Intelligent composite robot for stacking articles in long and narrow container

Abstract

The invention discloses an intelligent composite robot for stacking articles in a long and narrow container. The intelligent composite robot is characterized by comprising a parallel mechanism, a storage battery assembly, a chassis, a roller assembly, a motion controller, a wireless module and the like, the parallel mechanism has six degrees of freedom and is used for adjusting the position and posture of an object; the parallel mechanism movable platform is provided with a roller assembly, and articles are pushed into the container from the parallel mechanism movable platform. Mecanum wheels are mounted on the composite robot chassis, and a cuboid box body is mounted in the middle of the composite robot chassis; the Mecanum wheels are used for adjusting the position of the composite robot in a long and narrow container, forward movement, backward movement, translation, oblique movement, rotation and combined movement are achieved, and a storage battery assembly is installed in the cuboid box body. The storage battery assembly is used for providing power for the servo motor; the composite robot has the function of carrying articles from the outside of the container to a designated position in the container.

Description

Technical Field

[0001] This invention relates to the field of composite robots, and more particularly to an intelligent composite robot for palletizing items inside long and narrow containers. Background Technology

[0002] When transporting goods in long and narrow containers, due to space constraints, manual palletizing is often used, resulting in a large workload. There is an urgent need to design auxiliary palletizing robots to reduce manual labor intensity and improve palletizing efficiency. Most existing robots are not suitable for palletizing operations in confined spaces. Composite robots, generally composed of mobile robots and serial (or parallel) robots, combine mobility with the ability to operate in large workspaces. Compared to robots with fixed bases, they can complete tasks in a wide range of complex conditions. Using an intelligent composite robot with high accessibility and load-bearing capacity for palletizing goods inside long and narrow containers can replace manual labor, quickly stacking goods inside the container, improving container loading efficiency, and reducing loading costs. Summary of the Invention

[0003] To address the aforementioned problems, this invention can flexibly and efficiently complete the palletizing operation of goods, reducing labor intensity.

[0004] The technical solution of this invention is: an intelligent composite robot for palletizing items inside a long and narrow container. The composite robot chassis is equipped with Mecanum wheels, which enable the composite robot to move forward, backward, translate, move diagonally, rotate, and perform combined movements inside the long and narrow container. The Mecanum wheels are driven by servo motors. A six-degree-of-freedom parallel mechanism is installed on the upper part of the composite robot, which can adjust the spatial posture of the items. The parallel mechanism has three branches, each branch including a locator. Each locator consists of three mutually perpendicular prismatic joints connected in series, and each prismatic joint is driven by a different servo motor. The locators are connected to the parallel mechanism's moving platform through ball joints. The parallel mechanism's moving platform is equipped with an item pushing mechanism, which can push items from the parallel mechanism's moving platform into the container.

[0005] The advantages of this invention compared to existing technologies are: the load-bearing capacity of the composite robot end effector is greatly improved; the space inside the container is regular; the working space of the parallel mechanism and the serial mechanism is not much different inside the container; however, the parallel mechanism has a high load-bearing capacity, which can effectively improve the load capacity of the end effector compared to the serial mechanism, making it suitable for palletizing heavy items; the six-degree-of-freedom parallel mechanism, combined with Mecanum wheels, can greatly improve the range of position and attitude adjustment of items inside the container, making it suitable for container loading operations under complex working conditions. Attached Figure Description

[0006] (1) Figure 1 This is a schematic diagram of the composite robot structure of the present invention.

[0007] (2) Figure 2 This is a schematic diagram of the composite robot structure of the present invention from another angle.

[0008] (3) Figure 3 This is a schematic diagram of the positioner structure of the present invention.

[0009] (4) Figure 4 This is a schematic diagram of the ball joint structure of the present invention.

[0010] (5) Figure 5 This is a schematic diagram of the battery assembly structure of the present invention.

[0011] (6) Figure 6 This is a schematic diagram of the roller assembly structure of the present invention.

[0012] (7) Figure 7 For the present invention x A schematic diagram of a ball screw structure.

[0013] (8) Figure 8 For the present invention y A schematic diagram of a ball screw structure.

[0014] Figure label: (1) 1− Positioner; 2− Roller assembly; 3− Steel plate; 4− Wireless module; 5− Mecanum wheel; 6− Motion control module; 7− Mecanum wheel drive motor; 8− Battery assembly; 9− Charging plug; 10− Mecanum wheel motor mounting frame; 11− Ball joint; 12− z To the servo motor; 13− z To the slider; 14− z To the slide rail; 15− x To the servo motor; 16− y To the servo motor; 17− y To the slider; 18− y To the slide rail; 19− x To the slider; 20− x 21-Slide rail; 22-Ball socket; 23-Battery external support and protective layer; 24-Battery; 25-Drum assembly base plate; 26-Power drum; 27-Drum assembly side plate; 28- x To the nut; 29− x To the lead screw; 30− y To the nut; 31− y To the lead screw.

[0015] (2) z To slide rail 14 and y Fixed to slider 17, y To slide rail 18 and x The slider 19 is fixedly connected, and the ball socket 21 is fixedly connected to the bottom plate 25 of the roller assembly. zSlider 13 is fixedly connected to ball head 22. x To nut 28 and x Fixed to slider 19, y To nut 30 and y Fixed to slider 17.

[0016] (3) The battery assembly includes a battery 24 and an external support and protection layer 23. The external support and protection layer 23 protects the battery 24 and prevents impact damage. The external support and protection layer 23 is fixedly connected to the Mecanum wheel motor fixing frame 10 and the steel plate 3. The ball socket 21 is fixedly connected to the roller assembly base plate 25. The Mecanum wheel drive motor 7 is installed on the Mecanum wheel motor fixing frame 10 and drives the Mecanum wheel 5 to rotate, realizing the overall movement of the composite robot.

[0017] (4) z Towards ball screw structure and x Towards ball screw structure, y Similar in structure to a ball screw, its main components are a nut and a screw. z Driven by a servo motor via a synchronous belt z Rotating towards the lead screw, further driving z Move up and down towards the nut; z To the nut and z By fixing it to slider 13, the following can be achieved. z Driven by servo motor z Move up and down towards slider 13. Detailed Implementation

[0018] The principle of implementing this invention is as follows: The composite robot chassis steel plate 3 is equipped with a battery external support protective layer 23. The battery external support protective layer 23 is fixedly connected to the Mecanum wheel motor fixing frame 10 and the steel plate 3. The Mecanum wheel motor fixing frame 10 is connected to the Mecanum wheel drive motor 7. The Mecanum wheel drive motor 7 receives control commands from the motion control module 6 and drives the Mecanum wheel 5 to realize the forward, backward, translation, diagonal, rotation and combined movements of the composite robot in the narrow container.

[0019] The composite robot chassis steel plate 3 is equipped with a wireless module 4 for information transmission and collaborative control.

[0020] The composite robot chassis steel plate 3 is equipped with a motion control module 6, which is used to coordinate, drive, and optimize the motor's movements.

[0021] The composite robot chassis steel plate 3 is equipped with a battery assembly consisting of an external support and protection layer 23 and a battery 24. The external support and protection layer 23 protects the battery 24 from impact damage. The battery 24 consists of a power roller 26 and a wheel drive motor 7. zTo servo motor 12, x To servo motor 15, y Power is supplied to servo motor 16.

[0022] The composite robot chassis steel plate 3 is equipped with a charging plug 9, which is used to charge the battery 24.

[0023] The composite robot chassis steel plate 3 and the positioner 1 of the six-degree-of-freedom parallel mechanism x The slide rail 20 is fixed to the composite robot chassis steel plate 3, thus realizing the fixation of the six-degree-of-freedom parallel mechanism.

[0024] The six-degree-of-freedom parallel mechanism mounted on the upper part of the composite robot has six degrees of freedom along the composite robot's coordinate system. O - xyz of x axis, y axis, z Movement along the axis, relative to the composite robot coordinate system O - xyz of x axis, y axis, z The rotation of the shaft. A six-degree-of-freedom parallel mechanism is used to adjust the spatial position and orientation of an item. Adjusting the spatial position and orientation of an item maximizes space utilization and reduces transportation costs; it also evens out force distribution, avoids shaking and collisions, and reduces damage to the item; standardized orientation facilitates mechanical operation, improves loading and unloading efficiency, and shortens turnaround time; and it prevents cargo from collapsing and balances weight distribution.

[0025] The parallel mechanism of the composite robot has three branches, each branch including a positioner 1, and each positioner 1 consists of three mutually perpendicular... x Towards, y Xianghe z The three translating joints are connected in series (the axes of the three translating joints are orthogonal and independent in space, and are not coplanar and linearly independent). x Towards, y Xianghe z Each locating joint is driven by a different servo motor. The combination of the three locating joints allows for translation in any direction, without restricting the translational degrees of freedom of the moving platform. x , y , z To move freely. x To the moving sub x To slider 19 and x It consists of slide rail 20; y To the moving sub y To slider 17 and y It consists of slide rail 18; z To the moving subz To slider 13 and z It consists of slide rail 14. z To slide rail 14 and y Fixed to slider 17, y To slide rail 18 and x Fixed to slider 19. x To the moving sub x Drive servo motor 15; y To the moving sub y Drive servo motor 16; z To the moving sub z Driven by servo motor 12. The sliding joint has guide rails on both sides for load bearing, and the lead screw and nut in the middle realize axial movement.

[0026] The motion control module 6 of the composite robot controls x To servo motor 15, y To servo motor 16, z The motion control module 6 controls the positioner 1, which in turn controls the servo motor 12, the power roller 26, and the wheel drive motor 7. x Towards, y Xianghe z The movement of the locating joint enables the movement of the center point of the ball joint 11 formed by the ball socket 21 and the ball head 22. The movement of the center points of the three ball joints controls the position and orientation of the moving platform in space. The motion control module 6 controls the bidirectional rolling of the power roller 26, enabling the movement of the object in different directions. The motion control module 6 also controls the steering of the Mecanum wheel 5, enabling the composite robot to move in different directions.

[0027] The positioner 1 of the composite robot is connected to the moving platform of the parallel mechanism via a ball joint 11 consisting of a ball socket 21 and a ball head 22. The ball joint allows relative rotation between the two components in any direction, possessing three degrees of rotational freedom. Therefore, when each branch is connected to the moving platform via the ball joint, the rotational freedom of the moving platform is not restricted, allowing the moving platform to rotate freely. x , y , z The shaft rotates freely; the parallel mechanism driven platform is equipped with a roller assembly, including a roller assembly base plate 25, a drive roller 26, and a roller assembly side plate 27; the drive roller 26 is fixed to the roller assembly base plate 25 and the roller assembly side plate 27, and the drive rollers are evenly distributed. After the goods reach the designated position, the drive roller 26 rotates, driving the goods to be pushed out, and the goods are pushed into the container by the parallel mechanism driven platform.

[0028] The ball socket 21 is fixedly connected to the bottom plate 25 of the roller assembly. z Slider 13 is fixedly connected to ball head 22. x To nut 28 and x Fixed to slider 19, yTo nut 30 and y Fixed to slider 17.

[0029] z Towards ball screw structure and x Towards ball screw structure, y Similar in structure to a ball screw, its main components are a nut and a screw. z Driven by a servo motor via a synchronous belt z Rotating towards the lead screw, further driving z Move up and down towards the nut; z To the nut and z By fixing it to slider 13, the following can be achieved. z Driven by servo motor z Move up and down towards slider 13.

[0030] The working process of the composite robot is as follows: The composite robot loads goods from outside the container, drives the Mecanum wheel 5 into the container, reaches the designated unloading position, the parallel mechanism moves, adjusts the goods to the designated spatial posture, the power roller 26 rolls, pushes out the goods, completes a single palletizing operation, and then drives out of the container to continue loading goods.

[0031] The parts not covered in this invention are the same as or can be implemented using existing technologies.

[0032] For those skilled in the art, various modifications and improvements can be made without departing from the concept of this invention, and these all fall within the scope of protection of this invention.

Claims

1. An intelligent composite robot for palletizing items inside long and narrow containers, characterized by: The composite robot chassis is equipped with Mecanum wheels, enabling forward, backward, translational, diagonal, rotational, and combined movements within a narrow container. The Mecanum wheels are driven by servo motors. A six-degree-of-freedom parallel mechanism is mounted on the upper part of the composite robot, allowing for adjustment of the spatial pose of objects. The parallel mechanism has three branches, each including a positioner. Each positioner consists of three mutually perpendicular prismatic joints connected in series, each driven by a different servo motor. The positioners are connected to the parallel mechanism's moving platform via ball joints. The parallel mechanism's moving platform is equipped with an object-pushing mechanism, capable of pushing objects from the platform into the container.

Images