Modular Heavy-duty Mobile Equipment for Intelligent Workshop and Its Loading Control Method

Abstract

The present invention discloses a modular heavy-duty mobile device for an intelligent workshop, which includes a movable operating manipulator, shock-absorbing obstacle-crossing universal wheels, center-of-gravity adjustable universal wheels, a parallelogram shock-absorbing drive device, a vehicle body frame, and a control system for motion control, data acquisition, analysis and calculation, human-machine interaction, and emergency event handling. Among them, the movable operating manipulator is fixed on the upper part of the vehicle body frame, the shock-absorbing obstacle-crossing universal wheels are fixed on the front end of the lower part of the vehicle body frame, the parallelogram shock-absorbing drive device is fixed in the middle section of the lower part of the vehicle body frame to float and absorb shock in the vertical direction, and the center-of-gravity adjustable universal wheels are fixed at the rear of the lower part of the vehicle body frame to adjust the vehicle body attitude to ensure the stability of the vehicle body. The present invention also discloses a loading control method for the device.

Description

Technical Field

[0001] The present invention belongs to the field of intelligent equipment, and particularly relates to a modular heavy-load mobile device for an intelligent workshop and a loading control method thereof. Background Art

[0002] During the operation of a heavy-load mobile device, it is necessary to ensure the stability of its own structure. The shock absorption effect of the heavy-load mobile device depends on the shock absorption floating structure, which mainly includes a driving wheel shock absorption structure and a universal wheel shock absorption structure. Currently, the traditional driving wheel shock absorption structures include: hinged swing type, vertical guide rail type, scissor type, swing bridge type and quadrilateral type. Among them, the shock absorption spring stiffness of the hinged swing type shock absorption mechanism will continuously decrease with the increase of its service time, resulting in the change of the driving wheel position with the increase of working time, affecting the turning accuracy of the heavy-load mobile device and causing motion distortion. The guide column of the vertical guide rail type shock absorption mechanism is stuck due to torsion, affecting the shock absorption effect of the heavy-load mobile device. The structure of the scissor type shock absorption mechanism is complex, resulting in large friction and poor shock absorption. The swing bridge type shock absorption structure is not suitable for the situation of poor road conditions. When the quadrilateral type shock absorption structure works, it overcomes the axial friction between the driving wheel and the working ground to expand the axial wheelbase to achieve the shock absorption effect. Because the friction coefficient between the driving wheel and the working ground is large, the shock absorption effect will be affected.

[0003] The wheel diameter of the universal wheel of the auxiliary wheel shock absorption structure assembled on the heavy-load mobile device is small, and the shock absorption floating range is small, thus affecting the obstacle-crossing ability of the heavy-load mobile device. At the same time, when the heavy-load mobile device carries heavy objects, the heavy-load mobile device will have different spring floating amounts of the universal wheels and the driving wheels due to uneven distribution of the heavy objects, changing the centroid position of the heavy-load mobile device, affecting the operation accuracy of the heavy-load mobile device and causing slipping. In addition, some heavy-load mobile devices are installed with functions related to the expansion of the robotic arm, but the working range of the robotic arm is limited by the size of the robotic arm itself, and its working radius is restricted to a certain extent.

[0004] CN201910669962.9 discloses an invention of an AGV shock absorption mechanism, which relates to an AGV traveling mechanism and a shock absorption mechanism, including an AGV traveling mechanism and a shock absorption mechanism. This device realizes the relative independence of the traveling structure and the shock absorption mechanism, but does not well solve the problem that the shock absorption structure gets stuck due to torsion during the shock absorption process of the driving wheel. CN202120781491.3 discloses an AGV shock absorption driving module, including a driving wheel, a driving device, a shock absorption device and a connecting device. This device ensures good contact between the driving wheel and the ground, but this device does not solve the problem that the coaxiality between the driving wheels is affected by the attenuation of the shock absorption spring stiffness over working time, resulting in slipping. CN201710442338.6 discloses an AGV shock absorption driving assembly, including a frame, a power device and a shock absorber. This device well solves the shock absorption problem of the driving wheel, but does not well solve the problems of the influence of the inertia of the driving motor on the shock absorption effect and the sticking of the shock absorption structure due to torsion during the shock absorption process of the driving wheel. CN201820638693.0 discloses a universal wheel, a shock absorption structure and an intelligent warehousing robot, including a fixed component, a steering component, a traveling component and a secondary shock absorption structure. This device ensures the smoothness and softness of the universal wheel during operation, but the universal wheel of this device is not suitable for complex road conditions. Summary of the Invention

[0005] The technical problem to be solved by the present invention is to provide a modular heavy-duty mobile device for an intelligent workshop that reduces the requirements for road conditions of the equipment and operates smoothly and reliably.

[0006] To solve the above technical problems, the technical solution adopted by the present invention is: a modular heavy-duty mobile device for an intelligent workshop, including a movable operating manipulator, a shock absorption and obstacle-crossing universal wheel, a center-of-gravity adjustable universal wheel, a parallelogram shock absorption driving device and a vehicle body frame, as well as a control system for motion control, data acquisition, analysis and calculation, human-computer interaction and emergency event handling; wherein, the movable operating manipulator is fixed on the upper part of the vehicle body frame, the shock absorption and obstacle-crossing universal wheel is fixed at the front end of the lower part of the vehicle body frame, the parallelogram shock absorption driving device is fixed in the middle section of the lower part of the vehicle body frame to perform floating shock absorption in the vertical direction, and the center-of-gravity adjustable universal wheel is fixed at the rear of the lower part of the vehicle body frame to adjust the vehicle body attitude to ensure the stability of the vehicle body;

[0007] The upper support plate of the shock absorption driving device is fixed on the vehicle body frame. A pair of shock absorption dampers are respectively hinged on both sides of the lower part of the upper support plate. The lower ends of the two shock absorption dampers are fixed to a bearing seat. A cylindrical bearing is arranged in the bearing seat. The inner ring of the cylindrical bearing is provided with a transmission shaft. One end of the inner side of the transmission shaft is connected to a speed reducer, and the speed reducer is connected to a driving motor. The driving motor and the speed reducer are fixed in a driving installation module. The other end of the transmission shaft is connected to a driving wheel;

[0008] Two sets of suspension components are arranged in parallel inside each pair of shock dampers at the lower part of the upper support plate. The suspension components include a pair of shock arms hinged to the lower part of the upper support plate. The two ends of the shock arms are respectively hinged to both ends of the moving shaft. Two box-type linear bearings are sleeved on the moving shaft. The box-type linear bearings are fixed to the motor mounting plate. The lower parts of all the motor mounting plates of each set of suspension components are connected to the drive mounting module on this side. The bearing seat is connected to the drive mounting module;

[0009] The drive motor of the movable operating manipulator is fixed to the vehicle body frame through the motor mounting plate. Both ends of the roller screw are respectively connected to the roller screw mounting seat and the roller screw mounting seat. The roller screw is connected to the drive motor through a coupling. The manipulator mounting platform is connected to the screw slider on the roller screw. The lower part of the manipulator mounting platform is connected to the moving slider. The moving slider moves on the slide rail fixed to the vehicle body frame. The operating manipulator is fixed to the manipulator mounting platform;

[0010] The shock-absorbing obstacle-crossing universal wheel includes an inverted L-shaped universal wheel shock-absorbing mounting seat connected to the vehicle body frame. The lower end of the universal wheel shock-absorbing mounting seat is connected to the top of the universal wheel carrier. The connecting flange is fixed to the upper part of the universal wheel carrier. The upper side end of the universal wheel shock-absorbing mounting seat is hinged to the universal wheel connecting arm. One end of the universal wheel support arm is hinged to the connecting flange. The other end of the universal wheel support arm is hinged to the end of the universal wheel connecting arm. One end of the shock damper is hinged to the universal wheel connecting arm near the universal wheel support arm. The other end of the shock damper is hinged to the bending part of the universal wheel shock-absorbing mounting seat; The connecting flange is used to connect the universal wheel carrier and the universal wheel base, so that the universal wheel base rotates in the axial direction of the connecting flange. The middle part of the load-bearing beam is hinged to the universal wheel base. Both ends of the shock damper are respectively hinged to the universal wheel mounting base and the load-bearing beam. The included angle between the shock damper and the vertical direction in the free state is 30 degrees. A pair of polyurethane wheels are connected to the universal wheel shaft passing through the load-bearing beam through bearings;

[0011] When the hinge point where the upper side end of the universal wheel shock-absorbing mounting seat is hinged to the universal wheel connecting arm is denoted as point A, the hinge point where the other end of the universal wheel support arm is hinged to the end of the universal wheel connecting arm is denoted as point B, one end of the universal wheel support arm is hinged to the connecting flange, and this hinge point is denoted as point C, the hinge point where the lower end of the universal wheel shock-absorbing mounting seat is hinged to the top of the universal wheel carrier is denoted as point D, and the other end of the shock damper is hinged to the bending part of the universal wheel shock-absorbing mounting seat, and this hinge point is denoted as point E; And taking point D as the origin and ED as the y-axis to establish a coordinate system;

[0012] Denote the maximum height of the obstacle as h. When the transport equipment crosses the obstacle, the compression amount generated by the shock damper is x. When the obstacle-crossing height is h, the length specification of the shock damper satisfies the following relational set:

[0013]

[0014] x B = a 0 cosα + a 1 cosθ 1

[0015] y B = a 0 sinα - a 1 sinθ 1

[0016]

[0017] h = a 0 cosθ 3 ;

[0018] In the above relational expressions: a 0 is the distance between point D and point A; a 1 is the length of rod BA; a 2 is the length of rod BC;

[0019] a 3 is the length of rod DC; θ 3 is the angle between rod DC and the horizontal x-axis;

[0020] θ 2 is the angle between rod BC and the horizontal x-axis; θ 1 is the supplementary angle of the angle between rod BA and the horizontal x-axis;

[0021] α is the angle between the straight line DA and the horizontal x-axis.

[0022] As a preferred solution, the gravity adjustable universal wheel includes a jack cover fixed on the vehicle body frame. The jack cover is hinged to a pair of parallel force arms. The driving motor is fixed on the vehicle body frame through a motor mounting plate. The end of the driving motor is connected to the lead screw through a coupling. The lead screw is provided with two threads with opposite helix directions and a lead screw slider is provided on each of them. The end of one force arm and the end of the other force arm are both hinged to the lead screw slider. The other end of the second force arm is hinged to the universal wheel base. The connecting flange is fixed on the universal wheel base. The universal wheel mounting base is fixed on the connecting flange. One end of a pair of spring shock dampers is fixed on the universal wheel mounting base, and the other end of the spring shock damper is connected to the bearing beam. The universal wheel shaft is connected to the bearing beam. A pair of polyurethane wheels are fixed on the universal wheel shaft through bearings.

[0023] As a preferred solution, the roller screw mounting seat is fixed on the vehicle body frame through a cushion block. The roller screw mounting seat is fixed on the vehicle body frame through a cushion block.

[0024] The beneficial effect of this solution is:

[0025] (1) The installation platform of this equipment helps the speed reducer and the driving motor to actively move vertically along with the driving wheel, avoiding damage to the bearing mounting seat of the speed reduction part caused by the inertia during the shock absorption and floating process of the heavier speed reducer and driving motor. At the same time, the installation platform has a horizontal movement structure to avoid the horizontal force acting on the shock absorber during the shock absorption process of the driving wheel.

[0026] (2) The shock absorption driving device of this equipment ensures that the driving wheel floats vertically, remains parallel to the ground, ensures the contact area between the driving wheel and the ground, avoids the driving wheel from slipping, ensures the coaxiality between the driving wheel sets, and avoids slipping.

[0027] The shock absorption and obstacle - crossing universal wheel of this equipment, through the connecting rod and the spring - damping mechanism, overcomes the deficiency of the obstacle - crossing ability of the ordinary auxiliary wheel, enabling this shock absorption and obstacle - crossing universal wheel to cross obstacles larger than the wheel diameter of the auxiliary wheel, improving the obstacle - crossing ability of the shock absorption and obstacle - crossing universal wheel, and reducing the requirements for the ground of the auxiliary wheel.

[0028] (3) The auxiliary wheel with adjustable center of gravity of this equipment obtains the body center - of - gravity coordinates of the heavy - load mobile equipment through the gravity sensor, controls the driving motor to adjust the lead screw to control the body attitude, reduces the tipping moment generated by the heavy object on the heavy - load mobile equipment, and prevents the heavy - load mobile equipment from tipping over.

[0029] Another technical problem to be solved by the present invention is: to provide a loading control method for a modular heavy - load mobile equipment for an intelligent workshop that reduces the requirements for road conditions of the equipment and operates stably and reliably.

[0030] To solve the above - mentioned technical problems, the technical solution adopted by the present invention is: a control method for a modular heavy - load mobile equipment for an intelligent workshop as described in any one of the above, including the following steps:

[0031] Step 1: The driving motor rotates, drives the lead screw to rotate through the coupling, so that the roller - screw installation platform moves, driving the manipulator to move;

[0032] Step 2: When the manipulator grabs the goods, the system controls the manipulator to grab at the position closest to the vehicle body frame and where the goods can be lifted. At the same time, calculate the distance d between the center of gravity of the goods and the center of the driving wheel through the extension state of the manipulator. During the grabbing process, detect the force Z used to grab the goods. If the goods have not been grabbed yet and Z * d > M' / k is satisfied, where M' is the tipping moment that the transport equipment can withstand and k is the safety factor, it is determined that the load is overweight, the grabbing operation is abandoned, and an alarm is given; if the goods are successfully grabbed, then obtain the weight m of the goods through the force Z for grabbing the goods 1 , and place the goods on the vehicle body frame;

[0033] Step 3: Before the heavy-duty transportation equipment transports heavy goods, calculate the horizontal distance L2 between the center of gravity of the goods and Wheel II, which is the shock-absorbing and obstacle-crossing universal wheel. L2 = (F * d 2 - M * H2) / m 1 ;

[0034] In the formula: F is the support force provided by the ground for the adjustable center-of-gravity universal wheel, measured by the pressure sensor installed between the connecting flange and the universal wheel mounting base; d 2 is the horizontal distance between the shock-absorbing and obstacle-crossing universal wheel and the adjustable center-of-gravity universal wheel; M is the total mass of the transportation equipment, and H2 is the horizontal distance from the center of gravity of the transportation equipment to the shock-absorbing and obstacle-crossing universal wheel;

[0035] H2 = (S1 - S2 * tanα) cosα; α is the inclination angle of the vehicle body frame; S1 is the vertical distance between the center of gravity of the transportation equipment and the hinge plane of the adjustable center-of-gravity universal wheel on the lower part of the vehicle body frame; S2 is the distance from the perpendicular line of the center of gravity of the transportation equipment perpendicular to the hinge plane of the adjustable center-of-gravity universal wheel on the lower part of the vehicle body frame to the hinge point of the adjustable center-of-gravity universal wheel;

[0036] And determine whether the following condition is satisfied: L2 < d 2 , if not satisfied, further check whether the formula (1) is satisfied:

[0037] K * m 1 * L1 < M * H1 (1);

[0038] In the formula: K is the safety factor, and its value range is 1.2 - 1.5; L1 is the horizontal distance between the center of gravity of the goods and the adjustable center-of-gravity universal wheel, L1 = L2 - d 2 ; H1 is the horizontal distance between the center of gravity of the transportation equipment and the adjustable center-of-gravity universal wheel, H1 = d 2 - H2;

[0039] If still not satisfied, adjust the height of the adjustable universal wheel until the formula (1) holds.

[0040] The beneficial effects of this solution are:

[0041] This control method for the modular heavy-duty mobile equipment for the intelligent workshop will not cause rollover due to overweight when grabbing goods, ensuring the use safety of the equipment and the safety of the goods, and when carrying heavy goods, the adjustable center-of-gravity universal wheel adjusts the height to ensure the stability of the heavy-duty transportation equipment. Brief Description of the Drawings

[0042] Figure 1 is the three-dimensional structure schematic diagram of the present invention

[0043] Figure 2 is the front view structure schematic diagram of the present invention

[0044] Figure 3 It is a side view structural schematic diagram of the present invention

[0045] Figure 4 This is a schematic diagram of the front view of the movable operating manipulator of the present invention.

[0046] Figure 5 This is a schematic diagram of the main view of the shock-absorbing obstacle-crossing auxiliary wheel of the present invention.

[0047] Figure 6 yes Figure 5 Schematic diagram of the cross section of the AA surface

[0048] Figure 7 Schematic diagram of the adjustable center of gravity auxiliary wheel of the present invention

[0049] Figure 8 yes Figure 7 Schematic diagram of the cross-sectional structure of the middle BB surface

[0050] Figure 9 Schematic diagram of the vibration reduction drive device of the present invention without the drive wheel

[0051] Figure 10 yes Figure 9 Schematic diagram of the cross-section of the CC surface

[0052] Figure 11 Schematic side view of the damping drive device of the present invention

[0053] Figure 12 This is the torque analysis diagram of the movable operating manipulator of the present invention

[0054] Figure 13 This is a schematic diagram of the principle of the shock-absorbing obstacle training wheel.

[0055] Figure 14 This is the principle diagram of motion analysis of shock-absorbing obstacle-crossing auxiliary wheels

[0056] Figure 15 This is a schematic diagram of the principle of the adjustable center of gravity auxiliary wheel

[0057] Figures 1 - 15 middle:

[0058] 1-mobile manipulator, 2-shock-absorbing obstacle-crossing universal wheel, 3-adjustable center of gravity universal wheel, 4-parallelogram shock-absorbing drive device, 5-body frame, 6-control system;

[0059] 101-slide rail, 102-pad, 103-roller screw mounting seat, 104-roller screw, 105-mounting platform, 106-operating manipulator, 107-roller screw mounting seat, 108-pad, 109-coupling 110-motor mounting plate, 111-drive motor, 112-moving slider manipulator, 113-mounting platform

[0060] 201 - Universal wheel carrier, 202 - Universal wheel support arm, 203 - Universal wheel connecting arm, 204 - Universal wheel shock absorber mounting seat, 205 - Shock absorber damper, 206 - Connecting flange, 207 - Connecting flange, 208 - Universal base, 209 - Shock absorber damper, 210 - Load-bearing beam, 211 - Polyurethane wheel, 212 - Universal wheel shaft, 213 - Bearing

[0061] 301 - Polyurethane wheel, 302 - Spring shock absorber damper, 303 - Connecting flange, 304 - Universal wheel base, 305 - Lever two, 306 - Lead screw, 307 - Lead screw bearing, 308 - Lever one, 309 - Jack cover, 310 - Driving motor, 311 - Motor mounting plate, 312 - Coupling, 313 - Universal wheel mounting base, 314 - Load-bearing beam, 315 - Universal wheel shaft, 316 - Bearing

[0062] 401 - Motor mounting plate, 402 - Driving installation module, 403 - Moving shaft, 404 - Shock absorber arm, 405 - Upper support plate, 406 - Shock absorber damper, 407 - Driving wheel, 408 - Bearing seat, 409 - Bearing, 410 - Driving motor, 411 - Reducer, 412 - Fixed flange, 413 - Bearing cover base, 414 - Cylindrical bearing, 415 - Transmission shaft, 416 - Box-type linear bearing Detailed implementation manners

[0063] The following will describe in detail the specific implementation schemes of the present invention in conjunction with the accompanying drawings.

[0064] As Figures 1 - 3 shown, a heavy-duty collaborative loading and transportation device includes: a movable operation manipulator 1, a shock-absorbing obstacle-crossing universal wheel 2, a center-of-gravity adjustable universal wheel 3, a parallelogram shock-absorbing driving device 4, a vehicle body frame 5, and a control system 6 for motion control, data analysis and calculation, human-computer interaction, and emergency event handling; wherein, the movable operation manipulator 1 is fixed on the upper part of the vehicle body frame 5, the shock-absorbing obstacle-crossing universal wheel 2 is fixed at the front end of the lower part of the vehicle body frame 5, the parallelogram shock-absorbing driving device 3 is fixed at the middle section of the lower part of the vehicle body frame 5 to perform floating shock absorption in the vertical direction, and the center-of-gravity adjustable universal wheel 4 is fixed at the rear of the lower part of the vehicle body frame 5 to adjust the vehicle body attitude to ensure the vehicle body stability;

[0065] As Figure 4As shown in the figure, the drive motor 111 of the movable operating manipulator 1 is fixed on the vehicle body frame 5 through the motor mounting plate 110. Both ends of the roller screw 104 are respectively connected to the roller screw mounting seat 103 and the roller screw mounting seat 107. The roller screw mounting seat 103 is fixed on the vehicle body frame 5 through the spacer 108, and the roller screw mounting seat 107 is fixed on the vehicle body frame 5 through the spacer 102. The roller screw 104 is connected to the drive motor 111 through the coupling 109. The manipulator mounting platform 113 is connected to the screw slider 105 on the roller screw. A moving slider 112 is connected to the lower part of the manipulator mounting platform 113. The moving slider 112 moves on the slide rail 101 fixed on the vehicle body frame 5. The operating manipulator 106 is fixed on the manipulator mounting platform 113;

[0066] As Figures 5 - 6 shown, the shock-absorbing obstacle-crossing universal wheel 2 includes an inverted L-shaped universal wheel shock-absorbing mounting seat 204 connected to the vehicle body frame 5. The lower end of the universal wheel shock-absorbing mounting seat 204 is hinged to the top of the universal wheel carrier 201. The connecting flange 206 is fixed to the upper part of the universal wheel carrier 201. The upper side end of the universal wheel shock-absorbing mounting seat 204 is hinged to the universal wheel connecting arm 203. One end of the universal wheel support arm 202 is hinged to the connecting flange 206, and the other end of the universal wheel support arm 202 is hinged to the end of the universal wheel connecting arm 203. One end of the shock-absorbing damper 205 is hinged to the universal wheel connecting arm 203 near the universal wheel support arm 202, and the other end of the shock-absorbing damper 205 is hinged to the bent part of the universal wheel shock-absorbing mounting seat 204; The connecting flange 207 is used to connect the universal wheel carrier 201 and the universal base 208, so that the universal wheel base 208 rotates in the axial direction of the connecting flange 207. The middle part of the bearing beam 210 is hinged to the universal wheel base 208. Both ends of the shock-absorbing damper 209 are respectively hinged to the universal wheel mounting base 208 and the bearing beam 210. The included angle between the shock-absorbing damper 209 and the vertical direction in the free state is 30 degrees. A pair of polyurethane wheels 211 are connected to the universal wheel shaft 212 passing through the bearing beam 210 through the bearings 213.

[0067] As Figures 7 - 8As shown in the figure, the gravity center adjustable universal wheel 3 includes a jack cover 309 fixed on the vehicle body frame 5. The jack cover 309 is hinged to a pair of juxtaposed first force arms 308. The driving motor 310 is fixed on the vehicle body frame 5 through a motor mounting plate 311. The end of the driving motor 310 is connected to a lead screw 306 through a coupling 312. The lead screw 306 is provided with two threads with opposite helix directions and each is provided with a lead screw slider 307. The ends of the first force arms 308 and the ends of the second force arms 305 are both hinged to the lead screw sliders 307. The other end of the second force arm 305 is hinged to a universal wheel base 304. A connecting flange 303 is fixed on the universal wheel base 304. A universal wheel mounting base 313 is fixed on the connecting flange 303. One end of a pair of spring shock dampers 302 is fixed on the universal wheel mounting base 313. The other end of the spring shock dampers 302 is connected to a bearing beam 314. A universal wheel shaft 315 is connected to the bearing beam 314. A pair of polyurethane wheels 301 are fixed on the universal wheel shaft 315 through bearings 316.

[0068] As Figures 9 - 11 As shown in the figure, the upper support plate 405 of the shock absorption driving device 4 is fixed on the vehicle body frame 5. A pair of shock dampers 406 are respectively hinged on both sides of the lower part of the upper support plate 405. The lower ends of the two shock dampers 406 are fixed to a bearing seat 408. A cylindrical bearing 414 is arranged in the bearing seat 408. The inner ring of the cylindrical bearing 414 is provided with a transmission shaft 415. One end of the inner side of the transmission shaft 415 is connected to a speed reducer 411. The speed reducer 411 is connected to the driving motor 410. The driving motor 410 and the speed reducer 411 are fixed in a driving installation module 402. The other end of the transmission shaft 415 is connected to a driving wheel 407 through a bearing 409; two groups of suspension components are juxtaposed on the inner side of each pair of shock dampers 406 at the lower part of the upper support plate 405. The suspension components include a pair of shock arms 404 hinged to the lower part of the upper support plate 405. The ends of the two shock arms 404 are respectively hinged to both ends of a moving shaft 403. Two box-type linear bearings 416 are sleeved on the moving shaft 403. The box-type linear bearings 416 are fixed to a motor mounting plate 401. The lower parts of all the motor mounting plates 401 of each group of suspension components are connected to the driving installation module 402 on this side. The bearing seat 408 is connected to the driving installation module 402; a bearing cover base 413 is arranged at the lower part of the bearing base 408.

[0069] The hinge point where the upper end of the caster shock absorber mount 204 is hinged to the caster connecting arm 203 is denoted as point A. The hinge point where the other end of the caster support arm 202 is hinged to the end of the caster connecting arm 203 is denoted as point B. One end of the caster support arm 202 is hinged to the connecting flange 206, and this hinge point is denoted as point C. The hinge point where the lower end of the caster shock absorber mount 204 is hinged to the top of the caster carrier 201 is denoted as point D. The other end of the shock damper 205 is hinged at the bent part of the caster shock absorber mount 204, and this hinge point is denoted as point E. Taking point D as the origin and ED as the y-axis, a coordinate system is established; as Figure 14 shown;

[0070] Let the maximum height of the obstacle be h. When the transportation equipment crosses the obstacle, the compression amount generated by the shock damper 205 is x. When the obstacle-crossing height is h, the length specifications of the shock damper 205 satisfy the following set of relational expressions:

[0071]

[0072] x B = a 0 cosα + a 1 cosθ 1

[0073] y B = a 0 sinα - a 1 sinθ 1

[0074]

[0075] h = a 0 cosθ 3 ;

[0076] In the above relational expressions: a 0 is the distance between point D and point A; a 1 is the length of the rod BA; a 2 is the length of the rod BC;

[0077] a 3 is the length of the rod DC; θ 3 is the angle between the rod DC and the horizontal x-axis;

[0078] θ 2 is the angle between the rod BC and the horizontal x-axis; θ 1 is the supplementary angle of the angle between the rod BA and the horizontal x-axis;

[0079] α is the angle between the straight line DA and the horizontal x-axis.

[0080] When the height of the obstacle is greater than the wheel diameter of the polyurethane wheel 211, the polyurethane wheel 211 is transformed from a rolling state to a rotating state at this time. The universal wheel carrier 201 rotates around the hinge axis on the universal wheel shock-absorbing mounting seat 204, and the polyurethane wheel 211 will be raised to a height h exceeding the height of the obstacle. At this time, the shock-absorbing damper 205 generates a compression amount x, enabling the transport equipment to cross the obstacle.

[0081] For the modular heavy-load mobile device of the present invention, the shock-absorbing principle of the parallelogram drive device 4 is as follows:

[0082] Step 1: When the drive wheel 407 encounters an obstacle, the obstacle will exert an upward force on the drive wheel 407, driving the bearing seat 408 to move upward. The shock-absorbing damper 406 is compressed, driving the box-type linear bearing 416 to move upward, causing the shock-absorbing arm 404 to rotate under the drive of the box-type linear bearing 416 and the moving shaft 403, driving the drive mounting module 402 to move upward. As a result, the drive motor 410 and the speed reducer 411 also move upward accordingly, and the drive wheel 407 then follows the drive mounting module 402 to deflect obliquely upward to bypass the obstacle;

[0083] Step 2: When encountering a "concave" ground, the drive wheel 407 loses support, and the shock spring damper 406 is stretched by the gravity of the drive wheel 407. The shock-absorbing arm 404 rotates under the drive of the moving shaft 403. At this time, the moving shaft 403 moves downward, thereby causing the drive wheel 407 to move downward to ensure the contact area between the drive wheel and the ground.

[0084] The loading control method of the modular heavy-load mobile device for an intelligent workshop as described above includes the following steps:

[0085] Step 1: The drive motor 111 rotates, drives the lead screw 104 to rotate through the coupling 109, thereby causing the roller screw mounting platform 105 to move and driving the manipulator 106 to move;

[0086] Step 2: When the manipulator 106 grabs the goods, the system controls the manipulator to grab at the position closest to the vehicle body frame 5 and where the goods can be lifted. At the same time, the distance d between the center of gravity of the goods and the center of the drive wheel 416 is calculated through the extended state of the manipulator. During the grabbing process, the force Z used to grab the goods is detected. If the goods have not been lifted yet and Z*d > M' / k is satisfied, where M' is the tipping moment that the transport equipment can withstand and k is the safety factor, it is determined that the load is overweight, the grabbing operation is abandoned, and an alarm is given; if the goods are successfully grabbed, the weight m of the goods is obtained through the force Z for grabbing the goods 1 , and the goods are placed on the vehicle body frame 5;

[0087] Step 3: Before the heavy-load transport equipment transports heavy goods, the horizontal distance L2 between the center of gravity of the goods and the wheel ΙΙ, that is, the shock-absorbing obstacle-crossing universal wheel 2, is calculated. L2 = (F*d2 -(M * H2) / m 1 ;

[0088] Where: F is the supporting force provided by the ground for the adjustable center of gravity universal wheel 3, measured by a pressure sensor installed between the connecting flange 303 and the universal wheel mounting base 313; d 2 is the horizontal distance between wheel II, i.e., the shock-absorbing obstacle-crossing universal wheel 2, and wheel I, i.e., the adjustable center of gravity universal wheel 3; M is the total mass of the transportation equipment, and H2 is the horizontal distance from the center of gravity of the transportation equipment to wheel II;

[0089] H2 = (S1 - S2 * tanα) cosα; α is the inclination angle of the vehicle body frame; S1 is the vertical distance from the center of gravity of the transportation equipment to the hinged plane of the adjustable center of gravity universal wheel 3 on the lower part of the vehicle body frame 5; S2 is the distance from the perpendicular line of the center of gravity of the transportation equipment perpendicular to the hinged plane of the adjustable center of gravity universal wheel 3 on the lower part of the vehicle body frame 5 to the hinge point of the adjustable center of gravity universal wheel 3;

[0090] And determine whether the following condition is satisfied: L2 < d 2 , if not satisfied, then further check whether the formula (1) is satisfied:

[0091] K * m 1 * L1 < M * H1 (1);

[0092] Where: K is the safety factor, and its value range is 1.2 - 1.5, which is determined according to the road surface conditions; L1 is the horizontal distance between the center of gravity of the goods and wheel I, i.e., the adjustable center of gravity universal wheel 3, and L1 = L2 - d 2 ; H1 is the horizontal distance between the center of gravity of the transportation equipment and wheel I, i.e., the adjustable center of gravity universal wheel 3, and H1 = d 2 - H2;

[0093] If still not satisfied, then adjust the height of the adjustable universal wheel 3 until the formula (1) holds.

[0094] The specific operation of adjusting the height is as follows: The drive motor 310 of the center of gravity adjustable universal wheel 3 drives the lead screw 306 to rotate through the coupling 312, so that the two lead screw sliders 307 approach each other, driving the two force arms I 308 and the two force arms II 305 to approach each other. The angles between the force arm I 308 and the force arm II 305 and the vertical direction decrease, thereby increasing the height of the heavy-duty transportation equipment.

[0095] The above embodiments only illustrate the principle and efficacy of the present invention creatively, as well as some applied embodiments, rather than limiting the present invention; it should be noted that for those of ordinary skill in the art, without departing from the creative concept of the present invention, several modifications and improvements can still be made, and these all belong to the protection scope of the present invention.

Claims

1. A modular heavy-duty mobile device for an intelligent workshop, characterized in that : it includes a movable operating manipulator, shock-absorbing obstacle-crossing universal wheels, center-of-gravity adjustable universal wheels, a parallelogram shock-absorbing drive device, a vehicle body frame, and a control system for motion control, data acquisition, analysis and calculation, human-machine interaction, and emergency event handling; among them, the movable operating manipulator is fixed on the upper part of the vehicle body frame, the shock-absorbing obstacle-crossing universal wheels are fixed at the front end of the lower part of the vehicle body frame, the parallelogram shock-absorbing drive device is fixed in the middle section of the lower part of the vehicle body frame to float and shock-absorb in the vertical direction, and the center-of-gravity adjustable universal wheels are fixed at the rear of the lower part of the vehicle body frame to adjust the vehicle body posture to ensure the vehicle body stability; The upper support plate of the shock-absorbing drive device is fixed on the vehicle body frame. A pair of shock-absorbing dampers are respectively hinged on both sides of the lower part of the upper support plate. The lower ends of the two shock-absorbing dampers are fixed to the bearing seat. A cylindrical bearing is arranged in the bearing seat. A transmission shaft is arranged on the inner ring of the cylindrical bearing. One end of the inner side of the transmission shaft is connected to the reducer. The reducer is connected to the drive motor. The drive motor and the reducer are fixed in the drive installation module. The other end of the transmission shaft is connected to the drive wheel; On the lower part of the upper support plate, two sets of suspension components are arranged in parallel on the inner side of each pair of shock-absorbing dampers. The suspension component includes a pair of shock-absorbing arms hinged to the lower part of the upper support plate. The two ends of the shock-absorbing arms are respectively hinged to both ends of the moving shaft. Two box-type linear bearings are sleeved on the moving shaft. The box-type linear bearings are fixed to the motor mounting plate. The lower parts of all the motor mounting plates of each set of suspension components are connected to the drive installation module on this side, and the bearing seat is connected to the drive installation module; The drive motor of the movable operating manipulator is fixed on the vehicle body frame through the motor mounting plate. Both ends of the roller screw are respectively connected to the roller screw mounting seat and the roller screw mounting seat. The roller screw is connected to the drive motor through a coupling. The manipulator mounting platform is connected to the screw slider on the roller screw. A moving slider is connected to the lower part of the manipulator mounting platform. The moving slider moves on the slide rail fixed on the vehicle body frame. The operating manipulator is fixed on the manipulator mounting platform; The shock-absorbing obstacle-crossing universal wheel includes an inverted L-shaped universal wheel shock-absorbing mounting seat connected to the vehicle body frame. The lower end of the universal wheel shock-absorbing mounting seat is hinged to the top of the universal wheel carrier. The connecting flange is fixed to the upper part of the universal wheel carrier. The upper side end of the universal wheel shock-absorbing mounting seat is hinged to the universal wheel connecting arm. One end of the universal wheel support arm is hinged to the connecting flange. The other end of the universal wheel support arm is hinged to the end of the universal wheel connecting arm. One end of the shock-absorbing damper is hinged to the universal wheel connecting arm near the universal wheel support arm. The other end of the shock-absorbing damper is hinged to the bending part of the universal wheel shock-absorbing mounting seat; The connecting flange is used to connect the universal wheel carrier and the universal base, so that the universal wheel base rotates in the axial direction of the connecting flange. The middle part of the bearing beam is hinged to the universal wheel base. Both ends of the shock-absorbing damper are respectively hinged to the universal wheel mounting base and the bearing beam. The included angle between the shock-absorbing damper and the vertical direction in the free state is 30 degrees. A pair of polyurethane wheels are connected to the universal wheel shaft passing through the bearing beam through bearings; When the hinge point where the upper end of the caster shock absorber mounting seat is hinged to the caster connecting arm is denoted as point A, the hinge point where the other end of the caster support arm is hinged to the end of the caster connecting arm is denoted as point B, one end of the caster support arm is hinged to the connecting flange, and this hinge point is denoted as point C, and the hinge point where the lower end of the caster shock absorber mounting seat is hinged to the top of the caster carrier is denoted as point D, and the other end of the shock absorber damper is hinged to the bent part of the caster shock absorber mounting seat, and this hinge point is denoted as point E; and taking point D as the origin and ED as the y-axis to establish a coordinate system; Denote the maximum height of the obstacle as h, the compression amount generated by the shock absorber damper when the transport equipment crosses the obstacle as x, and when the obstacle-crossing height is h, the length specifications of the shock absorber damper satisfy the following set of relational expressions: x B = a 0 cosα + a 1 cosθ 1 y B = a 0 sinα - a 1 sinθ 1 h = a 0 cosθ 3 ; In the above relational expressions: a 0 is the distance between point D and point A; a 1 is the length of rod BA; a 2 is the length of rod BC; a 3 is the length of the rod DC; θ 3 is the angle between the rod DC and the horizontal x-axis; θ 2 is the angle between member BC and the horizontal x-axis; θ 1 is the supplementary angle of the angle between member BA and the horizontal x-axis; α is the angle between the straight line DA and the horizontal x-axis.

2. A modular heavy-duty mobile device for an intelligent workshop as described in claim 1, characterized in that : The center-of-gravity adjustable caster includes a jack cover fixed on the fixed vehicle body frame. The jack cover is hinged to a pair of parallel force arms I. The driving motor is fixed on the vehicle body frame through a motor mounting plate. The end of the driving motor is connected to the lead screw through a coupling. The lead screw is provided with two threads with opposite helix directions and each is provided with a lead screw slider. One end of the force arm is hinged to the other end of the force arm II on the lead screw slider. The other end of the force arm II is hinged to the caster base. The connecting flange is fixed on the caster base. The caster mounting base is fixed on the connecting flange. One end of a pair of spring shock absorbers is fixed on the caster mounting base, and the other end of the spring shock absorber is connected to the load-bearing beam. The caster shaft is connected to the load-bearing beam. A pair of polyurethane wheels are fixed on the caster shaft through bearings.

3. A modular heavy-duty mobile device for an intelligent workshop as described in claim 2, characterized in that : The roller screw mounting seat is fixed on the vehicle body frame through a cushion block. The roller screw mounting seat is fixed on the vehicle body frame through a cushion block.

4. A loading control method for a modular heavy-duty mobile device for an intelligent workshop as described in any one of claims 1-3, comprising the following steps: Step 1: The driving motor rotates, drives the lead screw to rotate through the coupling, so that the roller screw mounting platform moves, driving the manipulator to move; Step 2: When the manipulator grabs the goods, the system controls the manipulator to grab the goods at the position closest to the vehicle body frame and where the goods can be lifted. At the same time, the distance d between the center of gravity of the goods and the center of the driving wheel is calculated through the extension state of the manipulator. During the grabbing process, the force Z used to grab the goods is detected. If the goods have not been lifted yet and Z*d > M’ / k is satisfied, where M’ is the tipping moment that the transport equipment can withstand and k is the safety factor, it is determined that the weight is overweight, the grabbing operation is abandoned, and an alarm is given; if the goods are successfully grabbed, the weight m of the goods is obtained through the force Z for grabbing the goods 1 , and place the goods on the vehicle body frame; Step 3: Before the heavy-haul transportation equipment transports heavy goods, calculate the horizontal distance L2 between the center of gravity of the goods and Wheel II, which is the shock-absorbing and obstacle-crossing universal wheel. L2 = (F * d 2 - M * H2) / m 1 ; Where: F is the supporting force provided by the ground for the adjustable center-of-gravity universal wheel, which is measured by a pressure sensor installed between the connecting flange and the universal wheel mounting base; d 2 is the horizontal distance between the shock-absorbing obstacle-crossing universal wheel and the adjustable center-of-gravity universal wheel; M is the total mass of the transportation equipment, and H2 is the horizontal distance from the center of gravity of the transportation equipment to the shock-absorbing obstacle-crossing universal wheel; H2 = (S1 - S2 * tanα) cosα; α is the inclination angle of the vehicle body frame; S1 is the vertical distance between the center of gravity of the transport equipment and the hinged plane of the center-of-gravity adjustable caster on the lower part of the vehicle body frame; S2 is the distance from the perpendicular line of the center of gravity of the transport equipment perpendicular to the hinged plane of the center-of-gravity adjustable caster on the lower part of the vehicle body frame to the hinge point of the center-of-gravity adjustable caster; and determine whether the following condition is met: L2 < d 2 , if not, further check whether the formula (1) is satisfied: K*m 1 *L1 < M*H1 (1); Where: K is the safety factor, and its value range is 1.2 - 1.5; L1 is the horizontal distance between the center of gravity of the goods and the adjustable center-of-gravity universal wheel, and L1 = L2 - d 2 ; H1 is the horizontal distance between the center of gravity of the transportation equipment and the adjustable center-of-gravity universal wheel, and H1 = d 2 -H2; If it still does not meet the requirements, adjust the height of the adjustable caster until the formula (1) holds.

Images