A transport robot based on ROS

Abstract

The utility model belongs to the field of robot technology, and specifically relates to a transport robot based on ROS. It includes a ROS transport robot body, and the upper side of the ROS transport robot body is provided with a cargo stabilization storage component; the cargo stabilization storage component includes a fan, a bracket, a first fixing plate, a second fixing plate, a drive motor 1, a drive motor 2, an air pipe 1, an air pipe 2, a fixing rod 1, and a fixing rod 2 located on the lower side of the ROS transport robot body. The utility model sets a first fixing plate and a second fixing plate around the ROS transport robot. When there are goods placed on the ROS transport robot, the goods can be roughly gathered and protected by controlling the operation of the drive motor 1 and the drive motor 2, and then the fan works and delivers high-pressure gas into the cavity, so that the fixing rod has continuous pressure, which has a better protection effect on the goods, better overall practicality, and also improves the stability during transportation.

Description

Technical Field

[0001] The utility model belongs to the technical field of robots, and in particular relates to a transport robot based on ROS. Background Art

[0002] The ROS handling robot is a robot based on ROS (Robot Operating System), which can realize the function of autonomously carrying objects. It usually has functions such as autonomous navigation, path planning, object recognition and grasping. It can perceive the surrounding environment through sensors such as lidar and cameras, use the algorithms and tools provided by ROS to plan and make decisions, and then use a robotic arm or other grasping devices to carry objects; it can be applied to industrial production, logistics warehousing, medical services, home services and other fields.

[0003] At present, when using ROS handling robots in factories, the goods are grabbed by the robotic arm and placed on the ROS handling robot, and the goods are transported by the movement of the ROS handling robot; however, when the robotic arm places the goods on the ROS handling robot, the placement position may not be the center position of the ROS handling robot, and there will be a certain deviation. In addition, after the goods are placed, the goods are not reliably attached together. During transportation, the goods may fall due to slight vibrations; In view of the above problems, a safer ROS-based handling robot is proposed. Utility Model Content

[0004] In order to solve the problems existing in the background technology, the utility model provides a transport robot based on ROS, which can better protect the goods and meet the use of more types of goods.

[0005] The utility model provides a ROS-based handling robot, comprising a ROS handling robot body, wherein the upper side of the ROS handling robot body is provided with a cargo stabilizing storage assembly; the cargo stabilizing storage assembly comprises a fan located on the lower side of the ROS handling robot body, the upper side of the ROS handling robot body is evenly hingedly connected with a plurality of brackets, a first fixing plate is hingedly connected to the bracket, a second fixing plate is hingedly connected to the first fixing plate, cavities are provided in the first fixing plate and the second fixing plate, a driving motor 1 is fixedly mounted on the bracket, and an output end of the driving motor 1 is fixedly connected to the first fixing plate, A driving motor 2 is fixedly installed on the first fixing plate corresponding to the second fixing plate, and the output end of the driving motor 2 is fixedly connected to the second fixing plate. An air pipe 1 is provided on the corresponding bracket on the ROS handling robot body, the fan and the air pipe 1 are communicated with each other, the air pipe 1 is communicated with the cavity in the first fixing plate, and an air pipe 2 is provided between the first fixing plate and the second fixing plate. A plurality of fixing rods 1 are plugged and connected on the first fixing plate, and a plurality of fixing rods 2 are plugged and connected on the second fixing plate. Pressure chambers are provided on the first fixing plate corresponding to the fixing rods 1 and the second fixing plate corresponding to the fixing rods 2, and the pressure chambers are communicated with the cavities.

[0006] Furthermore, anti-collision strips are fixedly installed on the outer sides of the ROS handling robot body.

[0007] Furthermore, a guardrail is symmetrically fixedly installed on the upper side of the ROS handling robot body.

[0008] Furthermore, a rubber pad is fixedly installed on one end of the fixing rod 1 and the fixing rod 2 located in the pressure chamber, and the rubber pad is slidably connected to the inner wall of the pressure chamber.

[0009] Furthermore, the cavity in the first fixing plate and the cavity in the second fixing plate are connected to each other through the second gas pipe, and the diameter of the first gas pipe is larger than the diameter of the second gas pipe.

[0010] Furthermore, the fixing rod 1 and the fixing rod 2 are made of rubber material.

[0011] Furthermore, the second fixing plate is L-shaped.

[0012] Beneficial effects of the utility model:

[0013] The utility model arranges a first fixing plate and a second fixing plate around the ROS transport robot. When goods are not placed on the ROS transport robot, the first drive motor and the second drive motor are controlled to work, so that the goods can be roughly gathered and protected. Then, the fan works and high-pressure gas is delivered into the cavity, so that the fixing rod has continuous pressure, which has a better protection effect on the goods, better overall practicality, and improved stability during transportation. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 This is a front and top stereoscopic diagram of a ROS-based handling robot of the utility model.

[0015] Figure 2 This is a rear and top stereoscopic view of a ROS-based handling robot of the utility model.

[0016] Figure 3 This is a front and upward stereoscopic view of a ROS-based handling robot of the utility model.

[0017] Figure 4 It is a schematic diagram of a first fixing plate and a second fixing plate of a ROS-based handling robot of the utility model.

[0018] Figure 5 It is a side cross-sectional view of a fixing rod 1 of a ROS-based handling robot of the utility model.

[0019] As shown in the figure:

[0020] 1. ROS handling robot body, 2. Fan, 3. Bracket, 4. First fixing plate, 5. Second fixing plate, 6. Cavity, 7. Driving motor 1, 8. Driving motor 2, 9. Gas pipe 1, 10. Gas pipe 2, 11. Fixing rod 1, 12. Fixing rod 2, 13. Pressure chamber, 14. Anti-collision strip, 15. Guardrail, 16. Rubber pad. DETAILED DESCRIPTION

[0021] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0022] In the description of the utility model, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "provided with", "connected", etc. should be understood in a broad sense. For example, "connected" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the utility model can be understood according to specific circumstances.

[0023] Please see all instructions drawings:

[0024] A ROS-based transport robot comprises a ROS transport robot body 1, wherein the upper side of the ROS transport robot body 1 is provided with a cargo stabilizing storage component;

[0025] The cargo stable storage assembly includes a fan 2 located on the lower side of the ROS handling robot body 1, and the upper side of the ROS handling robot body 1 is evenly hingedly connected to a plurality of brackets 3, the brackets 3 are hingedly connected to a first fixing plate 4, the first fixing plate 4 is hingedly connected to a second fixing plate 5, and the first fixing plate 4 and the second fixing plate 5 are both provided with a cavity 6, a drive motor 1 7 is fixedly installed on the bracket 6, and the output end of the drive motor 1 7 is fixedly connected to the first fixing plate 4, and a drive motor 2 8 is fixedly installed on the first fixing plate 4 corresponding to the second fixing plate 5, and the output end of the drive motor 2 8 It is fixedly connected to the second fixed plate 5, an air pipe 9 is provided on the corresponding bracket 3 on the ROS handling robot body 1, the fan 2 is connected to the air pipe 9, the air pipe 9 is connected to the cavity 6 in the first fixed plate 4, an air pipe 2 10 is provided between the first fixed plate 4 and the second fixed plate 5, a plurality of fixed rods 11 are plugged and connected on the first fixed plate 4, a plurality of fixed rods 2 12 are plugged and connected on the second fixed plate 5, a pressure chamber 13 is provided on the first fixed plate 4 corresponding to the fixed rod 11 and the second fixed plate 5 corresponding to the fixed rod 2 12, and the pressure chamber 13 is connected to the cavity 6;

[0026] From the above description, it can be seen that the cargo is placed on top of the ROS transport robot body 1 by the robotic arm. After placement, the drive motor 1 7 and the drive motor 2 8 are controlled to work, and the first fixed plate 4 and the second fixed plate 5 are placed against the cargo. Then, the fan 2 is controlled to work so that the fixed rod 1 11 and the fixed rod 2 12 are pushed out by the pressurized gas, so that the fixed rod 1 11 and the fixed rod 2 12 can fix the cargo to a certain extent, so that the cargo on the ROS transport robot body 1 is better fixed and meets the handling work of more cargo.

[0027] As a technical optimization solution of the utility model, anti-collision strips 14 are fixedly installed on the outer side of the ROS handling robot body 1;

[0028] It can be seen from the above description that the provision of the anti-collision strip 14 can effectively protect the outer surface of the ROS transport robot body 1 .

[0029] As a technical optimization solution of the present utility model, a guardrail 15 is symmetrically fixedly installed on the upper side of the ROS handling robot body 1;

[0030] It can be seen from the above description that the guardrail 15 can prevent the goods located in the front and rear directions of the ROS transport robot body 1 from rolling down.

[0031] As a technical optimization solution of the utility model, a rubber pad 16 is fixedly installed at one end of the fixing rod 11 and the fixing rod 2 12 located in the pressure chamber 13, and the rubber pad 16 is slidably connected to the inner wall of the pressure chamber 13;

[0032] From the above description, it can be seen that the provision of the rubber pad 16 can increase the sealing between the fixing rod 1 11 and the fixing rod 1 2 12 and the pressure chamber 13, and the effect is better when the movement of the fixing rod 1 11 and the fixing rod 2 12 is controlled by the fan 2.

[0033] As a technical optimization solution of the utility model, the cavity 6 in the first fixing plate 4 and the cavity 6 in the second fixing plate 5 are connected to each other through the gas pipe 10, and the diameter of the gas pipe 1 9 is larger than the diameter of the gas pipe 10;

[0034] From the above description, it can be seen that the airflow generated by the fan 2 first enters the cavity 6 in the first fixed plate 4 through the air pipe 1 9, and then enters the cavity 6 in the second fixed plate 5 through the air pipe 2 10, thereby realizing the continuous output of air pressure to the fixed rod 1 11 and the fixed rod 2 12, so that the fixed rod 1 11 and the fixed rod 2 12 can have a certain pressure on the outer surface of the goods.

[0035] As a technical optimization solution of the utility model, the fixing rod 11 and the fixing rod 2 12 are made of rubber material;

[0036] It can be seen from the above description that the fixing rod 11 and the fixing rod 2 12 made of rubber material cause less damage to the goods.

[0037] As a technical optimization solution of the utility model, the second fixing plate 5 is L-shaped;

[0038] It can be seen from the above description that the L-shaped second fixing plate 5 has better maintenance capability when fixing the limited cargo.

[0039] Working principle:

[0040] The ROS handling robot body 1 moves to the corresponding loading position, and places the goods on top of the ROS handling robot body 1 through the mechanical arm. After placement, the drive motor 1 7 and the drive motor 2 8 are controlled to work, and the first fixed plate 4 and the second fixed plate 5 are placed against the goods. Then, the fan 2 is controlled to work so that the fixed rod 1 11 and the fixed rod 2 12 are pushed out by the pressurized gas, so that the fixed rod 1 11 and the fixed rod 2 12 can fix the goods to a certain extent, so that the goods on the ROS handling robot body 1 are better fixed and meet the handling work of more goods.

[0041] The above describes the utility model and its implementation methods, which are not restrictive. The specific implementation method is only one of the implementation methods of the utility model, and the actual structure is not limited thereto. In short, if ordinary technicians in this field are inspired by it, without departing from the purpose of the invention of the utility model, they can design a structure and embodiment similar to the technical solution without creativity, which should belong to the protection scope of the utility model.

Claims

1. A ROS-based handling robot, comprising a ROS handling robot body, characterized in that: The upper side of the ROS handling robot body is provided with a cargo stable storage component; the cargo stable storage component includes a fan located on the lower side of the ROS handling robot body, the upper side of the ROS handling robot body is evenly hinged with a plurality of brackets, the bracket is hinged with a first fixed plate, the first fixed plate is hinged with a second fixed plate, the first fixed plate and the second fixed plate are both provided with cavities, a driving motor 1 is fixedly installed on the bracket, the output end of the driving motor 1 is fixedly connected to the first fixed plate, a driving motor 2 is fixedly installed on the first fixed plate corresponding to the second fixed plate, the output end of the driving motor 2 is fixedly connected to the second fixed plate, an air delivery pipe 1 is provided on the ROS handling robot body corresponding to the bracket, the fan and the air delivery pipe 1 are communicated with each other, the air delivery pipe 1 is communicated with the cavity in the first fixed plate, an air delivery pipe 2 is provided between the first fixed plate and the second fixed plate, a plurality of fixed rods 1 are plugged and connected on the first fixed plate, a plurality of fixed rods 2 are plugged and connected on the second fixed plate, a pressure chamber is provided on the first fixed plate corresponding to the fixed rod 1 and the second fixed plate corresponding to the fixed rod 2, and the pressure chamber is communicated with the cavity.

2. A ROS-based handling robot according to claim 1, characterized in that: Anti-collision strips are fixedly installed on the outer sides of the ROS handling robot body.

3. A ROS-based handling robot according to claim 1, characterized in that: A guardrail is symmetrically fixedly installed on the upper side of the ROS handling robot body.

4. A ROS-based handling robot according to claim 1, characterized in that: A rubber pad is fixedly installed on one end of the fixing rod 1 and the fixing rod 2 located in the pressure chamber, and the rubber pad is slidably connected to the inner wall of the pressure chamber.

5. The ROS-based handling robot according to claim 1, characterized in that: The cavity in the first fixing plate and the cavity in the second fixing plate are connected to each other through the second gas delivery pipe, and the diameter of the first gas delivery pipe is larger than the diameter of the second gas delivery pipe.

6. A ROS-based handling robot according to claim 1, characterized in that: The first fixing rod and the second fixing rod are made of rubber material.

7. The ROS-based handling robot according to claim 1, characterized in that: The second fixing plate is L-shaped.

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