Multi-machine collaborative modular connection structure and system

Abstract

The invention relates to a multi-machine collaborative modular connection structure and system. The multi-machine collaborative modular connection structure comprises a plurality of carrying trolleys; a connecting mechanism is installed on the side face of the carrying trolley, and a Hall rocker two-dimensional angle measuring sensor is arranged outside the connecting mechanism. An attitude sensor and a control system are arranged in the carrying trolley, and the control system receives data collected by the Hall rocker two-dimensional angle measuring sensor and the attitude sensor. By combining the length-adjustable flexible connecting mechanism with the tensioning device, the annular connecting mechanism and a closed-loop control system, the precision, the response speed and the stability of the system are remarkably improved, and the system is suitable for efficient and stable operation under complex working conditions.

Description

Technical Field

[0001] The present invention relates to the field of automated handling technology, and in particular to a multi-machine collaborative modular connection structure and system. Background Art

[0002] With the increasing demand for heavy-duty handling systems in the industrial and logistics fields, traditional handling systems have gradually exposed many problems under complex working conditions. Especially in the process of high-load, large-scale material handling, the connection structure of the existing system generally lacks sufficient flexibility and is difficult to meet different operating requirements. The rigid design of the connection structure makes it impossible for the system to adjust and adapt in time when facing a changing working environment, resulting in a decrease in operating efficiency and insufficient system stability. In addition, the existing monitoring methods are often too single and cannot accurately reflect the working status of the system in real time. They lack intelligent fault diagnosis and early warning capabilities, which further limits the efficient operation and long-term stable operation of the system.

[0003] At present, most traditional handling systems use fixed or semi-fixed connection structures. Although such structures can work in certain scenarios with high stability requirements, they lack flexibility and scalability in a changing working environment. For example, traditional rail-type handling systems are not easy to flexibly dispatch and adjust when faced with complex terrain or working environments, especially in environments with small spaces or many obstacles, making it difficult to ensure efficient operation. Secondly, since the system's monitoring and control technology is relatively simple, it is impossible to achieve refined management and real-time monitoring of each link. The system may have some potential safety hazards, increasing the risk of operation.

[0004] Therefore, how to design a more flexible, high-precision and easy-to-expand modular connection structure has become one of the focuses of current research. Summary of the invention

[0005] The present invention aims to solve the problems of inflexible connection structure, low monitoring accuracy and poor system stability of existing large-load handling systems under complex working conditions, and to provide a highly flexible, high-precision and easily expandable modular connection structure to achieve efficient and stable operation of multiple machines in collaboration.

[0006] A multi-machine collaborative modular connection structure includes multiple transport carts; a connection mechanism is installed on the side of the transport cart, and a Hall rocker two-dimensional angle measurement sensor is provided on the outside of the connection mechanism; a posture sensor and a control system are provided inside the transport cart, and the control system receives data collected by the Hall rocker two-dimensional angle measurement sensor and the posture sensor.

[0007] Furthermore, a tensioning device is provided inside the connecting mechanism to achieve adjustable length.

[0008] Furthermore, connecting mechanisms are installed on four sides of the transport trolley.

[0009] Furthermore, an annular connection mechanism is provided on the outside of the transport trolley, and a Hall rocker two-dimensional angle measurement sensor is provided on the surface of the annular connection mechanism.

[0010] The second object of the present invention is to provide a system adopting the above-mentioned multi-machine collaborative modular connection structure, including a multi-machine collaborative modular connection structure, a drive module, a communication module, and an energy module; the drive module is used to receive instructions sent by the control system and drive the transport vehicle to move, the communication module is used to achieve coordination of multiple transport vehicles, and the energy module is used to power the transport vehicle.

[0011] Compared with the prior art, the present invention has the following beneficial effects:

[0012] 1. High flexibility: The connection mechanism of the present invention can adjust the length to adapt to different working environments and dynamic requirements; the circular track design achieves 360-degree all-round coverage, and the connection direction is flexible and adjustable.

[0013] 2. Strong adaptability: The annular connection mechanism on the outside of the car avoids direct dependence on the surface shape of the car and can adapt to complex terrain and multi-directional movement requirements.

[0014] 3. High-precision monitoring: Integrated Hall rocker two-dimensional angle measurement sensor to achieve real-time monitoring of connection angle changes and provide accurate data support.

[0015] 4. Easy to expand: The modular design facilitates the connection of multiple vehicles or equipment to meet complex operation requirements; the circular track design allows for flexible arrangement of sensors and connection mechanisms, which is convenient for adjustment and upgrading. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 A schematic diagram of a multi-machine collaborative modular connection structure of the present invention;

[0017] Figure 2 It is a schematic diagram of the annular connection mechanism of the present invention.

[0018] Markings in the figure: 1. Carrying trolley; 2. Connecting mechanism; 2-1. Hall rocker two-dimensional angle measurement sensor; 3. Ring connecting mechanism. DETAILED DESCRIPTION

[0019] In order to enable those skilled in the art to better understand the technical solution of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings.

[0020] Please refer to Figure 1The present invention provides a multi-machine collaborative modular connection structure, which aims to solve the problems of low operating efficiency and insufficient system stability caused by the lack of flexibility of the connection structure and the single monitoring means in the existing large-load handling system. The structure includes a plurality of transport carts 1, and a connection mechanism 2 is installed on the four sides of each transport cart 1, so as to realize a modular connection design. A tensioning device is provided inside the connection mechanism 2, which can realize flexible adjustment of the length and can adapt to complex working conditions with different handling requirements. A Hall rocker two-dimensional angle measurement sensor 2-1 is installed on the outside of the connection mechanism 2, which is used to monitor the change of the connection angle in real time and feed back the angle data to the control system of the cart. A posture sensor and a control system are also integrated inside the transport cart 1. The posture sensor is used to monitor the tilt angle and movement state of the cart. The control system receives the data collected by the Hall rocker two-dimensional angle measurement sensor 2-1 and the posture sensor, and makes real-time adjustments after comprehensive analysis to ensure the stability and accuracy of the system.

[0021] Combination Figure 2 In accordance with the design, a ring-shaped connection mechanism 3 is also provided on the outside of the transport trolley 1. The ring-shaped connection mechanism 3 is arranged around the outer periphery of the transport trolley 1, and a plurality of Hall rocker two-dimensional angle measurement sensors 2-1 are evenly distributed on its surface. This ring-shaped design provides the connection mechanism with a 360-degree flexible connection capability, greatly broadening the connection direction range of the system, so that the transport trolley can complete complex work tasks in a multi-directional and multi-angle environment. In addition, this ring-shaped connection mechanism can also enhance the layout flexibility of the connection mechanism, which not only facilitates the coordinated operation of multiple small workshops, but also reduces the problem of reduced connection efficiency due to directional restrictions.

[0022] In order to further exert the functions of the present invention, the present invention also provides a system based on the above-mentioned multi-machine collaborative modular connection structure. The system includes a multi-machine collaborative modular connection structure, a drive module, a communication module and an energy module. The drive module is used to receive motion instructions sent by the control system and drive the movement of the transport vehicle 1 through a motor. The communication module is used to achieve coordination between multiple transport vehicles, and can achieve efficient coordination and path optimization of the vehicles in complex operating environments. The energy module provides power for the system and adopts a replaceable or wirelessly rechargeable battery design to ensure long-term continuous operation.

[0023] In actual use, the system can effectively cope with handling tasks in complex scenarios. For example, in warehousing and logistics, when multiple carts need to work together to complete the handling of heavy-duty goods, the system first calculates the optimal position and path planning of each cart through the control system, and distributes the task to each cart through the communication module. The carts are physically connected through a connecting mechanism 2 or a ring connecting mechanism 3, and the angle and tension state of the connection parts are monitored by the Hall rocker two-dimensional angle measurement sensor 2-1, and real-time adjustments are made to ensure the stability and accuracy of the handling process. During the entire handling process, the posture sensor monitors the movement posture of the cart in real time, and the control system adjusts the drive module according to the feedback data to ensure that the cart can still maintain stable operation when the load changes or the path is complex.

[0024] In addition, the modular design of the system gives it good scalability and adaptability. By flexibly combining multiple transport carts, it can quickly respond to the needs of handling goods of different sizes and weights; the design of the ring connection mechanism is more suitable for handling tasks in dynamic environments, such as automated production lines or logistics sorting centers that require frequent task switching. Overall, the multi-machine collaborative modular connection structure and system of the present invention not only improve the efficiency and reliability of handling operations, but also have a high degree of flexibility and intelligence, and can meet the diverse needs of modern complex handling systems.

[0025] Although the embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations of the present invention. A person skilled in the art may change, modify, replace and vary the above embodiments within the scope of the present invention.

Claims

1. A multi-machine collaborative modular connection structure, comprising a plurality of transport vehicles (1); characterized in that: A connecting mechanism (2) is installed on the side of the transport trolley (1), and a Hall rocker two-dimensional angle measurement sensor (2-1) is provided outside the connecting mechanism (2); a posture sensor and a control system are provided inside the transport trolley (1), and the control system receives data collected by the Hall rocker two-dimensional angle measurement sensor (2-1) and the posture sensor.

2. The multi-machine collaborative modular connection structure according to claim 1, characterized in that: The connection mechanism (2) is internally provided with a tensioning device, which can achieve adjustable length.

3. The multi-machine collaborative modular connection structure according to claim 1, characterized in that: The four sides of the transport trolley (1) are all equipped with connecting mechanisms (2).

4. The multi-machine collaborative modular connection structure according to claim 1, characterized in that: An annular connection mechanism (3) is provided on the outside of the transport trolley (1), and a Hall rocker two-dimensional angle measurement sensor (2-1) is provided on the surface of the annular connection mechanism (3).

5. A system of multi-machine collaborative modular connection structure, characterized in that: It comprises the multi-machine collaborative modular connection structure as described in any one of claims 1 to 4, as well as a drive module, a communication module, and an energy module; the drive module is used to receive instructions sent by the control system and drive the transport vehicle (1) to move, the communication module is used to achieve the coordination of multiple transport vehicles (1), and the energy module is used to supply power to the transport vehicle (1).

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