A control method of a double-push-out intelligent carrying robot

Abstract

The application relates to a control method of a double-push-out intelligent carrying robot, and the control method comprises the following steps: controlling the sliding shoe assembly to be far away from the ground, controlling the vehicle body to drive to the goods and fork the goods through the fork assembly, so that the goods are separated from the ground; acquiring the total weight M of the goods and the vehicle body and the friction coefficient mu between the sliding shoe assembly and the ground, calculating the maximum static friction force F1 between the sliding shoe assembly and the ground when the shaping push plate driving cylinder is not applied with force, defining the thrust of the shaping push plate driving cylinder as F2; if F1>F2, executing: controlling the sliding shoe assembly to be close to the ground, controlling the shaping push plate driving cylinder to be horizontally pushed out forward with the F2 thrust; if F1<F2, executing: controlling the sliding shoe assembly to be close to the ground, controlling the gantry tilting driving cylinder to drive the gantry to tilt backward, controlling the shaping push plate driving cylinder to be obliquely pushed out upward with the F2 thrust, and leveling the side of the goods close to the shaping push plate; and controlling the vehicle body to drive into the container and lower the goods.

Description

[0001] This application is a divisional application of Chinese patent application No. 202311448775.0, filed on 2023-11-02 and entitled "A dual-extension intelligent handling robot and its control method". Technical Field

[0002] This invention relates to the field of intelligent handling robots, specifically to a control method for a dual-exit intelligent handling robot. Background Technology

[0003] In automated material handling and transportation, materials are loaded into containers from the supply location and unloaded from the containers to the destination, requiring basic handling and loading functions to meet user requirements. Loading and unloading are crucial links in the logistics process, and with the rapid development of modern cargo loading and transportation technologies, more and more users need to achieve rapid loading and transfer of materials.

[0004] During container loading, because the internal space of the container is fixed, if the gap between goods exceeds the preset distance, or if goods (such as bagged sand, cement, rice, etc.) naturally deform and exceed the space above the bottom pallet, the total length of the goods after all are placed inside the container will exceed the total length of the container. The last row will protrude from the container door, preventing the door from closing. Existing technology, to solve this problem, requires shaping the goods. After loading a portion of the goods, the goods exceeding the pallet edge are pushed forward and shaped to ensure they are placed close together. The applicant discovered that when the intelligent handling robot pushes and shapes goods placed on the ground, it lacks sufficient force for heavier goods exceeding the edge, thus failing to shape them, and the robot is also pushed backward.

[0005] The purpose of this invention is to design a control method for a dual-exit intelligent handling robot to address the problems existing in the prior art. Summary of the Invention

[0006] To address the problems existing in the prior art, the present invention provides a control method for a dual-pull intelligent handling robot, which can effectively solve at least one of the problems existing in the prior art.

[0007] The technical solution of this invention is:

[0008] A control method for a dual-exit intelligent handling robot, based on a dual-exit intelligent handling robot, the dual-exit intelligent handling robot comprising:

[0009] Vehicle body;

[0010] A mast, one end of which is hinged to the front end of the vehicle body, the mast including a longitudinal drive mechanism;

[0011] The fork assembly is located at the front end of the mast and is driven by the longitudinal drive mechanism to move up and down.

[0012] The mounting bracket is located at the front end of the mast and is driven by the longitudinal drive mechanism to move up and down together with the fork assembly;

[0013] A plurality of shaping push plates are disposed at the front end of the mounting frame. The shaping push plates are located on the front side of the vertical part of the fork assembly. The mounting frame is provided with a plurality of shaping push plate drive cylinders. The shaping push plate drive cylinders can drive the shaping push plates to move back and forth. After the shaping push plates are pushed out, they can shape the goods picked up by the fork assembly, so that the side of the goods corresponding to the shaping push plates is flat.

[0014] A sliding shoe assembly is located at the bottom of the vehicle body. When the shaping push plate shapes and pushes the goods picked up by the fork assembly, the sliding shoe assembly extends downward to closely contact the ground and generate friction.

[0015] A mast pitch drive cylinder is installed on the vehicle body. The mast pitch drive cylinder can drive the mast to tilt backward or forward around the hinge end between the mast and the vehicle body. The mast pitch drive cylinder can drive the mast to tilt backward together with the fork assembly, the mounting bracket, and the shaping push plate, so that the extension direction of the shaping push plate drive cylinder changes from lateral to backward. This changes the reaction force of the shaping push plate drive cylinder on the vehicle body from lateral to oblique downward. Then, the longitudinal component of the reaction force of the shaping push plate drive cylinder on the vehicle body acts on the slipper assembly, improving the friction of the slipper assembly with the ground.

[0016] The ski shoe assembly includes a ski shoe block that is driven to be in contact with or away from the ground;

[0017] The slipper assembly includes:

[0018] A swing arm, the top end of which is hinged to the bottom end of the vehicle body, and the bottom end of the swing arm is provided with the sliding shoe block;

[0019] A swing rod drive cylinder is fixedly installed at the bottom end of the vehicle body. The telescopic rod of the swing rod drive cylinder drives the swing rod to swing. The swing rod drive cylinder can drive the swing rod towards the ground, thereby driving the sliding shoe block to stick to the ground. The swing rod drive cylinder can also drive the swing rod away from the ground, thereby facilitating the movement of the vehicle body.

[0020] The control method includes the following steps:

[0021] Control the slipper assembly to move away from the ground, control the vehicle body to drive to the cargo and use the fork assembly to pick up the cargo, so that the cargo is lifted off the ground;

[0022] Obtaining the total weight M of the cargo and the vehicle body, and the friction coefficient μ between the slipper assembly and the ground, calculating the maximum static friction force F1 between the slipper assembly and the ground when the shaping push plate driving cylinder does not apply force, and defining the thrust of the shaping push plate driving cylinder as F2;

[0023] If F1>F2, performing the following steps: controlling the slipper assembly to cling to the ground, controlling the shaping push plate driving cylinder to push out horizontally forward with the thrust F2, and flattening the side of the cargo close to the shaping push plate;

[0024] If F1<F2, performing the following steps: controlling the slipper assembly to cling to the ground, controlling the gantry pitch driving cylinder to drive the gantry to tilt backward, controlling the shaping push plate driving cylinder to push out obliquely upward with the thrust F2, and flattening the side of the cargo close to the shaping push plate;

[0025] Controlling the slipper assembly to move away from the ground, and controlling the vehicle body to travel into the container and lower the cargo.

[0026] Further, defining an included angle between the shaping push plate driving cylinder and the vertical direction as θ, and defining the maximum friction angle when the transverse component of F2 equals the friction force of the slipper assembly against the ground when the shaping push plate driving cylinder pushes out obliquely upward with the thrust F2 as

[0027] Controlling the gantry pitch driving cylinder to drive the gantry to tilt backward comprises:

[0028] calculating the maximum friction angle controlling the backward tilting angle θ of the gantry driven by the gantry pitch driving cylinder to be smaller than the maximum friction angle

[0029] Further, according to the maximum friction angle is calculated

[0030] Further, the vehicle body is provided with a driven wheel set and a driving wheel set, both the driven wheel set and the driving wheel set comprise a pair of rotating wheels arranged left and right, the pair of rotating wheels of the driving wheel set can be subjected to differential deviation correction by a driving mechanism in the vehicle body, and the wheel spacing of the driven wheel set is smaller than that of the driving wheel set.

[0031] Further, the middle position of the driven wheel set is hinged to the bottom end of the vehicle body, and the driven wheel set can swing up and down along the hinged position.

[0032] Furthermore, it includes an upper bracket, which is disposed on the top front side of the mounting frame. The upper bracket is parallel to the lateral portion of the fork assembly. Distance sensors are respectively disposed at the left and right ends of the upper bracket. The distance sensors face the left and right sides of the upper bracket to detect the distance between the upper bracket and the inner wall of the container. The distance between the upper bracket and the inner wall of the container is used to correct the vehicle body when it is moving.

[0033] Furthermore, the longitudinal drive mechanism comprises a chain, a chain drive wheel, and a longitudinal drive cylinder. One end of the chain is connected to the bottom end of the mast via a tension sensor, and the other end of the chain is connected to the fork assembly and the mounting bracket. The chain passes around the chain drive wheel, and the longitudinal drive cylinder drives the chain drive wheel to move up and down, thereby driving the end of the chain not connected to the bottom end of the mast to move up and down.

[0034] Therefore, the present invention provides the following effects and / or advantages:

[0035] This application uses a sliding shoe assembly as one of the ejection mechanisms, which allows the sliding shoe assembly to adhere tightly to the ground, generating a certain frictional force F_friction. This frictional force F_friction counteracts the force F_reaction acting on the vehicle body, preventing the vehicle body from slipping. The shaping push plate drive cylinder serves as another ejection mechanism. When the fork assembly, the mounting bracket, the shaping push plate, and the cargo tilt backward together, the reaction force F_reaction of the shaping push plate drive cylinder on the vehicle body changes from lateral to obliquely downward. At this time, according to the parallelogram law of forces, the obliquely downward reaction force F_reaction can be decomposed into lateral and longitudinal components. The lateral component is smaller than the reaction force of the mast pitch drive cylinder on the vehicle body in the lateral state, while the longitudinal component is superimposed on the total weight M of the vehicle body, cargo, etc., increasing the pressure of the sliding shoe assembly on the ground, thereby increasing the frictional force F_friction between the sliding shoe assembly and the ground in this state. Therefore, the reaction force of the shaping push plate drive cylinder on the vehicle body will be less likely to cause the vehicle body to slip.

[0036] The structure provided in this application allows goods to be shaped and lowered into the carriage, and allows palletized materials to extend within 20mm around the pallet.

[0037] This application utilizes the weight of the cargo itself by tilting the fork assembly, the mounting bracket, the shaping push plate, and the cargo together backward. The effect of pushing and shaping in the tilted state is better than that in the horizontal state.

[0038] The method provided in this application allows for different strategies to be adopted for different situations. By controlling the angle θ of the mast tilting drive cylinder to drive the mast to tilt back to be greater than the maximum friction angle, the tilting angle of the mast can be precisely controlled, thereby saving energy, avoiding the vehicle body sliding due to insufficient tilting angle, and also avoiding energy waste due to excessive tilting angle. At the same time, it also avoids greater deformation of the cargo when the tilting angle is too large.

[0039] It should be understood that the above summary and the following detailed description of the invention are exemplary and explanatory, and are intended to provide further explanation of the invention as claimed. Attached Figure Description

[0040] Figure 1 This is a schematic diagram of the structure of an embodiment of the present invention.

[0041] Figure 2 for Figure 1 A structural diagram from another perspective.

[0042] Figure 3 for Figure 1 Another structural diagram from another perspective.

[0043] Figure 4 This is a schematic diagram of the sliding shoe assembly.

[0044] Figure 5 This is a structural schematic diagram of the gantry.

[0045] Figure 6 This is a structural diagram of the fork assembly, mounting bracket, and upper support.

[0046] Figure 7 for Figure 6 A structural diagram from another perspective.

[0047] Figure 8 This is a schematic diagram illustrating the working state and force analysis of the shaping pusher drive cylinder during horizontal extension, according to an embodiment of the present invention.

[0048] Figure 9 This is a schematic diagram illustrating the working state and force analysis of the shaping pusher drive cylinder pushing obliquely upward in an embodiment of the present invention.

[0049] Explanation of reference numerals in the attached drawings: 1. Car body; 2. Mast; 201. Chain; 202. Chain drive wheel; 203. Longitudinal drive cylinder; 204. Car body connecting seat; 205. Tilt connecting seat; 3. Fork assembly; 4. Mounting bracket; 5. Shaping push plate; 501. Shaping push plate drive cylinder; 6. Slipper assembly; 601. Slipper block; 602. Swing rod; 603. Swing rod drive cylinder; 7. Driven wheel assembly; 8. Upper bracket; 9. Distance sensor; 901. Detailed Implementation

[0050] To facilitate understanding by those skilled in the art, the structure of the present invention will now be described in further detail with reference to the accompanying drawings:

[0051] refer to Figure 1-7 A dual-launch intelligent handling robot, comprising:

[0052] Vehicle body 1;

[0053] The mast 2 is hinged at one end to the front end of the vehicle body. The mast 2 includes a longitudinal drive mechanism. Specifically, the longitudinal drive mechanism consists of a chain 201, a chain drive wheel 202, and a longitudinal drive cylinder 203. One end of the chain 201 is connected to the bottom end of the mast 2 via a tension sensor (not shown). The other end of the chain 201 is connected to the fork assembly 3 and the mounting bracket 4. The chain 201 passes around the chain drive wheel 202. The longitudinal drive cylinder 203 drives the chain drive wheel 202 to move up and down, thereby driving the end of the chain 201 that is not connected to the bottom end of the mast 2 to move up and down.

[0054] In this embodiment, the tension sensor is an S-shaped tension sensor. Under different tensions, the tension sensor undergoes a certain deformation, which is then converted into a corresponding weight. In this embodiment, the tension sensor is located at the end of the chain 201. In this embodiment, when the fork assembly 3 is unloaded, the tension data of the tension sensor is the total weight of the fork assembly 3 and the mounting bracket 4. After the fork assembly 3 picks up the goods, the tension data of the tension sensor is the total weight of the fork assembly 3, the mounting bracket 4, and the goods.

[0055] In this embodiment, one end of the chain 201 is fixed to the fixed end of the mast 2, thereby driving the fork assembly 3 and the mounting bracket 4 to lift and lower at a speed of 4 times through the hydraulic cylinder.

[0056] The fork assembly 3 is located at the front end of the mast 2 and is driven by the longitudinal drive mechanism to move up and down.

[0057] In this embodiment, the fork assembly 3 is a direct adoption of the prior art, which includes several forks. The vertical part of the fork is connected to the longitudinal drive mechanism, so that it moves up and down with one end of the longitudinal drive mechanism. The lateral part of the fork is set parallel to the ground, so that when picking up goods, the lateral part of the fork can extend into the tray hole of the bracket at the bottom of the goods.

[0058] Mounting bracket 4 is located at the front end of the mast 2 and is driven by the longitudinal drive mechanism to move up and down together with the fork assembly 3;

[0059] In this embodiment, the mounting frame 4 is a frame structure used to install several shaping push plates 5 and to connect to the gantry 2, which is not limited here.

[0060] A plurality of shaping push plates 5 are disposed at the front end of the mounting frame 4. The shaping push plates 5 are located on the front side of the vertical part of the fork assembly 3. The mounting frame 4 is provided with a plurality of shaping push plate drive cylinders 501. The shaping push plate drive cylinders 501 can drive the shaping push plates 5 to move back and forth. After the shaping push plates 5 are pushed out, they can shape the goods picked up by the fork assembly 3, so that the side of the goods corresponding to the shaping push plates 5 is flat.

[0061] In this embodiment, the shaping push plate 5 is movably disposed at the front end of the mounting frame 4. When the shaping push plate 5 does not need to shape the goods, it is retracted and rests against the front end of the mounting frame 4, providing sufficient space above the fork assembly 3 to pick up the goods. When the shaping push plate 5 needs to shape the goods, the shaping push plate drive cylinder 501 drives the shaping push plate 5 to extend, simultaneously applying a forward fixing force to the shaping push plate 5. This forward pushing motion of the shaping push plate 5 flattens the goods on the side facing the shaping push plate 5. After the goods are placed in the preset position, when the next goods are placed behind them, the flat structure of the rear side of the goods in front allows the following goods to be placed closer to the goods in front.

[0062] The sliding shoe assembly 6 is located at the bottom of the vehicle body 1. When the shaping push plate 5 shapes and pushes the goods picked up by the fork assembly 3, the sliding shoe assembly 6 extends downward to closely contact the ground and generate friction.

[0063] In this embodiment, the sliding shoe assembly 6, which can move up and down, can be lowered and pressed against the ground to generate friction. At the same time, after the sliding shoe assembly 6 is completely lowered, its bottom surface is the same as the bottom surface composed of several wheels of the vehicle body 1, so that it can be supported on the ground.

[0064] like Figure 8 As shown, when the shaping pusher 5 is pushed forward horizontally, it exerts a forward force on the goods, and the goods simultaneously exert a reaction force F on the shaping pusher 5 that is the same in magnitude but opposite in direction to the force exerted. 反 reaction force F 反 The direction is backward, and without the slipper assembly 6, the reaction force F on the shaping push plate 5 is... 反 Acting on the vehicle body 1, in this embodiment, the sliding shoe assembly 6 is used as one of the pushing mechanisms, which allows the sliding shoe assembly 6 to be in close contact with the ground, generating a certain frictional force F with the ground. 摩 The frictional force F 摩 The force F acting on the vehicle body 1 反 The two forces cancel each other out, preventing the vehicle body 1 from slipping.

[0065] Specifically, the ski shoe assembly 6 includes a ski shoe block 601, which is driven to be in contact with or away from the ground.

[0066] In this embodiment, the slipper block 601 can move up and down after being driven by the hydraulic cylinder, or swing up and down due to other structures, as long as it can be close to the ground or away from the ground, it is not limited here.

[0067] The slipper assembly 6 includes:

[0068] A swing arm 602, the top end of which is hinged to the bottom end of the vehicle body 1, and the bottom end of the swing arm 602 is provided with the sliding shoe block 601;

[0069] A swing rod drive cylinder 603 is fixedly installed at the bottom end of the vehicle body 1. The telescopic rod of the swing rod drive cylinder 603 drives the swing rod 602 to swing. The swing rod drive cylinder 603 can drive the swing rod 602 toward the ground, thereby driving the slipper block 601 to stick to the ground. The swing rod drive cylinder 603 can also drive the swing rod 602 away from the ground, thereby facilitating the movement of the vehicle body 1.

[0070] In this embodiment, the cylinder body of the swing rod drive cylinder 603 is fixedly mounted on the vehicle body 1, and the telescopic rod of the swing rod drive cylinder 603 is hinged to the swing rod 602, thereby providing a retractable and swingable structural foundation. When the telescopic rod retracts, the swing rod 602 swings along its top end, thereby swinging downwards towards the ground, causing the sliding shoe block 601 to contact the ground. Furthermore, while the swing rod drive cylinder 603 maintains a certain thrust in the extended state, it can also increase the pressure of the sliding shoe block 601 on the ground, thereby increasing the friction between the sliding shoe block 601 and the ground. However, the maximum pressure of the sliding shoe block 601 on the ground does not exceed the total weight of the cargo, vehicle body 1, fork assembly 3, mounting bracket 4, shaping push plate 5, etc. When the telescopic rod extends, the sliding shoe block 601 is moved away from the ground, which facilitates the movement of the vehicle body.

[0071] A mast pitch drive cylinder (not shown) is installed on the vehicle body 1. The mast pitch drive cylinder can drive the mast 2 to tilt backward or forward around the hinge end between the mast 2 and the vehicle body 1. The mast pitch drive cylinder can drive the mast 2 to tilt the fork assembly 3, the mounting bracket 4, and the shaping push plate 5 backward together, so that the extension direction of the shaping push plate drive cylinder changes from lateral to backward. This changes the reaction force of the shaping push plate drive cylinder 501 on the vehicle body 1 from lateral to oblique downward. Then, the longitudinal component of the reaction force of the shaping push plate drive cylinder 501 on the vehicle body 1 is used to act on the slipper assembly 6, thereby increasing the friction of the slipper assembly 6 with the ground.

[0072] like Figure 8As shown, the mast 2 is provided with a vehicle body connecting seat 204 and a tilt connecting seat 205. The vehicle body connecting seat 204 is hinged to the vehicle body 1. The vehicle body 1 is provided with a mast tilt drive cylinder. The extension and retraction direction of the mast tilt drive cylinder is the front-to-back direction. The piston cylinder of the mast tilt drive cylinder is hinged to the tilt connecting seat 205, thereby driving the mast 2 to tilt forward or backward, and in turn driving the fork assembly 3, the mounting bracket 4, the shaping push plate 5, and the cargo to tilt backward together.

[0073] like Figure 9 As shown, the shaping pusher cylinder 501 serves as another ejection mechanism. When the fork assembly 3, the mounting bracket 4, the shaping pusher 5, and the cargo tilt backward together, the reaction force F of the shaping pusher cylinder 501 on the vehicle body 1... 反 The force changes from horizontal to diagonally downward. At this point, according to the parallelogram law of forces, the diagonally downward reaction force F... 反 It can be decomposed into lateral and longitudinal components. At this time, the lateral component is less than the reaction force of the mast pitch drive cylinder on the vehicle body 1 in the lateral state. The longitudinal component is superimposed on the total weight M of the vehicle body 1, cargo, etc., which increases the pressure of the skid assembly 6 on the ground, thereby increasing the friction F between the skid assembly 6 and the ground in this state. 摩 At this point, the reaction force of the shaping push plate drive cylinder 501 on the vehicle body 1 will make it difficult for the vehicle body 1 to slip.

[0074] Furthermore, the vehicle body is equipped with a driven wheel set 8 and a driving wheel set 7. Both the driven wheel set 8 and the driving wheel set 7 include a pair of rotating wheels arranged horizontally. The pair of rotating wheels of the driving wheel set 7 can be differentially corrected by a drive mechanism within the vehicle body 1. The wheel spacing of the driven wheel set 8 is smaller than that of the driving wheel set 7. Additionally, the driven wheel set 8 is hinged to the bottom end of the vehicle body 1 at its middle position, and the driven wheel set 8 can swing up and down along the hinged position.

[0075] like Figure 3 As shown, in the prior art, the driven wheel set 8 is fixed and the distance between them is relatively wide. When the drive wheel performs differential control correction, it is actually moving by overcoming the friction of the rear driven wheel set 8. In this embodiment, when the distance between the rear driven wheels is reduced and they can float up and down, the friction will be reduced accordingly. The friction that needs to be overcome when the front drive differential control correction is smaller, making it easier to correct the attitude of the vehicle body 1, so that the attitude of the vehicle body 1 always remains relatively parallel to the carriage, accurately and smoothly delivering the goods into the container and overcoming the problem of greater difficulty in correction in the previous technology.

[0076] Furthermore, an upper bracket 9 is provided at the top front side of the mounting frame 4. The upper bracket 9 is parallel to the lateral portion of the fork assembly 3. Distance sensors 901 are respectively provided at the left and right ends of the upper bracket 9. The distance sensors 901 face the left and right sides of the upper bracket 9 to detect the distance between the upper bracket 9 and the inner wall of the container. The distance between the upper bracket 9 and the inner wall of the container is used to correct the deviation of the vehicle body 1 when it is moving.

[0077] In this embodiment, an upper bracket 9 is installed above the fork assembly 3, and an ultrasonic sensor is installed on the side of the upper bracket 9 as a distance sensor 901. Compared with the previous technology, the ultrasonic detection position is further forward, and the distance between the two ultrasonic sensors on the front and rear sides of the vehicle body 1 is more accurate for the correction control of the vehicle body 1.

[0078] The structure provided in this embodiment can completely and smoothly transport materials from two pallets into the container for placement. The shaping pusher 5 provided in the vehicle body 1 of this invention can push and shape the rear end face of the material, so that the front and rear edge overhang of each pallet is within 20mm. When the pushing force is too large, the sliding shoe assembly 6 at the bottom of the vehicle body 1 can increase the friction between the vehicle body 1 and the floor of the container, ensuring that the vehicle body 1 will not slide backward when the shaping pusher 5 is in operation, and the pushing force is more applied to the material, solving the problem of the material not being tightly arranged in the container, the last row exceeding the container, and the door not being able to close.

[0079] Furthermore, a control method for a dual-exit intelligent handling robot is provided, based on the aforementioned dual-exit intelligent handling robot, comprising the following steps:

[0080] S1, control the slipper assembly 6 to move away from the ground, control the vehicle body 1 to drive to the cargo and pick up the cargo through the fork assembly 3, so that the cargo is lifted off the ground;

[0081] S2, obtain the total weight M of the cargo and the vehicle body 1, and the coefficient of friction μ between the slipper assembly 6 and the ground, calculate the maximum static friction force F1 between the slipper assembly 6 and the ground when the shaping push plate drive cylinder is not applied, and define the thrust of the shaping push plate drive cylinder as F2.

[0082] In this step, the total weight M of the cargo and the vehicle body 1 can be obtained by adding the data from the tension sensor to the pre-stored weight data of the vehicle body 1. The coefficient of friction μ between the skid assembly 6 and the ground can be pre-stored in the control system.

[0083] F1=M·μ, when the reaction force of the shaping push plate driving cylinder on the vehicle body 1 in the horizontal state is less than the maximum static friction force F1, the reaction force will not cause the vehicle body 1 to slide backward. In this embodiment, F2 may be a fixedly set thrust, for example, a thrust of 5 tons. In this embodiment, the maximum static friction force F1 is related to the weight of the cargo. When the weight of the cargo is small, the thrust of the shaping push plate driving cylinder 501 is more likely to push and shape the cargo; when the weight of the cargo is large, the thrust of the shaping push plate driving cylinder 501 is less likely to push and shape the cargo, and the increase in static friction provided by the cargo is far less than the reaction force of the cargo on the shaping push plate driving cylinder.

[0084] S3, if F1>F2, perform the following steps: controlling the slipper assembly 6 to cling to the ground, controlling the shaping push plate driving cylinder 501 to push out horizontally forward with a thrust F2 to level the side of the cargo close to the shaping push plate;

[0085] In this step, since F1>F2, the reaction force will not cause the vehicle body 1 to slide backward, so it is only necessary to control the slipper assembly 6 to cling to the ground and control the shaping push plate driving cylinder 501 to push out horizontally forward with the thrust F2.

[0086] S4, if F1<F2, perform the following steps: controlling the slipper assembly 6 to cling to the ground, controlling the gantry pitching driving cylinder to drive the gantry 2 to pitch backward, and controlling the shaping push plate driving cylinder 501 to push out obliquely upward with a thrust F2 to level the side of the cargo close to the shaping push plate 5;

[0087] In this embodiment, the thrust F2 is fixed. According to the above, if the calculated F1<F2, it is necessary to make the slipper assembly 6 cling to the ground and control the shaping push plate driving cylinder 501 to tilt upward to cooperate with each other, so as to change the thrust F2 to be obliquely upward and the reaction force to be obliquely downward. At this time, the horizontal component of the reaction force is reduced compared with that when the shaping push plate driving cylinder is in the horizontal state, and the vertical component is superimposed with the total weight M composed of the vehicle body 1, the cargo and the like, which increases the pressure of the slipper assembly 6 on the ground, thereby increasing the friction force F between the slipper assembly 6 and the ground in this state 摩 . At this time, the vehicle body 1 presents a self-locking state, and the reaction force of the shaping push plate driving cylinder 501 on the vehicle body 1 will hardly cause the vehicle body 1 to slide.

[0088] S5, controlling the slipper assembly 6 to move away from the ground, and controlling the vehicle body 1 to travel into the container and lower the cargo.

[0089] Further, defining the included angle between the shaping push plate driving cylinder 501 and the vertical direction as θ, and defining the maximum friction angle when the horizontal component of F2 is equal to the friction force of the slipper assembly 6 on the ground when the shaping push plate driving cylinder 501 pushes out obliquely upward with the thrust F2 as

[0090] Controlling the gantry pitch drive cylinder to drive the gantry to tilt backward includes:

[0091] Calculate the maximum friction angle The angle θ by which the gantry pitch drive cylinder drives the gantry 2 to pitch backward is less than the maximum friction angle.

[0092] Furthermore, according to The maximum friction angle was calculated.

[0093] In this embodiment, by means of... Figure 9 The force analysis shown can be used to obtain the following results: At that time, the reaction force F of the upward thrust F2 is... 反 The lateral component is exactly equal to the frictional force F. 摩 The angle θ by which the gantry pitch drive cylinder drives the gantry 2 to pitch backward is greater than the maximum friction angle. The angle of the mast 2 tilting backward can be precisely controlled, thereby saving energy, avoiding the vehicle body 1 from sliding due to insufficient tilting angle, and also avoiding energy waste due to excessive tilting angle. At the same time, it can also prevent the cargo from tilting backward and causing greater deformation when the tilting angle is too large.

[0094] It should be noted that any reference signs placed between parentheses in the claims should not be construed as limiting the claims. The word "comprising" does not exclude the presence of components or steps not listed in the claims. The word "a" or "an" preceding a component does not exclude the presence of a plurality of such components. The invention can be implemented by means of hardware comprising several different components and by means of a suitably programmed computer. In a unit claim enumerating several means, several of these means may be embodied by the same item of hardware. The use of the words first, second, and third, etc., does not indicate any order. These words can be interpreted as names.

[0095] Although preferred embodiments of the invention have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including both the preferred embodiments and all changes and modifications falling within the scope of the invention.

[0096] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0097] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms should not be construed as necessarily referring to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

Claims

1. A control method for a dual-extension intelligent handling robot, characterized in that: Based on a dual-launch intelligent handling robot, the dual-launch intelligent handling robot includes: Vehicle body; A mast, one end of which is hinged to the front end of the vehicle body, the mast including a longitudinal drive mechanism; The fork assembly is located at the front end of the mast and is driven by the longitudinal drive mechanism to move up and down. The mounting bracket is located at the front end of the mast and is driven by the longitudinal drive mechanism to move up and down together with the fork assembly; A plurality of shaping push plates are disposed at the front end of the mounting frame. The shaping push plates are located on the front side of the vertical part of the fork assembly. The mounting frame is provided with a plurality of shaping push plate drive cylinders. The shaping push plate drive cylinders can drive the shaping push plates to move back and forth. After the shaping push plates are pushed out, they can shape the goods picked up by the fork assembly, so that the side of the goods corresponding to the shaping push plates is flat. A sliding shoe assembly is located at the bottom of the vehicle body. When the shaping push plate shapes and pushes the goods picked up by the fork assembly, the sliding shoe assembly extends downward to closely contact the ground and generate friction. A mast pitch drive cylinder is installed on the vehicle body. The mast pitch drive cylinder can drive the mast to tilt backward or forward around the hinge end between the mast and the vehicle body. The mast pitch drive cylinder can drive the mast to tilt backward together with the fork assembly, the mounting bracket, and the shaping push plate, so that the extension direction of the shaping push plate drive cylinder changes from lateral to backward. This changes the reaction force of the shaping push plate drive cylinder on the vehicle body from lateral to oblique downward. Then, the longitudinal component of the reaction force of the shaping push plate drive cylinder on the vehicle body acts on the slipper assembly, improving the friction of the slipper assembly with the ground. The ski shoe assembly includes a ski shoe block that is driven to be in contact with or away from the ground; The slipper assembly includes: A swing arm, the top end of which is hinged to the bottom end of the vehicle body, and the bottom end of the swing arm is provided with the sliding shoe block; A swing rod drive cylinder is fixedly installed at the bottom end of the vehicle body. The telescopic rod of the swing rod drive cylinder drives the swing rod to swing. The swing rod drive cylinder can drive the swing rod towards the ground, thereby driving the sliding shoe block to stick to the ground. The swing rod drive cylinder can also drive the swing rod away from the ground, thereby facilitating the movement of the vehicle body. The control method includes the following steps: Control the slipper assembly to move away from the ground, control the vehicle body to drive to the cargo and use the fork assembly to pick up the cargo, so that the cargo is lifted off the ground; Obtain the total weight M of the cargo and the vehicle body, and the coefficient of friction μ between the slipper assembly and the ground. Calculate the maximum static friction force F1 between the slipper assembly and the ground when the shaping push plate drive cylinder is not applied. Define the thrust of the shaping push plate drive cylinder as F2. If F1>F2, execute: control the slipper assembly to be in close contact with the ground, control the shaping push plate drive cylinder to push the goods horizontally forward with F2 thrust, and flatten the side of the goods close to the shaping push plate; If F1<F2, perform the following steps: controlling the sliding shoe assembly to be closely attached to the ground, controlling the gantry pitching drive cylinder to drive the gantry to tilt backward, and controlling the shaping push plate drive cylinder to push out obliquely upward with a thrust of F2, so as to level the side of the goods close to the shaping push plate; controlling the sliding shoe assembly to move away from the ground, controlling the vehicle body to travel into the container and lower the goods.

2. The control method for a dual-exit intelligent handling robot according to claim 1, characterized in that: Define the angle between the shaping pusher cylinder and the vertical direction as θ, and define the maximum friction angle as the maximum friction angle when the shaping pusher cylinder tilts upward and pushes out with force F2, such that the lateral component of F2 is equal to the frictional force of the slipper assembly on the ground. controlling the gantry pitching drive cylinder to drive the gantry to tilt backward comprises: Calculate the maximum friction angle The angle θ by which the gantry pitch drive cylinder drives the gantry to pitch backward is less than the maximum friction angle.

3. The control method for a dual-exit intelligent handling robot according to claim 2, characterized in that: according to The maximum friction angle was calculated.

4. The control method for a dual-exit intelligent handling robot according to claim 1, characterized in that: the vehicle body is provided with a driven wheel set and a driving wheel set, both the driven wheel set and the driving wheel set comprise a pair of rotating wheels arranged left and right, the pair of rotating wheels of the driving wheel set can be subjected to differential deviation correction by a driving mechanism in the vehicle body, and the wheel spacing of the driven wheel set is smaller than that of the driving wheel set.

5. The control method for a dual-extension intelligent handling robot according to claim 4, characterized in that: the middle position of the driven wheel set is hinged to the bottom end of the vehicle body, and the driven wheel set can swing up and down along the hinged position.

6. The control method for a dual-extension intelligent handling robot according to claim 1, characterized in that: comprising an upper bracket arranged on the front side of the top end of the mounting frame, the upper bracket is parallel to the transverse portion of the fork assembly, distance sensors are respectively arranged at the left and right ends of the upper bracket, the distance sensors respectively face the left and right sides of the upper bracket to detect the distance between the upper bracket and the inner wall of the container, and the distance between the upper bracket and the inner wall of the container is used for deviation correction when the vehicle body travels.

7. The control method for a dual-extension intelligent handling robot according to claim 1, characterized in that: the longitudinal driving mechanism comprises a chain, a chain transmission wheel and a longitudinal driving cylinder, one end of the chain is connected to the bottom end of the gantry through a tension sensor, the other end of the chain is connected to the fork assembly and the mounting frame, the chain bypasses the chain transmission wheel, and the longitudinal driving cylinder drives the chain transmission wheel to move up and down so as to drive the end of the chain not connected to the bottom end of the gantry to move up and down.

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