An autonomous obstacle avoidance and handling robot

Abstract

The present invention provides an autonomous obstacle-avoiding transport robot, which relates to the technical field of transport robots and comprises a main frame, wherein the main frame is enclosed to form a storage cabin, Mecanum wheels are installed at the four corners of the bottom of the main frame, a transverse track beam is installed on the track slide bar in a translational and sliding manner, and a mechanical arm is installed on the transverse track beam through a sliding seat; the suction cup mechanical arm comprises a negative pressure suction cup, and an electromagnet connected to the ground-contacting suction cup is arranged at the bottom of the negative pressure suction cup, and as the suction cup column moves downward, one side of the main frame is pushed to be lifted upward, thereby helping the main frame to cross obstacles. The present invention adopts a combination of the suction cup mechanical arm and the clamping mechanical arm to ensure the stability and safety of the objects in the process of grasping and carrying. At the same time, the suction cup mechanical arm not only serves as a grasping device for the goods, but also serves as an obstacle-crossing support device for the vehicle body, which greatly enriches the functions of the transfer robot and effectively improves the ability of autonomous movement.

Description

Technical Field

[0001] The invention relates to the technical field of transport robots, and in particular to an autonomous obstacle-avoiding transport robot. Background Art

[0002] At present, material handling robots have been widely used in the field of industrial automation, but the existing technology still has some problems. Traditional material handling machines are difficult to adapt to complex and changeable working environments and do not have the ability to avoid and overcome obstacles. In addition, these robots usually rely on mechanical clamping methods during the process of grasping and carrying objects, resulting in insufficient grasping stability and accuracy, which can easily cause objects to be damaged or dropped. The existing navigation and grasping systems cannot meet the growing demand for efficient and precise material handling.

[0003] At the same time, a refractory brick suction cup transporter with a publication number of "CN219154553U" in the prior art includes a base, a lifting mechanism is installed on the upper end of the base, the lifting mechanism is connected to the adjusting mechanism, a placing frame is installed on the upper end of the base, a counterweight block is fixedly installed on the upper end of the base, the bottom plate is fixedly connected to the top plate through a column, the lower end of the lifting plate is transmission connected to the bottom plate through a second hydraulic rod, a third hydraulic rod is fixed on the side of the lifting plate away from the second hydraulic rod, a fixed block is fixed on the third hydraulic rod, the top end of the mounting plate is fixed on the fixed block, the lower end of the traction rope is fixedly connected to the vacuum suction cup, and a handle is fixed on the top end of the vacuum suction cup. The device has a simple structure and is easy to operate. It can facilitate the operator to adjust the position of the refractory bricks, and then better place the refractory bricks, and is worthy of popularization and use.

[0004] The above device can also be used to transport a variety of other materials, but the above device still has obvious defects during use: although the above device uses a suction cup as a cargo transport mechanism, not all forms of cargo can be transported by negative pressure adsorption through the suction cup, and in actual use, the movement of the autonomous transport vehicle has high requirements on the flatness of the ground. When there are vertical slopes or cargo obstructions on the ground, it will directly affect the autonomous movement of the transfer vehicle, and will have a potential impact on the transfer vehicles in the entire transfer yard, thereby affecting the transfer progress and efficiency. Summary of the invention

[0005] The purpose of the present invention is to provide an autonomous obstacle-avoiding transport robot to solve the problems raised in the above-mentioned background technology.

[0006] To achieve the above object, the present invention provides the following technical solutions:

[0007] An autonomous obstacle-avoiding transport robot comprises a main frame, wherein the middle of the main frame is enclosed by a baffle to form a storage compartment, and Mecanum wheels are installed at the four corners of the bottom of the main frame, and the Mecanum wheels are provided with travel power through travel motors installed on their respective wheel axles;

[0008] A pair of parallel track slide bars are fixedly mounted on the main frame, a transverse track beam is installed on the track slide bar in a translational and sliding manner, and a mechanical arm is installed on the transverse track beam via a sliding seat;

[0009] The mechanical arm includes a suction cup mechanical arm or a combination of a suction cup mechanical arm and a clamping mechanical arm;

[0010] The suction cup mechanical arm includes a suction cup column and a negative pressure suction cup, wherein the negative pressure suction cup is installed at the execution end of the suction cup column, and the suction cup column slides on the transverse track beam through a sliding seat, and the suction cup column is also connected to the sliding seat through a steering seat, and the steering seat drives the suction cup column to rotate with its axis perpendicular to the transverse track beam, and the direction of the negative pressure suction cup is changed by the rotation of the steering seat;

[0011] A suction cup storage box is also telescopically provided at the bottom of the storage compartment, and a ground suction cup is placed in the suction cup storage box. An electromagnet connected to the ground suction cup is provided at the bottom of the negative pressure suction cup, and the active connection between the negative pressure suction cup and the ground suction cup is controlled by the on and off operation of the electromagnet. In the cargo adsorption mode, the negative pressure suction cup contacts the surface of the cargo, and the cargo is grabbed by negative pressure adsorption. In the obstacle avoidance mode, the ground suction cup is adsorbed and connected with the negative pressure suction cup so that the ground suction cup is against the ground. As the suction cup column moves downward, one side of the main frame is pushed upward, and the work of the transverse track beam and the Mecanum wheel at the ground end is cooperated to help the main frame overcome obstacles. The suction cup column is driven by the telescopic mechanism to perform telescopic movement.

[0012] Preferably, visual sensors, ultrasonic ranging sensors and photoelectric tracking modules are arranged around and on the bottom of the storage compartment.

[0013] Preferably, a pair of transverse track beams are provided, and both ends of the pair of transverse track beams are movably mounted on the driving shaft of the deflection motor. The deflection motor is lifted and lowered on a lifting frame. A pulley cooperating with the transverse track beam is installed on the lifting frame. The pulley drives the transverse track beam to reciprocate and slide on the track slide rod under the control of the longitudinal sliding motor.

[0014] Preferably, a transverse sliding motor is fixedly mounted on the sliding seat, the output end of the transverse sliding motor is connected to the transverse track wheel, the transverse track wheel slides against the transverse track beam, and the operation of the transverse sliding motor pushes the sliding seat to reciprocate on the transverse track beam.

[0015] Preferably, the telescopic mechanism that drives the suction cup column to perform telescopic movement includes a telescopic motor, and a telescopic driving wheel is installed on the driving shaft of the telescopic motor. The telescopic driving wheel abuts against the suction cup column, thereby driving the suction cup column to perform telescopic movement during the rotational movement of the telescopic motor. The telescopic motor is fixedly mounted on the steering seat.

[0016] Preferably, a pair of transverse track beams are installed on the track slide bar, and a suction cup robot arm and a clamping robot arm are respectively installed on the pair of transverse track beams.

[0017] Preferably, the clamping robot comprises a robot arm sliding seat, a robot arm and a clamping claw, and a servo is installed on both the clamping claw and the robot arm.

[0018] Compared with the prior art, the present invention has the following beneficial effects:

[0019] The present invention adopts a combination of a suction cup robot arm and a clamping robot to ensure the stability and safety of items during the grabbing and handling process. At the same time, the suction cup robot arm not only serves as a grabbing device for goods, but also serves as an obstacle crossing support device for the vehicle body, which greatly enriches the functions of the transfer robot and effectively improves the ability of autonomous movement. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a three-dimensional schematic diagram of the overall structure of the present invention;

[0021] Figure 2 It is a three-dimensional schematic diagram of the overall structure of the suction cup mechanical arm of the present invention;

[0022] Figure 3 It is a schematic side view of the overall structure of the present invention;

[0023] Figure 4 It is a schematic top view of the overall structure of the present invention;

[0024] Figure 5 It is a schematic diagram of the obstacle crossing mode of the present invention;

[0025] Figure 6 It is a three-dimensional schematic diagram of the cooperation process between the negative pressure suction cup and the ground contact suction cup of the present invention;

[0026] Figure 7 It is a schematic diagram of the cooperation process of the negative pressure suction cup and the ground contact suction cup of the present invention.

[0027] In the figure: 1 main frame, 2 baffle, 3 storage compartment, 4 Mecanum wheel, 5 track slide bar, 6 transverse track beam, 7 sliding seat, 8 suction cup mechanical arm, 9 clamping manipulator, 10 suction cup column, 11 negative pressure suction cup, 12 steering seat, 13 suction cup storage box, 14 ground suction cup, 15 electromagnet, 16 deflection motor, 17 lifting frame, 18 longitudinal pulley, 19 longitudinal sliding motor, 20 transverse sliding motor, 21 mechanical arm sliding seat, 22 mechanical arm, 23 clamping claw, 24 steering gear. DETAILED DESCRIPTION

[0028] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0029] See also Figure 1-7 , the present invention provides a technical solution:

[0030] Embodiment 1:

[0031] An autonomous obstacle avoidance transport robot comprises a main frame 1, a baffle 2 is formed in the middle of the main frame 1 to form a storage compartment 3, Mecanum wheels 4 are installed at the four corners of the bottom of the main frame 1, and the Mecanum wheels 4 provide travel power through travel motors installed on their respective wheel axles;

[0032] A pair of parallel track slide bars 5 are also fixedly mounted on the main frame 1, a transverse track beam 6 is installed on the track slide bar 5 in a translational and sliding manner, and a mechanical arm is installed on the transverse track beam 6 through a sliding seat 7;

[0033] The robot arm includes a suction cup robot arm 8, a clamping robot arm 9 or a combination of the two;

[0034] The suction cup mechanical arm 8 includes a suction cup column 10 and a negative pressure suction cup 11. The negative pressure suction cup 11 is installed at the execution end of the suction cup column 10. The suction cup column 10 slides on the transverse track beam 6 through the sliding seat 7. The suction cup column 10 is also connected to the sliding seat 7 through the steering seat 12. The steering seat 12 drives the suction cup column 10 to rotate with the axis perpendicular to the transverse track beam 6. The direction of the negative pressure suction cup 11 is changed by the rotation of the steering seat 12.

[0035] A suction cup storage box 13 is also telescopically arranged at the bottom of the storage compartment 3, and a ground suction cup 14 is placed in the suction cup storage box 13. An electromagnet 15 connected to the ground suction cup 14 is arranged at the bottom of the negative pressure suction cup 11, and the active connection between the negative pressure suction cup 11 and the ground suction cup 14 is controlled by the on and off operation of the electromagnet 15. In the cargo adsorption mode, the negative pressure suction cup 11 contacts the surface of the cargo, and the cargo is grabbed by negative pressure adsorption. In the obstacle avoidance mode, the ground suction cup 14 is adsorbed and connected with the negative pressure suction cup 11, so that the ground suction cup 14 is against the ground. As the suction cup column 10 moves downward, one side of the main frame 1 is pushed upward, and the work of the transverse track beam 6 and the Mecanum wheel 4 at the ground end is cooperated to help the main frame 1 go over obstacles. The suction cup column 10 performs telescopic movement driven by the telescopic mechanism.

[0036] In this embodiment, the main frame 1 is used as a carrying device for various parts, and the middle part of the main frame 1 is enclosed by a baffle 2 to form a storage compartment 3. The transported goods are placed in the storage compartment 3 and transported as the main frame 1 moves. Mecanum wheels 4 are installed at the four corners of the bottom of the main frame 1. The Mecanum wheels 4 provide travel power through travel motors installed on their respective wheel axles. Due to the design of the special wheel body, it can complete omnidirectional translational movement, thereby improving the obstacle avoidance ability of the robot. A track slide bar 5 is installed on the main frame 1, and a translational sliding type is installed on the track slide bar 5. A transverse track beam 6 is provided with a mechanical arm through a sliding seat 7, and the mechanical arm includes a suction cup mechanical arm 8, a clamping mechanical arm 9 or a combination of the two. In this embodiment, a suction cup mechanical arm 8 and a clamping mechanical arm 9 are provided, so that materials with different grasping requirements can be grasped in a targeted manner, wherein the suction cup mechanical arm 8 includes a suction cup column 10 and a negative pressure suction cup 11, and the negative pressure pump provided on the main frame 1 is connected to the negative pressure suction cup 11, so that the material is adsorbed and grasped by negative pressure. Different from the prior art, the suction cup mechanical arm in this embodiment 8 not only serves as a material handling mechanism, but also serves as an obstacle-crossing device of the device. By supporting the ground with the suction cup column 10 downward, one end of the main frame 1 is lifted, and obstacles are crossed during the lifting process, thereby greatly improving the obstacle-crossing ability of the device. At the same time, since the suction cup will be contaminated with dust and other particles when it contacts the ground, if the suction cup is used for material handling and supporting the ground at the same time, it may affect the sealing effect of negative pressure adsorption. Therefore, in this embodiment, a ground-touching suction cup 14 is further provided. The ground-touching suction cup 14 is telescopically arranged at the bottom of the storage compartment 3 through the suction cup storage box 13. During the transportation process, the ground suction cup 14 is in a storage state. When it is necessary to overcome obstacles, the suction cup storage box 13 extends outward. At this time, the suction cup column 10 moves downward so that the negative pressure suction cup 11 is located directly above the ground suction cup 14. At this time, as the suction cup column 10 descends, under the action of the electromagnet 15, the ground suction cup 14 is adsorbed by the negative pressure suction cup 11. At this time, the suction cup column 10 supports the ground through the ground suction cup 14 during the obstacle crossing process. When the obstacle crossing is completed, the ground suction cup 14 is sent into the suction cup storage box 13 again. The obstacle crossing process of the device is as follows, refer to the attached manual Figure 5 When one end of the main frame 1 is tilted up, the transverse track beam 6 on which the suction cup mechanical arm 8 is installed is driven to slide on the track slide bar 5. At this time, the Mecanum wheel 4 touching the ground moves forward synchronously, so that one end of the main frame 1 can climb over the obstacle, and the suction cup mechanical arm 8 is driven to move to the rear end again, and the Mecanum wheel 4 at the rear end is helped to climb over the obstacle in the same way. At this time, the obstacle climbing work of the entire device is completed.

[0037] Embodiment 2:

[0038] Visual sensors, ultrasonic distance measuring sensors and photoelectric tracking modules are arranged around and on the bottom of the storage compartment 3.

[0039] In this embodiment, a plurality of sensors are installed around the storage compartment 3 to assist the device in movement and obstacle avoidance, thereby ensuring the safety of the device during movement. Since the above-mentioned device is widely used in the prior art and its technology is relatively mature, it will not be described in detail.

[0040] Embodiment three:

[0041] A pair of transverse track beams 6 are provided, and both ends of the pair of transverse track beams 6 are movably mounted on the driving shaft of the deflection motor 16. The deflection motor 16 is lifted and lowered on the lifting frame 17. The lifting frame 17 is equipped with a pulley 18 that cooperates with the transverse track beam 6. The pulley 18 drives the transverse track beam 6 to reciprocate and slide on the track slide bar 5 under the control of the longitudinal sliding motor 19.

[0042] A transverse sliding motor 20 is fixedly installed on the sliding seat 7. The output end of the transverse sliding motor 20 is connected to the transverse track wheel. The transverse track wheel slides against the transverse track beam 6. The operation of the transverse sliding motor 20 pushes the sliding seat 7 to reciprocate on the transverse track beam 6.

[0043] The telescopic mechanism that drives the suction cup column 10 to perform telescopic movement includes a telescopic motor, and a telescopic driving wheel is installed on the driving shaft of the telescopic motor. The telescopic driving wheel abuts against the suction cup column 10, thereby driving the suction cup column 10 to perform telescopic movement during the rotational movement of the telescopic motor. The telescopic motor is fixedly mounted on the steering seat 12.

[0044] In this embodiment, a driving device for the lifting and lowering movement of the transverse track beam 6, the sliding seat 7 and the suction cup column 10 is further disclosed. Since their movement processes are all horizontal or vertical translational sliding, their driving devices have similar structures. They all drive corresponding pulleys or gears to rotate through motors, and the rotation of the pulleys or gears drives the transverse track beam 6, the sliding seat 7 or the suction cup column 10 to translate and slide. Since this type of translational sliding mechanism is relatively common in the prior art, it will not be described in detail here.

[0045] Embodiment 4:

[0046] The clamping robot 9 comprises a robot arm sliding seat 21 , a robot arm 22 and a clamping claw 23 , and a steering gear 24 is installed on both the clamping claw 23 and the robot arm 22 .

[0047] In this embodiment, the main components of the clamping robot 9 are further disclosed, which adopts a mature robot arm solution in the prior art and will not be described in detail here.

[0048] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. An autonomous obstacle-avoiding transport robot, comprising a main frame, characterized in that: The middle part of the main frame is enclosed by a baffle to form a storage compartment, and Mecanum wheels are installed at the four corners of the bottom of the main frame. The Mecanum wheels provide travel power through travel motors installed on their respective wheel axles; A pair of parallel track slide bars are fixedly mounted on the main frame, a transverse track beam is installed on the track slide bar in a translational and sliding manner, and a mechanical arm is installed on the transverse track beam via a sliding seat; The mechanical arm includes a suction cup mechanical arm or a combination of a suction cup mechanical arm and a clamping mechanical arm; The suction cup mechanical arm includes a suction cup column and a negative pressure suction cup, wherein the negative pressure suction cup is installed at the execution end of the suction cup column, and the suction cup column slides on the transverse track beam through a sliding seat, and the suction cup column is also connected to the sliding seat through a steering seat, and the steering seat drives the suction cup column to rotate with its axis perpendicular to the transverse track beam, and the direction of the negative pressure suction cup is changed by the rotation of the steering seat; A suction cup storage box is also telescopically provided at the bottom of the storage compartment, a ground suction cup is placed in the suction cup storage box, an electromagnet connected to the ground suction cup is provided at the bottom of the negative pressure suction cup, and the active connection between the negative pressure suction cup and the ground suction cup is controlled by the on-off operation of the electromagnet. In the cargo adsorption mode, the negative pressure suction cup contacts the surface of the cargo, and the cargo is grabbed by negative pressure adsorption. In the obstacle avoidance mode, the ground suction cup is adsorbed and connected with the negative pressure suction cup, so that the ground suction cup is against the ground, and as the suction cup column moves downward, one side of the main frame is pushed upward, and the transverse track beam and the Mecanum wheel at the ground contact end work together, so as to help the main frame to cross obstacles, and the suction cup column is driven by the telescopic mechanism to perform telescopic movement; The telescopic mechanism driving the suction cup column to perform telescopic movement includes a telescopic motor, a telescopic driving wheel is installed on the driving shaft of the telescopic motor, and the telescopic driving wheel abuts against the suction cup column, thereby driving the suction cup column to perform telescopic movement during the rotational movement of the telescopic motor, and the telescopic motor is fixedly installed on the steering seat.

2. The autonomous obstacle-avoiding transport robot according to claim 1, characterized in that: Visual sensors, ultrasonic distance measuring sensors and photoelectric tracking modules are arranged around and on the bottom of the storage compartment.

3. An autonomous obstacle-avoiding transport robot according to claim 1 or 2, characterized in that: The transverse track beams are provided with a pair, and both ends of the pair of transverse track beams are movably mounted on the driving shaft of the deflection motor. The deflection motor is lifted and lowered on a lifting frame, and a longitudinal pulley cooperating with the transverse track beam is installed on the lifting frame. The longitudinal pulley drives the transverse track beam to reciprocate and slide on the track slide rod under the control of the longitudinal sliding motor.

4. The autonomous obstacle-avoiding transport robot according to claim 3, characterized in that: A transverse sliding motor is fixedly mounted on the sliding seat, and an output end of the transverse sliding motor is connected to a transverse track wheel. The transverse track wheel slides against the transverse track beam, and the transverse sliding motor drives the sliding seat to reciprocate on the transverse track beam.

5. The autonomous obstacle-avoiding transport robot according to claim 4, characterized in that: A pair of transverse track beams are installed on the track slide bar, and a suction cup mechanical arm and a clamping mechanical arm are respectively installed on the pair of transverse track beams.

6. The autonomous obstacle-avoiding transport robot according to claim 5, characterized in that: The clamping manipulator comprises a mechanical arm sliding seat, a mechanical arm and a clamping claw, and a steering gear is installed on the clamping claw and the mechanical arm.

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