A mobile robot and a multi-machine cooperative carrying system thereof

Abstract

The application discloses a mobile robot and a multi-machine cooperation carrying system thereof, and belongs to the field of robots.The mobile robot comprises a carrying table, a moving body, a supporting mechanism, a driving device, a universal wheel and a common wheel module, the carrying table and the moving body are connected through the supporting mechanism, the universal wheel and the common wheel module are arranged on two sides of the moving body, the common wheel module comprises a common wheel, a connecting piece and a connecting block, the connecting block is used for connecting the common wheel and the connecting piece, the connecting piece is used for connecting the connecting block and the moving body, a fixing device is arranged in the moving body, the fixing device comprises a rotating base, a first lifting disc, a guide rod and a second lifting disc, the top end of the rotating base is connected with the bottom end of the supporting mechanism, and the first lifting disc and the second lifting disc are connected through the guide rod.The mobile robot has the advantages that the loading object can be completed in a labor-saving manner.

Description

Technical Field

[0001] This invention relates to the field of robotics, and more particularly to a mobile robot and its multi-robot collaborative handling system. Background Technology

[0002] Mobile robots are widely used in logistics systems, typically to lift and move goods.

[0003] In existing multi-robot collaborative transport systems, when transporting large items, a more efficient method than directly lifting the item and placing it on the robot platform is to tilt the object from the side, then have the mobile robots sequentially enter the part of the object that is off the ground until they are completely under the item and lift it up. However, current mobile robots suffer from unstable contact between the platform and the object's bottom surface due to the limited degrees of freedom of the platform. This can easily cause the object to fall off the platform, and the mobile robot may also slip during this process, preventing the object from being smoothly pushed onto the platform. Furthermore, when multiple mobile robots are transporting objects collaboratively, if a protrusion on the road causes one or more robots to be lifted, some robots may lose contact with the object. Losing contact can cause the robots to deviate from their tracks, lose support, and potentially cause the object to become unstable and fall. Therefore, it is essential to design a mobile robot and its multi-robot collaborative transport system that can overcome these problems to some extent. Summary of the Invention

[0004] The purpose of this invention is to provide a mobile robot and its multi-robot collaborative handling system to solve at least one of the aforementioned problems in the prior art.

[0005] This invention discloses a mobile robot, which includes: a platform, a mobile body, a support mechanism, a drive device, omnidirectional wheels and ordinary wheel modules, wherein the platform and the mobile body are connected by the support mechanism;

[0006] The omnidirectional wheel and the ordinary wheel module are disposed on both sides of the mobile body. The ordinary wheel module includes an ordinary wheel, a connector and a connecting block. The connecting block is used to connect the ordinary wheel and the connector, and the connector is used to connect the connecting block and the mobile body.

[0007] The movable body is equipped with a fixing device, which includes a rotating base, a first lifting plate, a guide rod, and a second lifting plate. The top end of the rotating base is connected to the bottom end of the support mechanism. The first lifting plate and the second lifting plate are connected through the guide rod. The first lifting plate can lock the rotating base.

[0008] Furthermore, the support mechanism includes a universal joint and three tension springs, which are connected vertically to the platform and the rotating base. The three tension springs are evenly distributed around the universal joint and on the edge portion of the platform.

[0009] Furthermore, there are four guide rods that are evenly distributed on the edge portions of the first lifting plate and the second lifting plate.

[0010] Furthermore, the driving device includes a first stepper motor, a second stepper motor, a first lead screw stepper motor, a second lead rod stepper motor, and a cylindrical roller. The first stepper motor is disposed on the side of the movable body near the universal wheel, the second stepper motor is disposed on the ordinary wheel module, the first lead rod stepper motor is disposed between the first lifting plate and the second lifting plate, and the second lead rod stepper motor is fixed to the bottom of the movable body and connected to the ordinary wheel module through the cylindrical roller.

[0011] Furthermore, when the first lead screw stepper motor is operating, the lead screw on the first lead screw stepper motor moves linearly in the vertical direction, while simultaneously pushing the first lifting plate and the second lifting plate.

[0012] Furthermore, when the second lead screw stepper motor is operating, the lead screw on the second lead screw stepper motor moves linearly in the horizontal direction, while pushing the cylindrical roller, and the cylindrical roller pushes or pulls the ordinary wheel module.

[0013] Furthermore, the mobile body also includes a first passive wheel and a second passive wheel, which are disposed between the ordinary wheel module and the omnidirectional wheel, and at the bottom end of the mobile body.

[0014] Furthermore, both the first passive wheel and the second passive wheel are spherical rollers.

[0015] Furthermore, an Aruco code and a camera are provided on the side of the mobile body near the ordinary wheel.

[0016] The present invention also provides a multi-robot collaborative handling system, the system comprising three mobile robots, the three mobile robots being disposed at the bottom of the object to be handled, and the three mobile robots being any one of the mobile robots described above.

[0017] At the same time, the present invention also has at least one of the following technical effects:

[0018] 1. The mobile robot has a certain mechanism to assist in tilting and pushing objects, and then the robot enters the bottom of the object to load it, so as to complete the loading of the object in a labor-saving way. During this process, the mobile robot will not slip between itself and the bottom of the object or between itself and the ground.

[0019] 2. When moving and transporting objects, the mobile robots can ensure that even if the direction of movement of the queue of mobile robots is not consistent, the overall transport effect will not be affected, and at the same time, they can always maintain contact with the bottom surface of the object during the transport process.

[0020] 3. The platforms of the three mobile robots can always maintain contact with the bottom surface of the object, and by properly positioning the mobile robots under the object, the center of gravity of the object is always kept within the support area of ​​the mobile robots.

[0021] 4. Three mobile robots and the object being transported form an omnidirectional mobile platform. Each mobile robot acts as an omnidirectional drive wheel. Due to its lateral sliding degree of freedom, it can counteract the resistance caused by the inconsistent forward direction of the mobile robots. Attached Figure Description

[0022] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0023] Figure 1 This is a schematic diagram of the structure of a mobile robot according to an embodiment of the present invention;

[0024] Figure 2 This is a schematic diagram of the structure of a fixing device for a mobile robot according to an embodiment of the present invention;

[0025] Figure 3 This is a cross-sectional view of a mobile robot according to an embodiment of the present invention;

[0026] Figure 4 yes Figure 1 An enlarged view of the interior of part A in the image;

[0027] Figure 5 yes Figure 1 Another enlarged view of the interior of part A;

[0028] Figure 6 This is a schematic diagram of the structure of a mobile robot with its fixing device and a first lead screw stepper motor connected, according to an embodiment of the present invention.

[0029] Figure 7 This is a side view schematic diagram of a mobile robot according to an embodiment of the present invention;

[0030] Figure 8 This is a schematic diagram of a multi-machine collaborative handling system for mobile robots according to an embodiment of the present invention. Detailed Implementation

[0031] In the following description, specific details such as particular system architectures and techniques are set forth for illustrative purposes and not for limitation, in order to provide a thorough understanding of the embodiments of the invention. However, those skilled in the art will understand that the invention can be implemented in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, apparatuses, circuits, and methods are omitted so as not to obscure the description of the invention with unnecessary detail.

[0032] It should be understood that, when used in this specification and the appended claims, the term "comprising" indicates the presence of the described features, integrals, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components and / or collections thereof.

[0033] It should also be understood that the term “and / or” as used in this specification and the appended claims refers to any combination of one or more of the associated listed items and all possible combinations, and includes such combinations.

[0034] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0035] 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, an electrical connection, or a connection that allows communication between them; 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, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0036] Furthermore, in the description of this invention and the appended claims, the terms "first," "second," "third," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0037] References to "one embodiment" or "some embodiments" as described in this specification mean that one or more embodiments of the invention include a specific feature, structure, or characteristic described in connection with that embodiment. Therefore, the phrases "in one embodiment," "in some embodiments," "in other embodiments," "in still other embodiments," etc., appearing in different parts of this specification do not necessarily refer to the same embodiment, but rather mean "one or more, but not all, embodiments," unless otherwise specifically emphasized. The terms "comprising," "including," "having," and variations thereof mean "including but not limited to," unless otherwise specifically emphasized.

[0038] like Figures 1-7 The mobile robot according to the present invention includes: a platform 1, a mobile body 2, a support mechanism 3, a drive device 4, omnidirectional wheels 5 and a regular wheel module 6, wherein the platform 1 and the mobile body 2 are connected by the support mechanism 3;

[0039] The omnidirectional wheel 5 and the ordinary wheel module 6 are disposed on both sides of the mobile body 2. The ordinary wheel module 6 includes an ordinary wheel 61, a connector 62 and a connecting block 63. The connecting block 63 is used to connect the ordinary wheel 61 and the connector 62, and the connector 62 is used to connect the connecting block 63 and the mobile body 2.

[0040] The movable body 2 is provided with a fixing device 21, which includes a rotating base 211, a first lifting plate 212, a guide rod 213, and a second lifting plate 214. The top end of the rotating base 211 is connected to the bottom end of the support mechanism 3. The first lifting plate 212 and the second lifting plate 214 are connected by the guide rod 213. The first lifting plate 212 can lock the rotating base 211.

[0041] Preferably, connector 62 is a hinge.

[0042] In some embodiments, the support mechanism 3 includes a universal joint 31 and three tension springs 32. The universal joint 31 and the three tension springs 32 are connected to the platform 1 and the rotating base 211 in a vertical direction. The three tension springs 32 are evenly distributed around the universal joint 31 and on the edge portion of the platform 1.

[0043] In this embodiment, such as Figure 1 and Figure 7As shown, the universal joint 31 consists of two orthogonal rotation axes on a horizontal plane, which can rotate under the action of external forces, thus maintaining a passive rotational degree of freedom in the horizontal direction. When an object is loaded onto the platform 1, both the universal joint 31 and the tension spring 32 tilt under the action of the object's weight, allowing the handler to load the object onto the platform 1 from the tilted direction with less effort. During this process, the surface of the platform 1 remains in close contact with the bottom surface of the object, preventing slippage between the two.

[0044] In some embodiments, the guide rods 213 are four in number and evenly distributed on the edge portions of the first lifting plate 212 and the second lifting plate 214.

[0045] In this embodiment, such as Figure 2 As shown, the best force distribution effect can be obtained when the four guide rods 213 are evenly distributed on the edge portions of the first lifting plate 212 and the second lifting plate 214. The first lifting plate 212 and the second lifting plate 214 can move up and down more easily, and no more guide rods are needed to save materials.

[0046] In some embodiments, the drive device 4 includes a first stepper motor 41, a second stepper motor 42, a first lead screw stepper motor 43, a second lead screw stepper motor 44, and a cylindrical roller 45. The first stepper motor 41 is disposed inside the movable body 2 on the side near the universal wheel 5. The second stepper motor 42 is disposed on the ordinary wheel module 6. The first lead screw stepper motor 43 is disposed between the first lifting plate 212 and the second lifting plate 214. The second lead screw stepper motor 44 is fixed to the bottom of the movable body 2 and connected to the ordinary wheel module 6 through the cylindrical roller 45.

[0047] Specifically, when the first lead screw stepper motor 43 is operating, the lead screw on the first lead screw stepper motor 43 moves linearly in the vertical direction, while simultaneously pushing the first lifting plate 212 and the second lifting plate 214.

[0048] Specifically, when the second lead screw stepper motor 44 is operating, the lead screw on the second lead screw stepper motor 44 moves linearly in the horizontal direction, while pushing the cylindrical roller 45. The cylindrical roller 45 pushes or pulls the ordinary wheel module 6.

[0049] In this embodiment, such as Figure 4 , Figure 5 and Figure 6As shown, the first stepper motor 41 and the second stepper motor 42 are used to drive the omnidirectional wheel 5 and the ordinary wheel 61 forward, respectively. The first lead screw stepper motor 43 and the second lead screw stepper motor 44 both include a stepper motor and a lead screw. The first lead screw stepper motor 43 is located between the first lifting plate 212 and the second lifting plate 214, and its lead screw is connected to the second lifting plate 214. When the first lead screw stepper motor 43 is running, it can drive the first lifting plate 212 and the second lifting plate 214 to rise and fall.

[0050] During the process of loading an object onto the platform 1, the first lead screw stepper motor 43 drives the first lifting plate 212 and the second lifting plate 214 to descend. When the second lifting plate 214 descends to the ground, it increases the contact area between the robot and the ground, improves the friction, and keeps the robot in place, making it easier for the transporter to load the object onto the platform 1. After the mobile robot has finished loading the object, during the movement process, the first lead screw stepper motor 43 drives the first lifting plate 212 and the second lifting plate 214 to rise, so that the first lifting plate 212 locks the rotating base 211. The mobile robot can maintain relative stillness with the object in the horizontal direction and perform the moving and transporting task.

[0051] The second lead screw stepper motor 44 drives its lead screw to push the cylindrical roller 45. Since the cylindrical roller 45 is connected to the connecting block 63 on the ordinary wheel module 6, and the connecting block 63 is connected to the mobile body 2 through the connecting piece 62, the cylindrical roller 45 can push or pull the ordinary wheel module 6 when it rolls. When the mobile robot performs multi-machine cooperative movement and transport of objects, it can lift the ordinary wheel module 6 to enable the mobile robot to obtain the lateral free sliding degree, and together with other mobile robots, it becomes the active omnidirectional wheel of the "object-robot system".

[0052] In some embodiments, the mobile body 2 further includes a first passive wheel 22 and a second passive wheel 23, which are disposed between the ordinary wheel module 6 and the omnidirectional wheel 5, and at the bottom end of the mobile body 2. Specifically, both the first passive wheel 22 and the second passive wheel 23 are spherical rollers.

[0053] In this embodiment, such as Figure 7 As shown, the first passive wheel 22 and the second passive wheel 23 enable the mobile robot to achieve better balance. When the two passive wheels are spherical rollers, the mobile robot has a degree of freedom to slide in any direction. Furthermore, after the ordinary wheel 61 is lifted, it can assist in supporting the mobile robot and, in conjunction with the omnidirectional wheel 5, allow it to slide in any direction.

[0054] In some embodiments, the mobile body 2 is provided with an Aruco code and a camera on the side near the ordinary wheel 61.

[0055] In this embodiment, such as Figure 7 As shown, two Aruco codes and a camera are arranged on the side of the mobile body 2 near the ordinary wheel 61. The two Aruco codes are respectively located at the front and rear ends of the mobile body 2, and the camera is located at the front end of the mobile body 2. After being calibrated using a CharUco checkerboard, when the mobile robot performs multi-robot collaborative movement and object handling, the camera can identify the posture of each corresponding ArUco code and the distance from the center of the code to the camera, so as to perform collaborative handling activities more accurately.

[0056] This invention also provides a multi-robot collaborative handling system, the system comprising three mobile robots, which are positioned at the bottom of the object to be handled, and the three mobile robots are any one of the mobile robots described above.

[0057] In this embodiment, such as Figure 8 As shown, three mobile robots form a multi-robot collaborative handling system. When one or two robots are performing a task to move a large object, the object's center of gravity is usually unstable, making it difficult to ensure the object remains within the support area of ​​the mobile robots. Multiple robots can form a support surface, which helps to contain the center of gravity within the support area; however, with too many mobile robots, it is difficult to ensure that each robot maintains constant contact with the object being moved. In the multi-robot collaborative handling system provided in this embodiment of the invention, the platforms of the three mobile robots can always maintain contact with the bottom surface of the object. By properly positioning the mobile robots under the object, the center of gravity of the object is ensured to remain within the support area provided by the mobile robots. Simultaneously, since the mobile robots can raise or lower their wheels, when the three mobile robots and the object form an omnidirectional moving platform, each mobile robot acts as an omnidirectional drive wheel with lateral sliding freedom, which can counteract the resistance caused by inconsistent movement directions of the mobile robots. The three mobile robots also capture the ArUco identifier of a neighboring mobile robot through their respective cameras. By recognizing each other's identifiers, the three mobile robots can obtain the relative distance and relative posture between each other, and control the coordinated movement of the three robots in a queue.

[0058] The above-described embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should all be included within the protection scope of the present invention.

Claims

1. A mobile robot, characterized in that, The mobile robot includes: a platform, a mobile body, a support mechanism, a drive device, omnidirectional wheels and ordinary wheel modules, wherein the platform and the mobile body are connected by the support mechanism; The omnidirectional wheel and the ordinary wheel module are disposed on both sides of the mobile body. The ordinary wheel module includes an ordinary wheel, a connector and a connecting block. The connecting block is used to connect the ordinary wheel and the connector, and the connector is used to connect the connecting block and the mobile body. The movable body is provided with a fixing device, which includes a rotating base, a first lifting plate, a guide rod, and a second lifting plate. The top end of the rotating base is connected to the bottom end of the support mechanism. The first lifting plate and the second lifting plate are connected through the guide rod. The first lifting plate can lock the rotating base. The driving device includes a first stepper motor, a second stepper motor, a first lead screw stepper motor, a second lead screw stepper motor, and a cylindrical roller. The first stepper motor is located inside the movable body on the side near the universal wheel. The second stepper motor is located on the ordinary wheel module. The first lead screw stepper motor is located between the first lifting plate and the second lifting plate. The second lead screw stepper motor is fixed to the bottom of the movable body and connected to the ordinary wheel module through the cylindrical roller. When the first lead screw stepper motor is operating, the lead screw on the first lead screw stepper motor moves in a straight line in the vertical direction, while simultaneously pushing the first lifting plate and the second lifting plate.

2. The mobile robot according to claim 1, characterized in that, The support mechanism includes a universal joint and three tension springs. The universal joint and the three tension springs are connected to the platform and the rotating base in a vertical direction. The three tension springs are evenly distributed around the universal joint and on the edge of the platform.

3. The mobile robot according to claim 1, characterized in that, There are four guide rods, which are evenly distributed on the edges of the first lifting plate and the second lifting plate.

4. The mobile robot according to claim 1, characterized in that, When the second lead screw stepper motor is operating, the lead screw on the second lead screw stepper motor moves linearly in the horizontal direction, while pushing the cylindrical roller, and the cylindrical roller pushes or pulls the ordinary wheel module.

5. The mobile robot according to claim 1, characterized in that, The mobile body also includes a first passive wheel and a second passive wheel, which are disposed between the ordinary wheel module and the omnidirectional wheel, and at the bottom end of the mobile body.

6. The mobile robot according to claim 5, characterized in that, Both the first passive wheel and the second passive wheel are spherical rollers.

7. The mobile robot according to claim 1, characterized in that, The mobile body is equipped with an Aruco code and a camera on the side near the ordinary wheel.

8. A multi-robot collaborative handling system for mobile robots, characterized in that, The system includes three mobile robots, which are positioned at the bottom of the object to be transported, and the three mobile robots are mobile robots according to any one of claims 1 to 7.

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