably installed in the inside of each rotating seat, rectangular sleeve plates are rotatably installed at the end of each rotating block away from the rotating seat, and rectangular sliding plates are connected to the inside of each rectangular sleeve plate through two first electric telescopic rods.

[0008] Optionally, the two outer walls of the two rectangular sliding plates on the side close to each other are provided with third sliding grooves, the third sliding grooves are internally provided with third sliding blocks, the third sliding blocks are rotatably installed at the ends away from the third sliding grooves, the two rotating plates are provided with grooves on the sides away from the third sliding blocks, the two grooves are internally rotatably installed with double-headed screws, the double-headed screws are externally provided with moving blocks, the moving blocks are rotatably installed at the ends away from the double-headed screws, and the two rotating rods are externally provided with soft hair brushes on the sides away from each other.

[0009] Optionally, the anti-falling mechanism comprises two fixed blocks installed on the outer walls of the two sides of the robot body, the outer walls of the two fixed blocks on the two sides of the robot body are externally provided with first anti-falling plates through springs, the interiors of the two springs are installed with damping rods, the interiors of the two first anti-falling plates are installed with two second electric telescopic rods, the telescopic ends of the two second electric telescopic rods are jointly installed with a second anti-falling plate, the outer walls of the two first anti-falling plates on the side close to each other are installed with two third electric telescopic rods, the two third electric telescopic rods are in sliding connection with the robot body, the telescopic ends of the two third electric telescopic rods are installed with push blocks, two groups of supports are installed on the bottom of the robot body close to the two rotating shafts, the interiors of the two groups of supports are rotatably installed with first rotating members, the interiors of the two first rotating members are provided with through grooves, the interiors of the two through grooves are rotatably installed with second rotating members, the outer walls of the two first rotating members and second rotating members on the side close to the push blocks are installed with protrusions, and the outer walls of the two first rotating members and second rotating members on the side close to the rotating shafts are installed with arc-shaped clamping plates.

[0010] Optionally, the robot control system based on multi-collaboration is applied to the robot in the above, and comprises:

[0011] A cargo carrying control module is configured to control the robot body to carry cargos of different volumes.

[0012] A moving wheel detection and cleaning control module is configured to automatically detect and clean the wear and dirt on the surfaces of the plurality of moving wheels.

[0013] An external device installation and use control module is configured to assist the installation of the external device on the top of the robot, and control the robot body to drive the external device to run.

[0014] A protection and emergency braking control module is configured to protect the cargo placed on the top of the robot body.

[0015] Optionally, the cargo carrying control module comprises:

[0016] Shelf goods carrying sub-module: when the robot body detects that the goods are placed on the shelf and there is a gap at the bottom, the control system sends instructions to drive the mobile robot body to move to the gap, and at the same time controls the extension end of the plurality of telescopic cylinders to extend upward to push the top plate to contact the shelf until the shelf and the goods are lifted off the ground. Then, the robot body carries the goods to the designated position according to the pre-planned route, and the extension end of the telescopic cylinder is controlled to retract downward to make the top plate and the shelf disengage, and the goods placement is completed;

[0017] Ordinary goods carrying sub-module: after controlling the robot body to approach the goods, the goods are placed on the top of the robot body by manual or feeding manipulator, and the control system controls the robot body to move according to the planned route to reach the designated area, and then the goods are taken off by manual or discharging manipulator;

[0018] Small-volume goods carrying sub-module: after the small-volume goods are placed on the top of the robot body, the detection mechanism is controlled to abut against the outer wall of the goods to limit and fix the goods to be transported;

[0019] Large-volume goods carrying sub-module: after the large-volume goods are placed on the top of the robot body, the detection mechanism is controlled to push the two first and second anti-falling plates, and after the goods are placed, the first and second anti-falling plates are controlled to abut against the two sides of the goods to limit and fix the large-volume goods to be transported.

[0020] Optionally, the moving wheel detection and cleaning control module comprises:

[0021] Wear detection control sub-module: the two rotating rods on the detection mechanism abut against the outer wall of the moving wheel, and the distance between the rotating rods is recorded. In subsequent detection, the data this time is compared with the original data, and whether the wear of the outer wall of the moving wheel is within the normal range is judged according to the data reduction range;

[0022] Cleaning control sub-module: the two soft brushes of the detection mechanism abut against the outer wall of the moving wheel, and the soft brushes are driven to rotate by the rotating plate to clean the outer wall of the moving wheel.

[0023] Optionally, the external device installation and use control module comprises:

[0024] Installation auxiliary control sub-module: when the external device needs to be installed on the top of the top plate, the rectangular slide plate on the detection mechanism abuts against the external device to ensure the stability of the placement.

[0025] Optionally, the protection and emergency braking control module comprises:

[0026] Impact buffering control sub-module: when the robot body is impacted at both ends, the first anti-falling plate is forced to move towards the robot body, driving the third electric telescopic rod and the push block to drive the arc-shaped clamping plate to tightly clamp the rotating shaft, thereby assisting the mobile robot body to stop moving;

[0027] Daily protection control sub-module: when the robot body transports small volume goods, the elastic buffer mechanism composed of the first and second anti-drop plates and the spring and damping rod at the front and rear ends can buffer the impact force when other objects or equipment collide with the front and rear ends of the robot body, thereby protecting the robot body. When transporting large volume goods, the goods can also be prevented from being directly impacted and damaged.

[0028] The beneficial effects of the present application are embodied in:

[0029] 1. In the present application, the multi-collaborative robot control system is deeply combined with the robot body, and the intelligent control strategy for different volume goods effectively solves the problems of fixing and anti-falling during the goods carrying process, greatly improving the carrying capacity and transportation safety of the mobile robot for various goods.

[0030] 2. In the present application, the detection mechanism is provided to automatically detect the wear of the outer wall of the moving wheel, without the need for manual detection with tools, thereby improving the efficiency of detecting the wear of the moving wheel of the robot body.

[0031] 3. In the present application, when the mechanical arm or other robot needs to be installed on the top of the top plate, the multiple components of the detection mechanism can cooperate with each other to ensure the stability of the mechanical arm or other robot placed on the top of the top plate at this time, avoiding the positional deviation when the mechanical arm or other robot is subsequently installed by means of bolts; and the above-mentioned multiple rectangular sleeve plates and rectangular slides can be used to assist in supporting and fixing the mechanical arm or other robot during the movement of the robot body with the mechanical arm or other robot, thereby avoiding the instability of the mechanical arm or other robot caused by movement, and ensuring the safety and stability of the mechanical arm or other robot during the movement driven by the robot body. BRIEF DESCRIPTION OF DRAWINGS

[0032] In order to more clearly illustrate the specific embodiments of the present application or the technical solutions in the prior art, the following will briefly introduce the drawings needed to be used in the specific embodiments or prior art description. In all the drawings, similar elements or parts are generally identified by similar reference numerals. In the drawings, the elements or parts are not necessarily drawn according to the actual proportions.

[0033] Figure 1 The overall structure of the robot based on multi-collaborative control according to the present application is shown in the figure.

[0034] Figure 2 The structure of the rectangular sleeve plate driven by the multiple rotating blocks to rotate upward after adjustment is shown in the figure.

[0035] Figure 3Structure diagram of the robot body in the application;

[0036] Figure 4 Structure diagram of the bottom of the robot body in the application;

[0037] Figure 5 Structure diagram of the first rotating member and the second rotating member in the application;

[0038] Figure 6 Structure diagram of the anti-falling mechanism in the application;

[0039] Figure 7 Structure diagram of the two push blocks in cooperation with the first rotating member and the second rotating member in the application;

[0040] Figure 8 Structure sectional view of the first anti-falling plate in the application;

[0041] Figure 9 Structure diagram of the detection mechanism in the application;

[0042] Figure 10 Structure diagram of the first sliding block and the rotating rod in the application;

[0043] Figure 11 Structure diagram of the third sliding block, the rectangular sliding plate and the rectangular sleeve plate in the application;

[0044] Figure 12 Structure sectional view of the rotating plate in the application;

[0045] Figure 13 Flow chart of the robot control system based on multi-collaboration proposed in the application.

[0046] In the drawings, 1 is a robot body; 2 is a moving wheel; 3 is a top plate; 4 is a mounting hole; 5 is a first sliding groove; 6 is a moving plate; 7 is a fixed block; 8 is a spring; 9 is a first anti-falling plate; 10 is a second sliding groove; 11 is a first sliding block; 12 is a rotating seat; 13 is a rotating block; 14 is a rectangular sleeve plate; 15 is a rotating rod; 16 is a telescopic cylinder; 17 is a rotating shaft; 18 is a support; 19 is a first rotating member; 20 is a second rotating member; 21 is a through groove; 22 is a protruding block; 23 is an arc-shaped clamping plate; 24 is a damping rod; 25 is a third electric telescopic rod; 26 is a push block; 27 is a second anti-falling plate; 28 is a second electric telescopic rod; 29 is a second sliding block; 30 is a rectangular sliding plate; 31 is a rotating plate; 32 is a first electric telescopic rod; 33 is a third sliding groove; 34 is a third sliding block; 35 is a double-headed screw rod; 36 is a moving block; 37 is a soft-bristled brush. DETAILED DESCRIPTION

[0047] The embodiments of the technical solution of the present invention will now be described in detail with reference to the accompanying drawings. These embodiments are merely illustrative of the technical solution of the present invention and are therefore intended to limit the scope of protection of the present invention.

[0048] It should be noted that, unless otherwise stated, the technical or scientific terms used in this application should have the ordinary meaning as understood by one of ordinary skill in the art to which this invention pertains.

[0049] like Figures 1-13 As shown, the robot based on multi-cooperative control includes a robot body 1. Two rotating shafts 17 are rotatably mounted on the bottom of the robot body 1, with casters 2 mounted at both ends of each shaft 17. A detection mechanism for detecting wear on the outer walls of the casters 2 is located on the top of the robot body 1. Anti-fall mechanisms are installed at both the front and rear ends of the robot body 1 to prevent goods from falling downwards. Multiple telescopic cylinders 16 are mounted at the center of the top of the robot body 1. A top plate 3 is mounted on the telescopic ends of the multiple telescopic cylinders 16. The top plate 3 has multiple mounting holes 4 for mounting robotic arms or other robots. After the robot body 1 moves to a position under the object to be transported, the telescopic ends of the multiple telescopic cylinders 16 extend upwards simultaneously, pushing the top plate 3 upwards until the top of the top plate 3 abuts against the bottom of the object, pushing the object upwards a certain distance. At this point, the robot body 1 moves the object along with it towards the designated placement location.

[0050] As a technical optimization scheme of the present application, the detection mechanism comprises two groups of first sliding grooves 5 opened on the top of the robot body 1, the inside of the two groups of first sliding grooves 5 is respectively provided with a first sliding block 11, the top of the two groups of first sliding blocks 11 is respectively provided with a moving plate 6, the top of the two moving plates 6 is respectively provided with two second sliding grooves 10, the inside of the two second sliding grooves 10 is respectively provided with a second sliding block 29, the top end of the two second sliding blocks 29 is respectively provided with a rotating seat 12, the inside of the two rotating seats 12 is respectively provided with a rotating block 13, the end of the two rotating blocks 13 away from the rotating seat 12 is respectively provided with a rectangular sleeve plate 14, and the inside of the two rectangular sleeve plates 14 is respectively connected with a rectangular sliding plate 30 through two first electric telescopic rods 32. The inside of the two groups of first sliding grooves 5 is respectively provided with a first linear motor, the two groups of first linear motors can drive the two groups of first sliding blocks 11 to move back and forth in the corresponding first sliding grooves 5, and the two moving plates 6 are driven to move back and forth on the top of the robot body 1 for adjustment; the inside of the two second sliding grooves 10 is respectively provided with a second linear motor, the two second linear motors can drive the two second sliding blocks 29 to move back and forth in the corresponding second sliding grooves 10, and the two rotating seats 12 and other components are driven to move on the top of the moving plate 6 for adjustment; the inside of the two second sliding blocks 29 is respectively provided with a first driving device, the output end of the two first driving devices is connected with the rotating part of the corresponding rotating seat 12, so that the rotating seat 12 and other components can be driven to rotate and adjust together; the side outer wall of the two rotating seats 12 is respectively provided with a second driving device, the output end of the two second driving devices is respectively connected with the rotating part of one end of the corresponding rotating block 13, so that the rotating block 13 can be driven to rotate and adjust in the rotating seat 12; the inside of the two rotating blocks 13 is respectively provided with a third driving device, the output end of the third driving device is connected with the rotating part of the corresponding rectangular sleeve plate 14, so that the rectangular sleeve plate 14 and its related components can be driven to rotate and adjust together; the telescopic ends of the two first electric telescopic rods 32 can push the rectangular sliding plate 30 to stretch outwards in the rectangular sleeve plate 14 during the stretching process.

[0051] As a technical optimization scheme of the present application, the outer wall of one side of the two rectangular sliding plates 30 close to each other is provided with a third sliding groove 33, the inside of the two third sliding grooves 33 is provided with a third sliding block 34, the end of the two third sliding blocks 34 away from the third sliding groove 33 is rotatably provided with a rotating plate 31, the side of the two rotating plates 31 away from the third sliding block 34 is provided with a groove, the inside of the two grooves is rotatably provided with a double-headed screw rod 35, the outer wall of the two double-headed screw rods 35 is threadedly provided with a moving block 36, the end of the two moving blocks 36 away from the double-headed screw rod 35 is rotatably provided with a rotating rod 15, and the outer wall of the side of the two rotating rods 15 away from each other is provided with a soft hair brush 37. The inside of the two third sliding grooves 33 is provided with a third linear motor, the two third linear motors can drive the two third sliding blocks 34 to move back and forth in the corresponding third sliding groove 33, and the two rotating plates 31 are driven to move and adjust on one side of the rectangular sliding plate 30; the inside of the two third sliding blocks 34 is provided with a first driving device, the output end of the two first driving devices is connected with the rotating part of the corresponding rotating plate 31, so as to drive the rotating plate 31 to rotate and adjust; the outer wall of the side of the two rotating plates 31 is provided with a second driving device, the output end of the two second driving devices is connected with one end of the corresponding double-headed screw rod 35, so as to drive the two double-headed screw rods 35 to rotate in the corresponding groove, drive the two moving blocks 36 and rotating rods 15 on the outer wall to move and adjust towards the close or far away direction; the inside of the two moving blocks 36 is provided with a third driving device, the output end of the two third driving devices is connected with the rotating part of the corresponding rotating rod 15, so as to drive the two rotating rods 15 to rotate and adjust.

[0052] As a technical optimization scheme of the present application, the anti-falling mechanism comprises two fixed blocks 7 installed on the two side outer walls of the robot body 1, the side outer wall away from the two fixed blocks 7 on the two side outer walls of the robot body 1 is connected with a first anti-falling plate 9 through a spring 8, the inside of the two springs 8 is installed with a damping rod 24, the inside of the two first anti-falling plates 9 is installed with two second electric telescopic rods 28, the telescopic ends of the two second electric telescopic rods 28 are jointly installed with a second anti-falling plate 27, the side outer wall close to the two first anti-falling plates 9 is installed with two third electric telescopic rods 25, the two third electric telescopic rods 25 are slidingly connected with the robot body 1, the telescopic ends of the two third electric telescopic rods 25 are installed with a push block 26, the position close to the two rotating shafts 17 at the bottom of the robot body 1 is installed with two groups of supports 18, the inside of the two groups of supports 18 is rotatably installed with a first rotating piece 19, the inside of the two first rotating pieces 19 is provided with a through slot 21, the inside of the two through slots 21 is rotatably installed with a second rotating frame, the side outer wall close to the push block 26 of the two first rotating pieces 19 and the second rotating piece 20 is installed with a protruding block 22, and the side outer wall close to the rotating shaft 17 of the two first rotating pieces 19 and the second rotating piece 20 is installed with an arc-shaped clamping plate 23. In the process of elongation of the telescopic ends of the two second electric telescopic rods 28, the second anti-falling plate 27 can be pushed to move upward in the inside of the first anti-falling plate 9 for adjustment; after the telescopic ends of the two third electric telescopic rods 25 are elongated, the push block 26 can be pushed to move towards the direction close to the rotating shaft 17, the protruding block 22 provided on the first rotating piece 19 and the second rotating piece 20 is pushed, the first rotating piece 19 and the second rotating piece 20 are driven to rotate towards the close direction, the two arc-shaped clamping plates 23 are driven to tightly clamp and fix the outer wall of the rotating shaft 17, and the effect of limiting the rotation of the rotating shaft 17 is achieved.

[0053] As a technical optimization scheme of the present application, the robot control system based on multi-collaboration is applied to the robot in the above, comprising:

[0054] The cargo carrying control module is used for controlling the robot body 1 to carry cargos with different volumes;

[0055] The moving wheel 2 detection and cleaning control module is used for automatically detecting and cleaning the wear and dirt on the surfaces of the plurality of moving wheels 2;

[0056] The external device installation and use control module is used for assisting the installation of the external device on the top of the robot, and controlling the robot body 1 to drive the external device to run;

[0057] The protection and emergency braking control module is used for protecting the cargo placed on the top of the robot body 1.

[0058] As a technical optimization scheme of the present application, the cargo carrying control module comprises:

[0059] Shelf goods carrying sub-module: when the robot body 1 detects that the goods are placed on the shelf and there is a gap at the bottom, the control system sends instructions to drive the mobile robot body 1 to move to the gap, and at the same time controls the extension end of the plurality of telescopic cylinders 16 to extend upward to push the top plate 3 to contact the shelf until the shelf and the goods are lifted off the ground. Then, the robot body 1 carries the goods to the designated position according to the pre-planned route, controls the extension end of the telescopic cylinder 16 to retract downward, and makes the top plate 3 disengage from the shelf, completing the placement of the goods;

[0060] General goods carrying sub-module: after controlling the robot body 1 to approach the goods, the goods are placed on the top of the plate of the robot body 1 by manual or feeding manipulator. The control system controls the robot body 1 to move according to the planned route, and reaches the designated area. Then, the goods are taken off by manual or unloading manipulator;

[0061] Small-volume goods carrying sub-module: after the small-volume goods are placed on the top of the robot body 1, the control detection mechanism abuts against the outer wall of the goods to limit and fix the goods to be transported;

[0062] Large-volume goods carrying sub-module: after the large-volume goods are placed on the top of the robot body 1, the control detection mechanism pushes the two first anti-falling plates 9 and the second anti-falling plate 27. After the goods are placed, the first anti-falling plate 9 and the second anti-falling plate 27 abut against the two sides of the goods to limit and fix the large-volume goods to be transported.

[0063] As a technical optimization scheme of the application, the moving wheel 2 detection and cleaning control module comprises:

[0064] Wear detection control sub-module: the two rotating rods 15 on the control detection mechanism abut against the outer wall of the moving wheel 2, and the distance between the rotating rods 15 is recorded. In subsequent detection, the data this time is compared with the original data, and whether the wear of the outer wall of the moving wheel 2 is within the normal range is judged according to the data reduction range;

[0065] Cleaning control sub-module: the two soft brushes 37 of the control detection mechanism abut against the outer wall of the moving wheel 2, and the soft brushes 37 are driven to rotate by the rotating plate 31 to clean the outer wall of the moving wheel 2.

[0066] As a technical optimization scheme of the application, the external device installation and use control module comprises:

[0067] Installation auxiliary control sub-module: when the external device needs to be installed on the top of the top plate 3, the rectangular slide plate 30 on the control detection mechanism abuts against the external device to ensure the stability of the placement.

[0068] As a technical optimization scheme of the application, the protection and emergency braking control module comprises:

[0069] The impact buffering control sub-module: when the robot body 1 is impacted at the front and rear ends, the first anti-disengagement plate 9 is forced to move towards the robot body 1, driving the third electric telescopic rod 25 and the push block 26 to drive the arc-shaped clamping plate 23 to tightly clamp the rotating shaft 17, thereby assisting in stopping the movement of the robot body 1;

[0070] The daily protection control sub-module: when the robot body 1 is used to transport small-volume goods, the elastic buffering mechanism composed of the first anti-disengagement plate 9, the second anti-disengagement plate 27, the spring 8 and the damping rod 24 can buffer the impact force when other objects or devices impact the front and rear ends of the robot body 1, thereby protecting the robot body 1; when large-volume goods are transported, the elastic buffering mechanism can also prevent the goods from being directly impacted and damaged.

[0071] In the embodiment, the telescopic cylinders 16, the first electric telescopic rod 32, the second electric telescopic rod 28 and the third electric telescopic rod 25 are connected to the driving circuit of the control system through control lines, and the driving circuit accurately controls the telescopic action of each telescopic rod according to the control signal sent by the control system. The driving motor of the robot body 1 is connected to the motion control module of the control system and receives the motion instruction, thereby realizing the movement and steering of the robot body 1.

[0072] In the control system, a goods carrying control program is written in the software, the program first acquires the position information of the goods and the goods shelf through the existing visual sensor with the model TDCS-0100 installed at the front end of the robot body 1, calls the navigation program to control the robot body 1 to move to the specified position when detecting that there is a gap at the bottom of the goods shelf, then sends an instruction to the driving circuit of the plurality of telescopic cylinders 16 to control the telescopic ends of the plurality of telescopic cylinders 16 to be elongated upward together, push the top plate 3 to be in contact with the goods shelf, and until the goods shelf and the goods on the top of the goods shelf are pushed upward to a position higher than the ground, at this time, the robot body 1 can move on the pre-planned route to carry the goods to the specified position, then the telescopic ends of the plurality of telescopic cylinders 16 are controlled to be retracted downward together to disengage the top plate 3 from the goods shelf, so that the goods shelf and the goods on the top of the goods shelf are placed at the specified position; or the goods can be placed on the top of the top plate 3 and the plurality of rectangular sleeve plates 14 by artificial or loading manipulator after the robot body 1 moves to the position close to the goods, and then the goods are transported to the specified area by moving the robot body 1 on the pre-planned route, and then the goods are taken off from the top of the top plate 3 and the plurality of rectangular sleeve plates 14 by artificial or unloading manipulator.

[0073] Meanwhile, if the volume of the goods to be transported is smaller than that of the robot body 1, before the goods are placed on top of the top plate 3 or before the robot body 1 moves to the bottom of the goods, the two sets of first sliders 11 can be controlled to move away from the top plate 3 within the corresponding first slide grooves 5, causing the distance between the two moving plates 6 to be greater than the length of the goods. After the goods are on top of the robot body 1, if... Figure 2 As shown, multiple rotating blocks 13 are controlled to rotate upward inside their corresponding rotating seats 12, causing multiple rectangular sleeves 14 to rotate upward into a vertical state. In conjunction with the two first electric telescopic rods 32 set inside the multiple rectangular sleeves 14, the rectangular slide plate 30 is pushed upward and extended. Multiple second sliders 29 are controlled to move and adjust inside their corresponding second slide grooves 10, so that the distance between the two rectangular sleeves 14 at the top of the two moving plates 6 is adapted to the width of the goods. Finally, the two sets of first sliders 11 are controlled to move towards the top plate 3 inside their corresponding first slide grooves 5, causing multiple rectangular sleeves 14 to abut against the outer walls of both sides of the goods. At this time, the multiple rectangular sleeves 14, together with the extended rectangular slide plate 30, can limit and fix the goods placed on the top of the robot body 1, avoiding the problem that the goods are easily dropped downward due to vibration during the movement of the robot body 1.

[0074] When the volume of the goods is greater than the length of the robot body 1, the extension ends of the two second electric telescopic rods 28 inside the two first anti-falling plates 9 can be controlled to extend upward together, pushing the two second anti-falling plates 27 to extend upward from inside the corresponding first anti-falling plates 9, at this time, the rectangular sleeve plates 14 in the original horizontal state can be moved in the first sliding groove 5 by means of the corresponding two first sliding blocks 11, moving away from the top plate 3, so that the corresponding two rectangular sleeve plates 14 can push the two extended second anti-falling plates 27 respectively, driving the two first anti-falling plates 9 and the second anti-falling plates 27 to move away from the robot body 1 together, and at the same time, the extension end of the first electric telescopic rod 32 is elongated, driving the rectangular sliding plate 30 to extend outward from inside the rectangular sleeve plate 14, which can push the two first anti-falling plates 9 and the second anti-falling plates 27 to be farther away from the robot body 1, and drive the spring 8 and the damping rod 24 to be in the elongated state, after ensuring that the distance between the two first anti-falling plates 9 and the second anti-falling plates 27 is greater than the length of the goods, the goods are placed on the top of the robot body 1, that is, the extension end of the first electric telescopic rod 32 can be controlled to retract slowly, and the two groups of first sliding blocks 11 can be controlled to move in the corresponding first sliding groove 5 towards the top plate 3, so that the two first anti-falling plates 9 and the second anti-falling plates 27 can be reset by means of the retraction of the spring 8 and the damping rod 24, and slowly move towards the robot body 1 until the side outer walls of the two second anti-falling plates 27 close to each other are in abutment with the two side outer walls of the goods respectively. When the robot body 1 is transporting the goods, if the robot body 1 suddenly brakes or reduces speed, the goods will move on the top of the robot body 1 due to inertia, and the second anti-falling plates 27 in abutment with the two sides of the goods and the corresponding two springs 8 and damping rods 24 can buffer the thrust generated by the goods due to inertia, improve the stability of the goods during transportation on the top of the robot body 1, and avoid the problem that the robot body 1 easily drops the goods when transporting large-volume goods, greatly improving the safety and reliability of the robot body 1 during the transportation of such large-volume goods.

[0075] At the same time, when the robot body 1 in the above is transporting small-volume goods, the first anti-falling plates 9 and the second anti-falling plates 27 at the front and rear ends of the robot body 1 can also be used as protective equipment, cooperating with the elastic buffer mechanism composed of the two springs 8 and the damping rods 24, which can buffer the impact force when other objects or equipment collide with the front and rear ends of the robot body 1, avoiding the damage of the robot body 1 after being impacted; and when the robot body 1 is transporting large-volume goods, the front and rear ends can also avoid the damage of the goods directly impacted.

[0076] When the robot body 1 is impacted at both ends, the first anti-disengagement plate 9 will move towards the robot body 1 after being impacted by the impact force, driving the corresponding two third electric telescopic rods 25 and push blocks 26 to move inside the robot body 1, so that the two push blocks 26 will push the protrusions 22 on the first rotating part 19 and the second rotating part 20 during the movement towards the rotating shaft 17, driving the first rotating part 19 and the second rotating part 20 to rotate towards the close direction, and driving the two arc-shaped clamping plates 23 to tightly clamp and fix the rotating shaft 17, achieving the effect of assisting the robot body 1 to stop moving, avoiding the problem that the robot body 1 continues to move on the ground after being impacted, and easily causing secondary damage to the robot body 1.

[0077] After the robot body 1 is used for a period of time, the worker usually needs to overhaul each part to ensure that the relevant components of the robot body 1 are in good condition. When the wear of the mobile wheel 2 needs to be detected regularly, the two groups of first sliding blocks 11 can drive the moving plates 6 to move away from the top plate 3 when the robot body 1 is idle, and then the two moving plates 6 are moved to positions close to the two mobile wheels 2, and then the two second sliding blocks 29 are controlled to move away from each other to the maximum distance in the corresponding second sliding groove 10, and then the rotating block 13 drives the rectangular sleeve plate 14 and other components to rotate downward to a vertical state in the corresponding rotating seat 12, and the first electric telescopic rod 32 in the rectangular sleeve plate 14 is controlled to extend to adjust the downward extension of the rectangular sliding plate 30, so that the rotating plate 31 is located in front of the mobile wheel 2, and the first electric telescopic rod 32 in the rectangular sleeve plate 14 extends to push the multiple rectangular sliding plates 30 to extend downward and abut against the ground. With the continuous extension of the first electric telescopic rod 32, the robot body 1 can be pushed to move upward by a distance, driving the mobile wheel 2 to separate from the ground. At this time, the double-headed screw 35 in the rotating plate 31 is controlled to rotate, driving the two moving blocks 36 and the rotating rod 15 to move away from each other, so that the distance between the two rotating rods 15 is slightly larger than the diameter of the mobile wheel 2. Finally, the two second sliding blocks 29 are controlled to move closer to each other in the corresponding second sliding groove 10, driving the two rotating rods 15 to move from the front of the mobile wheel 2 to the sides of the mobile wheel 2. With the rotation of the double-headed screw 35, the two rotating rods 15 move closer to each other, so that the two rotating rods 15 abut against the outer wall of the mobile wheel 2. The distance between the two rotating rods 15 is recorded, and the two rotating rods 15 can be rotated to abut against different positions of the mobile wheel 2 by adjusting the rotation of the rotating plate 31, so that the diameter data of different positions of the mobile wheel 2 is obtained. When the wear of the outer wall of the mobile wheel 2 is detected, the above steps are repeated. At this time, the distance between the two rotating rods 15 is smaller than the original data. According to the range of data reduction, it can be judged whether the wear of the outer wall of the mobile wheel 2 is within the normal range. When the wear of the outer wall of the mobile wheel 2 is large, the worker needs to replace the mobile wheel 2 in time to ensure that the subsequent normal use of the robot body 1 is not affected. The wear detection of the mobile wheel 2 is automatic detection, without manual detection with tools, which improves the efficiency of the wear detection of the mobile wheel 2 of the robot body 1. At the same time, a laser displacement sensor with a model of LK-2101 in the prior art is installed near the mobile wheel 2 as an auxiliary means for detecting the wear of the mobile wheel 2, which can calibrate and supplement the wear data of the mobile wheel 2 measured by the rotating rod 15.

[0078] And, since one side outer wall of the rotating rod 15 is provided with the soft brush 37, when it is necessary to clean the dirt attached to the surface of the mobile wheel 2, the above steps of rotating the plurality of rectangular sleeve plates 14 and the like downward to the vertical state can also be repeated, so that the plurality of rectangular sleeve plates 14 are rotated downward to the front of the plurality of mobile wheels 2, the side of the rotating rod 15 with the soft brush 37 is controlled to rotate to a position close to the mobile wheel 2, and the first electric telescopic rod 32 inside the plurality of rectangular sleeve plates 14 is controlled to extend the telescopic end together, push the plurality of rectangular sliding plates 30 to extend downward and abut against the ground together, and as the telescopic end of the plurality of first electric telescopic rods 32 continues to extend, the robot body 1 itself can be pushed to move upward by a distance, driving the mobile wheel 2 to separate from the ground. At this time, the soft brushes 37 on the two rotating rods 15 are in contact with the outer wall of the mobile wheel 2, and as the rotating plate 31 drives the two rotating rods 15 and the soft brushes 37 to rotate, the dirt on the outer wall of the mobile wheel 2 can be rotated and cleaned, ensuring that the mobile wheel 2 is in a relatively clean state when the robot body 1 is not in use, and reducing pollution to the parking area of the robot body 1.

[0079] At the same time, when the soft brush 37 is used to clean the dirt on the outer wall of the mobile wheel 2, in order to ensure that the two rotating rods 15 drive the soft brush 37 to rotate on the surface of the mobile wheel 2 while driving the mobile wheel 2 to rotate synchronously, affecting the quality of cleaning the dirt on the outer wall of the mobile wheel 2 by the soft brush 37, the telescopic end of the plurality of third electric telescopic rods 25 can be controlled to extend together, driving the plurality of push blocks 26 to move towards the direction close to the rotating shaft 17, so that the plurality of push blocks 26 can push the two protrusions 22 at the corresponding positions, so that the two first rotating parts 19 and the second rotating part 20 are driven to rotate and are clamped and limited by the two groups of arc-shaped clamping plates 23 to the rotating shaft 17, thereby synchronously limiting and fixing the state of the mobile wheel 2, avoiding synchronous rotation of the mobile wheel 2 during cleaning of the outer wall, and improving the quality of cleaning the dirt on the outer wall of the mobile wheel 2.

[0080] Since the inside of the top plate 3 is provided with a plurality of mounting holes 4, the mechanical arm or other robots can be conveniently installed on the top of the top plate 3, and the robot body 1 drives the mechanical arm or other robots to realize the effect of movement. When the mechanical arm or other robots need to be installed on the top of the top plate 3, such as Figure 2As shown, the plurality of rotating blocks 13 can be controlled to rotate upward together inside the corresponding rotating seat 12, driving the plurality of rectangular sleeve plates 14 and other components to rotate to a vertical state. After the mechanical arm or other robot is placed on the top of the top plate 3 by the hoisting equipment, and waits for the subsequent process of being limited and fixed by the plurality of bolts, the plurality of rotating seats 12 can drive the plurality of components such as the rectangular sleeve plates 14 to rotate and adjust, so that the plurality of rotating rods 15 rotate to a position close to the mechanical arm or other robot, and the extension ends of the first electric telescopic rods 32 inside the plurality of rectangular sleeve plates 14 are controlled to extend together, pushing the plurality of rectangular slides 30 to move outward from the inside of the corresponding rectangular sleeve plate 14 and extend until they abut against the mechanical arm or other robot, ensuring the stability of the mechanical arm or other robot placed on the top of the top plate 3 at this time, avoiding the position deviation when the mechanical arm or other robot is installed by the bolts subsequently; and during the movement of the robot body 1 driving the mechanical arm or other robot when the mechanical arm or other robot is used on the top of the top plate 3 subsequently, the plurality of rectangular sleeve plates 14 and rectangular slides 30 are used to assist in supporting and fixing the mechanical arm or other robot, avoiding the instability of the mechanical arm or other robot caused by movement, and ensuring the safety and stability of the mechanical arm or other robot during the movement driven by the robot body 1.

[0081] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement for part or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application, and they should be covered in the scope of the claims and the specification of the present application.

Claims

1. A robot based on multi-cooperative control, characterized in that, The robot body (1) includes a robot body (1), which has two rotating shafts (17) rotatably mounted on its bottom. Both ends of the two rotating shafts (17) are equipped with moving wheels (2). The top of the robot body (1) is equipped with a detection mechanism for detecting the wear of the outer wall of the moving wheels (2). Both the front and rear ends of the robot body (1) are equipped with anti-falling mechanisms to prevent goods from falling downwards. Multiple telescopic cylinders (16) are installed in the center of the top of the robot body (1). The telescopic ends of the multiple telescopic cylinders (16) are connected to a top plate (3). The top plate (3) has multiple mounting holes (4) for mounting robotic arms or other robots. The anti-detachment mechanism includes two fixed blocks (7) installed on the outer walls of both sides of the robot body (1). The outer walls of the two fixed blocks (7) on the outer walls of the two sides of the robot body (1) that are far apart are connected to a first anti-detachment plate (9) by springs (8). A damping rod (24) is installed inside each of the two springs (8). Two second electric telescopic rods (28) are installed inside each of the two first anti-detachment plates (9). The telescopic ends of the two second electric telescopic rods (28) are connected to a second anti-detachment plate (27). Two third electric telescopic rods (25) are installed on the outer walls of the two first anti-detachment plates (9) that are close to each other. The two third electric telescopic rods (25) are slidably connected to the robot body (1). Push blocks (26) are installed at the telescopic ends of the two third electric telescopic rods (25). Two sets of brackets (18) are installed at the bottom of the robot body (1) near the two rotating shafts (17). The first rotating component (19) is rotatably installed inside the two sets of brackets (18). The two first rotating components (19) are provided with through slots (21). The two through slots (21) are rotatably installed with second rotating frames. The outer walls of the two first rotating components (19) and the second rotating component (20) near the push block (26) are provided with protrusions (22). The outer walls of the two first rotating components (19) and the second rotating component (20) near the rotating shaft (17) are provided with arc-shaped clamps (23).

2. The robot based on multi-cooperative control according to claim 1, characterized in that, The detection mechanism includes two sets of first slide grooves (5) opened on the top of the robot body (1). A first slider (11) is installed inside the two sets of first slide grooves (5). A movable plate (6) is installed on the top of the two sets of first sliders (11). Two second slide grooves (10) are opened on the top of the two movable plates (6). A second slider (29) is installed inside the two second slide grooves (10). A rotating seat (12) is rotatably installed on the top of the two second sliders (29). A rotating block (13) is rotatably installed inside the two rotating seats (12). A rectangular sleeve plate (14) is rotatably installed at the end of the two rotating blocks (13) away from the rotating seat (12). A rectangular slide plate (30) is connected inside the two rectangular sleeve plates (14) through two first electric telescopic rods (32).

3. The robot based on multi-cooperative control according to claim 2, characterized in that, The outer walls of the two rectangular sliding plates (30) that are close to each other are provided with a third sliding groove (33). The inner walls of the two third sliding grooves (33) are provided with a third slider (34). The outer walls of the two third sliders (34) that are far from the third sliding grooves (33) are provided with a rotating plate (31). The outer walls of the two rotating plates (31) that are far from the third sliders (34) are provided with a groove. The inner walls of the two grooves are provided with a double-ended screw (35). The outer walls of the two double-ended screws (35) are provided with a moving block (36). The outer walls of the two moving blocks (36) that are far from the double-ended screws (35) are provided with a rotating rod (15). The outer walls of the two rotating rods (15) that are far from each other are provided with a soft brush (37).

4. A multi-cooperative robot control system, applied to the robot of claim 3, characterized in that, include: The cargo handling control module is used to control the robot body (1) to handle cargo of different volumes; The moving wheel (2) detection and cleaning control module is used to automatically detect and clean the wear and dirt on the surfaces of multiple moving wheels (2); The external equipment installation and use control module is used to assist in installing external equipment on the top of the robot and to control the robot body (1) to drive the external equipment to run; The protection and emergency braking control module is used to protect the cargo placed on top of the robot body (1).

5. The multi-cooperative robot control system according to claim 4, characterized in that, The cargo handling control module includes: Shelf Cargo Handling Sub-module: When the robot body (1) detects that the cargo is placed on the shelf and there is a gap at the bottom, the control system sends an instruction to drive the mobile robot body (1) to move to the gap. At the same time, it controls the extension ends of multiple telescopic cylinders (16) to extend upward, pushing the top plate (3) to contact the shelf until the shelf and cargo are lifted off the ground. Then, the robot body (1) moves the cargo to the designated position according to the pre-planned route, and controls the extension ends of the telescopic cylinders (16) to retract downward, so that the top plate (3) is separated from the shelf, and the cargo placement is completed. Ordinary cargo handling submodule: After the robot body (1) approaches the cargo, the manual or loading robot places the cargo on top of the robot body (1). The control system controls the robot body (1) to move along the planned route. After reaching the designated area, the manual or unloading robot removes the cargo. Small volume cargo handling sub-module: After the small volume cargo is placed on the top of the robot body (1), the control detection mechanism abuts against the outer wall of the cargo to limit and fix the cargo to be transported; Large volume cargo handling sub-module: Large volume cargo is placed on top of the robot body (1). The control detection mechanism pushes the two first anti-detachment plates (9) and the second anti-detachment plate (27). After the cargo is placed, the first anti-detachment plate (9) and the second anti-detachment plate (27) are controlled to abut against the sides of the cargo to limit and fix the large volume cargo to be transported.

6. The multi-cooperative robot control system according to claim 5, characterized in that, The detection and cleaning control module for the moving wheel (2) includes: Wear detection control submodule: Control the two rotating rods (15) on the detection mechanism to abut against the outer wall of the moving wheel (2), record the distance between the rotating rods (15), and compare the data with the original data during subsequent detection. Based on the data, narrow down the range to determine whether the wear of the outer wall of the moving wheel (2) is within the normal range. Cleaning control submodule: Controls the two soft brushes (37) of the detection mechanism to abut against the outer wall of the moving wheel (2), and drives the soft brushes (37) to rotate through the rotating plate (31) to clean the outer wall of the moving wheel (2).

7. The multi-cooperative robot control system according to claim 6, characterized in that, The external device installation and usage control module includes: Installation auxiliary control submodule: When an external device needs to be installed on the top plate (3), the rectangular slide plate (30) on the control detection mechanism abuts against the external device to ensure its placement stability.

8. The multi-cooperative robot control system according to claim 7, characterized in that, The protection and emergency braking control module includes: Impact buffer control submodule: When the robot body (1) is impacted at both ends, the first anti-detachment plate (9) moves towards the robot body (1) under force, which drives the third electric telescopic rod (25) and the push block (26) to drive the arc clamp (23) to tightly clamp the rotating shaft (17), assisting the robot body (1) to stop moving. Daily protection control submodule: When the robot body (1) transports small-volume goods, the elastic buffer mechanism composed of the first anti-detachment plate (9), the second anti-detachment plate (27), the spring (8), and the damping rod (24) at both ends can buffer the impact force when other objects or equipment collide with the front and rear ends of the robot body (1) to protect the robot body (1). When transporting large-volume goods, it can also prevent the goods from being directly impacted and damaged.

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