Carrying device of unmanned vehicle-mounted robot palletizer

Abstract

The invention provides a carrying device of an unmanned vehicle-mounted palletizing robot, and relates to the technical field of palletizing robots, and the carrying device comprises an unmanned vehicle chassis used for providing a moving carrier platform for the palletizing robot; the stacking robot completes grabbing, transferring and placing operations of the cleaning robot through a carrying execution mechanism; the carrying execution mechanism is used for clamping or bearing a target object; the navigation positioning module is used for realizing autonomous movement and obstacle avoidance of the chassis of the unmanned vehicle; and the energy supply module is used for providing power for the whole vehicle and supporting external power supply. Through cooperative cooperation of the unmanned vehicle chassis, the stacking robot, the carrying execution mechanism, the navigation positioning system and the energy supply system, automatic transfer of the cleaning robot between rows of photovoltaic panels is achieved, and the problem that after a traditional wall-mounted cleaning robot completes cleaning of one row of panels, the traditional wall-mounted cleaning robot needs manual carrying to conduct row changing operation is solved; the labor cost investment is reduced, and the operation efficiency of the photovoltaic station is improved.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of palletizing robots, and particularly relates to a carrying device of an unmanned vehicle-mounted palletizing robot. BACKGROUND

[0002] The unmanned vehicle is an intelligent vehicle capable of achieving automatic driving through sensors such as laser radars and cameras and advanced AI algorithms, and can complete driving tasks without human intervention, and also realizes the load carrying function. Palletizing refers to the operation of arranging articles neatly and regularly into a cargo pile. The palletizing robot can realize the function of fixed-point carrying, so that the photovoltaic cleaning robot can be transferred between rows more conveniently and quickly. The wall-mounted cleaning robot is a sliding rail type robot that can be used for photovoltaic cleaning, and can remove dust and dirt on the surface of flat single-axis photovoltaic panels. When passing through the gap between the same row of photovoltaic panels, the robot can complete obstacle crossing with the support of the main mechanical arm, or slide through the auxiliary guide rail between the panels. However, after completing the cleaning of a row of panels, the robot cannot continue the row-changing operation and needs to be manually carried, which is time-consuming and laborious. SUMMARY

[0003] The present application provides a carrying device of an unmanned vehicle-mounted palletizing robot to solve at least one of the above technical problems.

[0004] To solve the above technical problems, the present application discloses a carrying device of an unmanned vehicle-mounted palletizing robot, comprising: An unmanned vehicle chassis is arranged on the palletizing robot, integrates an electric power-assisted steering module and a vehicle controller, and is used to provide a mobile carrier platform for the palletizing robot; The palletizing robot is installed on the unmanned vehicle chassis through a limiting groove, and can complete the grabbing, transferring and placing operations of the cleaning robot through a carrying execution mechanism after the unmanned vehicle chassis moves to a target position; The carrying execution mechanism is installed on the operation end of the palletizing robot and is used to clamp or carry target objects; The navigation positioning module is integrated in the unmanned vehicle chassis and is used to realize the autonomous movement and obstacle avoidance of the unmanned vehicle chassis; The energy supply module is integrated in the unmanned vehicle chassis and is used to provide power for the whole vehicle and support external power supply.

[0005] Preferably, the unmanned vehicle chassis comprises: The chassis platform is made of high-carbon steel and is firmly connected to the chassis support through two rows of screws. The front end of the chassis support is provided with a bumper beam; The four groups of suspensions are arranged at the bottom of the chassis support and are respectively connected to the front axle and the rear axle. Tires are installed on the front axle and the rear axle through hubs. The tires are in a four-wheel drive form. The front axle and the rear axle are connected through a central differential; The multi-mode steering module supports the modes of spot turning, double Ackerman steering, slanting and transverse shifting.

[0006] Preferably, the stacking robot comprises: A central column arranged on the lower base, the central column is made of steel material, the cross section is square, and the central column can rotate horizontally and stretch vertically; A fixed arm connected to the central column through a nut and a lifting guide groove for sliding up and down; A main mechanical arm and an operating arm, the main mechanical arm and the operating arm are connected to each other through a rotary joint and can rotate; A servo motor for driving the main mechanical arm and the operating arm to move.

[0007] Preferably, the fixed arm, the main mechanical arm and the operating arm are connected through rotary joints and can rotate, and: A servo motor and a visual analysis device are arranged at the connection between the fixed arm and the main mechanical arm, the visual analysis device is used for identifying the pose of the cleaning robot and determining the height of the middle part of the cleaning robot, and an end of the operating arm is provided with a clamping device mounting interface which is circular in design and is provided with a buckle for connecting the clamping device of the cleaning robot.

[0008] Preferably, the carrying execution mechanism comprises: A clamping device body, the clamping device body comprises a clamping jaw top support plate, the clamping jaw top support plate is used for maintaining the stability of the overall structure of the clamping jaw, and a connecting interface is arranged at the top of the clamping jaw top support plate, the connecting interface is used for connecting the clamping device mounting interface of the stacking robot; A locking mechanism composed of a buckle and a clamping hole, the buckle and the clamping hole are used for automatically locking after the clamping device body is connected to the stacking robot; Symmetrically distributed clamping jaw assemblies, each comprising two clamping jaw supports and a two-finger clamping jaw, the clamping jaw supports are arranged below the clamping jaw top support plate, and each clamping jaw support is connected to a two-finger clamping jaw for fixing the cleaning robot; The distance between the clamping jaw supports is 50%-70% of the total length of the target object. The two-finger clamping jaw is embedded with a pressure sensor, and the dynamic adjustment range of the clamping force is -N.

[0009] Preferably, the navigation positioning module comprises: At least two groups of laser radars arranged at the front and rear ends of the unmanned vehicle chassis for realizing intelligent obstacle avoidance function; A SLAM algorithm module for constructing an environment map and planning a path based on the laser radar data; An obstacle avoidance controller for adjusting the driving direction in response to real-time obstacle information.

[0010] Preferably, the energy supply module comprises: Lithium power battery, located below the chassis platform, and can supply power externally through the external discharge interface; External discharge interface, for outputting VAC or VDC; Battery management module, monitoring battery temperature and charging and discharging state.

[0011] Preferably, it also includes a dynamic center of gravity balance control module, which includes: Inclination sensor array, arranged at the four corners of the chassis support, for real-time detection of the actual inclination state of the vehicle body in the transverse and longitudinal directions, providing basic data for subsequent adjustment; Center of gravity offset trajectory prediction unit, based on the weight distribution parameters preset by the cleaning robot, combined with the motion instructions of the stacking robot, to predict the offset trajectory of the center of gravity of the whole vehicle during handling; Suspension active adjustment unit, connected to the four groups of suspensions, dynamically adjusting the damping force of each suspension according to the actual inclination state detected by the inclination sensor array and the center of gravity offset trajectory prediction result, to offset the roll moment caused by the center of gravity offset, ensuring the stability of the whole vehicle.

[0012] Preferably, it also includes an environment adaptive sensing and operation coordination module, which includes: Dust concentration monitoring unit, arranged at the front end of the unmanned vehicle chassis, for monitoring the dust concentration of the working environment through the principle of laser scattering, to determine whether the current environment may cause the stacking robot arm to jam; Cleaning robot state detection unit, integrated inside the two-fingered gripper of the handling execution mechanism, through the contact probe and the state interface of the cleaning robot, to detect the remaining capacity, cleaning brush wear degree and fault code of the cleaning robot; Dynamic correction unit of operation path, integrated in the SLAM algorithm module of the navigation and positioning module, based on the detection results of the dust concentration monitoring unit and the feedback of the cleaning robot state detection unit, to real-time correct the moving path of the unmanned vehicle chassis and the operation sequence of the stacking robot, to avoid equipment wear and improve overall operation efficiency.

[0013] Preferably, it also includes an intelligent load adaptation and safety protection module, which includes: Load type identification unit, arranged beside the vision analysis device of the stacking robot, for collecting the shape features and size parameters of the target object through the high-definition camera, and comparing with the preset load type database to identify the specific type of the current load; Gripper parameter adaptive adjustment unit, electrically connected with the gripper support and two-fingered gripper of the handling execution mechanism, automatically adjusting the distance of the gripper support and the clamping force of the two-fingered gripper according to the results of the load type identification unit, to ensure stable clamping of different types of loads; The multi-dimensional safety protection unit comprises: The infrared opposite transmission sensor arranged around the unmanned vehicle chassis is used for detecting the near distance obstacle and triggering the emergency stop; The overload protection unit integrated in the central column of the stacking robot automatically cuts off the power of the servo motor and locks the mechanical arm when the movement load of the mechanical arm exceeds the preset safety threshold; The short circuit protection unit arranged in the energy supply module automatically disconnects the external power supply circuit when the short circuit risk occurs in the external discharge interface.

[0014] Compared with the prior art, the present application has the following beneficial effects: The present application realizes the automatic transfer of the cleaning robot between the rows of photovoltaic panels through the cooperation of the unmanned vehicle chassis, the stacking robot, the carrying executive mechanism, the navigation positioning system and the energy supply system, solves the problem that the traditional wall-mounted cleaning robot needs to be manually carried after completing the cleaning of a row of panels to change the row of operation, reduces the labor cost investment, improves the operation efficiency of the photovoltaic station, and ensures the coherence and stability of the carrying process through the integrated design of the systems, thereby providing strong support for the automatic operation and maintenance of the photovoltaic industry. BRIEF DESCRIPTION OF DRAWINGS

[0015] The accompanying drawings are used to provide a further understanding of the present application, and constitute a part of the specification, together with the embodiments of the present application, to explain the present application, and do not constitute a limitation on the present application. In the drawings: Figure 1 It is a schematic view of the unmanned vehicle chassis structure of the present application; Figure 2 It is a schematic view of the stacking robot structure of the present application; Figure 3 It is a schematic view of the carrying executive mechanism structure of the present application; Figure 4 It is a schematic view of the flat single-axis photovoltaic support structure of the present application.

[0016] In the drawings: 1, photovoltaic panel; 2, PHC pipe pile; 3, horizontal rotating shaft; 4, metal support column; 21, tire; 22, chassis platform; 23, external discharge interface; 24, laser radar; 25, lithium power battery; 26, limiting groove; 27, anti-collision beam; 28, hub; 29, chassis support; 31, lower base; 32, central column; 33, fixed arm; 34, lifting guide groove; 35, rotating joint; 36, servo motor; 37, main mechanical arm; 38, operating arm; 39, clamping device mounting interface; 310, buckle; 311, visual analysis equipment; 41, connecting interface; 42, clamping hole; 43, clamping jaw top support plate; 44, clamping jaw support; 45, two-finger clamping jaw; 46, cleaning robot. DETAILED DESCRIPTION

[0017] The preferred embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present invention, and are not used to limit the present invention.

[0018] In addition, in the present invention, descriptions such as "first" and "second" are only used for descriptive purposes, and do not specifically refer to the order or sequence, nor are they used to limit the present invention. They are only used to distinguish components or operations described with the same technical terms, and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one such feature. In addition, the technical solutions and technical features between the various embodiments can be combined with each other, but this must be based on the ability of ordinary technicians in this field to implement. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0019] The present invention provides the following embodiments Example 1 The embodiment of the present invention provides a handling device for an unmanned vehicle-mounted palletizing robot, such as Figures 1-4 Shown, including: The unmanned vehicle chassis is installed on the palletizing robot and integrates the electric power steering system and vehicle controller to provide a mobile carrier platform for the palletizing robot; The palletizing robot is mounted on the unmanned vehicle chassis through the limiting slot 26 and is capable of completing the grabbing, transporting and placing operations of the cleaning robot 46 through the transport actuator after the unmanned vehicle chassis moves to the target position; The handling actuator is installed at the operating end of the palletizing robot and is used to clamp or carry the target object; The navigation and positioning system is integrated into the chassis of the unmanned vehicle to enable autonomous movement and obstacle avoidance. The energy supply system is integrated into the chassis of the unmanned vehicle and is used to provide power for the entire vehicle and support external power supply.

[0020] Preferably, the cleaning robot 46 is used to clean the flat single-axis photovoltaic bracket, wherein the flat single-axis photovoltaic bracket includes a PHC pipe pile 2, and a metal pillar 4 is connected to the PHC pipe pile 2 for sliding up and down, and the metal pillar 4 is connected to the photovoltaic panel 1 through a horizontal rotating shaft 3.

[0021] The working principle and beneficial effects of the above technical solution are: the unmanned vehicle chassis is arranged on the stacking robot, an electric power steering system and a vehicle controller are integrated, and the unmanned vehicle chassis is used to provide a mobile carrier platform for the stacking robot; the stacking robot is installed on the unmanned vehicle chassis through a limiting groove 26, and after the unmanned vehicle chassis moves to a target position, the stacking robot can complete the grabbing, transferring and placing operations of the cleaning robot 46 through a carrying execution mechanism; the carrying execution mechanism is installed on an operation end of the stacking robot and is used to clamp or carry target objects; a navigation positioning system is integrated in the unmanned vehicle chassis and is used to realize autonomous movement and obstacle avoidance of the unmanned vehicle chassis; and an energy supply system is integrated in the unmanned vehicle chassis and is used to provide power for the whole vehicle and support external power supply; the cleaning robot 46 is used to clean a flat single-axis photovoltaic support; the flat single-axis photovoltaic support comprises a PHC pipe pile 2, a metal support 4 is slidably connected in the PHC pipe pile 2, and the metal support 4 is connected with a photovoltaic panel 1 through a horizontal rotating shaft 3. The present application realizes the automatic transfer of the cleaning robot 46 between rows of photovoltaic panels 1 through the cooperation of the unmanned vehicle chassis, the stacking robot, the carrying execution mechanism, the navigation positioning system and the energy supply system, solves the problem that the traditional wall-mounted cleaning robot needs to be manually carried after completing the cleaning of a row of panels to change the row for operation, reduces the labor cost investment, improves the operation efficiency of the photovoltaic station, and ensures the continuity and stability of the carrying process through the integrated design of the systems, thereby providing strong support for the automatic operation and maintenance of the photovoltaic industry.

[0022] Embodiment 2 On the basis of embodiment 1, the unmanned vehicle chassis comprises: The chassis platform 22 is made of high-carbon steel and is firmly connected with the chassis support 29 through two rows of screws, and the front end of the chassis support 29 is provided with a bumper beam 27; Four groups of suspensions are arranged at the bottom of the chassis support 29 and are connected with front and rear wheel shafts, respectively; tires 21 are installed on the front and rear wheel shafts through hubs 28, the tires 21 are in a four-wheel drive form, and the front and rear wheel shafts are connected through a central differential; A multi-mode steering system supports in-place steering, double Ackerman steering, diagonal shifting and lateral shifting modes.

[0023] The chassis platform 22 of the unmanned vehicle chassis is made of high-carbon steel and is firmly connected with the chassis support 29 through two rows of screws, the front end of the chassis support 29 is provided with a bumper beam 27, four groups of suspensions are arranged at the bottom of the chassis support 29 and are connected with front and rear wheel shafts, respectively; tires 21 are installed on the front and rear wheel shafts through hubs 28, the tires 21 are in a four-wheel drive form, and the front and rear wheel shafts are connected through a central differential; and a multi-mode steering module supports in-place steering, double Ackerman steering, diagonal shifting and lateral shifting modes. The firm connection of the chassis platform 22 made of high-carbon steel and the chassis support 29 ensures that the unmanned vehicle chassis has high structural strength and carrying capacity. The anti-collision beam 27 at the front end of the chassis support 29 can protect the equipment in the event of a collision. The four-wheel drive tires 21 in combination with the central differential improve the traffic capacity of the unmanned vehicle on complex terrain. The multi-mode steering module enables the unmanned vehicle to flexibly adapt to different working environments and driving needs, enhancing the flexibility and adaptability of the unmanned vehicle movement, and improving the reliability and practicality of the unmanned vehicle chassis as a whole.

[0024] Embodiment 3 On the basis of Embodiment 1, the palletizing robot comprises: A central column 32 is arranged on the lower base 31, the central column 32 is made of steel material, the cross section is square, and it can rotate horizontally by 360° and vertically stretch and retract; A fixed arm 33 is connected to the central column 32 through sliding connection up and down by cooperating with the lifting guide groove 34 through a nut; A main mechanical arm 37 and an operating arm 38 are connected to each other through a rotating joint 35 and can rotate by 360°; A servo motor 36 is used to drive the main mechanical arm 37 and the operating arm 38 to move; The fixed arm 33, the main mechanical arm 37, and the operating arm 38 are connected through the rotating joint 35 and can rotate by 360°, and: A servo motor 36 and a visual analysis device 311 are arranged at the connection between the fixed arm 33 and the main mechanical arm 37, the visual analysis device 311 is used to identify the pose of the cleaning robot 46 and determine the height of the middle part of the cleaning robot 46, and a clamping device mounting interface 39 is arranged at the end of the operating arm 38, the clamping device mounting interface 39 is circularly designed and is provided with four buckles 310 for connecting the clamping device of the cleaning robot 46.

[0025] The working principle and beneficial effects of the above technical solution are: the central column 32 of the stacking robot is arranged on the lower base 31, the central column 32 is made of steel material, has a square cross section, can rotate horizontally by 360° and can stretch vertically, the fixed arm 33 is connected to the central column 32 through sliding connection in the up-down direction by cooperating with the lifting guide groove 34 through a nut, the main mechanical arm 37 and the operating arm 38 are connected to each other through the rotary joint 35 and can rotate by 360°, the servo motor 36 is used to drive the main mechanical arm 37 and the operating arm 38 to move, the fixed arm 33, the main mechanical arm 37 and the operating arm 38 are connected through the rotary joint 35 and can rotate by 360°, and the servo motor 36 and the visual analysis device 311 are arranged at the connection position of the fixed arm 33 and the main mechanical arm 37, the visual analysis device 311 is used to identify the pose of the cleaning robot 46 and determine the height of the middle part of the cleaning robot 46, the operating arm 38 is provided with the clamping device mounting interface 39, the clamping device mounting interface 39 is circular in design and is provided with four buckles 310 for connecting the clamping device of the cleaning robot 46; The central column 32 made of steel material ensures the structural stability and bearing capacity of the stacking robot, the functions of horizontal rotation by 360° and vertical stretching expand the working range of the stacking robot, the up-down sliding of the fixed arm 33 along the lifting guide groove 34 and the 360° rotation of each mechanical arm through the rotary joint 35 improve the flexibility of operation, the driving of the servo motor 36 ensures the accuracy of the movement of the mechanical arm, the arrangement of the visual analysis device 311 improves the accuracy of the grabbing of the cleaning robot 46, and the clamping device mounting interface 39 at the end of the operating arm 38 and the buckles 310 ensure the stability of the connection with the clamping device of the cleaning robot 46, thereby improving the reliability and efficiency of the grabbing, transferring and placing operations of the stacking robot as a whole.

[0026] Embodiment 4 On the basis of embodiment 1, the carrying execution mechanism comprises: A clamping device body, the clamping device body comprises a clamping jaw top support plate 43, the clamping jaw top support plate 43 is used to maintain the stability of the overall structure of the clamping jaw, and a connecting interface 41 is arranged at the top of the clamping jaw top support plate 43, the connecting interface 41 is used to connect with the clamping device mounting interface 39 of the stacking robot; A locking mechanism, which is composed of the buckle 310 and the clamping hole 42, and is used to automatically lock after the clamping device body is connected with the stacking robot; Symmetrically distributed clamping jaw assemblies, which comprise two clamping jaw supports 44 and two-finger clamping jaws 45, the clamping jaw supports 44 are arranged below the clamping jaw top support plate 43, each clamping jaw support 44 is connected with a two-finger clamping jaw 45, and is used to fix the cleaning robot 46; The distance between the clamping jaw supports 44 is 40%-60% of the total length of the target object; The two-fingered clamping jaw 45 is embedded with a pressure sensor, and the dynamic adjustment range of the clamping force is 50-200 N.

[0027] The working principle and beneficial effects of the above technical solution are: the clamping device body of the carrying execution mechanism includes a clamping jaw top support plate 43, which is used to maintain the stability of the overall structure of the clamping jaw. The top of the clamping jaw top support plate 43 is provided with a connecting interface 41, which is used to be connected with the clamping device installation interface 39 of the stacking robot. The locking mechanism is composed of a buckle 310 and a clamping hole 42, which is used to automatically lock after the clamping device body is connected with the stacking robot. The symmetrically distributed clamping jaw assembly includes two clamping jaw supports 44 and two-fingered clamping jaws 45. The clamping jaw support 44 is arranged below the clamping jaw top support plate 43, and each clamping jaw support 44 is connected with a two-fingered clamping jaw 45, which is used to fix the cleaning robot 46. The distance between the clamping jaw supports 44 is 40%-60% of the total length of the target object. The two-fingered clamping jaw 45 is embedded with a pressure sensor, and the dynamic adjustment range of the clamping force is 50-200 N. The clamping jaw top support plate 43 ensures the stability of the overall structure of the clamping jaw. The connecting interface 41 and the clamping device installation interface 39 of the stacking robot are connected, and the locking mechanism of the buckle 310 and the clamping hole 42 ensures the stability of the connection between the clamping device body and the stacking robot, preventing it from falling off during the carrying process. The symmetrically distributed clamping jaw assembly and the reasonable distance between the clamping jaw supports 44 make the cleaning robot 46 bear force evenly. The pressure sensor embedded in the two-fingered clamping jaw 45 and the adjustable clamping force range can avoid the cleaning robot 46 from falling off due to loose clamping or being damaged due to tight clamping, thereby improving the stability and safety of fixing the cleaning robot 46 and meeting the clamping needs of target objects of different sizes.

[0028] Embodiment 5 On the basis of embodiment 1, the navigation positioning system comprises: At least two groups of laser radars 24 are arranged at the front and rear ends of the unmanned vehicle chassis, and are used to realize the intelligent obstacle avoidance function; A SLAM algorithm module constructs an environment map based on laser radar data and plans a path; An obstacle avoidance controller adjusts the driving direction in response to real-time obstacle information.

[0029] The working principle and beneficial effects of the above technical solution are: the navigation positioning system includes at least two groups of laser radars 24, which are arranged at the front and rear ends of the unmanned vehicle chassis, and are used to realize the intelligent obstacle avoidance function. The SLAM algorithm module constructs an environment map based on laser radar data and plans a path. The obstacle avoidance controller adjusts the driving direction in response to real-time obstacle information. At least two groups of laser radars 24 are arranged at the front and rear ends of the unmanned vehicle chassis, which expands the sensing range of the surrounding environment, can more comprehensively realize the intelligent obstacle avoidance function, the SLAM algorithm module constructs an environment map and plans a path based on the laser radar data, improves the intelligent level of the autonomous movement of the unmanned vehicle chassis, the obstacle avoidance controller adjusts the driving direction in time according to the real-time obstacle information, ensures the safety and smoothness of the movement of the unmanned vehicle chassis in the complex environment, reduces the risk of equipment damage caused by collision, and improves the overall operation efficiency.

[0030] Embodiment 6 On the basis of embodiment 1, the energy supply system comprises: The lithium power battery 25 is located below the chassis platform 22 and can supply power externally through the external discharge interface 23. The external discharge interface 23 is used for outputting 220V alternating current or 48V direct current. The battery management system monitors the battery temperature and charging and discharging state.

[0031] The working principle and beneficial effects of the above technical solution are that the energy supply system comprises the lithium power battery 25, which is located below the chassis platform 22 and can supply power externally through the external discharge interface 23, the external discharge interface 23 is used for outputting 220V alternating current or 48V direct current, and the battery management system monitors the battery temperature and charging and discharging state. Due to the weight of the cleaning robot 46 exceeding 10 kg and having a long and narrow geometry, a large torque is required to control its posture during movement. When the stacking robot is working, the clamping device mounting interface 39 on the operating arm 38 is connected with the connecting interface 41 on the clamping device body, the two-fingered gripper 45 is in the unfolded state, the photovoltaic cleaning robot 46 runs to the end of the flat single-axis photovoltaic support array, at this time the unmanned vehicle chassis autonomously drives along the main road of the station to the vicinity of the cleaning robot 46, after the unmanned vehicle chassis is stopped, under the assistance of the visual analysis equipment 311, the central column 32 of the stacking robot autonomously adjusts the body elongation and rotation angle according to the actual position of the cleaning robot 46, at the same time the fixed arm 33 slides along the lifting guide groove 34, so that the height of the main mechanical arm 37 and the operating arm 38 matches the cleaning robot 46, then the main mechanical arm 37 rotates by a certain angle, so that the operating arm 38 approaches the middle part of the cleaning robot 46, after that, the operating arm 38 is finely adjusted in position to ensure that the clamping device mounting interface 39 is located directly above the center of the cleaning robot 46, so as to ensure that the clamping operation can be successful at one time, at this time the stacking robot control system locks the position and angle of each mechanical arm, only the height of the fixed arm 33 is adjustable, after the control system lowers the height of the fixed arm 33, the top support plate 43 of the gripper contacts the cleaning robot 46 and tilts, until the two gripper supports 44 contact the surface of the cleaning robot 46, the two-fingered gripper 45 begins to bend and fold, holding the lower surface of the cleaning robot 46, completing the clamping operation, after the clamping is stable, the fixed arm 33 is raised again to make the cleaning robot 46 separate from the surface of the photovoltaic module, then the central column 32 rotates by a certain angle to make the cleaning robot 46 as a whole above the chassis platform 22, so as to prevent the cleaning robot 46 or the mechanical arm from colliding with the photovoltaic module during transfer, after the cleaning robot 46 no longer shakes, the unmanned vehicle chassis slowly drives along the main road to the end of the next row of photovoltaic array, the central column 32 of the stacking robot rotates by a certain angle to make the cleaning robot 46 basically above the outermost edge of the photovoltaic module; the stacking robot control system lowers the height of the fixed arm 33 to make the lower surface of the cleaning robot 46 10 cm vertically above the photovoltaic module; under the assistance of the visual analysis equipment 311, the angle of the main mechanical arm 37 and the operating arm 38 is finely adjusted to make the cleaning robot 46 completely above the outermost edge of the photovoltaic module, the height of the fixed arm 33 is lowered again, the upper and lower edges of the cleaning robot 46 are completely clamped on the upper and lower edges of the photovoltaic panel, at this time the control system releases the two-fingered gripper 45, the central column 32 rotates by a certain angle to be above the chassis platform 22, completing the placement operation of the cleaning robot 46; The lithium power battery 25 provides continuous and stable power support for the whole vehicle, ensures the long-time operation ability of the unmanned vehicle-mounted stacking robot, and the external discharge interface 23 can output 220V alternating current or 48V direct current to supply power to the outside, expands the functions of the device, can provide power support for other equipment in the photovoltaic station, enhances the practicality and multifunctionality of the system, the battery management system monitors the battery temperature and the charging and discharging state, can effectively prevent damage caused by overcharging, overdischarging or temperature abnormalities, prolongs the service life of the battery, and guarantees the safety and reliability of energy supply.

[0032] Embodiment 7 On the basis of embodiment 1, further comprising a dynamic gravity center balance control module, the dynamic gravity center balance control module comprising: An array of inclination sensors is arranged at the four corners of the chassis support 29, which is used to detect the actual inclination state of the vehicle body in the transverse and longitudinal directions in real time, and provides basic data for subsequent adjustment. A gravity center offset trajectory prediction unit predicts the offset trajectory of the gravity center of the whole vehicle in the handling process based on the weight distribution parameters preset by the cleaning robot 46 and the motion instructions of the stacking robot. A suspension active adjustment unit is connected to the four groups of suspensions, which dynamically adjusts the damping force of each suspension according to the actual inclination state detected by the array of inclination sensors and the prediction result of the gravity center offset trajectory, so as to offset the roll moment caused by the gravity center offset and ensure the stability of the whole vehicle.

[0033] The working principle and beneficial effects of the above technical solution are as follows: the dynamic gravity center balance control module includes an array of inclination sensors arranged at the four corners of the chassis support 29, which is used to detect the actual inclination state of the vehicle body in the transverse and longitudinal directions in real time, and provides basic data for subsequent adjustment, the gravity center offset trajectory prediction unit predicts the offset trajectory of the gravity center of the whole vehicle in the handling process based on the weight distribution parameters preset by the cleaning robot 46 and the motion instructions of the stacking robot, and the suspension active adjustment unit is connected to the four groups of suspensions, which dynamically adjusts the damping force of each suspension according to the actual inclination state detected by the array of inclination sensors and the prediction result of the gravity center offset trajectory, so as to offset the roll moment caused by the gravity center offset and ensure the stability of the whole vehicle. The array of inclination sensors can comprehensively and real-timely detect the actual inclination state of the vehicle body, providing accurate basic data for subsequent adjustment, the gravity center offset trajectory prediction unit predicts the offset trajectory of the gravity center of the whole vehicle in advance, making the adjustment more forward-looking and targeted, and the suspension active adjustment unit dynamically adjusts the suspension damping force according to the detection result and the predicted trajectory, which can effectively offset the roll moment caused by the gravity center offset, ensuring the stability of the whole vehicle during handling, avoiding the risk of rollover caused by gravity center offset, guaranteeing the safety of the cleaning robot 46 and the device itself, and improving the operation reliability of the device under complex terrain or load change conditions.

[0034] Embodiment 8 Based on Example 1, an environment adaptive perception and operation collaboration module is also included. The environment adaptive perception and operation collaboration module includes: The dust concentration monitoring unit is installed at the front end of the unmanned vehicle chassis. It is used to monitor the dust concentration in the working environment through the principle of laser scattering, and is used to determine whether the current environment may cause the moving parts of the palletizing robot's mechanical arm to become stuck. The cleaning robot status detection unit is integrated into the inner side of the two-finger gripper 45 of the transport actuator and is connected to the status interface of the cleaning robot 46 through a contact probe. It is used to detect the remaining power of the cleaning robot, the degree of wear of the cleaning brush, and the fault code; The dynamic operation path correction unit is integrated into the SLAM algorithm module of the navigation and positioning module. Based on the detection results of the dust concentration monitoring unit and the feedback from the cleaning robot status detection unit, it corrects the movement path of the unmanned vehicle chassis and the operation sequence of the stacking robot in real time, avoiding equipment loss and improving overall operation efficiency.

[0035] The working principle and beneficial effects of the above technical solution are as follows: the environmental adaptive perception and operation coordination module includes a dust concentration monitoring unit, which is arranged at the front end of the unmanned vehicle chassis and is used to monitor the dust concentration of the working environment through the principle of laser scattering, and is used to determine whether the current environment may cause the moving parts of the palletizing robot's mechanical arm to get stuck. The cleaning robot status detection unit is integrated into the inner side of the two-finger gripper 45 of the transport actuator, and is connected to the status interface of the cleaning robot 46 through a contact probe. It is used to detect the remaining power of the cleaning robot, the degree of wear of the cleaning brush, and the fault code. The operation path dynamic correction unit is integrated into the SLAM algorithm module of the navigation and positioning module. Based on the detection results of the dust concentration monitoring unit and the feedback from the cleaning robot status detection unit, the moving path of the unmanned vehicle chassis and the operation sequence of the palletizing robot are corrected in real time, thereby avoiding equipment loss and improving overall operation efficiency. The dust concentration monitoring unit can timely monitor the dust concentration in the working environment and determine whether it may cause the moving parts of the robotic arm to get stuck, so as to facilitate taking measures in advance to avoid equipment loss. The cleaning robot status detection unit can grasp the remaining power of the cleaning robot, the degree of wear of the cleaning brush and the fault code in real time to ensure that the cleaning robot can operate normally and avoid ineffective transportation. The operation path dynamic correction unit corrects the path and operation sequence in real time according to the environment and equipment status, thereby improving the overall operation efficiency, enhancing the adaptability and operation coordination of the device to dusty environments such as photovoltaic stations, and reducing equipment operation and maintenance costs.

[0036] Example 9 Based on Example 1, an intelligent load adaptation and security protection module is also included. The intelligent load adaptation and security protection module includes: The load type recognition unit is arranged beside the vision analysis device 311 of the palletizing robot, and is used for collecting the shape features and size parameters of the target object through a high-definition camera, comparing with a preset load type database, and recognizing the specific type of the current load. The gripper parameter adaptive adjustment unit is electrically connected with the gripper support 44 and the two-finger gripper 45 of the carrying execution mechanism, and automatically adjusts the distance of the gripper support and the clamping force of the two-finger gripper according to the result of the load type recognition unit, so as to ensure the stable clamping of different types of loads. The multi-dimensional safety protection unit includes: The infrared opposite transmission sensors arranged around the chassis of the unmanned vehicle are used for detecting the near-distance obstacles and triggering the emergency stop. The overload protection unit integrated in the central column 32 of the palletizing robot automatically cuts off the power of the servo motor 36 and locks the mechanical arm when the load of the mechanical arm movement exceeds a preset safety threshold. The short-circuit protection unit arranged in the energy supply module automatically disconnects the external power supply circuit when the external discharge interface 23 has a short-circuit risk.

[0037] The working principle and beneficial effects of the above technical solution are as follows: The intelligent load adaptation and safety protection module includes a load type recognition unit arranged beside the vision analysis device 311 of the palletizing robot, which is used for collecting the shape features and size parameters of the target object through a high-definition camera, comparing with a preset load type database, and recognizing the specific type of the current load. A gripper parameter adaptive adjustment unit is electrically connected with the gripper support 44 and the two-finger gripper 45 of the carrying execution mechanism, and automatically adjusts the distance of the gripper support and the clamping force of the two-finger gripper according to the result of the load type recognition unit, so as to ensure the stable clamping of different types of loads. A multi-dimensional safety protection unit includes infrared opposite transmission sensors arranged around the chassis of the unmanned vehicle, which are used for detecting the near-distance obstacles and triggering the emergency stop. An overload protection unit integrated in the central column 32 of the palletizing robot automatically cuts off the power of the servo motor 36 and locks the mechanical arm when the load of the mechanical arm movement exceeds a preset safety threshold. A short-circuit protection unit arranged in the energy supply module automatically disconnects the external power supply circuit when the external discharge interface 23 has a short-circuit risk. The load type recognition unit can accurately recognize different types of target objects, breaking through the limitation that the device can only carry a single type of load. The gripper parameter adaptive adjustment unit automatically adjusts the gripper parameters according to the load type, ensuring the stable clamping of different types of loads and improving the versatility of the device. In the multi-dimensional safety protection unit, the infrared opposite transmission sensors can timely detect the near-distance obstacles and trigger the emergency stop, avoiding collision accidents. The overload protection unit prevents the mechanical arm from being damaged due to excessive load. The short-circuit protection unit avoids the safety accidents caused by the short circuit of the external discharge interface 23, comprehensively ensuring the safety of the equipment, the operating personnel and the surrounding environment, and improving the operation safety and reliability of the device.

[0038] Obviously, many modifications and variations of the present application are possible in light of the above teachings. It is, therefore, to be understood that within the scope of the appended claims and their equivalents, the application can be practiced otherwise than as specifically described.

Claims

1. A handling device for an unmanned vehicle-mounted palletizing robot, characterized in that: include: The unmanned vehicle chassis is installed on the palletizing robot and integrates the electric power steering module and vehicle controller to provide a mobile carrier platform for the palletizing robot; The palletizing robot is mounted on the unmanned vehicle chassis via a limiting slot (26) and is capable of completing the grabbing, transporting, and placing operations of the cleaning robot (46) via the transport actuator after the unmanned vehicle chassis moves to a target position; A handling actuator, mounted on the operating end of the palletizing robot, for clamping or carrying a target object; A navigation and positioning module, integrated into the unmanned vehicle chassis, is used to enable autonomous movement and obstacle avoidance of the unmanned vehicle chassis; The energy supply module is integrated into the chassis of the unmanned vehicle and is used to provide power for the entire vehicle and support external power supply.

2. The handling device of the unmanned vehicle-mounted palletizing robot according to claim 1, characterized in that: The unmanned vehicle chassis includes: The chassis platform (22) is made of high carbon steel and is firmly connected to the chassis bracket (29) by two rows of screws. The front end of the chassis bracket (29) is provided with an anti-collision beam (27); Four sets of suspensions are arranged at the bottom of the chassis bracket (29) and are respectively connected to the front wheel axle and the rear wheel axle. Tires (21) are installed on the front wheel axle and the rear wheel axle through wheel hubs (28). The tires (21) are in a four-wheel drive form. The front wheel axle and the rear wheel axle are connected through a central differential. Multi-mode steering module supports in-place steering, double Ackermann steering, oblique movement and lateral movement modes.

3. The handling device of the unmanned vehicle-mounted palletizing robot according to claim 1, characterized in that: Palletizing robots include: A central column (32) is provided on the lower base (31), the central column (32) is made of steel, has a square cross section, and can be horizontally rotated 360 degrees and vertically extended; The fixed arm (33) is connected to the central column (32) by sliding up and down through the nut and the lifting guide groove (34); The main robotic arm (37) and the operating arm (38) are connected to each other through a rotary joint (35) and can rotate 360 ​​degrees; The servo motor (36) is used to drive the main robot arm (37) and the operating arm (38) to move.

4. The handling device of the unmanned vehicle-mounted palletizing robot according to claim 3, characterized in that: The fixed arm (33), the main mechanical arm (37), and the operating arm (38) are all connected via a rotary joint (35) and can rotate 360 ​​degrees, and: A servo motor (36) and a visual analysis device (311) are provided at the connection between the fixed arm (33) and the main robotic arm (37). The visual analysis device (311) is used to identify the posture of the cleaning robot (46) and determine the height of the middle part of the cleaning robot (46). A clamping device mounting interface (39) is provided at the end of the operating arm (38). The clamping device mounting interface (39) is circular in design and is provided with four buckles (310) for docking with the clamping device of the cleaning robot (46).

5. The handling device of the unmanned vehicle-mounted palletizing robot according to claim 1, characterized in that: The transport execution mechanism includes: The clamping device body includes a clamping jaw top support plate (43), the clamping jaw top support plate (43) is used to maintain the stability of the overall structure of the clamping jaw, and a connection interface (41) is provided on the top of the clamping jaw top support plate (43), and the connection interface (41) is used to dock with the clamping device installation interface (39) of the palletizing robot; The locking mechanism is composed of a buckle (310) and a clamping hole (42), and the buckle (310) and the clamping hole (42) are used to automatically lock the clamping device body after docking with the palletizing robot; A symmetrically distributed gripper assembly includes two gripper brackets (44) and a two-finger gripper (45), wherein the gripper brackets (44) are arranged below the gripper top support plate (43), and each gripper bracket (44) is connected to a two-finger gripper (45) for fixing the cleaning robot (46); The spacing between the clamping jaw supports (44) is 40%-60% of the total length of the target object; The two-finger gripper (45) has a built-in pressure sensor, and the dynamic adjustment range of the gripping force is 50-200N.

6. The handling device of the unmanned vehicle-mounted palletizing robot according to claim 1, characterized in that: The navigation and positioning module includes: At least two sets of laser radars (24), respectively arranged at the front and rear ends of the unmanned vehicle chassis, for realizing an intelligent obstacle avoidance function; SLAM algorithm module, which builds environment maps and plans paths based on lidar data; Obstacle avoidance controller, which adjusts driving direction in response to real-time obstacle information.

7. The handling device of an unmanned vehicle-mounted palletizing robot according to claim 1, characterized in that: The energy supply module includes: A lithium power battery (25) is located below the chassis platform (22) and can supply power to the outside through an external discharge interface (23); External discharge interface (23), used for outputting 220V AC power or 48V DC power; Battery management module, monitors battery temperature and charge and discharge status.

8. The handling device of an unmanned vehicle-mounted palletizing robot according to claim 1, characterized in that: It also includes a dynamic center of gravity balance control module, which includes: An array of tilt sensors is arranged at the four corners of the chassis bracket (29) to detect the actual tilt state of the vehicle body in the lateral and longitudinal directions in real time, providing basic data for subsequent adjustments; The center of gravity offset trajectory prediction unit predicts the offset trajectory of the center of gravity of the entire vehicle during the handling process based on the preset weight distribution parameters of the cleaning robot (46) and the motion instructions of the stacking robot; The active suspension adjustment unit is connected to the four suspension groups. It dynamically adjusts the damping force of each suspension based on the actual tilt state detected by the tilt sensor array and the predicted results of the center of gravity offset trajectory to offset the roll moment caused by the center of gravity offset and ensure the stability of the entire vehicle.

9. The handling device of an unmanned vehicle-mounted palletizing robot according to claim 1, characterized in that: It also includes an environment adaptive perception and operation collaboration module, which includes: The dust concentration monitoring unit is installed at the front end of the unmanned vehicle chassis. It is used to monitor the dust concentration in the working environment through the principle of laser scattering, and is used to determine whether the current environment may cause the moving parts of the palletizing robot's mechanical arm to become stuck. A cleaning robot status detection unit is integrated into the inner side of the two-finger gripper (45) of the transport actuator and is connected to the status interface of the cleaning robot (46) via a contact probe to detect the remaining power of the cleaning robot, the degree of wear of the cleaning brush, and the fault code; The dynamic operation path correction unit is integrated into the SLAM algorithm module of the navigation and positioning module. Based on the detection results of the dust concentration monitoring unit and the feedback from the cleaning robot status detection unit, it corrects the movement path of the unmanned vehicle chassis and the operation sequence of the stacking robot in real time, avoiding equipment loss and improving overall operation efficiency.

10. The handling device of an unmanned vehicle-mounted palletizing robot according to claim 1, characterized in that: It also includes an intelligent load adaptation and safety protection module, which includes: A load type identification unit is provided next to the visual analysis device (311) of the palletizing robot and is used to collect the appearance characteristics and size parameters of the target object through a high-definition camera, compare them with a preset load type database, and identify the specific type of the current load; The clamping parameter self-adaptive adjustment unit is electrically connected to the clamping bracket (44) and the two-finger clamping jaw (45) of the transport actuator, and automatically adjusts the spacing of the clamping bracket and the clamping force of the two-finger clamping jaw according to the result of the load type recognition unit to ensure stable clamping of different types of loads; Multi-dimensional security protection unit, including: Infrared sensors installed around the chassis of the unmanned vehicle are used to detect close-range obstacles and trigger emergency stops; An overload protection unit integrated in the central column (32) of the palletizing robot automatically cuts off the power of the servo motor (36) and locks the robot arm when the load of the robot arm exceeds a preset safety threshold; A short-circuit protection unit is provided in the energy supply module, and automatically disconnects the external power supply circuit when a short-circuit risk occurs in the external discharge interface (23).

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