Double-arm robot for luggage barrow collection and collection method

Abstract

The invention relates to the technical field of robots, and provides a double-arm robot for luggage barrow collection and a collection method. The machine body frame is arranged on the walking chassis, a sensor assembly is arranged on the machine body frame, and the sensor assembly is used for sensing the position of the luggage barrow and the surrounding environment; the two mechanical arms are arranged on the machine body frame; the mechanical arms are used for grabbing handles of the luggage barrow, and the two mechanical arms can be independently adjusted in a telescopic mode in the horizontal direction so that the connecting angle between the machine body frame and the luggage barrow can be adjusted, and steering running of the walking chassis is assisted. In the process of moving the luggage barrow by the robot, when the expansion and contraction amounts of the two mechanical arms are consistent, the robot and the luggage barrow move along a straight line; and when the expansion amounts of the two mechanical arms are inconsistent, the connecting angle between the robot and the luggage barrow is greater than zero, and the robot and the luggage barrow naturally turn. And two front wheels are combined, so that turning and obstacle avoiding actions can be more flexibly performed, and the efficiency of collecting the luggage barrow is effectively improved.

Description

Technical Field

[0001] The present application relates to the field of robot technology, and in particular to a dual-arm robot and a collection method for luggage cart collection. Background Art

[0002] In recent years, the passenger flow of some super-large airports has been increasing, and the demand for airport luggage carts has increased dramatically due to the large number of passengers carrying heavy luggage. Luggage carts usually help passengers carry their luggage from the airport entrance to the boarding gate to facilitate their travel. Therefore, for airports with large passenger and luggage flows, they have to hire a large number of staff to deploy luggage carts scattered throughout the airport in order to fill the gap in the demand for luggage carts at the airport entrance in a timely manner. Some airports use robots to recycle luggage carts.

[0003] However, the robots currently used for luggage cart collection can usually only adjust the steering through their own drive wheels, and the robot and the luggage cart are fixedly connected by a mechanical arm. Although this structural design is simple and low-cost, it will result in the robot's steering being inflexible and requiring the robot's driving chassis to steer independently. When dealing with some large-angle turns, it may be necessary to move forward and backward multiple times to meet the turning requirements. Therefore, the current robots driving luggage carts have low turning maneuverability, which reduces the efficiency of collecting luggage carts.

[0004] Therefore, the above-mentioned technical defects need to be changed urgently. Summary of the invention

[0005] In view of the above-mentioned deficiencies in the prior art, the purpose of the present application is to provide a dual-arm robot and a collection method for baggage cart collection, aiming to reduce the turning radius of the robot when carrying a baggage cart, improve the flexibility of the robot when carrying a baggage cart, improve the baggage cart collection efficiency in places such as airports, and reduce the baggage cart collection cost.

[0006] A technical solution adopted by this application to solve the technical problem is as follows:

[0007] A first aspect provides a dual-arm robot for baggage cart collection, comprising:

[0008] Walking chassis;

[0009] A fuselage frame, the fuselage frame is arranged on the walking chassis, and a sensor assembly is arranged on the fuselage frame, and the sensor assembly is used to sense the position and surrounding environment of the luggage cart;

[0010] and two robotic arms, the two robotic arms being arranged on the fuselage frame;

[0011] Among them, the robotic arm is used to grab the handle of the luggage cart. Both robotic arms can be individually extended and adjusted in the horizontal direction to adjust the connection angle between the fuselage frame and the luggage cart, and assist the walking chassis in steering.

[0012] This embodiment is further configured such that a lifting device is provided on the fuselage frame, and the lifting device is used to adjust the two mechanical arms.

[0013] This embodiment is further configured that the mechanical arm includes:

[0014] A first rocker arm, the first rocker arm is movably connected to the fuselage frame, the first rocker arm extends along the front end of the fuselage frame, and the angle between the first rocker arm and the fuselage frame in the horizontal direction is adjustable through a first driving member;

[0015] A second rocker arm, the second rocker arm is movably connected to an end of the first rocker arm away from the fuselage frame, and the angle between the second rocker arm and the first rocker arm in the horizontal direction is adjustable through a second driving member;

[0016] And a mechanical claw, which is arranged at an end of the second rocker arm away from the first rocker arm, and is used to grab the handle at the rear of the luggage cart. The angle between the mechanical claw and the second rocker arm in the horizontal direction is adjustable through a third driving member.

[0017] The present embodiment is further configured such that the rotation axes of the two first driving members respectively used for driving the first rocker arm and the second rocker arm are located in the same axial direction.

[0018] This embodiment is further configured such that the second rocker arm and the first rocker arm both extend in a horizontal direction.

[0019] This embodiment is further configured such that the opening of the mechanical claw faces downward.

[0020] This embodiment is further configured such that a suspension mechanism is provided between the fuselage frame and the walking chassis, and the suspension mechanism is used to keep the fuselage frame stable.

[0021] This embodiment is further configured such that the walking chassis includes at least two front wheels and at least two rear universal wheels, the two front wheels are respectively provided with a driving motor, and the two driving motors are respectively used to drive the two front wheels.

[0022] This embodiment is further configured such that the fuselage frame is an aluminum alloy frame.

[0023] A second aspect of the present application provides a collection method for a dual-arm robot for collecting baggage carts based on any one of the first aspects, the collection method comprising the following steps:

[0024] Acquire the positions of several luggage carts within a preset space range through a sensor component;

[0025] Based on the principle of nearest collection, formulate a collection sequence plan and determine the current location of the luggage cart to be collected;

[0026] The walking chassis moves to the location of the luggage cart to be collected, obtains the location of the luggage cart handle through the sensor component, grabs the luggage cart handle through two mechanical arms, and moves the luggage cart to the collection and stacking location;

[0027] The step of moving the luggage cart to the collection and stacking location includes:

[0028] According to the current location and the collection stacking location, a moving path is formulated based on the preset spatial model;

[0029] Detect obstacles on the moving path through the sensor component, modify the moving path and calculate the turning angle;

[0030] According to the turning angle, the extension and retraction difference of the two robotic arms is calculated;

[0031] The two mechanical arms are adjusted according to the telescopic difference to generate a corresponding turning angle between the fuselage frame and the luggage cart, and drive the walking chassis to turn and move.

[0032] Compared with the prior art, the present application provides a dual-arm robot and a collection method for baggage cart collection. In the process of the robot moving the baggage cart, when the extension and retraction amounts of the two mechanical arms are consistent, the robot and the baggage cart move in a straight line; when the extension and retraction amounts of the two mechanical arms are inconsistent, the connection angle between the robot and the baggage cart is greater than zero, and the two will naturally make a turning action. Combined with the two front wheels respectively provided with drive motors, the baggage cart can be more flexibly brought to perform turning and obstacle avoidance actions, effectively improving the efficiency of collecting baggage carts. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0034] Figure 1 is a schematic diagram of the overall structure of a dual-arm robot for collecting luggage carts provided in this embodiment;

[0035] Figure 2 is another overall structural schematic diagram of a dual-arm robot for collecting luggage carts provided in this embodiment;

[0036] Figure 3 is a top view of a dual-arm robot for collecting luggage carts provided in this embodiment;

[0037] Figure 4 is a schematic structural diagram of a dual-arm robot and a luggage cart for luggage cart collection provided in this embodiment;

[0038] Figure 5 is another structural schematic diagram of a dual-arm robot and a luggage cart for luggage cart collection provided in this embodiment;

[0039] Figure 6 yes Figure 5 A magnified schematic diagram of the part marked with A.

[0040] In the figure: 1. walking chassis; 11. front wheel; 12. rear universal wheel; 2. fuselage frame; 21. sensor assembly; 22. lifting device; 3. mechanical arm; 31. first rocker arm; 311. first driving member; 32. second rocker arm; 321. second driving member; 33. mechanical claw; 331. third driving member; 4. luggage cart. DETAILED DESCRIPTION

[0041] The embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present application, and cannot be understood as limiting the present application.

[0042] In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application. In addition, the terms "first" and "second" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present application, unless otherwise specified, "multiple" means two or more.

[0043] In the description of this application, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0044] In addition, the technical features involved in the different embodiments of the present invention described above can be combined with each other as long as they do not conflict with each other.

[0045] The present invention provides Figure 1 , Figure 2 , Figure 4 and Figure 5 As shown, a dual-arm robot for collecting luggage carts is used to collect luggage carts 4 scattered in the airport waiting hall and stack the collected luggage carts 4 together. Its main structure includes: a walking chassis 1, a fuselage frame 2 and two mechanical arms 3; the fuselage frame 2 is arranged on the walking chassis 1, and a sensor assembly 21 is arranged on the fuselage frame 2, and the sensor assembly 21 is used to sense the position and surrounding environment of the luggage cart 4; the sensor assembly 21 is used to sense the position of several luggage carts 4 and roadblocks. The two mechanical arms 3 are arranged on the fuselage frame 2; wherein the mechanical arms 3 are used to grab the handles of the luggage cart 4, and the two mechanical arms 3 can be individually telescopically adjusted in the horizontal direction to adjust the connection angle between the fuselage frame 2 and the luggage cart 4, and assist the walking chassis 1 in steering.

[0046] It should be noted that the current robot used for collecting luggage carts 4 can usually only adjust the steering through its own driving wheels, and the robot and the luggage cart 4 are fixedly connected through the mechanical arm 3. Although this structural design is simple and low-cost, it will cause the robot to be less flexible in steering and need to rely on the robot's driving chassis to turn alone. When dealing with some large-angle turns, it may be necessary to move forward and backward multiple times to meet the turning requirements. Therefore, the current robot driving the luggage cart 4 to move has low turning maneuverability, which reduces the efficiency of collecting the luggage cart 4.

[0047] In the process of the robot moving the luggage cart 4 of the present invention, when the extension and retraction amounts of the two mechanical arms 3 are consistent, the robot and the luggage cart 4 move in a straight line; when the extension and retraction amounts of the two mechanical arms 3 are inconsistent, the connection angle between the robot and the luggage cart 4 is greater than zero, and the two will naturally make a turning motion. The turning radius of the robot and the luggage cart 4 is greatly reduced, and the turning and obstacle avoidance actions can be performed more flexibly, which can effectively improve the collection efficiency. Using robots to realize the automation of the luggage cart 4 collection process will definitely reduce the operating costs of places such as airports and improve the efficiency of luggage cart 4 collection.

[0048] In addition, in combination with the two front wheels 11 respectively provided with drive motors, the luggage cart 4 can be more flexibly brought to perform turning and obstacle avoidance actions, thereby effectively improving the efficiency of collecting the luggage cart 4 .

[0049] Further, such as Figure 2 , Figure 3 As shown, a lifting device 22 is provided on the fuselage frame 2 , and the lifting device is used to adjust the two mechanical arms 3 .

[0050] Among them, the lifting device 22 can realize the lifting function of the two mechanical arms 3, so that the opening of the mechanical claw 33 on the mechanical arm 3 can be aligned with the handle of the luggage cart 4. When the robot approaches the recovered luggage cart 4, adjust the position. At the same time, adjust the height of the lifting device 22 and the position of the mechanical arm 3, so that the opening of the mechanical claw 33 is aligned with the handle of the luggage cart 4. Then, the mechanical claw 33 is lowered by the lifting device 22, so that the handle of the luggage cart 4 enters the grasping position of the mechanical claw 33, and finally the mechanical claw 33 is tightened to complete the action of grasping the handle of the luggage cart 4.

[0051] Further, such as Figure 2 , Figure 3 and Figure 4 As shown, the mechanical arm 3 includes: a first rocker arm 31, a second rocker arm 32 and a mechanical claw 33. The first rocker arm 31 is movably connected to the fuselage frame 2, and the first rocker arm 31 extends along the front end of the fuselage frame 2. The angle between the first rocker arm 31 and the fuselage frame 2 in the horizontal direction is adjustable through a first driving member 311; the second rocker arm 32 is movably connected to an end of the first rocker arm 31 away from the fuselage frame 2, and the angle between the second rocker arm 32 and the first rocker arm 31 in the horizontal direction is adjustable through a second driving member 321; the mechanical claw 33 is arranged at an end of the second rocker arm 32 away from the first rocker arm 31, and the mechanical claw 33 is used to grab the handle of the luggage cart 4, and the angle between the mechanical claw 33 and the second rocker arm 32 in the horizontal direction is adjustable through a third driving member 331.

[0052] It should be noted that the multi-axis mechanical arm 3 can easily adjust the position of the mechanical claw 33 so that the mechanical claw 33 can be moved to the handle more flexibly, without the need to fine-tune the walking chassis 1 to align the mechanical claw 33 with the handle of the luggage cart 4.

[0053] Further, such as Figure 5 and Figure 6 As shown, the rotation axes of the two first driving members 311 respectively used to drive the first rocker arm 31 and the second rocker arm 32 are located in the same axial direction.

[0054] Further, such as Figure 1 , Figure 2 As shown, the second rocker arm 32 and the first rocker arm 31 both extend in the horizontal direction.

[0055] Further, such as Figure 2 As shown, the opening of the mechanical claw 33 faces downward.

[0056] Furthermore, a suspension mechanism is provided between the fuselage frame 2 and the walking chassis 1, and the suspension mechanism is used to keep the fuselage frame 2 stable.

[0057] It should be noted that, during the movement of the robot, if the four-wheel mobile chassis is connected with a rigid body, then when encountering a corner protrusion, two wheels of the four-wheel chassis will be off the ground, which will cause the robot to overturn on both sides. If the robot is in a state of overturning, falling will cause the robot to suffer a great degree of irreversible damage. In the chassis mechanical structure design, this embodiment is provided with a suspension mechanism between the fuselage frame 2 and the walking chassis 1, and the rear wheel suspension body is connected through an intermediate main shaft. The retaining spring limits the position of the deep groove bearing, and the step limit bolt limits the torsion angle of the rear wheel suspension system. In this way, when the four-wheel mobile chassis encounters a corner protrusion, at least three wheels can be kept in a stable state of three points on the same plane on the ground at the same time, which greatly reduces the probability of the robot overturning during movement, so that the robot can travel smoothly for a long distance.

[0058] Furthermore, the traveling chassis 1 includes at least two front wheels 11 and at least two rear universal wheels 12 . The two front wheels 11 are respectively provided with a driving motor, and the two driving motors are respectively used to drive the two front wheels 11 .

[0059] Furthermore, the fuselage frame 2 is an aluminum alloy frame.

[0060] It should be noted that the size of the chassis structure is designed based on the design principle that the projection area of ​​the top view on the ground is consistent with the projection area of ​​an adult man on the ground when viewed from above. The entire chassis structure consists of six parts: universal wheels, suspension system, motor driver, DC servo motor, reducer and front drive wheel.

[0061] The chassis structure design adopts a four-wheel structure, consisting of two front wheels 11 and two rear universal wheels 12. Each front wheel 11 is equipped with a DC servo motor and a motor reducer. Both front wheels 11 can generate sufficient torque to provide power for the robot to move. The rear universal wheels 12 are connected to the walking chassis 1 through a self-designed suspension mechanism, which can ensure that the airport luggage cart 4 robot can have at least three wheels in the same plane at the same time when encountering a small obstacle on the ground, avoiding safety problems such as tipping of the luggage cart 4 robot.

[0062] The drive motor is a DC servo drive motor. Compared with stepper motors, servo motors run more smoothly and do not vibrate even at low speeds. Servo motors have constant torque output and strong overload capacity. In addition, due to the limited space under the chassis, an L-shaped right-angle planetary reducer is used to achieve the effect of speed reduction and torque increase and save chassis space.

[0063] A second aspect of the present application provides a collection method for a dual-arm robot for collecting a baggage cart 4 based on any one of the first aspects, the collection method comprising the following steps:

[0064] Step 1: obtaining the positions of several luggage carts 4 within a preset space range through the sensor assembly 21;

[0065] Specifically, the sensor assembly 21 senses the positions of several luggage carts 4 within a preset spatial range, and senses obstacles around the robot at the same time, so as to calculate the travel route.

[0066] Step 2: Based on the principle of nearest collection, formulate a collection sequence plan and determine the current location of the luggage cart 4 to be collected;

[0067] Specifically, after obtaining the positions of several luggage carts 4, a collection sequence plan is formulated based on the principle of nearest collection and the position of the current luggage cart 4 to be collected is determined. That is, after obtaining the positions of several luggage carts 4, the order of collecting the carts is calculated and compared, and then the best moving route is calculated according to the obstacles around the robot.

[0068] Step 3: Move the walking chassis 1 to the position of the luggage cart 4 to be collected, obtain the position of the handle of the luggage cart 4 through the sensor assembly 21, grab the handle of the luggage cart 4 through the two mechanical arms 3, and move the luggage cart 4 to the collection and stacking location;

[0069] The step of moving the luggage cart 4 to the collection and stacking location includes:

[0070] According to the current location and the collection and stacking location, a moving path is formulated based on the preset spatial model;

[0071] Detect obstacles on the moving path through the sensor assembly 21, modify the moving path and calculate the turning angle;

[0072] According to the turning angle, the telescopic difference of the two mechanical arms 3 is calculated;

[0073] The two mechanical arms 3 are adjusted according to the telescopic difference, so that a corresponding turning angle is generated between the fuselage frame 2 and the luggage cart 4, and the walking chassis 1 is driven to turn and move.

[0074] In summary, the present application provides a dual-arm robot and a collection method for a luggage cart 4. In the process of the robot moving the luggage cart 4, when the extension and retraction amounts of the two mechanical arms 3 are consistent, the robot and the luggage cart 4 move in a straight line; when the extension and retraction amounts of the two mechanical arms 3 are inconsistent, the connection angle between the robot and the luggage cart 4 is greater than zero, and the two will naturally make a turning motion. Combined with the two front wheels 11 respectively provided with a driving motor, the luggage cart 4 can be more flexibly brought to perform turning and obstacle avoidance actions, effectively improving the efficiency of collecting the luggage cart 4.

[0075] Obviously, the above embodiments are merely examples for the purpose of clear explanation, and are not intended to limit the implementation methods. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the implementation methods here. The obvious changes or modifications derived therefrom are still within the scope of protection of the invention.

Claims

1. A dual-arm robot for baggage cart collection, characterized in that: include: Walking chassis; A fuselage frame, the fuselage frame is arranged on the walking chassis, and a sensor assembly is arranged on the fuselage frame, and the sensor assembly is used to sense the position and surrounding environment of the luggage cart; and two mechanical arms, the two mechanical arms being arranged on the fuselage frame; The mechanical arms are used to grab the handles of the luggage cart, and both of the mechanical arms can be individually telescopically adjusted in the horizontal direction to adjust the connection angle between the fuselage frame and the luggage cart, thereby assisting the walking chassis in steering.

2. A dual-arm robot for baggage cart collection according to claim 1, characterized in that: A lifting device is provided on the fuselage frame, and the lifting device is used to adjust the two mechanical arms.

3. A dual-arm robot for baggage cart collection according to claim 1, characterized in that: The robotic arm comprises: A first rocker arm, the first rocker arm is movably connected to the fuselage frame, the first rocker arm extends along the front end of the fuselage frame, and the angle between the first rocker arm and the fuselage frame in the horizontal direction is adjustable by a first driving member; a second rocker arm, the second rocker arm being movably connected to an end of the first rocker arm away from the fuselage frame, and the angle between the second rocker arm and the first rocker arm in the horizontal direction being adjustable by a second driving member; and a mechanical claw, wherein the mechanical claw is arranged at an end of the second rocker arm away from the first rocker arm, the mechanical claw is used to grab the handle at the rear of the luggage cart, and the angle between the mechanical claw and the second rocker arm in the horizontal direction is adjustable through a third driving member.

4. A dual-arm robot for baggage cart collection according to claim 3, characterized in that: The rotation axes of the two first driving members respectively used for driving the first rocker arm and the second rocker arm are located in the same axial direction.

5. A dual-arm robot for baggage cart collection according to claim 3, characterized in that: The second rocker arm and the first rocker arm both extend in a horizontal direction.

6. A dual-arm robot for baggage cart collection according to claim 3, characterized in that: The opening of the mechanical claw faces downward.

7. A dual-arm robot for baggage cart collection according to claim 1, characterized in that: A suspension mechanism is provided between the fuselage frame and the walking chassis, and the suspension mechanism is used to keep the fuselage frame stable.

8. A dual-arm robot for baggage cart collection according to claim 1, characterized in that: The walking chassis comprises at least two front wheels and at least two rear universal wheels. The two front wheels are respectively provided with a driving motor, and the two driving motors are respectively used to drive the two front wheels.

9. A dual-arm robot for baggage cart collection according to claim 1, characterized in that: The fuselage frame is an aluminum alloy frame.

10. A collection method for a dual-arm robot for baggage cart collection based on any one of claims 1 to 9, characterized in that: The collection method comprises the following steps: Acquire the positions of several luggage carts within a preset space range through a sensor component; Based on the principle of nearest collection, formulate a collection sequence plan and determine the current location of the luggage cart to be collected; The walking chassis moves to the position of the luggage cart to be recovered, obtains the position of the luggage cart handle through the sensor component, grabs the luggage cart handle through two mechanical arms, and moves the luggage cart to the collection and stacking location; The step of moving the luggage cart to the collection and stacking location includes: According to the current position and the collection and stacking location, a moving path is formulated based on a preset spatial model; Detecting obstacles on the moving path through the sensor assembly, modifying the moving path and calculating a turning angle; According to the turning angle, the extension and retraction difference of the two robotic arms is calculated; The two mechanical arms are adjusted according to the telescopic difference, so that a corresponding turning angle is generated between the fuselage frame and the luggage cart, and the walking chassis is driven to turn and move.

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