Intelligent mobile cooperative operation composite robot system and control method thereof

Abstract

The invention relates to the technical field of mobile robots, in particular to an intelligent mobile cooperative operation composite robot system and a control method thereof. The system comprises a mobile chassis which is provided with a mobile driving module and an autonomous mobile mechanism; the control system, the lifting unit and the conveying unit are integrally arranged on the upper portion of the movable chassis, the lifting unit comprises a lifting driving module, a lifting mechanism and a lifting platform, and the conveying unit is integrally arranged on the lifting platform and comprises a conveying driving module and a conveying mechanism; the control system comprises a central control system and a vehicle-mounted control system, wherein the central control system is in wireless router connection with the cloud platform so as to receive and analyze robot paths and robot operation tasks, and the vehicle-mounted control system issues execution instructions to the moving driving module, the lifting driving module and the conveying driving module through a bus network with a built-in clock synchronization mechanism. The problems that a production line is rigid, the occupied space is large, the space utilization rate is low, scheduling is complex, the collaboration is poor, the waiting time is long, the material circulation efficiency is low, and the flexibility is poor are solved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of mobile robots, in particular to an intelligent mobile collaborative operation composite robot system and a control method thereof. BACKGROUND

[0002] In the existing PCBA (Printed Circuit Board Assembly) production line, a fixed conveying combination mode of "AMR (Autonomous Mobile Robot) + fixed mechanical arm" is generally adopted, independent operation and installation space need to be reserved for each fixed device, which leads to rigid production line layout, occupies a large amount of continuous space, has low space utilization, is difficult to optimize the layout in a compact workshop, and has low system integration.

[0003] Moreover, since the movement and execution are two sets of independently controlled devices, the action connection between them needs a complex upper-level scheduling system to coordinate, the production line scheduling is complex, and the collaborative efficiency is low. After the AMR arrives, it needs to wait for the fixed mechanical arm to complete the current task before docking, which exists a large amount of waiting time, increases the non-value-added scheduling link, and reduces the overall efficiency of material flow.

[0004] Moreover, when the PCBA board type, carrier specification or process flow changes, the fixed mechanical arm needs to be reprogrammed or replaced with an end effector, and even the object-carrying platform of the AMR needs to be modified, the device modification and production line reorganization cycle is long and costly, the production demand changes cannot be quickly responded, the flexible production capacity is insufficient, and the traditional AMR and special mobile robots are also difficult to quickly adapt to new pick-and-place height, span or load requirements.

[0005] Moreover, the traditional AMR is essentially a "mobile platform", and its function is limited to carrying, and it does not have the ability to directly perform complex operations during movement or at the arrival point. The special robot simply superimposes mobility and execution function, loses the flexibility of reconfiguration due to specialization, cannot be "one machine for multiple uses", is suitable for multiple types of products, and is difficult to adapt to the actual production demand of small batch and multiple varieties. SUMMARY

[0006] The present application aims to provide an intelligent mobile collaborative operation composite robot system and a control method thereof, to solve the technical problems of rigid production line layout, large space occupation, low space utilization, complex production line scheduling, low collaborative efficiency, long waiting time, low material flow efficiency and poor flexibility in the existing mode.

[0007] In a first aspect, the present application provides an intelligent mobile collaborative operation composite robot system, comprising: A mobile chassis is provided with a mobile driving module and an autonomous mobile mechanism in control connection with the mobile driving module; and An integrated control system, a lifting unit and a conveying unit are arranged on the upper part of the mobile chassis, the lifting unit includes a lifting driving module, a lifting mechanism in control connection with the lifting driving module, and a lifting platform fixedly connected with the transmission end of the lifting mechanism, and the conveying unit is integrated on the lifting platform, the conveying unit includes a conveying driving module and a conveying mechanism in control connection with the conveying driving module; The control system includes a central control system and a vehicle-mounted control system; the central control system is in wireless routing connection with a cloud platform to receive and analyze the robot path and robot task issued by the cloud platform and transmit them to the vehicle-mounted control system; the vehicle-mounted control system issues execution instructions to the mobile driving module, the lifting driving module and the conveying driving module through a bus network, and the bus network is built-in with a clock synchronization mechanism to synchronize the execution instructions of the mobile driving module, the lifting driving module and the conveying driving module.

[0008] Further, the conveying mechanism includes a conveying driving motor in driving connection with the conveying driving module, a synchronous pulley in rigid connection with the output shaft of the conveying driving motor, and a first synchronous belt and a second synchronous belt in transmission engagement connection with the synchronous pulley, and the first synchronous belt and the second synchronous belt are parallel to each other and arranged on opposite sides of the lifting platform respectively; the conveying driving motor drives the first synchronous belt and the second synchronous belt to move along the horizontal conveying direction by driving the synchronous pulley.

[0009] Further, the bottom of the lifting platform is also integrated with a centering unit; The centering unit includes a centering driving module in communication connection with the vehicle-mounted control system through the bus network and receiving centering execution instructions, and a centering mechanism in control connection with the centering driving module; The clock synchronization mechanism of the bus network synchronizes the execution instructions of the centering driving module, the mobile driving module, the lifting driving module and the conveying driving module; and the data center of the central control system issues the centering execution instructions to the vehicle-mounted control system according to the received material size data.

[0010] Further, the centering mechanism comprises a variable-distance driving motor connected with the centering driving module, a centering execution mechanism connected with the variable-distance driving motor, and a plurality of variable-distance position sensors connected with the centering driving module, including large material variable-distance position sensors, medium material variable-distance position sensors and small material variable-distance position sensors arranged at different width positions along the transverse direction of the bottom of the lifting platform. The centering execution mechanism comprises a variable-distance driving rod arranged across the bottom of the first synchronous belt and the second synchronous belt, and two variable-distance driving blocks connected with the variable-distance driving rod, and the two variable-distance driving blocks are fixedly connected with a first mounting frame fixedly mounting the first synchronous belt and a second mounting frame fixedly mounting the second synchronous belt. The variable-distance driving motor drives the two variable-distance driving blocks on the variable-distance driving rod to move according to the centering execution instructions received from the vehicle-mounted control system and the in-place sensing feedback of the variable-distance position sensors, so as to adjust the distance between the first synchronous belt and the second synchronous belt.

[0011] Further, the centering unit further comprises a material in-place detection and correction module connected with the feedback center of the central control system, and a plurality of in-place detection sensors connected with the material in-place detection and correction module, including large material in-place detection sensors, medium material in-place detection sensors and small material in-place detection sensors arranged at different length positions along the longitudinal direction of the bottom of the lifting platform, and a feeding in-place detection sensor arranged at the feeding end position.

[0012] Further, the first mounting frame and the second mounting frame are respectively provided with a first baffle arranged along the extension direction of the first synchronous belt and a second baffle arranged along the extension direction of the second synchronous belt, and the first baffle is located on the side of the first synchronous belt away from the second synchronous belt, and the second baffle is located on the side of the second synchronous belt away from the first synchronous belt.

[0013] Further, the lifting mechanism comprises a permanent magnet synchronous servo motor connected with the lifting driving module, a ball screw connected with the output shaft of the permanent magnet synchronous servo motor through a shaft coupling, and a nut connected with the ball screw, and the lifting platform is fixedly connected with the nut to drive the lifting platform to move up and down.

[0014] Further, the self-moving mechanism comprises a four-wheel structure arranged at the bottom of the moving chassis and a double-laser-radar navigation device. The four-wheel structure includes four Mecanum wheels arranged at the four corners of the bottom of the mobile chassis, four wheel hub drives respectively connected to the wheel hubs of the four Mecanum wheels, and four wheel hub brake resistors respectively connected to the wheel hubs of the four Mecanum wheels.

[0015] Further, the mobile chassis, the lifting mechanism, the conveying mechanism, and the centering mechanism are quickly connected through standardized mechanical interfaces and communication interfaces; and / or The side of the lifting mechanism away from the lifting platform is provided with a main box, and a battery pack is connected in power with the mobile chassis, the lifting mechanism, the conveying mechanism, and the centering mechanism; the main box is internally provided with the lifting drive module, an industrial computer, a switch, a main control board, a power board, a relay board, an emergency stop button, and a fan, and the shell of the main box is provided with a heat dissipation hole.

[0016] In a second aspect, the application provides a control method of an intelligent mobile collaborative operation composite robot system, which is applied to the intelligent mobile collaborative operation composite robot system in any of the preceding aspects, and the control method comprises the following steps: Task initiation: a production execution system of a cloud platform extracts a work task of "carrying material A to production line B" from a production plan and sends the work task to a scheduling system; Cloud scheduling: the scheduling system plans a robot path and a robot work task, and transmits instructions to a local vehicle-mounted control system and a central control system through a wireless router; Local execution: the central control system analyzes the robot path and the robot work task through a human-computer interaction layer, a communication intermediate layer, and a core control layer, and issues the robot path and the robot work task to the vehicle-mounted control system; The vehicle-mounted control system issues corresponding movement execution instructions to a movement drive module of the mobile chassis through a bus network, drives the autonomous movement mechanism to move the mobile chassis to a material area and a production line area, issues centering execution instructions to a centering drive module to drive the centering mechanism to center, issues lifting execution instructions to a lifting drive module to drive the lifting mechanism to lift, and issues conveying execution instructions to a conveying drive module to drive the conveying mechanism to dock and convey materials; and each execution instruction is controlled by a clock synchronization mechanism built in the bus network to be always synchronized, so as to perform multi-action instruction collaborative precise control.

[0017] Further, when the production line switches product models, the production execution system of the cloud platform sends updated material parameter data to a data platform of the local execution central control system, and the data platform automatically adjusts parameter instructions issued to each drive module, including a centering range, a lifting speed, and a conveying distance.

[0018] Compared with the prior art, the intelligent mobile collaborative operation composite robot system and the control method thereof provided by the application, the intelligent mobile collaborative operation composite robot system comprises a mobile chassis and a control system, a lifting unit and a conveying unit which are integrally arranged on the upper part of the mobile chassis; the mobile chassis is provided with a mobile driving module and an autonomous mobile mechanism which is in control connection with the mobile driving module; the lifting unit comprises a lifting driving module, a lifting mechanism which is in control connection with the lifting driving module, and a lifting platform which is fixedly connected with the transmission end of the lifting mechanism, and the conveying unit is integrally arranged on the lifting platform, and the conveying unit comprises a conveying driving module and a conveying mechanism which is in control connection with the conveying driving module; and the control system comprises a central control system and a vehicle-mounted control system, the central control system is in wireless routing connection with a cloud platform to receive and analyze the robot path and robot task issued by the cloud platform and transmit them to the vehicle-mounted control system, the vehicle-mounted control system issues execution instructions to the mobile driving module, the lifting driving module and the conveying driving module through a bus network, and the bus network is built-in with a clock synchronization mechanism to synchronize the execution instructions of the mobile driving module, the lifting driving module and the conveying driving module.

[0019] In this way, firstly, the functions of mobile transportation and task execution, which are required to be completed independently in the prior art, are integrated into the same composite robot system, and the mobile chassis, the lifting unit, the conveying unit and the control system are compactly integrated on the same robot device through modular design, canceling the special installation foundation and independent operation fence of the fixed mechanical arm in the existing mode and the long conveying belt, and eliminating the waiting parking area of the AMR (mobile robot) in the existing mode, greatly improving the space function expandability and space utilization rate, greatly reducing the inherent asset space occupation area, and improving the operation flexibility and flexibility. Secondly, the central control system and the vehicle-mounted control system are fused with the body end for control, and the upper cloud platform only needs to focus on the business logic and issue the task of "what to do", without needing to care about the bottom details of "how to do", which significantly reduces the scheduling complexity of the upper system, simplifies the production line control from "device cluster scheduling" to "intelligent task allocation"; the central control system receives and analyzes the robot path and robot task issued by the cloud platform, solves the problem of "how to do", and corresponds to the vehicle-mounted control system to execute the corresponding execution module (such as the mobile driving module, the lifting driving module, the conveying driving module and the centering driving module), thereby improving the intelligent execution of the composite robot system.

[0020] Thirdly, the millisecond-level real-time data interaction between the execution modules is realized by the high-speed industrial bus inside the robot, the mobile driving module, the lifting driving module, the conveying driving module and the centering driving module are connected to the same bus network, integrated into a main control board, and the bus network has a clock synchronization mechanism, which synchronizes the execution instruction clock of the above-mentioned execution modules (such as the mobile driving module, the lifting driving module, the conveying driving module and the centering driving module), realizes the accurate coordination control of multiple actions, can autonomously optimize the action sequence, realizes that the robot can plan and start to execute the lifting, centering and preparation conveying action tasks during the moving process, seamlessly connects to execute the conveying action task at the moment of arrival, realizes the overlap of movement and operation in time, reduces all "waiting time" to zero, cancels the complex communication handshake and waiting process between the existing mode AMR and the fixed mechanical arm, improves the collaborative efficiency and material flow efficiency, realizes high autonomy, high collaboration and high adaptability. BRIEF DESCRIPTION OF DRAWINGS

[0021] In order to more clearly illustrate the technical solutions in the specific embodiments or prior art of the present application, the drawings needed to be used in the description of the specific embodiments or prior art will be briefly introduced. Obviously, the drawings in the following description are some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without creative labor.

[0022] Figure 1 The overall structure schematic diagram of the intelligent mobile collaborative operation composite robot system provided by the embodiments of the present application is shown in the figure. Figure 2 The partial structure schematic diagram of the intelligent mobile collaborative operation composite robot system provided by the embodiments of the present application is shown in the figure. Figure 1 Figure 3 The partial structure schematic diagram of the intelligent mobile collaborative operation composite robot system provided by the embodiments of the present application is shown in the figure. Figure 2 Figure 4 The structure schematic diagram of the lifting platform provided by the embodiments of the present application is shown in the figure. Figure 5 The structure schematic diagram of the mobile chassis provided by the embodiments of the present application is shown in the figure. Figure 6 The partial structure schematic diagram of the intelligent mobile collaborative operation composite robot system provided by the embodiments of the present application is shown in the figure. Figure 3

[0023] Reference signs: 10 - mobile chassis 11 - mecker 111 - wheel hub 12 - wheel hub driver​​​ 13 - wheel hub brake resistor; 14 - dual laser radar navigation device; 15 - first fan; 161 - automatic charging port; 162 - manual charging port; 17 - debugging port; 20 - lifting unit; 21 - lifting drive module; 22 - ball screw; 23 - lifting platform; 30 - conveying unit; 31 - conveying drive module; 32 - conveying drive motor; 33 - synchronous pulley; 341 - first synchronous belt; 342 - second synchronous belt; 351 - first baffle; 352 - second baffle; 361 - first baffle steering engine; 362 - second baffle steering engine; 40 - centering unit; 41 - centering drive module; 42 - variable pitch drive motor; 43 - variable pitch drive rod; 441 - large material variable pitch position sensor; 442 - medium material variable pitch position sensor; 443 - small material variable pitch position sensor; 451 - large material in-place detection sensor; 452 - medium material in-place detection sensor; 453 - small material in-place detection sensor; 454 - feed in-place detection sensor; 50 - main box; 51 - industrial computer; 52 - switch; 53 - main control board; 54 - power board; 55 - relay board; 56 - emergency stop button; 57 - second fan; 58 - heat dissipation hole; 60 - battery pack. DETAILED DESCRIPTION

[0024] In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the following will clearly and completely describe the technical solutions in the embodiments of the present application with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some but not all of the embodiments of the present application. The components of the embodiments of the present application described and shown in the drawings can be arranged and designed in various different configurations.

[0025] Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the claimed application, but only represents selected embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work are within the scope of protection of the present application.

[0026] It should be noted that: similar reference numerals and letters represent similar items in the following drawings, therefore, once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings.

[0027] In the description of the present application, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship commonly placed when the product of the application is used, and are only for the convenience of describing the present application and simplifying the description, and therefore cannot be understood as indicating or implying that the indicated device or element must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application. In addition, the terms "first", "second", "third" and the like are only used to distinguish the description and cannot be understood as indicating or implying relative importance.

[0028] In addition, the terms "horizontal", "vertical", "overhang" and the like do not mean that the components must be absolutely horizontal or overhanging, but can be slightly inclined. For example, "horizontal" only means that its direction is more horizontal relative to "vertical", and does not mean that the structure must be completely horizontal, but can be slightly inclined.

[0029] In the description of the present application, it should also be noted that unless otherwise explicitly specified and limited, the terms "arrangement", "installation", "connection", "connection" should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the communication inside two elements. For those of ordinary skill in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0030] The following detailed description of some embodiments of this application is provided in conjunction with the accompanying drawings. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0031] like Figures 1 to 6 As shown, this application provides an intelligent mobile collaborative operation composite robot system and a control method applied to the intelligent mobile collaborative operation composite robot system. The intelligent mobile collaborative operation composite robot system includes: a mobile chassis 10 and a control system, a lifting unit 20, a conveying unit 30, and a centering unit 40 integrated on the upper part of the mobile chassis 10.

[0032] The mobile chassis 10 is equipped with a mobile drive module and an autonomous moving mechanism controlled and connected to the mobile drive module; the lifting unit 20 includes a lifting drive module 21, a lifting mechanism controlled and connected to the lifting drive module 21, and a lifting platform 23 fixedly connected to the transmission end of the lifting mechanism. The lifting platform 23 is integrated with the conveying unit 30 and the centering unit 40. The conveying unit 30 includes a conveying drive module 31 and a conveying mechanism controlled and connected to the conveying drive module 31. The centering unit includes a centering drive module 41 and a centering mechanism controlled and connected to the centering drive module 41.

[0033] The control system includes a central control system and an on-board control system. The central control system is wirelessly connected to the cloud platform to receive and parse the robot path and robot operation tasks issued by the cloud platform and transmit them to the on-board control system. The on-board control system issues execution commands to the mobile drive module, the lifting drive module 21, the conveying drive module 31 and the centering drive module 41 through the bus network. The bus network has a built-in clock synchronization mechanism to synchronize the execution command clocks of the mobile drive module, the lifting drive module 21, the conveying drive module 31 and the centering drive module 41.

[0034] Compared with the prior art, firstly, the intelligent mobile collaborative operation composite robot system provided in this application integrates the two functions of mobile transportation and task execution, which in the prior art need to be completed in separate spaces, into the same composite robot system device. Furthermore, the mobile chassis 10, lifting unit 20, conveying unit 30, centering unit 40, and control system are compactly integrated into the same robot device through modular design. This eliminates the need for a dedicated installation foundation, independent work fence, and lengthy conveyor belt required for fixed robotic arms in the existing model. It also eliminates the waiting and parking area for AMRs (mobile robots) in the existing model, greatly improving the spatial functionality and space utilization, significantly reducing the space occupied by the inherent assets, and improving operational flexibility and agility. Second, the central control system and the vehicle-mounted control system are fused with the body end control. The upper cloud platform only needs to focus on the business logic and issue the task of "what to do", without needing to care about the underlying details of "how to do it", which significantly reduces the scheduling complexity of the upper system and simplifies the production line control from "equipment cluster scheduling" to "intelligent task allocation"; the central control system receives and analyzes the robot path and robot task issued by the cloud platform, solves the problem of "how to do it", and corresponds to the execution module (such as the mobile drive module, the lifting drive module 21, the conveying drive module 31, and the centering drive module 41) of the vehicle-mounted control system for execution, improving the intelligent execution of the composite robot system.

[0035] Third, the robot internally realizes millisecond-level real-time data interaction between the aforementioned execution modules through a high-speed industrial bus. The mobile drive module, the lifting drive module 21, the conveying drive module 31, and the centering drive module 41 are connected to the same bus network and integrated into a main control board 53. The bus network has a built-in clock synchronization mechanism that synchronizes the execution clock of the aforementioned execution modules (mobile drive module, lifting drive module 21, conveying drive module 31, and centering drive module 41), realizes precise coordination control of multiple actions, can autonomously optimize the action sequence, and realizes the planning and execution of lifting, centering, and preparation for conveying actions during the movement of the robot. The actions can be seamlessly connected and executed during the conveying action, realizing the overlap of movement and operation in time, reducing all "waiting time" to zero, canceling the complex communication handshake and waiting process between the existing AMR and fixed mechanical arm, improving the cooperation efficiency and material flow efficiency, and achieving high autonomy, high cooperation, and high adaptability.

[0036] As shown in Figures 2 to 4 , regarding the aforementioned conveying unit 30, a specific embodiment is that the conveying mechanism of the conveying unit 30 can specifically include a conveying drive motor 32 drivingly connected with the conveying drive module 31, a synchronous pulley 33 rigidly connected with the output shaft of the conveying drive motor 32, and a first synchronous belt 341 and a second synchronous belt 342 drivingly engaged with the synchronous pulley 33, and the first synchronous belt 341 and the second synchronous belt 342 are parallel to each other and respectively arranged on the opposite sides of the aforementioned lifting platform 23; the conveying drive motor 32 drives the first synchronous belt 341 and the second synchronous belt 342 to move along the horizontal conveying direction by driving the synchronous pulley 33, thereby realizing the docking material task and the conveying material task; and specifically, the conveying drive module 31 can be a conveying motor driver.

[0037] With this configuration, the conveying unit 30 completes the efficient transmission and handling of materials through a synchronous belt. Compared with chain drive or rack and pinion drive, synchronous belt drive can achieve zero-slip transmission due to the absence of relative slippage in the tooth meshing, and its transmission accuracy is higher.

[0038] Furthermore, regarding the aforementioned centering unit 40, the data platform of the central control system issues a centering execution command to the vehicle control system based on the received material size data. The centering drive module 41 of the centering unit 40 is connected to the vehicle control system via a bus network and receives the centering execution command.

[0039] like Figures 2 to 4 As shown, in a specific embodiment, the centering unit 40 is integrated at the bottom of the aforementioned lifting platform 23, and the centering mechanism may specifically include: a variable pitch drive motor 42 controlled and connected to the aforementioned centering drive module 41, a centering execution mechanism driven and connected to the variable pitch drive motor 42, and a plurality of variable pitch position sensors inductively connected to the centering drive module 41. The plurality of variable pitch position sensors may be: a large material variable pitch position sensor 441, a medium material variable pitch position sensor 442, and a small material variable pitch position sensor 443 respectively arranged at different width positions along the lateral direction of the bottom of the lifting platform 23, and the centering drive module 41 may be a variable pitch motor driver.

[0040] Furthermore, the centering actuator may specifically include a variable pitch drive rod 43 spanning the bottom of the first synchronous belt 341 and the second synchronous belt 342, and two variable pitch drive blocks slidably connected to the variable pitch drive rod 43. The two variable pitch drive blocks are respectively fixedly connected to a first mounting bracket for fixing the first synchronous belt 341 and a second mounting bracket for fixing the second synchronous belt 342, so as to drive the first synchronous belt 341 and the second synchronous belt 342 to move.

[0041] Specifically, the variable pitch drive motor 42, based on the centering execution command received from the vehicle control system and in coordination with the position sensing feedback received from each variable pitch position sensor, drives the two variable pitch drive blocks on the variable pitch drive rod 43 to move, thereby driving the first mounting bracket and the second mounting bracket, which are fixedly mounted on the first synchronous belt 341 and the second synchronous belt 342, to move, so as to center and adjust the distance between the first synchronous belt 341 and the second synchronous belt 342, thereby preparing for docking and receiving materials.

[0042] In this way, the multi-specification material can be accurately matched, and when different size specifications of materials are transported or when the production line switches product models, the production execution system of the cloud platform can send the replacement material parameter data, including material size data and material weight data, to the data center of the local execution central control system, and the data center automatically adjusts the centering parameter adjustment instructions issued to the centering unit 40 to adapt to the transportation of materials of different sizes. In addition, the data center can also automatically adjust the parameter instructions issued to other drive modules, including not only the centering range but also the lifting speed and conveying distance, without the need for reprogramming, and the switching time is shortened from several hours to several minutes. This method discards the passive centering mode of traditional mechanical limiting or single sensor, intelligently judges through multiple sensor detection, does not need manual replacement of tooling, and dynamically adjusts the entire execution mechanism, such as lifting, conveying, and centering, through control of each drive module.

[0043] Based on the foregoing embodiments, further, as shown in Figure 2 and Figure 4 The centering unit 40 can also include a material alignment detection and correction module in communication with the feedback center of the central control system, and a plurality of alignment detection sensors in inductive connection with the material alignment detection and correction module. The plurality of alignment detection sensors can be divided into large material alignment detection sensors 451, medium material alignment detection sensors 452, and small material alignment detection sensors 453 arranged at different length positions along the longitudinal direction of the bottom of the lifting platform 23, and a feeding alignment detection sensor 454 located at the feeding end position. Thus, feedback of material feeding alignment and size correction feedback after material alignment can be achieved.

[0044] A preferred embodiment is that the first mounting frame and the second mounting frame can respectively be provided with a first baffle 351 arranged along the extension direction of the first synchronous belt 341 and a second baffle 352 arranged along the extension direction of the second synchronous belt 342. The first baffle 351 is located on the side of the first synchronous belt 341 away from the second synchronous belt 342, and the second baffle 352 is located on the side of the second synchronous belt 342 away from the first synchronous belt 341, to further prevent material from falling during conveying.

[0045] Further, the first baffle 351 and the second baffle 352 are preferably controlled to lift automatically. Specifically, the first baffle 351 and the second baffle 352 can be respectively connected to a first baffle steering engine 361 and a second baffle steering engine 362 for lifting drive control, to further improve the intelligence and overall operation efficiency.

[0046] As shown in Figure 1 , Figure 2 and Figure 6As shown, regarding the aforementioned lifting unit 20, a specific embodiment is that the lifting mechanism of the lifting unit 20 can specifically include a permanent magnet synchronous servo motor controlled and connected with the lifting drive module 21 thereof, a ball screw 22 driven and connected with the output shaft of the permanent magnet synchronous servo motor through a shaft coupling, and a nut rolling connected with the ball screw 22, and the lifting platform 23 is fixedly connected with the nut, the permanent magnet synchronous servo motor drives the lifting platform 23 to move up and down by driving the ball screw 22, and specifically the lifting stroke of the vertical lifting mechanism can be 320mm~1200mm, and the working span can be 400mm, and the lifting drive module 21 can be specifically a lifting motor driver.

[0047] Since the permanent magnet synchronous servo motor has the characteristics of high dynamic response, wide speed regulation range, and low rotational inertia, it can accurately output rotary power and real-time feedback motion state, and the permanent magnet synchronous servo motor and the lifting platform 23 are connected through the ball screw 22, and the ball screw 22 and the nut are connected through the ball rolling friction, which replaces the traditional sliding friction, and efficiently converts the rotary motion of the permanent magnet synchronous servo motor into the vertical linear motion of the lifting platform 23, thereby improving the lifting precision and load capacity.

[0048] As shown in Figure 5 regarding the aforementioned mobile chassis 10, a specific embodiment is that the autonomous moving mechanism of the mobile chassis 10 can specifically include a four-megawheel structure arranged at the bottom of the mobile chassis 10 and a double-laser radar navigation device 14, and the double-laser radar navigation device 14 can be arranged at the diagonal position of the mobile chassis 10 to realize high-precision autonomous navigation and positioning, and improve the reliability of path planning and obstacle avoidance.

[0049] The four-megawheel structure can specifically include four megawheels 11 arranged at the four corner positions of the bottom of the mobile chassis 10, four hub drives 12 respectively driving connected with the hubs 111 of the four megawheels 11, and four hub brake resistors 13 respectively braking connected with the hubs 111 of the four megawheels 11, and the four-megawheel structure provides flexible multidirectional moving ability for the mobile chassis 10, and supports precise motion and omnidirectional control.

[0050] In addition, the mobile chassis 10 can further include a fan (such as Figure 5 a first fan 15) and an automatic charging port 161, a manual charging port 162, and a debugging port 17.

[0051] And preferably the mobile chassis 10 adopts a lightweight all-aluminum chassis, which can be topologically optimized to realize lightweight while ensuring bearing and operation rigidity, without affecting the overall motion performance and endurance.

[0052] A preferred embodiment is that the different functional module structures of the mobile chassis 10, the lifting mechanism, the conveying mechanism and the centering mechanism can be quickly connected by using standardized mechanical interfaces and communication interfaces, so that the different functional module structures can be quickly replaced, and the newly connected modules after replacement can be automatically identified, and the corresponding driving and control parameters can be loaded, the new production tasks can be quickly adapted, the "plug and play" collaborative relationship between the functional module structures can be formed, the overall collaboration is improved, and the collaborative work efficiency is improved.

[0053] An optional embodiment is that, as shown in Figure 6 the side away from the lifting platform 23 of the lifting mechanism can be provided with a main box 50 and a battery pack 60 connected with the mobile chassis 10, the lifting mechanism, the conveying mechanism and the centering mechanism. Specifically, the lifting driving module 21, the industrial computer 51, the switch 52, the main control board 53, the power board 54, the relay board 55, the emergency stop button 56 and the fan (such as the second fan 57 shown in Figure 6 ) can be arranged in the main box 50, and the shell of the main box 50 is provided with a heat dissipation hole 58.

[0054] Based on the above-mentioned embodiments of the mobile execution intelligent control robot, the application further provides a control method of the mobile execution intelligent control robot, which can include: Task initiation: the production execution system of the cloud platform extracts the operation task of "moving material A to production line B" from the production plan and sends it to the scheduling system; Cloud scheduling: the scheduling system plans the robot path and the robot operation task, and transmits the instructions to the local vehicle-mounted control system and the central control system through wireless routing; Local execution: the central control system analyzes the robot path and the robot operation task through the human-computer interaction layer, the communication intermediate layer and the core control layer, and issues them to the vehicle-mounted control system; The vehicle-mounted control system issues corresponding mobile execution instructions to the mobile driving module of the mobile chassis 10 through the bus network, drives the mobile mechanism to move the mobile chassis 10 to the material area and the production line area, issues centering execution instructions to the centering driving module 41 to drive the centering mechanism to center, issues lifting execution instructions to the lifting driving module 21 to drive the lifting mechanism to lift, and issues conveying execution instructions to the conveying driving module 31 to drive the conveying mechanism to interface and convey the material. Each execution instruction is controlled by the clock synchronization mechanism arranged in the bus network to perform multi-action instruction collaborative precise control. For example, in the process of executing the mobile instruction by the mobile mechanism, the centering mechanism can execute the centering instruction, and the lifting mechanism can execute the lifting instruction to the corresponding height position. Then, when moving to the production line area, the conveying mechanism can immediately execute the conveying material instruction.

[0055] Throughout the entire process, the power module (specifically, the battery pack 60) ensures energy supply, and the status of each functional module can be transmitted back to the central control system and cloud platform via communication links.

[0056] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.

Claims

1. An intelligent mobile collaborative operating composite robot system, characterized by, Comprise: a mobile chassis provided with a mobile drive module and an autonomous mobile mechanism in control connection with the mobile drive module; and a control system, a lifting unit and a conveying unit integrally arranged on the upper part of the mobile chassis, the lifting unit comprising a lifting drive module, a lifting mechanism in control connection with the lifting drive module, and a lifting platform fixedly connected with the transmission end of the lifting mechanism, and the conveying unit is integrally arranged on the lifting platform, the conveying unit comprising a conveying drive module and a conveying mechanism in control connection with the conveying drive module; the control system comprises a central control system and a vehicle-mounted control system; the central control system is in wireless routing connection with a cloud platform to receive and analyze the robot path and robot task issued by the cloud platform, and transmit to the vehicle-mounted control system; the vehicle-mounted control system issues execution instructions to the mobile drive module, the lifting drive module and the conveying drive module through a bus network, and the bus network is built-in with a clock synchronization mechanism to synchronize the execution instructions of the mobile drive module, the lifting drive module and the conveying drive module.

2. The intelligent mobile cooperative operation composite robot system according to claim 1, wherein the conveying mechanism comprises a conveying drive motor in driving connection with the conveying drive module, a synchronous pulley in rigid connection with the output shaft of the conveying drive motor, and a first synchronous belt and a second synchronous belt in transmission engagement connection with the synchronous pulley, and the first synchronous belt and the second synchronous belt are parallel to each other and arranged on opposite sides of the lifting platform respectively; the conveying drive motor drives the first synchronous belt and the second synchronous belt to move along the horizontal conveying direction by driving the synchronous pulley.

3. The intelligent mobile cooperative operation composite robot system according to claim 2, wherein the bottom of the lifting platform is further integrally provided with a centering unit; the centering unit comprises a centering drive module in communication connection with the vehicle-mounted control system through the bus network and receiving centering execution instructions, and a centering mechanism in control connection with the centering drive module; and the clock synchronization mechanism of the bus network synchronizes the execution instructions of the centering drive module, the mobile drive module, the lifting drive module and the conveying drive module; and the data center of the central control system issues the centering execution instructions to the vehicle-mounted control system according to the received material size data.

4. The intelligent mobile cooperative operation composite robot system according to claim 3, wherein the centering mechanism comprises a variable distance drive motor in control connection with the centering drive module, a centering execution mechanism in driving connection with the variable distance drive motor, and a plurality of variable distance position sensors in inductive connection with the centering drive module, including a large material variable distance position sensor, a medium material variable distance position sensor and a small material variable distance position sensor arranged at different width positions along the transverse direction of the bottom of the lifting platform. The centering execution mechanism comprises a variable-pitch driving rod arranged across the bottom of the first and second synchronous belts, and two variable-pitch driving blocks slidingly connected to the variable-pitch driving rod, and the two variable-pitch driving blocks are fixedly connected to a first mounting frame fixedly mounting the first synchronous belt and a second mounting frame fixedly mounting the second synchronous belt, respectively. The variable-pitch driving motor drives the two variable-pitch driving blocks on the variable-pitch driving rod to move according to the centering execution instructions received from the vehicle-mounted control system and the in-place sensing feedback of the variable-pitch position sensors, so as to adjust the distance between the first and second synchronous belts.

5. The intelligent mobile collaborative operation composite robot system according to claim 4, wherein The centering unit further comprises a material in-place detection and alignment module in communication connection with the feedback center of the central control system, and a plurality of in-place detection sensors in sensing connection with the material in-place detection and alignment module, including large material in-place detection sensors, medium material in-place detection sensors and small material in-place detection sensors arranged at different length positions along the longitudinal direction of the bottom of the lifting platform, and a feeding in-place detection sensor located at the feeding end position.

6. The intelligent mobile collaborative operation composite robot system according to claim 4, wherein The first mounting frame and the second mounting frame are respectively provided with a first baffle arranged along the extension direction of the first synchronous belt, and a second baffle arranged along the extension direction of the second synchronous belt, and the first baffle is located on the side of the first synchronous belt away from the second synchronous belt, and the second baffle is located on the side of the second synchronous belt away from the first synchronous belt.

7. The intelligent mobile collaborative operation composite robot system according to claim 1, wherein The lifting mechanism comprises a permanent magnet synchronous servo motor in control connection with the lifting driving module, a ball screw in driving connection with the output shaft of the permanent magnet synchronous servo motor through a shaft coupling, and a nut in rolling connection with the ball screw, and the lifting platform is fixedly connected with the nut to drive the lifting platform to move up and down.

8. The intelligent mobile collaborative operation composite robot system according to claim 1, wherein The autonomous mobile mechanism comprises a four-megawheel structure and a double-laser-radar navigation device arranged at the bottom of the mobile chassis. The four-megawheel structure comprises four megawheels arranged at the four corner positions of the bottom of the mobile chassis, four hub drives in driving connection with the hubs of the four megawheels, respectively, and four hub brake resistors in braking connection with the hubs of the four megawheels, respectively.

9. The intelligent mobile collaborative operation composite robot system according to any one of claims 3-8, wherein The mobile chassis, the lifting mechanism, the conveying mechanism and the centering mechanism are connected quickly by using standardized mechanical interfaces and communication interfaces; and / or The side of the lifting mechanism away from the lifting platform is provided with a main box, and a battery pack is power-connected with the mobile chassis, the lifting mechanism, the conveying mechanism and the centering mechanism.

10. A control method of an intelligent mobile cooperative operation composite robot system, characterized by, The control method is applied to the intelligent mobile collaborative operation composite robot system in any one of claims 1-9, and the control method comprises: Task initiation: a production execution system of a cloud platform extracts a work task of "carrying material A to production line B" from a production plan and sends the work task to a scheduling system; Cloud scheduling: the scheduling system plans a robot path and a robot work task, and transmits instructions to a local vehicle-mounted control system and a central control system through a wireless router; Local execution: the central control system analyzes the robot path and the robot work task through a human-computer interaction layer, a communication intermediate layer and a core control layer, and issues the robot path and the robot work task to the vehicle-mounted control system; The vehicle-mounted control system issues corresponding movement execution instructions to a movement driving module of the mobile chassis through a bus network, drives the mobile chassis to move to a material area and a production line area through a self-driven movement mechanism, issues centering execution instructions to a centering driving module, drives the centering mechanism to center, issues lifting execution instructions to a lifting driving module, drives the lifting mechanism to lift, and issues conveying execution instructions to a conveying driving module, drives the conveying mechanism to dock and convey materials, and each execution instruction is controlled synchronously through a clock synchronization mechanism arranged in the bus network at all times, so that multi-action instruction collaborative precise control is performed.

11. The control method according to claim 10, wherein When a production line switches product models, a production execution system of a cloud platform sends updated material parameter data to a data platform of a local execution central control system, and the data platform automatically adjusts parameter instructions issued to each driving module, including a centering range, a lifting speed and a conveying spacing.

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