An automated handling system and platform

Abstract

The application provides an automatic carrying system and platform, which combines the degrees of freedom of a mechanical arm and the carrying capacity of a fork gantry, adopts independently controlled fork lifting, and facilitates fine adjustment of the relative pose of a target object. Specifically, in automatic carrying and docking work, a positioner feeds back position information of the target object collected to a main control machine, the main control machine analyzes the position information, calculates first motion trajectory parameters corresponding to a rotating platform, a main arm, a secondary arm and a carrying mechanism respectively according to the pose information obtained through analysis, and instructs the rotating platform, the main arm, the secondary arm and the carrying mechanism to move to the position of the object to be carried according to the calculation results to carry the target object. The automatic carrying mechanism provided in the embodiment does not require human participation in carrying, fully meets the automatic carrying demand, and also avoids the danger of human participation.

Description

Technical Field

[0001] This application relates to the field of material handling technology, and more specifically, to an automated material handling system and platform. Background Technology

[0002] Currently, most rocket artillery systems employ modular storage and delivery box technology, which can improve the combat efficiency and extend the battlefield lifespan of rocket artillery weapons to some extent. However, the automatic handling and loading technology for storage and delivery boxes is still relatively backward, and manual operation of handling equipment is still required. The automation level is relatively low, especially in situations with complex outdoor terrain, remote locations, or when large mechanical equipment needs to be assembled. In these cases, manual operation of handling equipment is still necessary to achieve the task. This manual handling method still has problems such as high risk and low efficiency, and it is difficult to meet the current industry requirements. Summary of the Invention

[0003] This application provides an automated handling system and platform that fully realizes the needs of automated handling without human intervention.

[0004] On one hand, embodiments of this application provide an automated handling system, which includes:

[0005] Rotating platform;

[0006] A robotic arm includes a main arm and a secondary arm, which are rotatably connected. The main arm is mounted on a rotating platform, and the main arm drives the secondary arm to rotate synchronously as the rotating platform rotates.

[0007] The conveying mechanism is rotatably connected to the end of the auxiliary arm;

[0008] A locator, installed on the conveying mechanism, is used to collect the location information of the target object;

[0009] The main control unit is electrically connected to the main arm, the auxiliary arm, and the rotating platform, respectively, and is used for:

[0010] Obtain the location information sent by the locator;

[0011] The location information is analyzed to obtain the pose information of the target object's location;

[0012] Based on the pose information, the current pose information of the rotating platform, the current pose information of the main arm, the current pose information of the auxiliary arm, and the current pose information of the transport mechanism, the established motion model for this transport system is used to determine the first motion trajectory parameters corresponding to the rotating platform, the main arm, the auxiliary arm, and the transport mechanism to represent the motion trajectory to be performed when transporting the target object.

[0013] The rotating platform, the main arm, the auxiliary arm, and the conveying mechanism are controlled to operate according to their respective first motion trajectory parameters in order to convey the target object.

[0014] As one embodiment, the main controller is further used for:

[0015] Acquire second location information collected by the locator, which indicates the desired location to be moved to;

[0016] The second location information is analyzed to obtain the positioning information of the location to be moved;

[0017] Based on the positioning information, the pose information of the rotating platform when it lifts the target object, the pose information of the main arm when it lifts the target object, the pose information of the auxiliary arm when it lifts the target object, and the pose information of the conveying mechanism when it lifts the target object, the second motion trajectory parameters to be executed by the rotating platform, the main arm, the auxiliary arm, and the conveying mechanism respectively when they are used to move the target object to the target position are determined using the established motion model for this conveying system.

[0018] The rotating platform, the main arm, the auxiliary arm, and the transport mechanism are instructed to transport the target object to the target location according to the second trajectory parameters.

[0019] As one embodiment, the handling mechanism includes: a fork mast, two electric push rods, two guide rails, two sliders, two adapters, two mounting shafts, two forks, a rotating mechanism, and a first telescopic support mechanism; the fork mast is mounted on the end of the auxiliary boom and is equipped with the guide rails; each guide rail is equipped with its corresponding electric push rod and slider; each slider is connected to a mounting shaft via its corresponding adapter, and each mounting shaft is equipped with a corresponding fork; the electric push rods are connected to the main control unit to adjust the angle between the two forks by adjusting the height difference between the two electric push rods 32 under the control of the main control unit; one end of the rotating mechanism is mounted on the end of the auxiliary boom, and the other end is connected to the fork mast, and the rotating mechanism is also connected to the main control unit; the actuating end of the first telescopic support mechanism is connected to the fork mast, and the input end is connected to a first set position of the auxiliary boom and connected to the main control unit, the main control unit being used for:

[0020] Based on the pose information, the current pose information of the rotating platform, the current pose information of the main arm, the current pose information of the auxiliary arm, and the current pose information of the fork, the established motion model for this handling system is used to determine the first motion trajectory parameters corresponding to the rotating platform, the main arm, the auxiliary arm, and the fork, which represent the motion to be performed when handling the target object.

[0021] The rotating platform, the main arm, and the auxiliary arm are controlled to move to the desired position for transporting the target object according to their respective first motion trajectory parameters.

[0022] As one embodiment, the main boom includes a main boom body, a second telescopic support mechanism, and a main boom mounting bracket; one end of the main boom body is rotatably connected to the main boom mounting bracket, and the other end is rotatably connected to the end of the auxiliary boom, and the main boom body is also connected to the execution end of the second telescopic support mechanism at a second predetermined position; the main boom mounting bracket is mounted on the rotating platform; the input end of the second telescopic support mechanism is fixedly mounted on the mounting bracket and is also electrically connected to the main control unit, the main control unit being used for:

[0023] The rotating platform, the second telescopic support mechanism, and the auxiliary arm are controlled to move according to their respective first motion trajectory parameters, thereby driving the forks to move to the desired position for transporting the target object.

[0024] As one embodiment, the auxiliary boom includes an auxiliary boom body and a third telescopic support mechanism; one end of the auxiliary boom body is rotatably connected to the end of the main boom body, and the other end is rotatably connected to the forklift mast via the rotating mechanism, and the auxiliary boom body is also connected to the execution end of the third telescopic support mechanism at a third predetermined position; the input end of the third telescopic support mechanism is rotatably connected to the main boom body at a fourth predetermined position, and is also electrically connected to the main control unit, the main control unit being used for:

[0025] The rotating platform, the second telescopic support mechanism, and the third telescopic support mechanism are controlled to operate, so that the rotating platform, the main boom, and the auxiliary boom move according to their respective first motion trajectory parameters, thereby driving the forks to move to the desired position for the transportable target object.

[0026] As one embodiment, one end of the main boom is rotatably connected to one end of the auxiliary boom. The rotating platform includes a motor, a motor reducer, a gear shaft, a bearing, a shaft end flange, a slewing bearing fixing platform, a slewing bearing, a drive gear, and a main boom fixing table. The input end of the motor is electrically connected to the main control unit, and the output end of the motor is equipped with the motor reducer. The gear shaft is mounted on the motor reducer. The bearing is sleeved on the gear shaft through the shaft end flange. The shaft end flange is mounted on the slewing bearing fixing platform. The slewing bearing is mounted on the slewing bearing fixing platform. The slewing bearing and the drive gear are fitted onto the gear shaft. The gear shaft is connected to the main boom through the main boom fixing table. The main control unit is used for:

[0027] The operation of the motor, the second telescopic support mechanism, and the third telescopic support mechanism is controlled so that the gear shaft, the main boom, and the auxiliary boom move according to their respective first motion trajectory parameters, thereby driving the forks to move to the desired position for transporting the target object.

[0028] As one embodiment, the main arm further includes a first rotating shaft, the auxiliary arm further includes a second rotating shaft, and the transport mechanism further includes a third rotating shaft. One end of the main arm body is rotatably connected to the main arm mounting bracket via the first rotating shaft, the auxiliary arm is rotatably connected to the other end of the main arm body via the second rotating shaft, and the transport mechanism is rotatably connected to the other end of the auxiliary arm body via the third rotating shaft. The main controller determines the first motion trajectory parameters corresponding to the rotating platform, the main arm, the auxiliary arm, and the transport mechanism, respectively, to represent the first motion trajectory parameters to be executed when transporting the target object, according to the following expression.

[0029] The expression is:

[0030] θ1=arctan(l y / l x ); θ2 = β2 + β4 + β5; θ4=θ 234 -θ2-θ3;θ5=arctan(n x sinθ1-n y sinθ1) / (p x cosθ1-p y cosθ1)

[0031] Where T is the pose transformation matrix of the fork front end positioning point relative to the robot arm reference coordinate system, and n x Let n be the x-axis component of the fork front end coordinate system in the base coordinate system. y Let n be the component of the y-axis in the coordinate system of the fork front end and the x-axis in the base coordinate system. z p represents the z-axis component of the fork tip in the coordinate system and the x-axis component in the base coordinate system. x p represents the x-axis component in the coordinate system of the fork front end and the y-axis component in the base coordinate system. y p represents the component of the y-axis in the base coordinate system within the coordinate system of the fork front end. z Let a be the z-axis component in the base coordinate system of the coordinate system of the fork front end. x Let a be the component of the x-axis in the coordinate system of the fork front end and the z-axis in the base coordinate system. y Let a be the component of the y-axis in the coordinate system of the fork front end and the z-axis in the base coordinate system. zLet l be the z-axis component of the fork front end coordinate system in the base coordinate system. x Let l be the x-component of the origin of the coordinate system at the front end of the fork in the base coordinate system. y Let l be the y-component of the coordinate system origin at the front end of the fork in the base coordinate system. z Let l1 be the z-axis component of the coordinate system origin of the fork front end in the main boom coordinate system; l2 be the length between the center lines of the two rotation axes of the main boom; l3 be the length between the center lines of the two rotation axes of the secondary boom; l4 be the equivalent link between the secondary boom end rotation axis and the fork front end positioning point; d1 be the length of the line connecting the lower rotation axis of the main boom and the secondary boom end rotation axis; d2 be the length of the line connecting the lower rotation axis of the main boom and the fork front end positioning point; β1 be the angle between line d2 and the vertical line drawn from the fork front end positioning point to the ground; β2 be the complementary angle of β1; β3 be the line connecting the equivalent link l4 and the line d2; β4 be the angle between the lines d1 and d2; β5 be the angle between link l2 and line d1; γ be the angle between link l4 and the vertical line drawn from the fork front end positioning point to the ground; θ be the angle between link l4 and the line d2. 234 θ1 is the sum of θ2, θ3 and θ4, where θ1 is the rotation angle of the rotating platform link coordinate system relative to the base coordinate system, θ2 is the rotation angle of the main boom link coordinate system relative to the rotating platform link coordinate system, θ3 is the rotation angle of the secondary boom link coordinate system relative to the main boom link coordinate system, θ4 is the rotation angle of the gantry link coordinate system relative to the secondary boom link coordinate system, and θ5 is the rotation angle of the end fork coordinate system relative to the link l4 coordinate system.

[0032] As one embodiment, there are two second telescopic support mechanisms, and the end of the execution end of each second telescopic support mechanism is provided with a sleeve that is installed in conjunction with the first rotating shaft.

[0033] The first rotating shaft is located at a second predetermined position on the main boom body, and each sleeve of the second telescopic support mechanism as the execution end is respectively installed at both ends of the first rotating shaft; the rotating end of each second telescopic support mechanism is respectively installed on the main boom mounting bracket.

[0034] As one embodiment, the main arm further includes a fourth rotating shaft, the conveying mechanism includes a fifth rotating shaft and a rotating shaft mounting bracket, the number of the first telescopic support mechanism and the third telescopic support mechanism is one, and the end of the execution end of the third telescopic support mechanism is provided with a sleeve that cooperates with the second rotating shaft;

[0035] The fourth rotating shaft passes through the side wall of the main boom and is located at the fourth set position of the main boom. The input end of the third telescopic support mechanism is sleeved on the fourth rotating shaft and placed inside the main boom. The sleeve of the third telescopic support mechanism as the execution end is sleeved on the second rotating shaft and placed at the third set position of the auxiliary boom.

[0036] The rotating shaft mounting bracket is installed on the side wall opposite to the second rotating shaft in the auxiliary boom, and the input end of the first telescopic support mechanism is sleeved on the fifth rotating shaft; the execution end of the first telescopic support mechanism is connected to the fork mast.

[0037] On the other hand, this application embodiment also provides an automated handling platform, which includes the handling device, main control unit and transport vehicle described in any of the above embodiments;

[0038] The handling device is mounted on the vehicle body platform;

[0039] The main control unit is installed on the transport vehicle.

[0040] As can be seen, this application provides an automated handling system and platform. The automated handling system includes a rotating platform, a robotic arm, a handling mechanism, a locator, and a main controller. The main arm of the robotic arm is mounted on the rotating platform, and the auxiliary arm is rotatably connected to the main arm. The handling mechanism is rotatably connected to the end of the auxiliary arm, and the locator is mounted on the handling mechanism. The main controller is electrically connected to the main arm, the auxiliary arm, and the rotating platform. It analyzes the position information of the target object collected by the locator, and based on the obtained pose information, the current pose information of the rotating platform, the current pose information of the main arm, the current pose information of the auxiliary arm, and the current pose information of the handling mechanism, it uses the established motion model for this handling system to determine the first motion trajectory parameters corresponding to the rotating platform, the main arm, the auxiliary arm, and the handling mechanism to be executed when handling the target object. It controls the rotating platform, the main arm, the auxiliary arm, and the handling mechanism to run according to their respective first motion trajectory parameters to handle the target object. As can be seen, the automated handling system provided in this embodiment combines the degrees of freedom of the robotic arm and the load-bearing capacity of the forklift mast, employing independently controlled fork lifting to facilitate fine-tuning of the relative posture with the target object. Specifically, during automated handling and docking, the locator feeds back the collected position information of the target object to the main controller. The main controller analyzes this position information and calculates the first motion trajectory parameters corresponding to the rotating platform, main arm, auxiliary arm, and handling mechanism based on the analyzed pose information. It then instructs the rotating platform, main arm, auxiliary arm, and handling mechanism to move to the object to be handled according to the calculation results. The automated handling mechanism provided in this embodiment eliminates the need for human intervention, fully meeting the requirements of automated handling while also avoiding the dangers associated with human involvement. Attached Figure Description

[0041] Figure 1 This is a schematic diagram of the structure of an automated handling system shown in an exemplary embodiment of this application;

[0042] Figure 2(a) is a schematic diagram of the initial state of an automated transport mechanism shown in an exemplary embodiment of this application;

[0043] Figure 2(b) is a schematic diagram illustrating an automated handling system for identifying the state of a target object, as shown in an exemplary embodiment of this application;

[0044] Figure 2(c) is a schematic diagram illustrating the handling state of an automated handling system according to an exemplary embodiment of this application;

[0045] Figure 2(d) is a schematic diagram illustrating the docking state of an automated handling system according to an exemplary embodiment of this application;

[0046] Figure 3 This is a schematic diagram of the structure of a conveying mechanism shown in an exemplary embodiment of this application;

[0047] Figure 4 This is a schematic diagram of the structure of a rotating platform shown in an exemplary embodiment of this application. Detailed Implementation

[0048] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.

[0049] The terminology used in this application is for the purpose of describing particular embodiments only and is not intended to limit the application. Unless otherwise defined, the technical or scientific terms used in this application should be understood in their ordinary sense by one of ordinary skill in the art to which this application pertains. The terms "first," "second," and similar terms used in this application specification and claims do not indicate any order, quantity, or importance, but are only used to distinguish different components. Similarly, the terms "a" or "one," etc., do not indicate a quantity limitation, but rather indicate the presence of at least one, which will be separately stated if only "a" is referred to. "A plurality" or "several" means two or more. Unless otherwise indicated, the terms "front," "rear," "lower," and / or "upper," "top," "bottom," etc., are for ease of description only and are not limited to a location or spatial orientation. The terms "comprising" or "including," etc., mean that the elements or objects preceding "comprising" or "including" encompass the elements or objects listed following "comprising" or "including" and their equivalents, and do not exclude other elements or objects. The word “connection” or “link” is not limited to physical or mechanical connections, but can also include electrical connections, whether direct or indirect.

[0050] Please see Figure 1 , Figure 1 This is a schematic diagram of an automated handling system provided in an embodiment of this application. The automated handling system includes: a rotating platform 1, a robotic arm 2, a handling mechanism 3, a positioner 4, and a main control unit.

[0051] The robotic arm 2 includes a main arm 21 and a secondary arm 22, which are rotatably connected. The main arm 21 is mounted on the rotating platform 1, and the main arm 21 drives the secondary arm to rotate synchronously under the rotation of the rotating platform 1. A conveying mechanism 3 is rotatably connected to the end of the secondary arm. A locator 4 is mounted on the conveying mechanism 3 for collecting the position information of the target object. The main controller is electrically connected to the main arm 21, the secondary arm 22, and the rotating platform 1, and is used for:

[0052] Obtain the first location information sent by the locator 4;

[0053] The first position information is analyzed to obtain the pose information of the target object's location;

[0054] Based on the pose information, the current pose information of the rotating platform 1, the current pose information of the main arm 21, the current pose information of the auxiliary arm 22, and the current pose information of the transport mechanism 3, the established motion model for this transport system is used to determine the first motion trajectory parameters corresponding to the rotating platform 1, the main arm 21, the auxiliary arm 22, and the transport mechanism 3 for representing the movement of the target object.

[0055] The rotating platform 1, the main arm 21, the auxiliary arm 22, and the conveying mechanism 3 are controlled to operate according to their respective first motion trajectory parameters in order to convey the target object.

[0056] In this embodiment, the first motion trajectory parameter is named only for the purpose of distinguishing it from the motion trajectory parameters mentioned later, and is not used to limit a specific motion trajectory parameter.

[0057] The main controller can be placed on the rotating platform 1, robotic arm, or handling mechanism 3 in this automated handling system, or it can be placed at the site of the object being handled. The main controller can be wired or wirelessly connected to the main arm 21, auxiliary arm 22, and rotating platform 1. This embodiment does not limit this.

[0058] The locator 4 can be a vision camera or a positioning device; this embodiment is not limited to either. Taking a vision camera as an example, during the handling process, the main control unit sends a shooting command to the vision camera to capture the target object. The vision camera captures a position image containing the target object as position information according to the shooting command and sends the position image to the main control unit. After receiving the position image, the main control unit analyzes the position image to obtain pose information representing the position and orientation of the target object.

[0059] In this embodiment, the main arm 21 and the auxiliary arm 22 are rotatably connected, which can be understood as the auxiliary arm 22 being able to rotate independently relative to the main arm 21; the conveying mechanism 3 is rotatably connected to the end of the auxiliary arm 22, which can be understood as the conveying mechanism 3 being able to rotate independently relative to the auxiliary arm 22.

[0060] In this embodiment, the end of the auxiliary arm 22 can be understood as the end of the auxiliary arm 22 that is far from the end connected to the main arm 21, that is, the end of the auxiliary arm 22.

[0061] In this embodiment, the first location information is named to facilitate differentiation from the location information in the following text, and is not used to limit a specific location information.

[0062] After transporting the target object, it can be placed or assembled. In some embodiments, the main control unit is also used to: acquire second position information collected by the locator 4, which indicates the desired location of the target object; analyze the second position information to obtain the positioning information of the location to be transported; based on the positioning information, the pose information of the rotating platform 1 when lifting the target object, the pose information of the main arm 21 when lifting the target object, the pose information of the auxiliary arm 22 when lifting the target object, and the pose information of the transport mechanism 3 when lifting the target object, and using the established motion model for this transport system, determine the second motion trajectory parameters to be executed by the rotating platform 1, the main arm 21, the auxiliary arm 22, and the transport mechanism 3 respectively when transporting the target object to the target position; instruct the rotating platform 1, the main arm 21, the auxiliary arm 22, and the transport mechanism 3 to transport the target object to the target position according to the second motion trajectory parameters.

[0063] In this embodiment, the second location information is named to distinguish it from the location information mentioned above, and is not intended to limit any specific location information. Similarly, the second motion trajectory parameter is named to distinguish it from the motion trajectory parameter mentioned above, and is not intended to limit any specific motion trajectory parameter.

[0064] In the automated handling and docking process, the handling mechanism 3 uses its mounted vision camera to acquire the first position information of the target object, as shown in Figure 2 (target ammunition box), and feeds it back to the industrial control computer. Based on this first position information, the industrial control computer analyzes the target object's pose information. Using the established motion model for this handling system, it calculates the first motion trajectory parameters for each of the rotating platform 1, main arm 21, auxiliary arm 22, and handling mechanism 3. It then instructs the rotating platform 1, main arm 21, auxiliary arm 22, and handling mechanism 3 to move to the target object according to the calculation results and handle it. The system also acquires the second position information of the target object at the desired handling location using the locator 4, such as the assembly position information for a launch vehicle ammunition box if the target object is an ammunition box. Finally, it moves to the target location and assembles the ammunition box into the launch vehicle. The motion postures at each stage are shown in Figure 2. For example, Figure 2(a) shows the initial state, Figure 2(b) shows the identification and docking of the ammunition box, Figure 2(c) shows the handling of the ammunition box, and Figure 2(d) shows the movement to the target position.

[0065] In this embodiment, the second location information is named to facilitate differentiation from the location information mentioned above, and is not intended to limit a specific location information.

[0066] As an example, such as Figure 3As shown, the handling mechanism 3 includes: a fork mast 31, two electric push rods 32, two guide rails 33, two sliders 34, two adapters 35, two mounting shafts 36, two forks 37, a rotating mechanism, and a first telescopic support mechanism 38; the fork mast 31 is mounted on the end of the auxiliary boom 22 and is equipped with the guide rails 33; each guide rail 33 is equipped with its corresponding electric push rod 32 and slider 34; each slider 34 is connected to a mounting shaft 36 through its corresponding adapter 35, and each mounting shaft 36 is respectively connected to... The forks 37 should be installed; the electric push rods 32 are used to connect to the main control unit so that, under the control of the main control unit, the angle between the two corresponding forks 37 can be adjusted by adjusting the height difference between the two electric push rods 32; one end of the rotating mechanism is installed at the end of the auxiliary arm 22, and the other end is connected to the fork mast 31, and the rotating mechanism is also connected to the main control unit; the actuating end of the first telescopic support mechanism 38 is connected to the fork mast 31, the input end is connected to the first set position of the auxiliary arm 22, and is connected to the main control unit.

[0067] The main control unit is used for:

[0068] Based on the pose information, the current pose information of the rotating platform 1, the current pose information of the main arm 21, the current pose information of the auxiliary arm 22, and the current pose information of the fork 37, the established motion model for this handling system is used to determine the first motion trajectory parameters corresponding to the rotating platform 1, the main arm 21, the auxiliary arm 22, and the fork 37 for representing the movement of the target object.

[0069] The rotating platform 1, the main arm 21, and the auxiliary arm 22 are controlled to move to the desired position for transporting the target object according to their respective first motion trajectory parameters.

[0070] In this embodiment, the first telescopic support mechanism 38 is named only to distinguish it from the telescopic support mechanisms mentioned later, and is not intended to limit a specific telescopic support mechanism.

[0071] The first setting position is named simply to distinguish it from the setting positions in the following text, and is not intended to limit a specific setting position.

[0072] As one embodiment, the mounting shaft 36 can be a telescopic link, one end of which is connected to the adapter 35 and the other end is connected to the fork 37. The adapter 35 is also electrically connected to the main controller. The main controller can also control the adapter 35 to trigger the telescopic link to extend or retract. When it is necessary to increase the length of the telescopic link, the main controller controls the adapter 35 to trigger the telescopic link to extend. When it is necessary to shorten the length of the telescopic link, the main controller controls the adapter 35 to trigger the telescopic link to shorten. This allows the length of the link to be extended or retracted according to the size of the target object, so that the goods can be transported more stably.

[0073] In this embodiment, the electric push rod 32 can push the guide rail 33 under the control of the main controller, so that the slider 34 on the guide rail 33 moves along the guide rail 33, and then the slider 34 drives the fork 37 to move along the direction of the guide rail 33.

[0074] In this embodiment, controlling the rotating platform 1, the main arm 21, and the auxiliary arm 22 to move to the desired position for the transportable target object according to their respective first motion trajectory parameters can be understood as the main controller controlling the rotating platform 1, the main arm 21, and the auxiliary arm 22 to move according to their respective first motion trajectory parameters. However, the desired positions for the transportable target object after the rotating platform 1, the main arm 21, and the auxiliary arm 22 move according to their respective first motion trajectory parameters are not the same. However, the rotating platform 1, the main arm 21, and the auxiliary arm 22 each complete their corresponding motion trajectory and cooperate to make the fork 37 reach the position of the target object.

[0075] A vision camera can be fixedly mounted on the telescopic link between the two forks 37 for identifying and capturing the position and orientation information of the target object during the handling process. The pitch of the handling mechanism 3 is achieved by electric push rods 32. The handling mechanism 3 uses two independently controlled electric push rods 32, and the angle of the forks 37 can be adjusted through the mounting shaft 36 according to the height difference of the electric push rods 32, so that the target object can deflect around the central axis along the extension direction of the auxiliary arm 22 during the movement, which facilitates the adjustment of the angle during the automatic handling process.

[0076] As can be seen, the handling mechanism 3 provided in this embodiment can flexibly adjust the angle of the forks 37 according to the position of the target object collected.

[0077] As one embodiment, the main boom 21 includes a main boom body 211, a second telescopic support mechanism 213, and a main boom mounting bracket 212; one end of the main boom body 211 is rotatably connected to the main boom mounting bracket 212, and the other end is rotatably connected to the end of the auxiliary boom 22, and the second set position of the main boom body is also connected to the execution end of the second telescopic support mechanism; the main boom mounting bracket is mounted on the rotating platform 1; the input end of the second telescopic support mechanism is fixedly mounted on the mounting bracket and is also electrically connected to the main controller, which is used to: control the operation of the rotating platform 1, the second telescopic support mechanism, and the auxiliary boom 22, so that the rotating platform 1, the main boom body, and the auxiliary boom 22 move according to their respective first motion trajectory parameters, so as to drive the fork 37 to move to the desired position for transporting the target object.

[0078] In this embodiment, the second telescopic support mechanism is only named to distinguish it from other telescopic support mechanisms mentioned in the text, and is not intended to limit a particular telescopic support mechanism.

[0079] The second setting position is merely a name used to distinguish it from other setting positions in the text, and is not intended to limit a specific setting position.

[0080] One end of the main boom 211 can rotate relative to the main boom mounting support, and the other end can rotate relatively independently relative to the end of the auxiliary boom 22. As one implementation, the main boom 211 can be rotatably connected to the main boom mounting support via the first rotating shaft 214, and can be rotatably connected to the end of the auxiliary boom 22 via the second rotating shaft 223.

[0081] The main boom body 211 can be understood as the main body of the main boom. To facilitate the installation of the auxiliary boom 22 and reduce weight, the main boom body can be a shell mechanism. In some embodiments, the main boom also includes a first rotating shaft 214. One end of the main boom body 211 is rotatably connected to the main boom mounting support 212 via the first rotating shaft 214, so as to realize the relative rotation of the main boom body 211 with respect to the main boom mounting support 212. As an embodiment, there are two second telescopic support mechanisms 213. The end of the execution end of each second telescopic support mechanism 213 is provided with a sleeve that cooperates with the first rotating shaft 214. The first rotating shaft 214 is set at a second predetermined position of the main boom body 211. The sleeves of each second telescopic support mechanism 213 as the execution end are respectively installed at both ends of the first rotating shaft 214. The rotating end of each second telescopic support mechanism 213 is respectively installed on the main boom mounting support 212. The second telescopic support mechanism 213 in this embodiment has a sleeve at its actuating end that mates with the first rotating shaft 214, allowing the main arm 211 to rotate around the first rotating shaft 214 as the second telescopic support mechanism 213 extends or retracts. It should be noted that the first rotating shaft 214 is merely a name used to distinguish rotating shafts in the following text and is not intended to limit any particular rotating shaft.

[0082] In this embodiment, the second telescopic support mechanism 213 may have the same structure as the first telescopic support mechanism 38 or may be different; this embodiment does not limit this.

[0083] As one embodiment, the auxiliary boom 22 may include an auxiliary boom body 221 and a third telescopic support mechanism 222; one end of the auxiliary boom body 221 is rotatably connected to the end of the main boom body 211, and the other end is rotatably connected to the fork mast 31 through the rotating mechanism, and the third set position of the auxiliary boom body 221 is also connected to the execution end of the third telescopic support mechanism 222; the input end of the third telescopic support mechanism 222 is rotatably connected to the fourth set position of the main boom body 211, and is also connected to the main control unit, which is used to control the operation of the rotating platform 1, the second telescopic support mechanism and the third telescopic support mechanism 222, so that the rotating platform 1, the main boom body 211 and the auxiliary boom body 221 move according to their respective first motion trajectory parameters, so as to drive the fork 37 to move to the desired position for transporting the target object.

[0084] In this embodiment, the third telescopic support mechanism 222 is only named to distinguish it from other telescopic support mechanisms mentioned in the text, and is not intended to limit a particular telescopic support mechanism.

[0085] The third setting position and the fourth device position are merely names used to distinguish them from other setting positions in the text, and are not intended to limit any particular setting position.

[0086] The input end of the third telescopic support mechanism 222 is rotatably connected to the fourth predetermined position of the main arm body.

[0087] The input end of the third telescopic support mechanism 222 can rotate relative to the main arm 211, and the execution end can rotate relatively independently relative to the auxiliary arm 221.

[0088] The third telescopic support mechanism 222 may have the same structure as the first telescopic support mechanism 38 and the second telescopic support mechanism 213, or it may be different. The third telescopic support mechanism 222 may be a hydraulic cylinder or a pneumatic cylinder. This embodiment does not limit this.

[0089] As an embodiment, the main arm 21 further includes a first rotating shaft 214, the auxiliary arm 22 further includes a second rotating shaft 223, and the conveying mechanism 3 further includes a third rotating shaft. One end of the main arm body 211 is rotatably connected to the main arm mounting support 212 via the first rotating shaft 214, the auxiliary arm 22 is rotatably connected to the other end of the main arm body 211 via the second rotating shaft 223, and the conveying mechanism 3 is rotatably connected to the other end of the auxiliary arm body 221 via the third rotating shaft. The main controller determines the first motion trajectory parameters corresponding to the rotating platform 1, the main arm 21, the auxiliary arm 22, and the conveying mechanism 3, respectively, to represent the first motion trajectory parameters to be executed when conveying the target object, according to the following first expression.

[0090] The first expression is:

[0091] θ1=arctan(l y / l x ); θ2 = β2 + β4 + β5; θ4=θ 234 -θ2-θ3;θ5=arctan(n x sinθ1-n y sinθ1) / (p x cosθ1-p y cosθ1) θ1=arctan(l y / l x ); θ2 = β2 + β4 + β5; θ4=θ 234 -θ2-θ3;θ5=arctan(n x sinθ1-n y sinθ1) / (p x cosθ1-p ycosθ1)

[0092] Where T is the pose transformation matrix of the fork front end positioning point relative to the robot arm reference coordinate system, and n x Let n be the x-axis component of the fork front end coordinate system in the base coordinate system. y Let n be the component of the y-axis in the coordinate system of the fork front end and the x-axis in the base coordinate system. z p represents the z-axis component of the fork tip in the coordinate system and the x-axis component in the base coordinate system. x p represents the x-axis component in the coordinate system of the fork front end and the y-axis component in the base coordinate system. y p represents the component of the y-axis in the base coordinate system within the coordinate system of the fork front end. z Let a be the z-axis component in the base coordinate system of the coordinate system of the fork front end. x Let a be the component of the x-axis in the coordinate system of the fork front end and the z-axis in the base coordinate system. y Let a be the component of the y-axis in the coordinate system of the fork front end and the z-axis in the base coordinate system. z Let l be the z-axis component of the fork front end coordinate system in the base coordinate system. x Let l be the x-component of the origin of the coordinate system at the front end of the fork in the base coordinate system. y Let l be the y-component of the coordinate system origin at the front end of the fork in the base coordinate system. z Let l1 be the z-axis component of the coordinate system origin of the fork front end in the main boom coordinate system; l2 be the length between the center lines of the two rotation axes of the main boom; l3 be the length between the center lines of the two rotation axes of the secondary boom; l4 be the equivalent link between the secondary boom end rotation axis and the fork front end positioning point; d1 be the length of the line connecting the lower rotation axis of the main boom and the secondary boom end rotation axis; d2 be the length of the line connecting the lower rotation axis of the main boom and the fork front end positioning point; β1 be the angle between line d2 and the vertical line drawn from the fork front end positioning point to the ground; β2 be the complementary angle of β1; β3 be the line connecting the equivalent link l4 and the line d2; β4 be the angle between the lines d1 and d2; β5 be the angle between link l2 and line d1; γ be the angle between link l4 and the vertical line drawn from the fork front end positioning point to the ground; θ be the angle between link l4 and the line d2. 234 θ1 is the sum of θ2, θ3 and θ4, where θ1 is the rotation angle of the rotating platform link coordinate system relative to the base coordinate system, θ2 is the rotation angle of the main boom link coordinate system relative to the rotating platform link coordinate system, θ3 is the rotation angle of the secondary boom link coordinate system relative to the main boom link coordinate system, θ4 is the rotation angle of the gantry link coordinate system relative to the secondary boom link coordinate system, and θ5 is the rotation angle of the end fork coordinate system relative to the link l4 coordinate system.

[0093] The second and third rotation axes are simply names used to distinguish them from other rotation axes in the text, and are not intended to define any particular rotation axis.

[0094] In some embodiments, this automated handling system is driven by an electric cylinder. In the kinematic analysis, the rotation angle of the boom, i.e., the main boom and the auxiliary boom 22, is taken as the analysis object. Therefore, a functional relationship between the electric cylinder movement and the boom rotation angle is established. Taking the fork 37 in the handling mechanism 3 as an example, when adjusting the angle deflection using the height difference between the two forks 37, the deflection center axis remains unchanged. Figure 3 As shown, when adjusting the target object's deflection angle, the deflection angle θ of the target object on the fork relative to the robot arm's base coordinate system is:

[0095]

[0096] Where D is the distance between the central axes of the two forks 37 in the initial state of the electric actuator, and L is the extension of the electric actuator 32, with the extension direction as the positive direction.

[0097] As an example, the automated handling system can be planned using 3-5-3 piecewise polynomial interpolation. Under simulated handling conditions, considering that the fork joints of this system do not move during the handling process, the first four joints are constructed using 3-5-3 functions. The joint angles for these four joints, obtained from the above expressions, are θ1, θ2, θ3, and θ4.

[0098] Given the following initial constraints: the angular velocity at the starting point and the angular velocity at the ending point are both 0, the angular acceleration at the starting point and the angular acceleration at the ending point are both 0, the maximum allowable angular velocity constraint for the first joint k1 is 0.6 rad / s, and the maximum allowable angular velocities for the second joint k2, the third joint k3, and the fourth joint k4 are 0.25 rad / s.

[0099] As an example, an improved particle swarm optimization algorithm can be used to solve for θ1, θ2, θ3 and θ4 after the 3-5-3 piecewise polynomial interpolation described above, to obtain the first motion trajectory parameters corresponding to the rotating platform 1, the main arm 21, the auxiliary arm 22 and the transport mechanism 3, which represent the first motion trajectory parameters to be executed when transporting the target object.

[0100] As an example, the main controller determines, according to a first expression, the first motion trajectory parameters corresponding to each of the rotating platform 1, the main arm 21, the auxiliary arm 22, and the conveying mechanism 3, representing the first motion trajectory to be executed when conveying the target object. Specifically, this is used for:

[0101] Determine the two pre-set interpolation points and the angle value corresponding to each target joint calculated by the first expression.

[0102] Given the initial and final coordinates and attitudes of this automated handling system, 3-5-3 piecewise polynomial interpolation can be used to plan the joint space trajectory of the automated handling system, converting the motion function of the automated handling system into a function of time. First, in the initial and final pose coordinates, two interpolation coordinates and the time node when passing through the interpolation pose coordinates are set, dividing the system into three motion trajectory segments. These three motion trajectory segments are the first, second, and third motion trajectory segments described below. In this step, the two interpolation points can be two interpolation points input by the user.

[0103] The angle values ​​in this step are calculated using the first expression described above, representing the angle values ​​corresponding to the rotating platform 1, the main arm 21, the auxiliary arm 22, and the transport mechanism 3 respectively when passing through the interpolated pose coordinates.

[0104] For each interpolation point, the angular velocity value corresponding to each target joint point when passing through the interpolation point is calculated as a boundary constraint condition. The target joint includes the rotating platform, the main arm, the auxiliary arm, or the transport mechanism.

[0105] Based on the angle value, the following second expression is established to obtain the angle function of each target joint in the three motion trajectories with respect to time in the polynomial interpolation operation, wherein the three motion trajectories are divided according to two interpolation points and the time node when the automatic handling system passes through the coordinates of the interpolation points;

[0106] The second expression is:

[0107] θ1(t1)=a 10 +a 11 t1+a 12 t1 2 +a 13 t1 3

[0108] θ2(t2)=a 20 +a 21 t2+a 22 t2 2 +a 23 t2 3 +a 24 t2 4 +a 25 t2 5

[0109] θ3(t3)=a 30 +a 31 t3+a 32 t3 2 +a 33 t3 3

[0110] Among them, a 10 For the first coefficient in column 1 of the behavior established for the first segment of the motion trajectory, a is 0. 11 For the second coefficient of column 1, which is 1 for the first segment of the motion trajectory, a 12 For the third coefficient in the first segment of the motion trajectory, where row 1 is 2 and column 2 is 2, a 13 This refers to the fourth coefficient with row 1 and column 3 in the first segment of the motion trajectory; a 20 For the first coefficient in the second segment of the trajectory where row 2 is 0, a 21 For the second coefficient in the second segment of the motion trajectory, where row 2 and column 1 is 1, a 22 For the third coefficient with row 2 and column 2 in the second segment of the trajectory, a 23 For the fourth coefficient with row 2 and column 3 in the second segment of the trajectory, a 24 For the fifth coefficient with row 2 and column 4 in the second segment of the trajectory, a 25 For the sixth coefficient with row 2 and column 5 in the second segment of the trajectory, a 30 For the first coefficient in the third segment of the trajectory where column 3 is 0, a 30 For the first coefficient in the third segment of the trajectory where column 3 is 0, a 31 For the second coefficient in the third segment of the motion trajectory where row 3 and column 1 is 1, a 32 For the third coefficient with row 3 and column 2 in the third segment of the motion trajectory, a 33 The fourth coefficient is in column 3; θ1(t) is the rotation angle of a joint in the first trajectory segment as a function of time when it reaches the end of the first trajectory segment; θ2(t) is the rotation angle of a joint in the second trajectory segment as a function of time when it reaches the end of the second trajectory segment; θ3(t) is the rotation angle of a joint in the third trajectory segment as a function of time when it reaches the end of the third trajectory segment; t1 is the difference between the end time node and the start time node set when executing the first trajectory segment; t2 is the difference between the end time node and the start time node set when executing the second trajectory segment; t3 is the difference between the end time node and the start time node set when executing the third trajectory segment.

[0111] The second expression above is a function of time for the running angle of a certain joint in the three given motion trajectories, obtained by performing cubic, quintic, and cubic polynomial interpolation operations on the three trajectories respectively. The angle values ​​in the angle function are known and obtained through the first expression above.

[0112] It should be noted that, in this embodiment, coefficient a 10 a 11a 12 a 13 a 20 a 21 a 22 a 23 a 24 a 25 a 30 a 30 a 31 a 32 and a 33 It can be determined based on the given constraints θ and t.

[0113] Step G: Based on the second expression, with the goal of finding the shortest time required for the automated handling system to move to the target position, establish the fitness function described by the following third expression.

[0114] The third expression is:

[0115] Where f(t) is the fitness function of the k-th target joint, n is the number of joints whose trajectory parameters need to be constrained, and t k1 Let t be the time t represents the time it takes for the target joint with serial number k to travel in the first segment of its motion trajectory. k2 Let t be the time that the target joint with serial number k travels in the second segment of the motion trajectory. k3 The time taken for the target joint with the number k to travel in the third motion trajectory is denoted as k, where k is the joint number.

[0116] The above formula can be used to obtain the angular displacement, angular velocity, and angular acceleration curves of each joint during the motion process. The angular displacement and angular velocity curves are then checked to see if they are continuous and smooth and meet the boundary conditions, and the angular acceleration is continuous without abrupt changes, thereby verifying the rationality of the set time points.

[0117] Based on the following improved particle swarm optimization algorithm, under the condition of satisfying the determined boundary constraints, the above third expression is optimized and solved to obtain the shortest time required for the automatic handling system to move to the target position. Based on the obtained shortest time, the optimal motion parameters corresponding to each of the target joints are determined as the first motion trajectory parameters for representing the movement of the target object.

[0118] In the improved particle swarm optimization algorithm, the speed at which particles evolve from the λ-th iteration to the λ+1-th generation is updated as follows: (Further details omitted)

[0119]

[0120] As the particle evolves from the λth iteration to the λ+1th generation, its position is updated as shown in the fifth expression:

[0121] x i (λ+1)=x i (λ)+v i (λ+1)

[0122] Where w is the inertia weighting factor, c 1min c represents the minimum value of the individual learning factor. 1max N represents the maximum value of the individual learning factor. max Let c be the maximum number of iterations for the algorithm, λ be the current iteration number, and c be the maximum number of iterations for the algorithm. 2min c is the minimum value of the global learning factor. 2max w represents the maximum value of the global learning factor. max w represents the maximum value of the inertia weighting factor. min The minimum value of the inertia weight factor, where i is the particle index in the algorithm, and x... i (λ) represents the position of particle i in the λth iteration, x i (λ+1) represents the position of particle i in the (λ+1)th iteration, v i (λ) represents the velocity of particle i at the λth iteration, v i (λ+1) represents the velocity of particle i in the (λ+1)th iteration, and r1 and r2 are random values ​​taken from (0,1). i (t) represents the optimal position of particle i at the λth iteration, gbest i (t) represents the globally optimal position experienced by all particles in the particle swarm.

[0123] In traditional particle swarm optimization (PSO) algorithms, the values ​​of the inertia factor and learning factor are fixed. The choice of these fixed values ​​affects the convergence speed and solution accuracy of the PSO algorithm. Therefore, based on the traditional PSO algorithm, a learning factor and inertia weight function that adaptively changes with the number of iterations is established. In the early stage of the algorithm, a larger individual learning factor and inertia weight are assigned to give it a greater global search capability. In the later stage, the global learning capability of the particles is enhanced to make them move closer to the global optimum, while the proportion of inertia weight and individual learning factor is reduced to prevent particles from missing the global optimum due to excessively fast search speed.

[0124] In this embodiment, based on the obtained shortest time, the optimal motion parameters to be executed by each target joint when moving the target object to the target position are determined as the second motion trajectory parameters. This can be understood as determining the optimal motion parameters, namely angular velocity and angular acceleration, for each target joint when moving the target object to the target position based on the obtained shortest time. The reason for determining the optimal angular velocity and angular acceleration is that if the angular acceleration is too large, it will damage the motor, and if the angular acceleration is too small, it will prolong the running time. Based on this, from the starting point to the target position point, while ensuring that the angular velocity is large enough, the angular acceleration must also be within a reasonable range.

[0125] It should be noted that the second trajectory motion parameters can also be implemented in the same way as the above embodiments. Specifically, the first to fourth expressions can be used. Based on the improved particle swarm optimization algorithm, under the condition of satisfying the determined boundary constraints, the third expression is optimized and solved to obtain the shortest time required for the automatic handling system to move to the target object. Based on the obtained shortest time, the optimal motion parameters to be executed for each target joint to move the target object to the target position are determined as the second motion trajectory parameters.

[0126] Compared to the standard particle swarm optimization algorithm, the improved particle swarm optimization algorithm has fewer iterations and more accurate fitness values.

[0127] As one embodiment, the main boom 21 further includes a fourth rotating shaft 215, the conveying mechanism 3 includes a fifth rotating shaft 39 and a rotating shaft mounting bracket 40, the number of the first telescopic support mechanism 38 and the third telescopic support mechanism 222 is one, the end of the execution end of the third telescopic support mechanism 222 is provided with a sleeve that cooperates with the second rotating shaft 223; the fourth rotating shaft 215 passes through the side wall of the main boom body 211 and is set at a fourth predetermined position of the main boom body 211, the third telescopic support mechanism... The input end of 222 is sleeved on the fourth rotating shaft 215 and placed inside the main boom body 211. The sleeve of the third telescopic support mechanism 222, as the execution end, is sleeved on the second rotating shaft 223 and placed at the third set position of the auxiliary boom 22. The rotating shaft mounting bracket is installed on the side wall of the auxiliary boom 22 opposite to the second rotating shaft 223. The input end of the first telescopic support mechanism 38 is sleeved on the fifth rotating shaft 39. The execution end of the first telescopic support mechanism 38 is connected to the fork mast 31.

[0128] In this embodiment, the fifth setting position is merely a name used to distinguish it from other setting positions in the text, and is not intended to limit a specific setting position.

[0129] The names 215 (fourth rotation axis) and 39 (fifth rotation axis) are merely used to distinguish them from other rotation axes mentioned in the text, and are not intended to define any particular rotation axis.

[0130] The sleeve of the third telescopic support mechanism 222 is located inside the main arm body and cooperates with the second rotating shaft that passes through the side wall of the auxiliary arm body 221. In this embodiment, the width of the third telescopic support mechanism 222 is smaller than the width of the main arm body, so that the third telescopic support mechanism 222 is not limited by the width of the main arm body when performing telescopic movement.

[0131] The rotating shaft mounting support can be a double-ear ring seat. The second rotating shaft 223 passes through the through holes of the double ears in the double-ear ring seat. The input end of the first telescopic support mechanism 38 is located between the double ears in the double-ear ring seat and is sleeved on the second rotating shaft 223, so that the input end of the first telescopic support mechanism 38 can rotate around the second rotating shaft 223.

[0132] In some embodiments, one end of the main boom 211 is rotatably connected to one end of the auxiliary boom 221. The rotating platform 1 includes a motor, a motor reducer 11, a gear shaft 12, a bearing 13, a shaft end flange 14, a slewing bearing fixing platform 15, a slewing bearing 16, a drive gear 17, and a main boom fixing table 18. The input end of the motor is connected to the main control electromechanical system, and the output end of the motor is equipped with the motor reducer. The gear shaft 12 is mounted on the motor reducer 11. The bearing 13 is sleeved on the gear shaft 12 through the shaft end flange 14. The shaft end flange 14 is mounted on the slewing bearing platform 18. A support platform 15 is provided; the slewing bearing 16 is mounted on the slewing bearing fixed platform 15; the slewing bearing 16 and the drive gear 17 are fitted onto the gear shaft 12; the gear shaft 12 is connected to the main arm 21 via the main arm fixing platform 18; the main controller is used to control the operation of the motor, the second telescopic support mechanism and the third telescopic support mechanism 222, so that the gear shaft, the main arm body 211 and the auxiliary arm body 221 move according to their respective first motion trajectory parameters, so as to drive the fork 37 to move to the desired position for the transportable target object.

[0133] The motor in this embodiment can be a servo motor. The use of a motor reducer in this embodiment can reduce the output speed, increase torque, and improve load capacity, thereby achieving an ideal transmission effect and meeting work requirements. Furthermore, the reducer can also increase output torque while reducing speed. The motor reducer in this embodiment can be a planetary reducer; in other words, the movement of the rotating platform 1 can be achieved using a servo motor and a planetary reducer transmission.

[0134] As can be seen, the automatic handling system provided in this embodiment combines the degrees of freedom of the robotic arm and the load-bearing capacity of the fork mast 31, and adopts independently controlled lifting of the forks 37, which facilitates fine-tuning of the relative posture with respect to the target object.

[0135] Therefore, the automatic handling system provided in this application includes a rotating platform 1, a robotic arm 2, a handling mechanism 3, a locator 4, and a main controller. The main arm 21 of the robotic arm 2 is mounted on the rotating platform 1, and the auxiliary arm 22 is rotatably connected to the main arm 21. The handling mechanism 3 is mounted at the end of the auxiliary arm 22, and the locator 4 is mounted on the handling mechanism 3. The main controller is electrically connected to the main arm 21, the auxiliary arm 22, and the rotating platform 1. It analyzes the position information of the target object collected by the locator 4. Based on the obtained pose information, the current pose information of the rotating platform 1, the main arm, the auxiliary arm 22, and the handling mechanism 3, and using the established motion model for this handling system, it determines the first motion trajectory parameters corresponding to the rotating platform 1, the main arm 21, the auxiliary arm 22, and the handling mechanism 3 to be executed when handling the target object. It controls the rotating platform 1, the main arm, the auxiliary arm 22, and the handling mechanism 3 to operate according to their respective first motion trajectory parameters to handle the target object. As can be seen, the automated handling system provided in this embodiment combines the degrees of freedom of the robotic arm and the load-bearing capacity of the forklift mast 31, and uses independently controlled lifting of the forks 37 to facilitate fine-tuning of the relative posture with the target object. Specifically, in the automated handling and docking operation, the locator 4 feeds back the collected position information of the target object to the main controller. The main controller analyzes this position information and calculates the first motion trajectory parameters corresponding to the rotating platform 1, main arm 21, auxiliary arm 22, and handling mechanism 3 based on the analyzed posture information. It then instructs the rotating platform 1, main arm 21, auxiliary arm 22, and handling mechanism 3 to move to the location of the object to be handled according to the calculation results. The automated handling mechanism 3 provided in this embodiment eliminates the need for human intervention in handling, fully meeting the requirements of automated handling, and also avoiding the dangers of human involvement.

[0136] On the other hand, this embodiment also provides an automated handling platform, which includes the handling device, main control unit, and transport vehicle described in any of the above embodiments; the handling device is installed on the vehicle body platform; the main control unit is installed on the transport vehicle. The transport vehicle can be a vehicle driven by a human or a vehicle equipped with automatic driving functionality. When the transport vehicle is equipped with automatic driving functionality, the main control unit can be integrated into the control system for automatic driving. Therefore, this automated handling platform does not require manual installation and can be directly transported to the desired location and put into immediate use.

[0137] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of protection of this application.

Claims

1. An automated handling system, characterized in that, The automated handling system includes: Rotating platform; A robotic arm includes a main arm and a secondary arm, which are rotatably connected. The main arm is mounted on a rotating platform, and the main arm drives the secondary arm to rotate synchronously as the rotating platform rotates. The conveying mechanism is rotatably connected to the end of the auxiliary boom. The conveying mechanism is provided with a fork mast and forks, and the forks are movably mounted on the fork mast. A locator, installed on the conveying mechanism, is used to collect the location information of the target object; The main control unit is electrically connected to the main arm, the auxiliary arm, and the rotating platform, respectively, and is used for: Obtain the location information sent by the locator; The location information is analyzed to obtain the pose information of the target object's location; Based on the pose information, the current pose information of the rotating platform, the current pose information of the main boom, the current pose information of the auxiliary boom, and the current pose information of the handling mechanism, using the established motion model for this handling system, the first motion trajectory parameters corresponding to the rotating platform, the main boom, the auxiliary boom, and the handling mechanism are determined to represent the motion trajectory to be executed when handling the target object. The first motion trajectory parameters and the second motion trajectory parameters both include at least the rotation angle of the rotating platform link coordinate system relative to the base coordinate system, the rotation angle of the main boom link coordinate system relative to the rotating platform link coordinate system, the rotation angle of the auxiliary boom link coordinate system relative to the main boom link coordinate system, the rotation angle of the gantry link coordinate system relative to the auxiliary boom link coordinate system, and the rotation angle of the end fork coordinate system relative to the link coordinate system. The rotating platform, the main arm, the auxiliary arm, and the conveying mechanism are controlled to operate according to their respective first motion trajectory parameters in order to convey the target object; It is also used to: acquire second location information collected by the locator, which indicates the desired location to be moved to; The second location information is analyzed to obtain the positioning information of the location to be moved; Based on the positioning information, the pose information of the rotating platform when it lifts the target object, the pose information of the main arm when it lifts the target object, the pose information of the auxiliary arm when it lifts the target object, and the pose information of the conveying mechanism when it lifts the target object, the second motion trajectory parameters to be executed by the rotating platform, the main arm, the auxiliary arm, and the conveying mechanism respectively when they are used to move the target object to the target position are determined using the established motion model for this conveying system. The rotating platform, the main arm, the auxiliary arm, and the transport mechanism are instructed to transport the target object to the target location according to the second motion trajectory parameters.

2. The automated handling system according to claim 1, characterized in that, The handling mechanism includes: a fork mast, two electric push rods, two guide rails, two sliders, two adapters, two mounting shafts, two forks, a rotating mechanism, and a first telescopic support mechanism. The fork mast is mounted on the end of the auxiliary boom and is equipped with the guide rails. Each guide rail is equipped with its corresponding electric push rod and slider. Each slider is connected to a mounting shaft via its corresponding adapter, and each mounting shaft is equipped with a corresponding fork. The electric push rods are electrically connected to the main control unit to adjust the angle between the two forks by adjusting the height difference between the two electric push rods under the control of the main control unit. One end of the rotating mechanism is mounted on the end of the auxiliary boom, and the other end is connected to the fork mast. It is also connected to the main control electromechanical system; the execution end of the first telescopic support mechanism is connected to the fork mast, the input end is connected to the first set position of the auxiliary arm, and is connected to the main control electromechanical system. The main control electromechanical system determines the first motion trajectory parameters corresponding to the rotating platform, the main arm, the auxiliary arm, and the fork, respectively, for transporting the target object, based on the pose information, the current pose information of the rotating platform, the main arm, the auxiliary arm, and the fork, using the established motion model for this transport system; and controls the rotating platform, the main arm, and the auxiliary arm to move to the desired position for transporting the target object according to their respective first motion trajectory parameters.

3. The automated handling system according to claim 2, characterized in that, The main boom includes a main boom body, a second telescopic support mechanism, and a main boom mounting bracket. One end of the main boom body is rotatably connected to the main boom mounting bracket, and the other end is rotatably connected to the end of the auxiliary boom. The main boom body is also connected to the execution end of the second telescopic support mechanism at a second predetermined position. The main boom mounting bracket is mounted on the rotating platform. The input end of the second telescopic support mechanism is fixedly mounted on the mounting bracket and is also connected to the main control unit. The main control unit controls the rotating platform, the second telescopic support mechanism, and the auxiliary boom to move, so that the rotating platform, the main boom body, and the auxiliary boom move according to their respective first motion trajectory parameters, thereby driving the forks to move to the desired position for transporting the target object.

4. The automated handling system according to claim 3, characterized in that, The auxiliary boom includes an auxiliary boom body and a third telescopic support mechanism; one end of the auxiliary boom body is rotatably connected to the end of the main boom body, and the other end is rotatably connected to the fork mast via the rotating mechanism, and the auxiliary boom body is also connected to the execution end of the third telescopic support mechanism at a third predetermined position; the input end of the third telescopic support mechanism is rotatably connected to the main boom body at a fourth predetermined position, and is also connected to the main control unit, which controls the operation of the rotating platform, the second telescopic support mechanism, and the third telescopic support mechanism, so that the rotating platform, the main boom body, and the auxiliary boom body move according to their respective corresponding first motion trajectory parameters, thereby driving the forks to move to the desired position for transporting the target object.

5. The automated handling system according to claim 4, characterized in that, The end of the main boom is rotatably connected to one end of the auxiliary boom. The rotating platform includes a motor, a motor reducer, a gear shaft, a bearing, a shaft end flange, a slewing bearing fixing platform, a slewing bearing, a drive gear, and a main boom fixing platform. The input end of the motor is electrically connected to the main controller, and the output end of the motor is equipped with the motor reducer. The gear shaft is mounted on the motor reducer. The bearing is sleeved on the gear shaft through the shaft end flange. The shaft end flange is mounted on the slewing bearing fixing platform. The slewing bearing is mounted on the slewing bearing fixing platform. The slewing bearing and the drive gear are fitted onto the gear shaft. The gear shaft is connected to the main boom through the main boom fixing platform. The main controller controls the operation of the motor, the second telescopic support mechanism, and the third telescopic support mechanism, so that the gear shaft, the main boom, and the auxiliary boom move according to their respective first motion trajectory parameters, thereby driving the forks to move to the desired position for transporting the target object.

6. The automated handling system according to claim 5, characterized in that, The main arm further includes a first rotating shaft, the auxiliary arm further includes a second rotating shaft, and the transport mechanism further includes a third rotating shaft. One end of the main arm is rotatably connected to the main arm mounting bracket via the first rotating shaft, the auxiliary arm is rotatably connected to the other end of the main arm via the second rotating shaft, and the transport mechanism is rotatably connected to the other end of the auxiliary arm via the third rotating shaft. The main controller determines the first motion trajectory parameters corresponding to the rotating platform, the main arm, the auxiliary arm, and the transport mechanism, respectively, to represent the first motion trajectory parameters to be executed when transporting the target object, according to the following expression. The expression is: in, T Let be the pose transformation matrix of the fork front end positioning point relative to the robot arm's reference coordinate system. n x Let x be the x-axis component of the fork front end coordinate system in the base coordinate system. n y Let x be the component of the y-axis in the coordinate system of the fork front end and the x-axis in the base coordinate system. n z Let z be the z-axis component of the fork tip in the coordinate system and x-axis component in the base coordinate system. P x Let x be the x-axis component in the coordinate system of the fork front end, and y be the y-axis component in the base coordinate system. P y Let y be the component of the y-axis in the coordinate system of the fork front end, and y be the component of the y-axis in the base coordinate system. P z Let z be the z-axis component in the base coordinate system of the coordinate system of the fork front end. a x Let x be the x-axis component of the fork front end coordinate system and z-axis component of the base coordinate system. a y Let be the component of the y-axis in the coordinate system of the fork front end and the z-axis in the base coordinate system. a z Let z be the z-axis component of the fork front end coordinate system in the base coordinate system. I x Let x be the x-component of the coordinate system origin at the front end of the fork in the base coordinate system. I y Let be the y-component of the coordinate system origin at the front end of the fork in the base coordinate system. I z Let z be the z-axis component of the coordinate system origin of the fork front end in the main boom coordinate system. I 2 is the length between the center lines of the two rotation axes of the main arm. I 3 represents the length between the center lines of the two rotation axes of the auxiliary boom. I 4 is the equivalent connecting rod between the end-rotating shaft of the boom and the positioning point at the front end of the fork. d 1 is the length of the line connecting the lower rotating shaft of the main boom and the end rotating shaft of the auxiliary boom. d 2 is the length of the line connecting the lower rotating shaft of the main boom and the positioning point at the front end of the forks. β 1 is a straight line d 2. The angle between the fork's front end positioning point and the vertical line drawn from the ground. β 2 is β The complementary angle of 1, β 3 is the equivalent link I 4 and connecting lines d The line connecting the included angles between 2 and 3. β 4 is a connection. d 1 and connecting lines d The angle between 2, β 5 is a connecting rod I 2 and connecting lines d The angle between 1 and 1 γ Link I 4. The angle between the fork's front end positioning point and the vertical line drawn from the ground. θ 234 for θ 2. θ 3 and θ The sum of 4, θ 1 represents the rotation angle of the rotating platform's link coordinate system relative to the base coordinate system. θ 2 represents the rotation angle of the main boom link coordinate system relative to the rotary platform link coordinate system. θ 3 represents the rotation angle of the secondary boom link coordinate system relative to the main boom link coordinate system. θ 4 represents the rotation angle of the gantry link coordinate system relative to the boom link coordinate system. θ 5 represents the coordinate system of the end fork relative to the connecting rod. I 4. Rotation angle of the coordinate system.

7. The automated handling system according to claim 6, characterized in that, The number of the second telescopic support mechanisms is two, and the end of the execution end of each second telescopic support mechanism is provided with a sleeve that is installed in conjunction with the first rotating shaft; The first rotating shaft is located at a second predetermined position on the main boom body, and each sleeve of the second telescopic support mechanism as the execution end is respectively installed at both ends of the first rotating shaft; the rotating end of each second telescopic support mechanism is respectively installed on the main boom mounting bracket.

8. The automated handling system according to claim 7, characterized in that, The main arm also includes a fourth rotating shaft, the conveying mechanism includes a fifth rotating shaft and a rotating shaft mounting bracket, and the number of the first telescopic support mechanism and the third telescopic support mechanism is one. The end of the execution end of the third telescopic support mechanism is provided with a sleeve that cooperates with the second rotating shaft. The fourth rotating shaft passes through the side wall of the main boom and is located at the fourth set position of the main boom. The input end of the third telescopic support mechanism is sleeved on the fourth rotating shaft and placed inside the main boom. The sleeve of the third telescopic support mechanism as the execution end is sleeved on the second rotating shaft and placed at the third set position of the auxiliary boom. The rotating shaft mounting bracket is installed on the side wall opposite to the second rotating shaft in the auxiliary boom, and the input end of the first telescopic support mechanism is sleeved on the fifth rotating shaft; the execution end of the first telescopic support mechanism is connected to the fork mast.

9. An automated handling platform, characterized in that, The automated handling platform includes the automated handling system, main control unit, and transport vehicle as described in any one of claims 1 to 8; The handling device is mounted on the vehicle body platform; The main control unit is installed on the transport vehicle.

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