A self-fixing system for aerial track mobile robot

Abstract

A self-fixing system for an aerial track mobile robot includes a mobile robot, a self-fixing device, an aerial track, and a control unit. A plurality of docking stations are arranged on the aerial track. The self-fixing device includes a fixing part and an action part. One of the fixing part and the action part is arranged on the mobile robot, and the other is arranged next to the docking station. When the mobile robot travels to a certain docking station, the fixing and release can be achieved through the relative action between the action part and the fixing part. The present invention relates to the field of track robots, and can enable the mobile robot to be well fixed and constrained at the docking station, so that the mobile robot can perform precise actions and accurate tasks. In particular, for a mobile robot using a multi-axis manipulator as an actuator, the end of the multi-axis manipulator can be subjected to a certain load without losing the end execution accuracy.

Description

Technical Field

[0001] The invention relates to the field of rail robots, and in particular to a self-fixing system for an aerial rail mobile robot. Background Art

[0002] Aerial rail robots have very wide applications in many fields. The core concept is to use suspended tracks to provide a route for rail robots, so that rail robots can move long distances and over a large range to perform operations and actions to complete automated tasks. The main application scenarios include logistics handling, warehouse management, drug distribution, intelligent food delivery, smart factories, automated production lines, unmanned factories, and aerial mobile charging. Since the track is suspended, it does not occupy ground space and will not conflict or interfere with ground personnel and equipment. Therefore, it is reliable and stable in operation, highly safe, and has broad development potential and application value.

[0003] Since the track-type robot needs to move on the aerial track, it has the freedom of movement. To satisfy this freedom of movement, there must be a certain gap between it and the aerial track and it will not fit completely. In addition, the aerial track is commonly in the form of a long strip, so the rigidity is usually poor and it is easier to deform when subjected to force. These two reasons will result in that even if the track-type robot stops completely, its degrees of freedom in all directions are difficult to be completely constrained, that is, it cannot be well fixed. In this case, for the rail robot running on the aerial track, if it is only performing ordinary handling tasks or tasks that do not require high precision, the requirements can be met by relying on the contact and constraint between itself and the aerial track. However, if the rail robot needs to perform tasks with higher precision, such as using a robotic arm installed under the rail robot to achieve high-precision operations such as precise docking, precise plugging and unplugging, precise grasping, and precise delivery, in this application demand scenario, if the base of the rail robot cannot be well fixed, once the end of the robotic arm is under the load, due to the long force arm, even if the base of the rail robot only undergoes a slight displacement or a slight movement, it will be significantly amplified at the end of the robotic arm, causing the end of the robotic arm to lose position accuracy and execution accuracy.

[0004] In addition, due to the lack of stable, effective and low-cost cross-track steering technology, existing track robots usually run on one-way tracks, that is, the tracks adopt a one-way design. The defects of one-way tracks are very obvious. The most serious problem is that when multiple track robots are running on the track at the same time, there will be difficult to solve path conflicts and congestion problems. Moreover, this is a natural defect of one-way tracks and is basically unsolvable. Another significant defect of one-way tracks is that it is difficult to achieve global coverage. Although local area coverage of the track path can be achieved through the curved design of the track, due to the curved design of the track, two points that are very close in straight line distance on the track may actually be very long on the winding track path. The above two significant defects also limit the application of one-way tracks.

[0005] The present invention aims to solve the above two problems, namely, on the one hand, to provide a reliable and stable self-fixing solution for the rail-mounted robot to realize high-precision operation and movement of the rail-mounted mobile robot on track; on the other hand, on the basis of solving the self-fixing problem, to provide a solution for the rail-mounted mobile robot to change track operation. Summary of the invention

[0006] The purpose of the present invention is to provide a self-fixing system for an aerial track mobile robot, wherein the mobile robot travels on the aerial track and can move along the track path, and a number of docking stations are arranged on the aerial track. The self-fixing system can achieve good fixation and restraint of the mobile robot at the docking stations, so that the mobile robot can perform precise movements and precise tasks, especially for a mobile robot using a multi-axis manipulator as an actuator, so that the end of the multi-axis manipulator will not lose the end execution accuracy when bearing a certain load. In addition, on the basis of solving the self-fixing problem of the mobile robot, the present invention also provides a solution for the mobile robot to operate on a variable track.

[0007] In order to achieve the above-mentioned invention object, the corresponding technical scheme is as follows: A self-fixing system for an aerial track mobile robot comprises a mobile robot, a self-fixing device, an aerial track, and a control unit. The mobile robot runs on the aerial track and can move along the track path of the aerial track. A plurality of docking stations are arranged on the aerial track, and the docking stations are stations where the mobile robot needs to self-fix. The self-fixing device comprises a fixing part and an action part, one of which is arranged on the mobile robot, and the other is arranged beside the docking station. When the mobile robot travels to a certain docking station, the action part is used to press or clamp the fixing part, thereby realizing the self-fixing of the mobile robot. When it needs to be released, the action part only needs to release the pressing or clamping state of the fixing part. The movement of the mobile robot on the aerial track and the action of the self-fixing device are both controlled by the control unit.

[0008] Preferably, a first preferred embodiment of the action part and the fixing part is that the action part is an electric clamping part, and the fixing part is installed on both sides of the aerial track at the docking station. This section of the aerial track is called the target docking track. There are several electric clamping parts, all of which are installed on the mobile robot. The electric clamping part includes a clamping claw, and the movable stroke direction of the clamping claw is perpendicular to the track path direction of the target docking track. When the mobile robot drives to a certain docking station and stops, the electric clamping part can drive the clamping claw to press against the fixing part, thereby fixing the mobile robot. When it needs to be released, it only needs to drive the clamping claw to move in the opposite direction. Since the movable stroke direction of the clamping claw is perpendicular to the track path direction of the target docking track, the interference between the clamping claw and the fixing part when the mobile robot walks on the target docking track can be avoided by making the clamping claw in a loose state.

[0009] Preferably, a first preferred embodiment of the electric clamping part is that it adopts a single clamping jaw design, and the fixing part is four fixing columns arranged on both sides of the target docking track, with two on each side. The number of the electric clamping parts is also four, and their setting positions correspond one-to-one to the positions of the four fixing columns. When performing the fixing operation of the mobile robot, the clamping jaws of the two electric clamping parts located on the same side of the target docking track move in the same direction, while the clamping jaws of the two electric clamping parts on the other side move in opposite directions. After moving into position, each clamping jaw firmly presses against the corresponding fixing column, thereby fixing the mobile robot. When it needs to be released, the clamping jaw can be driven to move in the opposite direction.

[0010] Preferably, the second preferred embodiment of the electric clamping part is that it adopts a double-claw design that embraces each other, and the fixing part is four fixing columns arranged on both sides of the target docking track, with two on each side. The number of the electric clamping parts is also four, and their setting positions correspond one-to-one to the positions of the four fixing columns. When performing the fixing operation of the mobile robot, the two clamping jaws of each electric clamping part embrace each other and clamp the fixing column corresponding to it, thereby fixing the mobile robot. When loosening is required, the two clamping jaws of each electric clamping part can be driven to move in the opposite direction.

[0011] Preferably, a second preferred embodiment of the fixing part and the moving part is that one of the fixing part and the moving part is a pin shaft module, and the other is a pin hole module, and the two together constitute a pin shaft and pin hole electric plug-in module, and one of the pin shaft module and the pin hole module is fixedly installed, and the other is installed on the mobile robot, and when the mobile robot drives to a certain parking station and stops, the pin shaft and pin hole electric plug-in module can be plugged in under the control of the control unit, and the mobile robot is fixed by the tightening action between the plug-in mating surfaces, and when loosening is required, the pin shaft module and the pin hole module can be separated by plugging in.

[0012] Preferably, a third preferred embodiment of the fixing part and the action part is that the fixing part is the track wall of the aerial track, the action part is arranged on the mobile robot, and the action part includes a self-fixing driving module and a force-applying part. When the mobile robot drives to a certain parking station and stops, the force-applying part can press against the inner wall of the aerial track from the inside to the outside or hold the outer wall of the aerial track from the outside to the inside under the drive of the self-fixing driving module, thereby fixing the mobile robot. When it needs to be released, the force-applying part can be driven in the opposite direction.

[0013] Preferably, a fourth preferred embodiment of the fixing part and the action part is that the fixing part is arranged on the mobile robot, and the action part is an external clamping module, and the external clamping module is installed on both sides of the aerial track at the docking station. When the mobile robot drives to a docking station and stops, the external clamping module can clamp the mobile robot from both sides, thereby fixing the mobile robot, and when it needs to be released, just release the clamping state.

[0014] Preferably, the mobile robot also includes a walking and steering module, and the track path of the aerial track includes a number of straight sections, a number of intersections, and greater than or equal to zero turning sections. The walking and steering module can drive the mobile robot to go straight or turn at the intersections and turning sections of the aerial track according to the needs of the route. When the mobile robot has the ability to turn on the intersecting aerial track, the aerial track can truly achieve global deployment. Regardless of the layout of the workstations of the mobile robot, the aerial track can be deployed to each workstation, and compared with the monorail movement, when multiple mobile robots on the intersecting track move at the same time, it can well support the avoidance between the mobile robots, and there will be no unavoidable path conflicts and path congestion problems that naturally exist in the monorail movement.

[0015] Beneficial effects of the present invention: The present invention can achieve good fixation and restraint of the mobile robot at the docking station deployed along the aerial track, so that the mobile robot can perform precise movements and accurate tasks, especially for the mobile robot using a multi-axis robot arm as an actuator, so that the end of the multi-axis robot arm will not lose the end execution accuracy when bearing a certain load. In addition, on the basis of solving the self-fixation problem of the mobile robot, the present invention also provides a variable track operation solution for the mobile robot, so that the aerial track can truly achieve global deployment. No matter what the layout of the workstation of the mobile robot is, the aerial track can be deployed to each workstation, and compared with the single-track movement, when multiple mobile robots on the cross track move at the same time, they can well support the avoidance between the mobile robots, and there will be no unavoidable path conflicts and path congestion problems that naturally exist in the single-track movement.

[0016] It should be noted that the beneficial effects of the present invention are not limited to the above description, and the beneficial effects can be understood in conjunction with specific technical solutions and preferred implementations. In addition, descriptions of the technical effects and beneficial effects of a specific technical solution or preferred implementation are also interspersed in the content of the present invention and the implementations thereafter. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Since the present invention was first applied by the applicant to an aerial mobile charging robot, the drawings of the present invention also take the aerial mobile charging robot as an example.

[0018] Figure 1 It is a schematic diagram of when the mobile robot described in the present invention is an aerial mobile charging robot, and the aerial mobile charging robot charges an electric vehicle at a certain docking station on the aerial track.

[0019] Figure 2Detailed schematic diagram of the self-fixing system of the aerial rail mobile robot of the present invention, wherein the electric clamping part described in the figure adopts the first preferred embodiment thereof, namely, a single clamping claw design.

[0020] Figure 3 It is a schematic diagram of the aerial mobile charging robot including a walking and steering module.

[0021] Figure 4 It is a schematic diagram of the electric clamping part in a released state when the clamping claws are in the first preferred embodiment.

[0022] Figure 5 It is a schematic diagram of the electric clamping part when it adopts its first preferred embodiment and the clamping claw is pressed against the corresponding fixed column. DETAILED DESCRIPTION

[0023] The present invention will be further described and explained in detail below in conjunction with the embodiments, implementation modes and drawings of the present invention. It should be noted that the described embodiments or implementation modes are only part of the embodiments or implementation modes of the present invention, rather than all of the embodiments or implementation modes, and the drawings are only schematic diagrams for convenience of explanation, rather than complete limitations on the implementation modes of the present invention. Based on the embodiments or implementation modes of the present invention, all other embodiments or implementation modes obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0024] The following description of the embodiments or implementations of the present invention is merely illustrative in nature and is in no way intended to limit the present invention, its application, or use.

[0025] Since the present invention was first applied by the applicant to an aerial mobile charging robot, the mobile robot described in the present invention is also described by taking the aerial mobile charging robot as an example.

[0026] like Figure 1-5As shown, the aerial mobile charging robot includes a charging robot body 3, a mechanical arm 2, a charging gun 11, a walking and steering module, a power supply module 14, and a positioning and guiding module 10. The aerial mobile charging robot is suspended and deployed on the aerial track 7, and can move along the aerial track 7 through the walking and steering module, and can draw power from the power supply line deployed along the aerial track 7 through the power supply module 14; the charging gun 11 is connected to the charging robot body 3 through the mechanical arm 2; the walking and steering module can drive the aerial mobile charging robot to move along the track path of the aerial track 7, and the aerial mobile charging robot draws power from the power supply line through the power supply module 14; the mechanical arm 2 is used to drive the charging gun 11 to realize the automatic plug-in and pull-out action of the charging port 101 of the electric vehicle 1, and the positioning and guiding module 10 is used to provide positioning and guidance for the mechanical arm 2, and can guide the mechanical arm 2 to accurately move with the charging gun 11 to the position of the electric vehicle charging port and realize the gun plugging action.

[0027] The function of the mobile robot self-fixing system described in the present invention applied to the aerial mobile charging robot is that when the aerial mobile charging robot moves to the charging station for charging the electric vehicle 1, the self-fixing system can firmly fix the charging robot body 3 so that it will not move or shake when the mechanical arm 2 performs the automatic plug-in and pull-out action. Since the charging gun 11 is located at the end of the mechanical arm 2, when the charging gun 11 is subjected to the plug-in and pull-out force, the torque applied to the charging robot body 3 by the longer force arm of the mechanical arm will be very large, and the gap between the gun head of the charging gun 11 and the electric vehicle charging port 101 is small, so it belongs to a very high-precision application scenario, so when performing the plug-in and pull-out action, the charging robot body 3 must be firmly fixed, otherwise the plug-in and pull-out action will not be successfully completed.

[0028] Figure 1 The schematic diagram of the aerial mobile charging robot charging an electric car at a certain charging station on the aerial track 7 is shown. In the figure, the aerial track 7 is a criss-crossed form in which branches are symmetrically distributed on both sides of the main road. The action part and the fixing part adopt the first preferred embodiment. In this embodiment, the self-fixing system of the aerial track mobile robot also includes a fixing part mounting bracket 6. The electric clamping part also adopts the first preferred embodiment, that is, a single clamping claw design is adopted. The fixing part is a fixed column 5 arranged on both sides of the target docking track. There are four fixed columns 5, two on each side. There are also four electric clamping parts, and their setting positions correspond one-to-one to the positions of the four fixed columns. Figure 2As shown, the electric clamping part includes a clamping jaw driving unit 8 and a clamping jaw 4. When performing the fixing operation on the charging robot body 3, the clamping jaws of the two electric clamping parts located on the same side of the target docking track move in the same direction, while the clamping jaws of the two electric clamping parts on the other side move in opposite directions. After moving into place, each clamping jaw is firmly pressed against the corresponding fixing column, thereby fixing the charging robot body. When it needs to be loosened, the clamping jaw can be driven to move in the opposite direction.

[0029] like Figure 2-5 As shown, in the present invention, preferably, the clamping jaw 4 is pressed against the fixing column 5 from the outside to the inside, wherein Figure 4 shows a schematic diagram of the clamping jaw 4 in a released state, Figure 5 The schematic diagram shows that the clamp 4 is pressed against the fixing column 5 from the outside to the inside. Of course, the clamp 4 and the fixing column 5 can also be pressed against each other from the inside to the outside. It should be noted that the solution of the clamp 4 pressing against the fixing column 5 from the inside to the outside should also be protected by the present invention.

[0030] like Figure 1 , Figure 2 As shown, preferably, the fixing column 5 is fixed to the fixing portion mounting bracket 6 by a threaded rod 9 .

[0031] The implementation methods of the present invention and other parts supporting the present invention are also introduced below.

[0032] <Aerial track implementation method> like Figure 4 As shown, the aerial track 7 is arranged in a suspended manner to provide a travel track and suspension support force for the walking and steering module. Preferably, the arrangement of the aerial track 7 corresponds to the parking space layout one by one, and a charging station is arranged on the aerial track above the side of each parking space, and the charging station is the parking station mentioned above in the present invention.

[0033] Preferably, the specific size, cross-section, material, etc. of the aerial track 7 are set according to actual load-bearing and strength requirements.

[0034] Preferably, the aerial track 7 includes a track support surface and a track groove, and the track path of the aerial track 7 includes a plurality of straight sections, a plurality of intersection sections, and a number of turning sections greater than or equal to zero. It should be noted that the straight section does not require a completely straight track section, but refers to a track section without bifurcations and large turns, the intersection section can be a mutually perpendicular cross intersection section, or a "T"-shaped intersection, and the turning section refers to a track section that requires a large turn but has no bifurcations.

[0035] Preferably, the aerial track 7 can be fixed by a ceiling, a load-bearing column, a wall, etc. of a setting site, so that the aerial track 7 has a load-bearing capacity.

[0036] When there is no ceiling, wall or load-bearing column at the installation site, preferably, the aerial track 7 can be suspended and fixed by a column bracket, etc. The number, position, structure and material of the column bracket are set according to the actual load-bearing and construction needs.

[0037] <Implementation method of walking and steering module> like Figure 1 , 3 , 4, and 5 show the first preferred embodiment of the present invention that enables the mobile robot to have the ability to change track and turn. In this embodiment, the walking and steering module can drive the mobile robot to go straight or turn at the intersection and turning section of the aerial track 7 according to the needs of the travel route; the aerial track 7 includes a track supporting surface, and the walking and steering module includes a driving wheel independent in-situ steering module, and the driving wheel independent in-situ steering module is used to enable the aerial mobile charging robot to turn at the intersection or turning section of the aerial track 7, and after turning, it can move along the turned aerial track path under the drive of the driving module. Preferably, the driving wheel independent in-situ steering module includes four independent steering driving wheel modules, which are arranged at the four corners of a square in the horizontal direction. Each independent steering driving wheel module includes a steering motor 13, a power motor, a rotating frame, and a wheel 12. The tread of the wheel 12 contacts the track supporting surface during movement. The power motor is installed on the rotating frame. The rotating frame is fixedly connected to the rotating shaft of the steering motor 13. The wheel 12 is provided with rotational power by the power motor. The rotating shaft of the steering motor 13 is in the vertical direction, and the rotating shaft of the power motor is in the horizontal direction. The axis centerline of the rotating shaft of the steering motor 13 intersects with the axis centerline of the rotating shaft of the power motor. The axis centerline of the rotating shaft of the steering motor 13 passes through the center point where the tread of the wheel 12 contacts the track supporting surface. Under the drive of the steering motor 13, each wheel 12 can independently rotate in situ around the center point where its tread contacts the track supporting surface. Under the drive of the power motor, each wheel 12 can independently rotate forward and reverse around the centerline of its wheel axle.

[0038] <Control unit implementation method> The control unit should at least have the ability of data analysis, processing and control. It can be a general-purpose chip, such as a central processing unit CPU, a microprocessor MCU, etc., or it can be a dedicated processing control chip, or a circuit board module with the above chip as the main control chip. The control unit usually carries a program or software that implements the corresponding function. The control unit can be a single integrated controller or it can be composed of multiple controllers. The present invention does not limit the type, form, deployment method and composition architecture of the control unit. On the basis of the present invention, simply changing the type, form, deployment method and composition architecture of the control unit should fall within the scope of protection of the present invention.

[0039] <Robotic arm implementation method> Preferably, the robot arm 2 is a robot arm with multi-axis linkage capability. The six-axis collaborative robot arm is a type of robot arm that is commonly used in the current robot arm industry. It usually has the advantages of being lightweight and having high repeatability, but the load is usually not large, generally ranging from a few kilograms to tens of kilograms. Since the load of carrying a charging gun to perform the action of plugging and unplugging the gun is usually around a few kilograms, the six-axis collaborative robot arm is very suitable. It should be noted that the present invention does not limit the type and form of the robot arm. Simply changing the type and form of the robot arm on the basis of the present invention should fall within the protection scope of the present invention.

Claims

1. A self-fixing system for an aerial track mobile robot, characterized in that: The invention comprises a mobile robot, a self-fixing device, an aerial track and a control unit. The mobile robot runs on the aerial track and can move along the track path of the aerial track. A plurality of docking stations are arranged on the aerial track, and the docking stations are stations where the mobile robot needs to self-fix. The self-fixing device comprises a fixing part and an action part. One of the fixing part and the action part is arranged on the mobile robot, and the other is arranged beside the docking station. When the mobile robot drives to a certain docking station, the action part can be used to press or clamp the fixing part, thereby realizing the self-fixation of the mobile robot. When it needs to be released, the action part can be used to release the pressing or clamping state of the fixing part. The movement of the mobile robot on the aerial track and the action of the self-fixing device are both controlled by the control unit.

2. The self-fixing system of the aerial rail mobile robot according to claim 1 is characterized in that: The action part is an electric clamping part, and the fixed part is installed on both sides of the aerial track at the docking station. This section of the aerial track is called the target docking track. There are several electric clamping parts, all of which are installed on the mobile robot. The electric clamping part includes a clamping claw, and the movable travel direction of the clamping claw is perpendicular to the track path direction of the target docking track. When the mobile robot travels to a docking station and stops, the electric clamping part can drive the clamping claw to press against the fixed part, thereby fixing the mobile robot. When it needs to be released, just drive the clamping claw to move in the opposite direction.

3. The self-fixing system of the aerial rail mobile robot according to claim 2 is characterized in that: The electric clamping part adopts a single-claw design, and the fixing part is four fixing columns arranged on both sides of the target docking track, with two on each side. The number of the electric clamping parts is also four, and their setting positions correspond one-to-one to the positions of the four fixing columns. When performing the fixing operation of the mobile robot, the clamping claws of the two electric clamping parts on the same side of the target docking track move in the same direction, while the clamping claws of the two electric clamping parts on the other side move in opposite directions. After moving into position, each clamping claw firmly presses against the corresponding fixing column, thereby fixing the mobile robot. When it needs to be released, the clamping claw can be driven to move in the opposite direction.

4. The self-fixing system of the aerial rail mobile robot according to claim 2, characterized in that: The electric clamping part adopts a double-claw design that embraces each other, and the fixing part is four fixing columns arranged on both sides of the target docking track, with two on each side. The number of the electric clamping parts is also four, and their setting positions correspond one-to-one to the positions of the four fixing columns. When performing the fixing operation of the mobile robot, the two claws of each electric clamping part embrace each other and clamp the corresponding fixing column, thereby fixing the mobile robot. When loosening is required, just drive the two claws of each electric clamping part to move in the opposite direction.

5. The self-fixing system of the aerial rail mobile robot according to claim 1, characterized in that: One of the fixing part and the action part is a pin shaft module, and the other is a pin hole module, and the two together constitute a pin shaft and pin hole electric plug-in module. One of the pin shaft module and the pin hole module is fixedly installed, and the other is installed on the mobile robot. When the mobile robot drives to a certain parking station and stops, the pin shaft and pin hole electric plug-in module can be plugged in under the control of the control unit, and the mobile robot is fixed by the tightening action between the plug-in mating surfaces. When loosening is required, just separate the plug-in of the pin shaft module and the pin hole module.

6. The aerial rail mobile robot self-fixing system according to claim 1, characterized in that: The fixing part is the track wall of the aerial track, and the action part is arranged on the mobile robot. The action part includes a self-fixing driving module and a force-applying part. When the mobile robot drives to a certain parking position and stops, the force-applying part can press against the inner wall of the aerial track from the inside to the outside or hold the outer wall of the aerial track from the outside to the inside under the drive of the self-fixing driving module, thereby fixing the mobile robot. When it needs to be released, just drive the force-applying part in the opposite direction.

7. The self-fixing system of the aerial rail mobile robot according to claim 1, characterized in that: The fixing part is arranged on the mobile robot, and the action part is an external clamping module, and the external clamping module is installed on both sides of the aerial track at the docking station. When the mobile robot drives to a docking station and stops, the external clamping module can clamp the mobile robot from both sides, thereby fixing the mobile robot. When it needs to be released, just release the clamping state.

8. The self-fixing system of the aerial rail mobile robot according to claim 1, characterized in that: The mobile robot also includes a walking and steering module. The track path of the aerial track includes a plurality of straight sections, a plurality of intersections, and greater than or equal to zero turning sections. The walking and steering module can drive the mobile robot to go straight or turn at the intersections and turning sections of the aerial track according to the needs of the travel route.

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