Industrial transportation robot and system based on intelligent path algorithm

Abstract

The invention relates to the technical field of industrial automation and robots, and discloses an industrial transportation robot based on an intelligent path algorithm, which comprises a machine base, a radar and a camera are arranged on the front side of the machine base, a mechanical arm is mounted at the top of the machine base, and a first object pushing assembly is mounted at the bottom of the machine base; the invention discloses an industrial transportation robot system based on an intelligent path algorithm, and the industrial transportation robot system comprises a sensing module used for sensing the environment and collecting information, a control module used for controlling the control module to control the control module to control the control module to control the control module to control the control module to control the control module to control the control module to control the control module to control the control module to control the control module to control the control module to control the control module. Therefore, three-dimensional mapping, object identification and obstacle detection are realized. Through the innovative design of the object supporting mechanism, the first object pushing assembly and the second object pushing assembly, the problems that suspended clamped objects are prone to being damaged, the small obstacle cleaning efficiency is low, and the stacked object carrying accuracy is insufficient are solved, and the transportation reliability, the running continuity and the operation efficiency are remarkably improved.

Description

Technical Field

[0001] The present invention relates to the field of industrial automation and robotics technology, and in particular to an industrial transport robot and system based on an intelligent path algorithm. Background Art

[0002] With the continuous development of industrial automation, industrial transport robots have been widely used in the fields of material handling, stacked object transfer, and path navigation in complex environments. These robots rely on perception modules, path planning, and actuators to collaboratively complete the task of transporting goods. However, in actual applications, due to the changing working scenes, diverse object shapes, and complex environments, existing industrial transport robots still face many technical bottlenecks.

[0003] In industrial scenarios, lightweight but fragile items (such as paper boxes) are prone to bottom cracking during transportation due to suspended clamping due to insufficient load-bearing capacity. The clamping method in existing technologies often only focuses on grasping the side of the object, while ignoring the support and protection of the bottom. Although some robots have tried to add fixed brackets, due to the lack of flexible adjustment capabilities, this solution seems powerless when facing objects with irregular shapes or offset center of gravity, resulting in a high transportation failure rate.

[0004] In addition, the operating efficiency of industrial transport robots depends largely on the smoothness of the path. Traditional obstacle avoidance technology mainly uses algorithms to bypass obstacles, but in actual environments, lightweight and small obstacles (such as scattered objects) are not suitable for bypassing and should be cleared directly. Existing technologies mostly use complex obstacle avoidance algorithms, but such methods have poor real-time performance and cannot solve the need for path clearing in dynamic scenes, often resulting in the interruption of transportation tasks due to path obstruction, limiting the robot's ability to operate continuously.

[0005] When dealing with object handling tasks in a stacked environment, existing robots lack the ability to accurately detect and operate the gaps between objects. Multi-layer stacked objects often have narrow gaps, and traditional clamping mechanisms are difficult to insert or stably grasp, resulting in unstable or even failed operations. At the same time, in the object placement link, the mechanical arm and pushing device of the existing technology are not coordinated enough to meet the requirements of high-precision adjustment of the target position, especially in scenarios with high requirements for the placement accuracy of objects, its adaptability is obviously insufficient. These problems have greatly limited the application capabilities of existing transport robots in complex industrial scenarios.

[0006] Therefore, in order to solve the above problems, the present invention proposes an industrial transport robot and system based on an intelligent path algorithm. Summary of the invention

[0007] In view of the deficiencies in the prior art, the present invention provides an industrial transport robot and system based on an intelligent path algorithm, which solves the problems of insufficient adaptability and low efficiency of existing industrial transport robots in obstacle clearing, bottom support of objects, and precise handling and position adjustment of stacked objects.

[0008] To achieve the above objectives, the present invention is implemented through the following technical solutions: an industrial transport robot based on an intelligent path algorithm, comprising:

[0009] A machine base, a radar and a camera are arranged on the front side of the machine base, a mechanical arm is installed on the top of the machine base, a first pushing component is installed on the bottom of the machine base, which is used to push an easily movable obstacle to the side when it appears in front of the robot when it is driving, a mounting frame is arranged on the top of the mechanical arm, a clamping component is arranged on the outside of the mounting frame, which is used to clamp the transport box for transportation, a second pushing component is arranged on the top of the mounting frame, which is used to push the transported object into the placement location or adjust the placement of the object, and assist the clamping component to clamp the object, and a supporting mechanism is arranged at the bottom of the mounting frame, which is used to lift the bottom of the box when the clamping component clamps it;

[0010] The supporting mechanism includes an adjusting component and a mounting seat. The adjusting component is installed in the middle of the mounting frame. When the clamping component clamps the box, it can enable the bottom supporting component to move upward when it is blocked by an object below. The bottom supporting component is installed at the bottom of the adjusting component, and the mounting seat is installed at the bottom of the adjusting component. Two electric push rods are fixed on the top of the mounting seat, and the driving ends of the two electric push rods are fixed with a supporting seat, and multiple rollers are rotated on both sides of the top of the supporting seat.

[0011] Preferably, the first pushing component includes a fixed seat, which is installed at the bottom of the machine base, a slide groove is penetrated in the middle of the fixed seat, a limit block is slidable inside the slide groove, a rack plate is installed at the bottom of the limit block, rotating rods are rotatable on both sides of the middle of the fixed seat, gears are installed on the outer walls of the two rotating rods, the tooth tips on both sides of the rack plate are respectively meshed with the outer tooth tips of the two gears, an adjusting rod is fixed at the bottom of each rotating rod, a connecting block is fixed at the rear end of the rack plate, the other end of the connecting block is connected to an electric push rod 2, and the outer wall of the electric push rod 2 is installed at the bottom of the machine base.

[0012] Preferably, the clamping assembly comprises a bidirectional guide rail, the outside of the bidirectional guide rail is mounted on an outer wall of the mounting frame, and clamping claws are fixed to driving ends on both sides of the bidirectional guide rail.

[0013] Preferably, the second pushing component includes a mounting beam, the outer wall of the mounting beam is arranged on the top of the mounting frame, linear guide rails are installed on both sides of the bottom of the mounting beam, movable seats are arranged on the outer walls of the two linear guide rails, and a pushing claw is installed in the middle of the movable seat.

[0014] Preferably, a moving rod is installed on the outside of one of the two linear guide rails, and electric telescopic rods are installed on both sides of the moving rod. The outer walls of the two electric telescopic rods are installed on both sides of the mounting frame. A limiting groove is penetrated in the middle of the mounting frame, and the outside of the moving rod is arranged inside the limiting groove.

[0015] Preferably, the adjustment assembly includes two linear guide rails 2, the exteriors of the two linear guide rails 2 slide on both sides of the mounting frame respectively, the tops of the two linear guide rails 2 are installed with L-shaped seats, the tops of the two L-shaped seats are installed with limit rods, the exteriors of the two limit rods are sleeved with springs, the exteriors of the two limit rods slide on the top of the mounting frame, and anti-slip plates are installed on the tops of the two limit rods and the bottoms of the two linear guide rails 2.

[0016] Preferably, the middle portion of the mounting seat is arranged at the second external driving end of the two linear guide rails.

[0017] An industrial transport robot system based on an intelligent path algorithm, comprising:

[0018] The perception module is used to perceive the environment and collect information to achieve 3D mapping, object recognition and obstacle detection;

[0019] Intelligent path planning module, used to generate global paths and dynamically adjust local paths based on environmental data;

[0020] Autonomous navigation module, used to realize autonomous movement and positioning of the robot;

[0021] Actuator modules are used to realize the grabbing, carrying, pushing and precise placement of objects;

[0022] Power and drive modules are used for power output and movement of robots and actuators to achieve ground walking and linear movement of components;

[0023] The control and communication module is used to coordinate the operation of various modules, realize task scheduling, path planning and data interaction with external systems;

[0024] Power and energy management module, used to provide energy to the robot and optimize energy distribution;

[0025] The safety module is used to detect environmental anomalies during robot operation and take safety measures in real time.

[0026] The present invention provides an industrial transport robot and system based on an intelligent path algorithm, which has the following beneficial effects:

[0027] 1. The present invention realizes flexible lifting of the bottom of the object by designing a supporting mechanism and utilizing the coordinated operation of the adjustment component and the electric push rod, thereby achieving the technical effect of avoiding the bottom breakage of the box due to suspended clamping. Compared with the solution in the prior art that lacks bottom support when clamping objects, the present invention solves the problem of breakage when carrying lightweight objects with insufficient load-bearing capacity, and significantly improves transportation reliability.

[0028] 2. The present invention adopts a gear rack linkage structure of the first pushing component, which can efficiently push easily movable obstacles to the side of the robot, achieving the technical effect of ensuring a smooth travel path. Compared with the prior art solutions that use complex algorithms or only rely on path avoidance to avoid obstacles, it solves the problem of low efficiency in handling small obstacles in actual environments and improves the continuity of the robot's operation.

[0029] 3. The present invention realizes precise pushing and position adjustment of objects through the coordinated operation of the electric telescopic rod, pushing claw and linear guide rail in the second pushing component, achieving the technical effect of precise transportation in a complex stacking environment. Compared with the prior art solutions that are difficult to handle stacked objects or have high requirements for target positions, the present invention solves the problems of inaccurate positioning and difficulty in clamping target objects during transportation operations, and greatly improves the adaptability and operational efficiency of the system. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 A perspective view of the present invention;

[0031] Figure 2 It is a schematic diagram of the structure of the bottom of the robot of the present invention;

[0032] Figure 3 It is a structural schematic diagram of the bottom supporting assembly of the present invention;

[0033] Figure 4 It is a structural schematic diagram of the chute of the present invention;

[0034] Figure 5 It is a structural schematic diagram of the pushing component of the present invention;

[0035] Figure 6 It is a framework diagram of the system of the present invention.

[0036] Among them, 1. base; 2. radar; 3. camera; 4. robotic arm; 5. mounting frame; 6. limit slot; 7. moving rod; 8. mounting beam; 9. linear guide rail 1; 10. moving seat; 11. push claw; 12. two-way guide rail; 13. clamping claw; 14. linear guide rail 2; 15. mounting seat; 16. electric push rod 1; 17. bracket; 18. roller; 19. electric telescopic rod; 20. limit rod; 21. spring; 22. anti-slip plate; 23. L-shaped seat; 24. fixed seat; 25. electric push rod 2; 26. connecting block; 27. rack plate; 28. gear; 29. ​​rotating rod; 30. adjusting rod; 31. slide groove; 32. limit block. DETAILED DESCRIPTION

[0037] The following will be combined with the drawings in the specification 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.

[0038] Please refer to the attached Figure 1 , an embodiment of the present invention provides an industrial transport robot based on an intelligent path algorithm, comprising:

[0039] A machine base 1, a radar 2 and a camera 3 are arranged on the front side of the machine base 1, a mechanical arm 4 is installed on the top of the machine base 1, a first object pushing component is installed on the bottom of the machine base 1, which is used to push an easily movable obstacle to the side when there is an obstacle in front of the robot when it is driving, a mounting frame 5 is arranged on the top of the mechanical arm 4, a clamping component is arranged on the outside of the mounting frame 5, which is used to clamp the transport box for transportation, a second object pushing component is arranged on the top of the mounting frame 5, which is used to push the transported object into the placement location or adjust the placement of the object, and assist the clamping component to clamp the object, and a supporting mechanism is arranged at the bottom of the mounting frame 5, which is used to lift the bottom of the box when the clamping component clamps the box;

[0040] Please refer to the attached Figure 1 -Attached Figure 3 The supporting mechanism includes an adjusting component and a mounting seat 15. The adjusting component is installed in the middle of the mounting frame 5. When the clamping component clamps the box, it can enable the bottom supporting component to move upward when it is blocked by an object below. The bottom supporting component is installed at the bottom of the adjusting component, and the mounting seat 15 is installed at the bottom of the adjusting component. Two electric push rods 16 are fixed on the top of the mounting seat 15. The driving ends of the two electric push rods 16 are fixed with a bracket 17, and multiple rollers 18 are rotated on both sides of the top of the bracket 17.

[0041] Specifically, the adjustment component is located in the middle of the mounting frame 5, and is specifically used to enable the bottom supporting component to flexibly move upward to avoid interference problems when the clamping component clamps the box due to insufficient bottom space or obstruction by other objects.

[0042] Please refer to the attached Figure 1 -Attached Figure 3 The bottom support component is installed at the bottom of the adjustment component and is connected to the mounting seat 15 structure. The top of the mounting seat 15 is designed with two electric push rods 16, which are connected to the support seat 17 through their driving ends. After the clamping component clamps the object, it drives the support seat 17 to move to the bottom of the object, especially when facing paper box objects, in order to avoid the bottom of the box being broken due to the influence of gravity caused by hanging clamping. Multiple rollers 18 are equipped on both sides of the top of the support seat 17. These rollers 18 can reduce friction when the box is placed or moved, ensuring smooth and accurate transportation.

[0043] When the robot reaches the designated placement position, the perception module confirms the target position through RFID or QR code recognition, and the control and communication module instructs the actuator module to perform the placement operation. The robot arm 4 drives the bracket 17 to contact the inclined point on the ground, and the clamping assembly is released. At the same time, under the drive of the electric telescopic rod 19 and the linear guide rail 9, the push claw 11 moves to the position between the box and the mounting frame 5. Subsequently, the linear guide rail 9 drives in reaction, and the push claw 11 pushes the box to slide out from above the bracket 17. The electric push rod 16 drives the bracket 17 to retract to the initial position, completing the object placement operation.

[0044] Please refer to the attached Figure 4 -Attached Figure 5 The first push component includes a fixed seat 24, which is installed at the bottom of the machine base 1. A slide groove 31 is penetrated in the middle of the fixed seat 24. A limit block 32 is slidably provided inside the slide groove 31. A rack plate 27 is installed at the bottom of the limit block 32. Rotating rods 29 are rotatable on both sides of the middle of the fixed seat 24. Gears 28 are installed on the outer walls of the two rotating rods 29. The tooth tips on both sides of the rack plate 27 are respectively engaged with the outer tooth tips of the two gears 28. An adjusting rod 30 is fixed to the bottom of each rotating rod 29. A connecting block 26 is fixed to the rear end of the rack plate 27. The other end of the connecting block 26 is connected to an electric push rod 25. The outer wall of the electric push rod 25 is installed at the bottom of the machine base 1.

[0045] Specifically, when the robot encounters an obstacle in front, the perception module detects the characteristics of the obstacle and determines whether the obstacle is an object that is easy to move through the path planning module. If the result of the judgment is that the obstacle is a movable object, the control and communication module sends a signal to the actuator module to start the electric push rod 25, drive the rack plate 27 to drive the limit block 32 to move back and forth in the slide slot 31, and then drive the gears 28 on both sides to rotate back and forth, control the adjustment rod 30 to open or close, and push the obstacle to the side of the base 1 to ensure that the forward path is unobstructed.

[0046] Please refer to the attached Figure 1 -Attached Figure 2 The clamping assembly includes a bidirectional guide rail 12 , the bidirectional guide rail 12 is externally mounted on the outer wall of the mounting frame 5 , and clamping claws 13 are fixed to the driving ends on both sides of the bidirectional guide rail 12 .

[0047] Specifically, by starting the two-way guide rail 12, the clamping jaws 13 on both sides move relative to each other or move oppositely, and then the objects to be transported are moved.

[0048] Please refer to the attached Figure 2 The second pushing component includes a mounting beam 8, the outer wall of the mounting beam 8 is arranged on the top of the mounting frame 5, linear guide rails 9 are installed on both sides of the bottom of the mounting beam 8, and moving seats 10 are arranged on the outer walls of the two linear guide rails 9, and a pushing claw 11 is installed in the middle of the moving seat 10.

[0049] A moving rod 7 is installed outside the two linear guide rails 9, and electric telescopic rods 19 are installed on both sides of the moving rod 7. The outer walls of the two electric telescopic rods 19 are installed on both sides of the mounting frame 5. A limiting groove 6 is penetrated in the middle of the mounting frame 5, and the outside of the moving rod 7 is arranged inside the limiting groove 6.

[0050] Specifically, when transporting stacked boxes, in order to facilitate the clamping assembly to clamp them, the robot arm 4, the linear guide rail 9 and the electric telescopic rod 19 operate to control the push claw 11 to move between the two boxes to be transported, and then the linear guide rail 9 reverses the operation of the push claw 11 to move toward the clamping assembly, and then pushes the box to move toward the clamping assembly, so that the clamping assembly can easily clamp the box.

[0051] When the box needs to be placed at the placement point, the linear guide rail 9 can be used to control the push claw 11 to move between the box and the mounting frame 5, and the linear guide rail 9 can be used to control the push claw 11 to push the box out of the clamping assembly in the reverse operation.

[0052] When placing the box, the robot arm 4 can also be operated to control the push claw 11 to move the box so that it is placed in the correct position.

[0053] When the electric telescopic rod 19 drives the moving rod 7 to slide inside the limiting groove 6, the moving direction of the pushing claw 11 can be controlled so that the position can be flexibly adjusted.

[0054] Please refer to the attached Figure 3 The adjustment component includes two linear guide rails 14, the outsides of the two linear guide rails 14 slide on both sides of the mounting frame 5 respectively, the tops of the two linear guide rails 14 are installed with L-shaped seats 23, the tops of the two L-shaped seats 23 are installed with limit rods 20, the outsides of the two limit rods 20 are sleeved with springs 21, the outsides of the two limit rods 20 slide on the top of the mounting frame 5, and anti-slip plates 22 are installed on the tops of the two limit rods 20 and the bottoms of the two linear guide rails 14.

[0055] The middle part of the mounting seat 15 is arranged at the outer driving end of the two linear guide rails 14 .

[0056] Specifically, when there is an obstruction at the bottom of the bracket 17, its adjustment component will mainly push the bracket 17 upward through the obstruction reaction force of the bottom object, and then drive the limit rod 20 to slide up and down on the top of the mounting frame 5 through the linear guide rail 14 and the L-shaped seat 23, so that the L-shaped seat 23 will squeeze the spring 21 to generate a rebound reaction force. The rebound force of the spring 21 can facilitate the subsequent resetting of the L-shaped seat 23, the linear guide rail 14 and the mounting seat 15.

[0057] Please refer to the attached Figure 6 , an industrial transport robot system based on intelligent path algorithm, comprising:

[0058] The perception module is used to perceive the environment and collect information to achieve 3D mapping, object recognition and obstacle detection;

[0059] Intelligent path planning module, used to generate global paths and dynamically adjust local paths based on environmental data;

[0060] Autonomous navigation module, used to realize autonomous movement and positioning of the robot;

[0061] Actuator modules are used to realize the grabbing, carrying, pushing and precise placement of objects;

[0062] Power and drive modules are used for power output and movement of robots and actuators to achieve ground walking and linear movement of components;

[0063] The control and communication module is used to coordinate the operation of various modules, realize task scheduling, path planning and data interaction with external systems;

[0064] Power and energy management module, used to provide energy to the robot and optimize energy distribution;

[0065] The safety module is used to detect environmental anomalies during robot operation and take safety measures in real time.

[0066] Specifically, in this embodiment, the perception module includes a laser radar 2 LiDAR, a camera 3, an inertial measurement unit IMU, an ultrasonic sensor, and an RFID and a two-dimensional code recognition device. The laser radar 2 is used to generate a three-dimensional environment map and provide accurate positioning of obstacles; the camera 3 is responsible for capturing environmental images and classifying and detecting objects in combination with the target object recognition algorithm; the inertial measurement unit monitors the robot's acceleration and angular velocity data in real time for posture control; the ultrasonic sensor provides close-range obstacle detection data to improve obstacle avoidance accuracy. The RFID and two-dimensional code recognition modules are used to accurately locate the mission target and ensure the accuracy of the robot's mission execution.

[0067] In this embodiment, the intelligent path planning module generates the optimal path for the static environment based on the A algorithm and the Dijkstra algorithm, and plans the path in the dynamic environment in real time through the RRT fast random tree algorithm. At the same time, the genetic algorithm optimizes the path planning results, and the reinforcement learning algorithm accumulates experience data through multiple task executions to continuously improve the adaptability of path planning. The formula is as follows:

[0068] Path cost formula:

[0069]

[0070] in, represents the path length cost, represents the obstacle avoidance cost.

[0071] The path planning module combines the SLAM algorithm to dynamically build an environmental map in an unknown environment, determine the target path through global path planning, and use local path planning to adjust the dynamic obstacles encountered by the robot during the task in real time.

[0072] The intelligent path planning module in this embodiment is based on the A algorithm and is used to generate the optimal path in a static environment. The A algorithm is a commonly used heuristic search algorithm that combines the advantages of breadth-first search and best-first search, and selects the optimal path by considering the cost of the path and heuristic information (such as the estimated cost of the distance to the target). Its core idea is to guide the search by calculating the cost value of the current node (including the cost of the path taken and the estimated cost to the target), avoiding exploring invalid paths, and thus quickly finding the shortest path.

[0073] The path cost formula of algorithm A is as follows:

[0074]

[0075] in: Indicates the current node The total cost, Represents the distance from the starting point to the current node The actual cost of (i.e. the cost of the path taken), Indicates the current node Heuristic estimated cost (i.e. estimated distance) to the target node.

[0076] In the specific implementation, the static environment is preprocessed by the A algorithm to generate the optimal path. The path planning in the static environment is based on the environment map, taking into account the terrain obstacles and the robot's movement ability, and finally selecting the path with the lowest cost by calculating the cost of different paths.

[0077] Combining A with dynamic environment path planning:

[0078] In a dynamic environment, when the robot performs a task, it may encounter sudden obstacles, making the current path unavailable. At this time, the intelligent path planning module combines the A algorithm with the RRT (Rapid Random Tree) algorithm for dynamic path planning. The RRT algorithm can quickly generate new paths in complex dynamic environments and adapt to real-time obstacle changes.

[0079] In addition, the genetic algorithm performs path optimization in the path planning module, optimizing the paths planned by the A algorithm and the RRT algorithm to ensure that the robot strikes a balance between the shortest path and optimal obstacle avoidance. The reinforcement learning algorithm accumulates experience through multiple task executions, continuously adjusts the path planning strategy, and improves the robot's adaptability in a changing environment.

[0080] Path cost calculation:

[0081] Path cost is the core of path planning. Path cost consists of two parts:

[0082] Path length cost : That is, the actual distance from the starting point to the target, taking into account the location of obstacles and the difficulty of the robot's walking.

[0083] Obstacle avoidance cost : The cost required to avoid obstacles, including additional costs such as detours and deceleration.

[0084] Finally, the total cost of the path is the sum of these two:

[0085]

[0086] The intelligent path planning module balances these two costs to ensure that a fast and safe path is found in a dynamic environment.

[0087] Combination of SLAM and path planning:

[0088] When the robot performs tasks in an unknown environment, the SLAM (Simultaneous Localization and Mapping) algorithm works together with the path planning module to dynamically build an environmental map. SLAM updates the robot's position and the state of the surrounding environment in real time through perception data. The path planning module continuously adjusts the robot's path based on this data to ensure that the robot can flexibly respond to complex and changing environments.

[0089] In this embodiment, the autonomous navigation module uses the real-time environmental data collected by the perception module and the path generated by the path planning module, combined with SLAM technology to achieve robot positioning and navigation. The navigation module is divided into global navigation and local navigation. The global navigation plans the path according to the task objectives, while the local navigation adjusts the path according to the real-time sensor data to cope with dynamic environmental changes. The navigation module uses the IMU to assist in correcting the path deviation of the robot during movement to ensure the stability and accuracy of the movement.

[0090] In this embodiment, the actuator module includes a supporting mechanism, a first pushing component, a second pushing component, and a clamping component, etc. The components cooperate to complete the operations of grabbing, carrying, pushing, and accurately placing the object.

[0091] In this embodiment, the support mechanism drives the bottom support assembly to move up and down through the adjustment assembly to avoid failure of grabbing or carrying due to obstacles at the bottom. The electric push rod 16 drives the support seat 17 to contact the bottom of the object, and the roller 18 on the top of the support seat 17 reduces the friction force to ensure the stability of the carrying.

[0092] In this embodiment, the first push component uses the electric push rod 25 to drive the rack plate 27 to move forward and backward, driving the gears 28 on both sides to rotate, so that the obstacle is moved from the front to the side of the robot through the opening and closing action of the adjustment rod 30.

[0093] In this embodiment, the second pushing component drives the moving rod 7 to move up and down through the electric telescopic rod 19, so that the pushing claw 11 can be inserted into the gap between the boxes, and then the linear guide rail 9 pushes the pushing claw 11 to move horizontally to achieve precise pushing of the object.

[0094] In this embodiment, the clamping assembly drives the clamping claws 13 to clamp the box body through the two-way guide rails 12, and then the robotic arm 4 lifts the clamping assembly, and at the same time drives the bracket 17 to contact and lift the bottom of the box body through the electric push rod 16 to avoid damage to the bottom due to suspension.

[0095] In this embodiment, the power and drive module includes an electric push rod, a drive wheel set and a linear guide rail. The drive wheel set provides the robot base 1 with ground walking ability, the electric push rod is used for the power output of the actuator, and the linear guide rail realizes the smooth linear movement of the components to ensure the coordinated operation of the various components of the robot.

[0096] In this embodiment, the control and communication module coordinates the operation of each module through the central control system to perform operations such as path planning, obstacle avoidance decision-making, and task allocation. The wireless communication module realizes interaction with the external management system and the transmission of task instructions and status feedback. The embedded controller monitors the status of the actuator and navigation module in real time to ensure the accuracy of task execution.

[0097] In this embodiment, the power supply and energy management module is responsible for the energy distribution and management of each module of the robot. This module prioritizes the energy supply of the actuator and navigation module through a dynamic energy allocation algorithm to maximize system efficiency.

[0098] In this embodiment, the safety module combines ultrasonic sensors and obstacle avoidance algorithms to detect dynamic and static obstacles in the environment in real time. If an abnormal situation is detected, such as an obstacle too close or a device failure, the safety module triggers the emergency stop function to stop the robot from running. At the same time, the environmental monitoring sensor continuously monitors the working environment to ensure the safety of operation.

[0099] Working principle: When the robot of the present invention is used for industrial transportation of objects, after the robot is started, the perception module perceives and collects information about the surrounding environment through sensors such as laser radar 2 and camera 3, and generates a three-dimensional environment map in real time in combination with the SLAM algorithm. The ultrasonic sensor detects obstacles at close range, and the RFID and QR code recognition modules are combined to identify the task target position and surrounding objects. The intelligent path planning module generates a global path based on the environmental data.

[0100] The autonomous navigation module is responsible for moving the robot based on the global path, and adjusting the path deviation caused by dynamic obstacles through local navigation. The inertial measurement unit IMU provides posture data to ensure that the robot base 1 walks smoothly on the ground and moves forward according to the planned path.

[0101] When the robot encounters an obstacle in front, the perception module detects the characteristics of the obstacle and determines whether the obstacle is an object that is easy to move through the path planning module. If the result of the judgment is a movable object, the control and communication module sends a signal to the actuator module to start the electric push rod 25, drive the rack plate 27 to drive the limit block 32 to move back and forth in the slide slot 31, and then drive the gears 28 on both sides to rotate back and forth, control the adjustment rod 30 to open or close, and push the obstacle to the side of the base 1 to ensure the smoothness of the forward path.

[0102] When the robot moves to the front of the object to be transported, such as stacked boxes, the perception module identifies the size and position of the object through the laser radar 2 and camera 3, and the path planning module locates the optimal grasping point. The control and communication module drives the robot arm 4 to operate, which drives the mounting frame 5 to move to the front position of the box to be transported. At this time, the first pushing assembly is in a suitable position. Subsequently, the moving rod 7 is moved downward inside the limit slot 6 under the drive of the electric telescopic rod 19, thereby driving the first pushing assembly to move downward, so that the pushing claw 11 enters the gap between the two boxes. Subsequently, the linear guide rail 9 drives the pushing claw 11 to move toward the clamping assembly, so that the box enters between the two clamping claws 13. The two-way guide rail 12 is started, so that the clamping claws 13 on both sides clamp the two sides of the box. Subsequently, the robot arm 4 controls the clamping assembly to take out the box. At this time, the two electric push rods 16 drive the bracket 17 to move toward the bottom of the box. Subsequently, the linear guide rail 14 is started, so that the bracket 17 moves up and contacts with the bottom of the box for lifting, so as to prevent the bottom of the box from breaking when it is suspended due to the heavy objects inside the box.

[0103] When the robot reaches the designated placement position, the perception module confirms the target position through RFID or QR code recognition, and the control and communication module instructs the actuator module to perform the placement operation. The robot arm 4 drives the bracket 17 to contact the inclined point on the ground, and the clamping assembly is released. At the same time, under the drive of the electric telescopic rod 19 and the linear guide rail 9, the push claw 11 moves to the position between the box and the mounting frame 5. Subsequently, the linear guide rail 9 drives in reaction, and the push claw 11 pushes the box to slide out from above the bracket 17. The electric push rod 16 drives the bracket 17 to retract to the initial position, completing the object placement operation.

[0104] The power and energy management module is responsible for optimizing the energy distribution of each module, giving priority to the operation of the actuator and navigation module. The control and communication module interacts with the external system through wireless communication to achieve real-time task scheduling and status monitoring.

[0105] The safety module monitors the environment and machine status in real time through sensors during the entire operation process. If an abnormality is detected, such as an obstacle too close or equipment failure, the safety module can stop the robot operation through the emergency stop system to ensure the safety of equipment and personnel.

[0106] 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 industrial transport robot based on an intelligent path algorithm, characterized in that: include: A machine base (1), wherein a radar (2) and a camera (3) are arranged on the front side of the machine base (1), a mechanical arm (4) is installed on the top of the machine base (1), a first object pushing component is installed on the bottom of the machine base (1), and the component is used to push an easily movable obstacle to the side when the robot appears in front of the robot when the robot is driving, a mounting frame (5) is arranged on the top of the mechanical arm (4), and a clamping component is arranged on the outside of the mounting frame (5), and the component is used to clamp a transport box for transportation, a second object pushing component is arranged on the top of the mounting frame (5), and the component is used to push the transported object into a placement location or to adjust the placement of the object, and to assist the clamping component in clamping the object, and a supporting mechanism is arranged on the bottom of the mounting frame (5), and the component is used to support the bottom of the box when the clamping component clamps the box; The object supporting mechanism comprises an adjustment component and a mounting seat (15). The adjustment component is mounted in the middle of the mounting frame (5) and is used to enable the bottom supporting component to move upward when it is blocked by an object below when the clamping component clamps the box body. The bottom supporting component is mounted at the bottom of the adjustment component. The mounting seat (15) is mounted at the bottom of the adjustment component. Two electric push rods (16) are fixed on the top of the mounting seat (15). The driving ends of the two electric push rods (16) are fixed with a supporting seat (17). A plurality of rollers (18) are rotatably arranged on both sides of the top of the supporting seat (17).

2. The industrial transport robot based on intelligent path algorithm according to claim 1, characterized in that: The first push component comprises a fixed seat (24), the fixed seat (24) being mounted on the bottom of the machine base (1), a slide groove (31) being provided in the middle of the fixed seat (24), a limit block (32) being slidably disposed inside the slide groove (31), a rack plate (27) being mounted at the bottom of the limit block (32), rotating rods (29) being rotatable on both sides of the middle of the fixed seat (24), gears (28) being mounted on the outer walls of the two rotating rods (29), the tooth tips on both sides of the rack plate (27) being respectively meshed with the outer tooth tips of the two gears (28), an adjusting rod (30) being fixed at the bottom of each rotating rod (29), a connecting block (26) being fixed at the rear end of the rack plate (27), the other end of the connecting block (26) being connected to a second electric push rod (25), the outer wall of the second electric push rod (25) being mounted on the bottom of the machine base (1).

3. The industrial transport robot based on intelligent path algorithm according to claim 1, characterized in that: The clamping assembly comprises a bidirectional guide rail (12), the bidirectional guide rail (12) being externally mounted on the outer wall of the mounting frame (5), and clamping claws (13) being fixed to driving ends on both sides of the bidirectional guide rail (12).

4. The industrial transport robot based on intelligent path algorithm according to claim 1, characterized in that: The second pushing component comprises a mounting beam (8), the outer wall of the mounting beam (8) is arranged on the top of the mounting frame (5), linear guide rails (9) are installed on both sides of the bottom of the mounting beam (8), and movable seats (10) are arranged on the outer walls of the two linear guide rails (9), and a pushing claw (11) is installed in the middle of the movable seat (10).

5. The industrial transport robot based on intelligent path algorithm according to claim 4, characterized in that: A moving rod (7) is installed outside the two linear guide rails (9), and electric telescopic rods (19) are installed on both sides of the moving rod (7). The outer walls of the two electric telescopic rods (19) are installed on both sides of the mounting frame (5). A limiting groove (6) is penetrated in the middle of the mounting frame (5), and the outside of the moving rod (7) is arranged inside the limiting groove (6).

6. The industrial transport robot based on intelligent path algorithm according to claim 1, characterized in that: The adjustment assembly comprises two linear guide rails (14), the exteriors of the two linear guide rails (14) slide on both sides of the mounting frame (5), the tops of the two linear guide rails (14) are both installed with L-shaped seats (23), the tops of the two L-shaped seats (23) are both installed with limit rods (20), the exteriors of the two limit rods (20) are both sleeved with springs (21), the exteriors of the two limit rods (20) slide on the top of the mounting frame (5), and anti-slip plates (22) are both installed at the tops of the two limit rods (20) and the bottoms of the two linear guide rails (14).

7. The industrial transport robot based on intelligent path algorithm according to claim 6, characterized in that: The middle part of the mounting seat (15) is arranged at the outer driving end of the two linear guide rails (14).

8. An industrial transport robot system based on an intelligent path algorithm, characterized in that: An industrial transport robot based on an intelligent path algorithm for executing any one of claims 1 to 7, comprising: The perception module is used to perceive the environment and collect information to achieve 3D mapping, object recognition and obstacle detection; Intelligent path planning module, used to generate global paths and dynamically adjust local paths based on environmental data; Autonomous navigation module, used to realize autonomous movement and positioning of the robot; Actuator modules are used to realize the grabbing, carrying, pushing and precise placement of objects; Power and drive modules are used for power output and movement of robots and actuators to achieve ground walking and linear movement of components; The control and communication module is used to coordinate the operation of various modules, realize task scheduling, path planning and data interaction with external systems; Power and energy management module, used to provide energy to the robot and optimize energy distribution; The safety module is used to detect environmental anomalies during robot operation and take safety measures in real time.

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