Material transport robot and control method thereof

Abstract

The present invention provides a material transport robot and a control method thereof. The material transport robot comprises a body, a walking device, a carrying device, a rotating device and an angular motion detection unit. The walking device is rotatably arranged at the bottom of the body, and the carrying device is arranged on the body; the rotating device comprises a first transmission wheel, a second transmission wheel, a third transmission wheel, a rotation detection unit and a first driving unit; the first transmission wheel and the third transmission wheel can both be rotatably arranged on the walking device, the second transmission wheel is fixedly arranged on the body, and the first transmission wheel, the second transmission wheel and the third transmission wheel are sequentially matched for transmission; the first driving unit and the rotation detection unit are both fixed on the walking device, and the first driving unit is used to drive the first transmission wheel. The control method comprises obtaining rotation data about the third transmission wheel from the rotation detection unit; and sending a first control signal to the first driving unit according to the rotation data. The present invention realizes the deviation correction processing of the body.

Description

Technical Field

[0001] The present invention relates to the technical field of logistics transportation equipment, and in particular to a material transportation robot and a control method thereof. Background Art

[0002] An existing material transport robot includes a body, a carrying device and a walking device, wherein the carrying device is arranged on the upper part of the body, the walking device is arranged on the bottom of the body, and the walking device includes a pair of driving wheels arranged opposite to each other and driven independently of each other. Since the loaded goods are heavy, in order to maintain the stability of the body, when the material transport robot turns, the body is generally fixed while the walking device turns to achieve lateral movement.

[0003] The existing material transport robot of this type has the problem that, under the action of gravity or the transmission error of the transmission device, the body will deviate sideways relative to the walking device. Summary of the invention

[0004] The first object of the present invention is to provide a material transport robot with a body deviation correction function.

[0005] A second object of the present invention is to provide a control method for a material transport robot with a body deviation correction function.

[0006] The material transport robot provided by the present invention includes a body, a walking device and a carrying device, the walking device is rotatably arranged at the bottom of the body, and the carrying device is arranged on the body; the material transport robot also includes a rotating device; the rotating device includes a first transmission wheel, a second transmission wheel, a third transmission wheel, a rotation detection unit and a first driving unit; the first transmission wheel and the third transmission wheel can both be rotatably arranged on the walking device, the second transmission wheel is fixedly arranged on the body, and the first transmission wheel, the second transmission wheel and the third transmission wheel are sequentially transmitted and matched; the first driving unit and the rotation detection unit are both fixed on the walking device, the first driving unit is used to drive the first transmission wheel, and the rotation detection unit is used to detect the third transmission wheel; when the first driving unit drives the first transmission wheel, the body and the walking device rotate relative to each other; the material transport robot also includes an angular motion detection unit fixedly arranged on the body.

[0007] It can be seen from the above scheme that in the present invention, when the material transport robot needs to turn and keep the body stationary, the second transmission wheel and the third transmission wheel are transmitted while the walking device rotates. At this time, the rotation detection unit of the encoder obtains the angular displacement data of the third transmission wheel, and the system obtains the angular displacement data and sends a first control signal to the first drive unit. The first drive unit is started, and the first transmission gear and the second transmission wheel are transmitted, so that the body and the walking device rotate relative to each other at a fixed and stable angular velocity. After the walking device completes the turn, if the body still deviates, the deflection signal can be obtained according to the angular motion detection unit such as the gyroscope, and the system sends a second control signal to the first drive unit according to the deflection signal to realize the deviation correction processing of the body.

[0008] A further solution is that the walking device is a differential drive device; the differential drive device includes a base plate, a second drive unit and a drive wheel; the two drive wheels are relatively arranged below the base plate, and each drive wheel is driven by a second drive unit.

[0009] As can be seen from the above, the walking device uses a differential drive device, which can effectively realize the full-angle turning of the material transport robot.

[0010] A further solution is that the first drive unit and the rotation detection unit are both arranged below the substrate, the first transmission wheel and the second transmission wheel are both arranged above the substrate, the output shaft of the first drive unit passes through the substrate and is connected to the first transmission wheel, and the input shaft of the rotation detection unit passes through the substrate and is connected to the third transmission wheel.

[0011] As can be seen from the above, since the second drive unit and the drive wheel have a certain height, there is available space below the base plate, and the first drive unit and the rotation detection unit are arranged in the space below the base plate, which reduces the impact on the design of the bearing device above the machine body and avoids the machine body from becoming larger. In addition, this arrangement enables the first transmission wheel, the second transmission wheel and the third transmission wheel to be located in a relatively independent space above the base plate and below the bottom plate of the machine body, which can ensure the sealing of the key transmission parts.

[0012] A further solution is that the walking device also includes a buffer mechanism arranged between the base plate and the second drive unit, the buffer mechanism includes an articulated seat, a swing frame and a buffer member; the articulated seat is fixedly connected to the base plate, the swing frame and the articulated seat are rotatably connected at the first axis, the first extension end of the buffer member is rotatably connected to the articulated seat at the second axis, and the second extension end of the buffer member is rotatably connected to the swing frame at the third axis; the first axis, the second axis and the third axis are arranged in a triangle.

[0013] As can be seen from the above, firstly, the buffer mechanism forms a triangular structure to provide sufficient support force to cope with the large load requirements of the material transport robot; in addition, the buffer has the ability to stretch and bend in the extension direction, which can cope with adverse factors of the walking surface, ensure the stability of transportation, and effectively protect the goods.

[0014] A further solution is that the first transmission wheel, the second transmission wheel and the third transmission wheel are all gears.

[0015] A further solution is that the transmission ratio between the first transmission wheel and the second transmission wheel is equal to the transmission ratio between the third transmission wheel and the second transmission wheel.

[0016] As can be seen from the above, under this setting, when the body is required not to turn when the walking device turns, the theoretical rotation speeds of the first transmission wheel and the third transmission wheel are equal. Therefore, the rotation speed corresponding to the angular displacement obtained by the rotation detection unit can be directly used as the driving speed of the first drive unit, reducing the amount of system calculation, the first drive unit starts more timely, and the body has better stability when the walking device turns.

[0017] A further solution is that the carrying device includes a carrying platform and a lifting mechanism, the lifting mechanism is arranged between the machine body and the carrying platform, and the lifting mechanism is used to drive the carrying platform to perform lifting movement.

[0018] A further solution is that the lifting mechanism includes a screw assembly and a lifting motor, the screw assembly includes a lifting screw and a screw nut; the lifting motor is fixedly connected to the carrier platform, the lifting screw is rotatably connected to the carrier platform, the screw nut is arranged on the machine body, the lifting screw cooperates with the screw nut, and the lifting motor is used to drive the lifting screw.

[0019] The control method of the material transport robot provided by the present invention is used to control the above-mentioned material transport robot; the control method includes obtaining rotation data about the third transmission wheel from the rotation detection unit; and sending a first control signal to the first drive unit according to the rotation data.

[0020] A further solution is that after the step of sending the first control signal to the first drive unit according to the rotation data, it is further performed: determining whether a deflection signal from the angular motion detection unit is obtained, and if so, sending a second control signal to the first drive unit according to the deflection signal.

[0021] It can be seen from the above scheme that under the control of the control method, when the material transport robot needs to turn and keep the body stationary, the travel device rotates while the second transmission wheel and the third transmission wheel are transmitted. At this time, the rotation detection unit of the encoder obtains the angular displacement data of the third transmission wheel. The system obtains the angular displacement data and sends a first control signal to the first drive unit. The first drive unit starts, and the first transmission gear and the second transmission wheel are transmitted, so that the body and the travel device rotate relative to each other at a fixed and stable angular velocity. After the travel device completes the turn, if the body still has a small deviation, the deflection signal can be obtained according to the angular motion detection unit such as a gyroscope, and the system sends a second control signal to the first drive unit according to the deflection signal to realize the body correction. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a structural diagram of an embodiment of a material transport robot of the present invention.

[0023] Figure 2 This is a structural diagram of a material transport robot embodiment of the present invention with a hidden housing and a load-bearing platform.

[0024] Figure 3 It is an exploded view of part of the structure of the material transport robot embodiment of the present invention.

[0025] Figure 4 It is a structural diagram of the walking device in the embodiment of the material transport robot of the present invention.

[0026] Figure 5 It is a bottom view of an embodiment of the material transport robot of the present invention.

[0027] Figure 6 It is a top view of the walking device in the embodiment of the material transport robot of the present invention. DETAILED DESCRIPTION

[0028] See also Figures 1 to 3 The material transport robot provided by the present invention is a differential-driven material transport robot with a lifting function. The material transport robot mainly includes a body 1, a differential drive device 2, a bearing device 3, a power supply 4, a rotating device 5 and a universal wheel set 8. The body 1 has a bottom plate 11. The differential drive device 2, the rotating device 5 and the universal wheel set 8 are all arranged below the bottom plate 11, and the bearing device 3 and the power supply 4 are arranged above the bottom plate 11. The universal wheel set 8 includes four universal wheels distributed at the four corners of the bottom of the body 1, and the universal wheel set 8 plays a supporting role. In addition, the body 1 also has a shell 109 covering the surface side of the material transport robot. The material transport robot also includes an angular motion detection unit 62 fixedly arranged on the bottom plate 11, and the angular motion detection unit 62 is a gyroscope.

[0029] See also Figure 1 and Figure 2 The load-bearing device 3 includes a load-bearing platform, a chain drive assembly and a lifting mechanism. The load-bearing platform mainly includes a connecting seat 36, an outer frame 37, a crossbeam 38 and a platform body 39. The outer frame 37 is a square frame. The connecting seat 36 extends into a long shape. The long sides of the two connecting seats 36 are fixed on the inner side of the outer frame 37, and the two connecting seats are located on opposite sides of the outer frame 37. This arrangement allows the two connecting seats 36 to be close to the edge of the outer frame 37 and avoids obstruction to the use of the space around the inner periphery of the outer frame 37. Two crossbeams 38 span between the outer sides of the two connecting seats 36, and the platform body 39 is fixed on the two crossbeams 36. From Figure 2 It can be seen that even if the connecting seat 36 and the cross beam 38 are arranged in the outer frame 37, a larger usable space 300 can still be formed between the two connecting seats 36 and under the two cross beams 38, and the larger battery 4 is arranged in the usable space 300.

[0030] See also Figure 2 The chain drive assembly mainly includes a driving sprocket 321, four driven sprockets 322, a tensioning sprocket and a transmission chain 33. The lifting mechanism includes a screw assembly and a lifting motor 31, and the screw assembly includes a lifting screw 34 and a screw nut 35. Both ends of the extension of the two connecting seats 36 are provided with a rotating connection position 360, and the rotating connection position 360 is a mounting through hole that penetrates vertically. The four rotating connection positions 360 are arranged in a roughly rectangular array. The four lifting screws 34 are rotatably installed in the above four rotating connection positions 360 through bearings, and a driven sprocket 322 is coaxially fixed to the top of each lifting screw 34. The four screw nuts 35 are fixedly installed at the four corners of the bottom plate 11, and the lifting screws 34 pass through the screw nuts 35 from top to bottom and cooperate with them.

[0031] The lifting motor 31 is fixed on the connecting seat 36 and is located in the use space 300. The driving sprocket 321 is installed on the output shaft of the lifting motor 31. The transmission chain 33 is engaged between the driving sprocket 321 and the four driven sprockets 322. After the lifting motor 31 is started, it can drive the four lifting screws 34 to rotate synchronously to realize the lifting movement of the load-bearing device 3, thereby realizing the lifting of the goods.

[0032] See also Figures 3 to 6The differential drive device 2 is used as a walking device. The differential drive device 2 includes a base plate 21, a second drive unit 22, and a drive wheel 23. The two drive wheels 23 are relatively arranged below the base plate 21. Each drive wheel 23 is driven by a second drive unit 22. The second drive unit is a reduction motor. The differential drive device 2 also includes a buffer mechanism 7 arranged between the base plate 21 and the second drive unit 22. The buffer mechanism 7 includes an articulated seat 71, a swing frame 72, and a buffer 73. The buffer 73 is a component provided with a damping spring. The damping spring has a restorable telescopic ability in the extension direction. The articulated seat 71 is fixedly connected to the base plate 21. The swing frame 72 is rotatably connected to the articulated seat 71 at the first axis 701. The first extension end of the buffer 73 is rotatably connected to the articulated seat 71 at the second axis 702. The second extension end of the buffer 73 is rotatably connected to the swing frame 72 at the third axis 703. The first axis 701, the second axis 702, and the third axis 703 are arranged in a triangle. The buffer mechanism 7 forms a triangular structure to provide sufficient support force to cope with the large load requirements of the material transport robot; in addition, the buffer member 73 has the ability to stretch and bend in the extension direction, which can cope with adverse factors on the walking surface and ensure the stability of transportation.

[0033] The rotating device 5 includes a first transmission wheel 51, a second transmission wheel 52, a third transmission wheel 53, a rotation detection unit 63 and a first driving unit 61. The first transmission wheel 51, the second transmission wheel 52 and the third transmission wheel 53 are all gears, and the transmission ratio between the first transmission wheel 51 and the second transmission wheel 52 is equal to the transmission ratio between the third transmission wheel 53 and the second transmission wheel 52. The first driving unit 61 is a reduction motor, and the rotation detection unit 63 is an encoder.

[0034] The first transmission wheel 51, the second transmission wheel 52 and the third transmission wheel 53 are all rotatably arranged above the base plate 21, and the first transmission wheel 51 and the third transmission wheel 53 are respectively arranged on opposite sides of the second transmission wheel 52, the first driving unit 61 and the rotation detection unit 63 are both arranged below the base plate 21, the output shaft of the first driving unit 61 passes through the base plate 21 and is connected to the first transmission wheel 51, the input shaft of the rotation detection unit 63 passes through the base plate 21 and is connected to the third transmission wheel 53, and the second transmission wheel 52 is fixedly connected to the bottom plate 11 of the machine body 1. The first transmission wheel 51, the second transmission wheel 52 and the third transmission wheel 53 are meshed in sequence, and the first transmission wheel 51 and the second transmission wheel 52 are reduced in transmission. When the first driving unit 61 drives the first transmission wheel 51, the machine body 1 and the walking device 2 rotate relatively.

[0035] When the material transport robot needs to turn and keep the body 1 stationary, the differential drive device 2 rotates while the second transmission wheel 52 and the third transmission wheel 53 are transmitted. At this time, the encoder (rotation detection unit 63) obtains the rotation data of the third transmission wheel 53. The system obtains the rotation data and sends a first control signal to the first drive unit 61 according to the rotation data. The first drive unit 61 is started, and the first transmission wheel 51 and the second transmission wheel 52 are transmitted, so that the body 1 and the walking device 2 rotate relative to each other at a fixed and stable angular velocity. When the walking device 2 completes the turn, if the body 1 still deviates, the deflection signal can be obtained according to the gyroscope (angular motion detection unit 62), and the system sends a second control signal to the first drive unit 61 according to the deflection signal. The first drive unit 61 drives the body 1 through the meshing of the first transmission wheel 51 and the second transmission wheel 52 to achieve the deviation correction of the body 1.

[0036] Finally, it should be emphasized that the above is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various changes and modifications. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A material transport robot, comprising a body, a walking device and a carrying device, wherein the walking device is rotatably arranged at the bottom of the body, and the carrying device is arranged on the body; Features: The material transport robot also includes a rotating device; The rotating device comprises a first transmission wheel, a second transmission wheel, a third transmission wheel, a rotation detection unit and a first driving unit; The first transmission wheel and the third transmission wheel are both rotatably arranged on the walking device, the second transmission wheel is fixedly arranged on the machine body, and the first transmission wheel, the second transmission wheel and the third transmission wheel are sequentially transmission-coordinated; The first driving unit and the rotation detection unit are both fixed on the walking device, the first driving unit is used to drive the first transmission wheel, and the rotation detection unit is used to detect the third transmission wheel; When the first driving unit drives the first transmission wheel, the machine body and the walking device rotate relatively; The material transport robot further comprises an angular motion detection unit fixedly arranged on the body; The traveling device is a differential drive device; The differential drive device includes a base plate, a second drive unit and a drive wheel; The two driving wheels are arranged opposite to each other below the base plate, and each driving wheel is driven by one of the second driving units; The first driving unit and the rotation detection unit are both arranged below the substrate, the first transmission wheel and the second transmission wheel are both arranged above the substrate, the output shaft of the first driving unit passes through the substrate and is connected to the first transmission wheel, and the input shaft of the rotation detection unit passes through the substrate and is connected to the third transmission wheel; The walking device further comprises a buffer mechanism disposed between the base plate and the second driving unit, wherein the buffer mechanism comprises an articulated seat, a swing frame and a buffer member; The hinge seat is fixedly connected to the base plate, the swing frame is rotatably connected to the hinge seat at a first axis, the first extension end of the buffer is rotatably connected to the hinge seat at a second axis, and the second extension end of the buffer is rotatably connected to the swing frame at a third axis; The first axis, the second axis and the third axis are arranged in a triangle; The carrying device comprises a carrying platform and a lifting mechanism, wherein the lifting mechanism is arranged between the machine body and the carrying platform, and the lifting mechanism is used to drive the carrying platform to perform lifting motion.

2. The material transport robot according to claim 1, characterized in that: The first transmission wheel, the second transmission wheel and the third transmission wheel are all gears.

3. The material transport robot according to claim 1, characterized in that: The transmission ratio between the first transmission wheel and the second transmission wheel is equal to the transmission ratio between the third transmission wheel and the second transmission wheel.

4. The material transport robot according to claim 1, characterized in that: The lifting mechanism comprises a screw assembly and a lifting motor, and the screw assembly comprises a lifting screw and a screw nut; The lifting motor is fixedly connected to the supporting platform, the lifting screw is rotatably connected to the supporting platform, the screw nut is arranged on the machine body, the lifting screw cooperates with the screw nut, and the lifting motor is used to drive the lifting screw.

5. A control method for a material transport robot, characterized in that: The control method is used to control the material transport robot according to any one of claims 1 to 4 above; The control method comprises: Acquiring rotation data about the third transmission wheel from the rotation detection unit; A first control signal is sent to the first driving unit according to the rotation data.

6. The control method according to claim 5, characterized in that: After the step of sending the first control signal to the first driving unit according to the rotation data, further performing: It is determined whether a deflection signal from the angular motion detection unit is obtained, and if so, a second control signal is sent to the first driving unit according to the deflection signal.

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