Robot system for reshipment of conveying mechanism components

Abstract

The utility model relates to a robot system for reshipment of conveying mechanism components. The robot system comprises an autonomous moving chassis, a modularized mechanical arm, a bearing quick-change interface mechanism, a clamp quick-change mechanism, a multi-mode self-adaptive clamp and a central control unit. The autonomous moving chassis comprises a chassis frame, a walking wheel set driving omni-directional movement and a navigation sensing module integrated on the chassis frame. The modular mechanical arm is detachably mounted on the bearing platform of the autonomous mobile chassis through a bearing quick-change interface mechanism; the clamp quick-change mechanism comprises a clamp side disc, a mechanical arm side disc and a locking mechanism for locking the clamp side disc and the mechanical arm side disc; the multi-mode self-adaptive clamp is detachably fixed to the mechanical arm side disc through the clamp side disc. According to the utility model, high load, omni-directional movement, intelligent navigation and rapid reloading are integrated, and the problems of flexibility, efficiency and safety of heavy components during transportation in a complex construction site are effectively solved.

Description

TECHNICAL FIELD

[0001] The utility model relates to industrial robot and automation logistics technical field, especially a kind of robot system for conveying mechanism piece reverse transport. BACKGROUND

[0002] In large-scale equipment manufacturing, construction and conveyor installation scenes, heavy components (such as conveyor middle section, cover plate, large structural parts) on-site reverse transport is a heavy and critical work. At present, it mainly relies on manual operation of forklift, travelling crane or crane, and there are problems such as low efficiency, high labor cost, poor safety and limitation to fixed track or working space.

[0003] In the prior art, although various carrying robots exist, when applied to such heavy and unstructured construction sites, there are obvious shortcomings:

[0004] Large industrial robot arms or truss robots have strong load capacity, but poor mobility and are not flexible to deploy. Autonomous mobile robots are flexible in movement, but usually have limited load capacity (generally <2 tons), making it difficult to carry heavy components. Traditional AGV relies on magnetic strip or two-dimensional code navigation and cannot adapt to dynamic changes in construction sites and environments without fixed paths. Existing clamps have poor adaptability to irregular parts and large-size components, and lack an end execution system that can automatically adapt to components of different materials and shapes. Traditional heavy robots have long deployment cycles, and different tasks require replacing the entire robot or complex tooling adjustments, which cannot achieve rapid task response and tool switching.

[0005] Therefore, there is an urgent need for a robot system that integrates high load, autonomous movement, intelligent navigation and rapid adaptive clamp to solve the above technical problems. INVENTION CONTENTS

[0006] The utility model aims at solving the prior art's insufficient, and provides a kind of robot system for conveying mechanism piece reverse transport.

[0007] To achieve the above purpose, the utility model adopts the following technical scheme: a kind of robot system for conveying mechanism piece reverse transport, comprising:

[0008] Autonomous mobile chassis, including chassis frame, driving omni-directional movement walking wheel group and navigation perception module integrated on chassis frame;

[0009] Modular mechanical arm, which is detachably installed on the load platform of the autonomous mobile chassis through a load quick-change interface mechanism;

[0010] Clamp quick-change mechanism, including clamp side disc and mechanical arm side disc and locking mechanism for locking the two, and the mechanical arm side disc is fixed on the end flange of the modular mechanical arm;

[0011] The multi-mode adaptive clamp is detachably fixed on the mechanical arm side disc through the clamp side disc;

[0012] The central control unit is arranged in the autonomous mobile chassis and is electrically connected with the walking wheel group, the navigation perception module, the modular mechanical arm, the bearing quick-change interface mechanism, the clamp quick-change mechanism, the locking mechanism and the multi-mode adaptive clamp through a cable and a communication bus.

[0013] In particular, the modular mechanical arm is a hydraulic drive heavy mechanical arm or a servo motor drive light mechanical arm. The load capacity of the hydraulic drive heavy mechanical arm is 1 to 5 tons, and the hydraulic drive heavy mechanical arm has six degrees of freedom. The load capacity of the servo motor drive light mechanical arm is less than 500 kg, and the repeat positioning accuracy is ±0.1 mm.

[0014] In particular, the bearing quick-change interface mechanism comprises:

[0015] A base flange fixed on the bearing platform of the autonomous mobile chassis;

[0016] A mechanical arm mounting flange fixed on the bottom of the modular mechanical arm;

[0017] A plurality of hydraulic drive compression units arranged around the base flange;

[0018] The hydraulic drive compression unit comprises a hydraulic cylinder embedded in the bearing platform, a pressing block rotationally connected with the piston rod of the hydraulic cylinder, and a locking pin fixed on the bottom of the pressing block. The mechanical arm mounting flange is fixed on the base flange through the insertion of the locking pin and the compression of the pressing block.

[0019] In particular, the multi-mode adaptive clamp comprises at least two of a pneumatic flexible clamp jaw, an electromagnetic chuck and a vacuum chuck. The pneumatic flexible clamp jaw, the electromagnetic chuck and the vacuum chuck are respectively mounted on the corresponding clamp side disc and can be quickly replaced according to the properties of the to-be-transported component through the clamp quick-change mechanism.

[0020] In particular, the clamp quick-change mechanism further comprises a set of medium communication interface, including a pneumatic passage, a vacuum passage and an electrical passage integrated in the mechanical arm side disc, and a corresponding docking interface arranged in the clamp side disc and corresponding to the passages, for supplying compressed air, vacuum negative pressure and power required for the multi-mode adaptive clamp when the clamp side disc is connected with the mechanical arm side disc.

[0021] In particular, the locking mechanism comprises:

[0022] A plurality of positioning holes arranged on the docking surface of the clamp side disc and a plurality of positioning columns arranged on the docking surface of the mechanical arm side disc and matched with the positioning holes;

[0023] A plurality of locking screw holes arranged on the butt joint surface of the clamp side plate and locking bolts arranged on the butt joint surface of the mechanical arm side plate and matched with the locking screw holes, the locking bolts are driven to rotate by a driving motor arranged on the mechanical arm side plate;

[0024] The central control unit is electrically connected with the driving motor and is configured to determine that the locking is in place and control the driving motor to stop when the working current of the driving motor reaches or exceeds a preset locking current threshold by monitoring the working current of the driving motor in real time.

[0025] In particular, the navigation perception module includes a laser radar, a UWB positioning module and an RGB-D vision sensor, and the central control unit is configured to plan a moving path and control dynamic obstacle avoidance in real time based on fusion data of the navigation perception module.

[0026] In particular, the walking wheel set is a Mecanum wheel or an omni-directional wheel and is driven by an independent servo motor.

[0027] In particular, a remote operation terminal is further included, the remote operation terminal is in wireless communication connection with the central control unit and is used for receiving and displaying state data and a three-dimensional model of the robot system.

[0028] The utility model discloses the beneficial effects are:

[0029] Through the innovative architecture of "autonomous mobile chassis + modular mechanical arm", the working capacity of high-load mechanical arm and the mobile flexibility are combined, and the "anywhere access, anywhere placement" of heavy components (up to 5 tons) in a complex construction site is realized.

[0030] The bearing quick-change interface mechanism and the clamp quick-change mechanism constitute a two-level modular system. The former enables the mechanical arm to be quickly installed and detached on the chassis, and the latter enables the robot to quickly and automatically replace the clamp according to the characteristics of the component (such as an electromagnetic chuck for steel components and a flexible clamp jaw for irregular components), greatly improving the equipment utilization rate and task response speed.

[0031] The navigation scheme of laser radar, UWB positioning module and RGB-D vision sensor fusion enables the robot to stably operate in a construction site without fixed paths and with dynamic obstacles.

[0032] The utility model liberates workers from heavy and dangerous physical labor, realizes the automation and intelligentization of the conveying mechanism component reverse transport, and significantly improves the installation efficiency and safety. BRIEF DESCRIPTION OF DRAWINGS

[0033] Figure 1 It is a structural schematic view of the utility model;

[0034] Figure 2 It is Figure 1 An enlarged schematic view of position A in the middle

[0035] Figure 3 It is the clamp side disc structure schematic view of the utility model;

[0036] Figure 4 It is the mechanical arm side disc structure schematic view of the utility model;

[0037] In the figure: 1 - autonomous mobile chassis;11 - chassis frame;12 - walking wheel group;13 - navigation sensing module;2 - modular mechanical arm;3 - bearing quick-change interface mechanism;31 - base flange;32 - mechanical arm mounting flange;33 - hydraulic cylinder;34 - pressing block;35 - locking pin;4 - clamp quick-change mechanism;41 - clamp side disc;42 - mechanical arm side disc;43 - positioning hole;44 - positioning column;45 - locking screw hole;46 - locking bolt;47 - drive motor;5 - multi-mode adaptive clamp;

[0038] The utility model will be described below in detail with reference to the drawings. Specific implementation

[0039] The utility model will be described below in detail with reference to the drawings.

[0040] As Figures 1-4 Indicated, a kind of for conveying mechanism piece reverse transport robot system, including autonomous mobile chassis 1, modular mechanical arm 2, bearing quick-change interface mechanism 3, clamp quick-change mechanism 4, multi-mode adaptive clamp 5 and central control unit;It further includes a remote operation and maintenance terminal, remote operation and maintenance terminal and central control unit wireless communication connection, for receiving and display the state data and three-dimensional model of robot system.

[0041] Autonomous mobile chassis 1 includes:

[0042] Chassis frame 11 can be made of high-strength steel welding, provides structural support for the whole system.

[0043] Driving omni-directional movement walking wheel group 12, walking wheel group 12 is Mecanum wheel or omni-directional wheel, and is driven by independent servo motor. Four independent servo motor driven Mecanum wheel is adopted, and the chassis is given omni-directional movement ability (can straighten, move horizontally, slant and rotate in situ), so that it has very high flexibility in narrow space. Each servo motor is communicated with central control unit by EtherCAT bus, to realize accurate motion control.

[0044] The navigation perception module 13 integrated on the chassis frame 11 includes a laser radar, a UWB positioning module and an RGB-D vision sensor. Specifically, the laser radar is installed around the top of the chassis frame 11 for 360° environmental scanning, map construction and obstacle avoidance; the UWB positioning module includes a tag on the chassis and a base station deployed on site, which is used to provide centimeter-level global positioning in indoor and outdoor environments with weak GPS signals. The RGB-D vision sensor is installed at the front of the frame for identifying specific targets (such as QR codes), assisting precise positioning and identifying dynamic obstacles. All sensor data are transmitted to the central control unit for fusion processing. The central control unit is configured to plan a moving path and control dynamic obstacle avoidance in real time based on the fusion data of the navigation perception module 13.

[0045] A storage box can also be provided on the chassis frame 11 for placing a plurality of small components to facilitate increasing the conveying amount at one time.

[0046] The central control unit is arranged in the autonomous mobile chassis 1 and is electrically connected with the traveling wheel set 12, the navigation perception module 13, the modular mechanical arm 2, the carrying quick-change interface mechanism 3, the clamp quick-change mechanism 4, the locking mechanism and the multi-mode adaptive clamp 5 through cables and a communication bus.

[0047] The modular mechanical arm 2 is detachably installed on the carrying platform of the autonomous mobile chassis 1 through a carrying quick-change interface mechanism 3. The modular mechanical arm 2 is a hydraulic drive heavy-duty mechanical arm or a servo motor drive light-duty mechanical arm. The load capacity of the hydraulic drive heavy-duty mechanical arm is 1 to 5 tons, and it has six degrees of freedom of motion, imitating the structure of an industrial heavy-duty mechanical arm, and is used for carrying large components such as middle sections of conveyors. The load capacity of the servo motor drive light-duty mechanical arm is less than 500 kg, and the repeatability is ±0.1 mm, which is used for carrying relatively precise or small parts such as cover plates.

[0048] The carrying quick-change interface mechanism 3 realizes quick connection and separation of the mechanical arm and the chassis, including a base flange 31 fixed on the carrying platform of the autonomous mobile chassis 1, a mechanical arm mounting flange 32 fixed on the bottom of the modular mechanical arm 2, and a plurality of hydraulic drive pressing units arranged around the base flange 31. The hydraulic drive pressing unit includes a hydraulic cylinder 33 embedded in the carrying platform, a pressing block 34 rotationally connected with the piston rod of the hydraulic cylinder 33, and a locking pin 35 fixed on the bottom of the pressing block 34. The mechanical arm mounting flange 32 is fixed on the base flange 31 through the insertion of the locking pin 35 and the pressing action of the pressing block 34.

[0049] Specifically, when the mechanical arm needs to be installed, the mechanical arm mounting flange 32 is hoisted above the base flange 31 and aligned. The pressing block 34 is turned above the mechanical arm mounting flange 32, the hydraulic cylinder 33 works, the pressing block 34 is pushed to move downward, the locking pin 35 at the bottom of the pressing block 34 is inserted into the corresponding pin hole at the edge of the mechanical arm mounting flange 32 and the base flange 31, and a huge downward pressing force is generated by the pressing block 34, so that the two flanges are firmly locked together. Through the plurality of pressing points uniformly distributed in the circumference, a stable and overturning-resistant torque connection is provided; the quick and reliable installation of the heavy mechanical arm is realized without complicated bolt alignment and tightening.

[0050] The clamp quick change mechanism 4 realizes automatic replacement of the end clamp, including a clamp side plate 41, a mechanical arm side plate 42, and a locking mechanism for locking the two; the mechanical arm side plate 42 is fixed to the end flange of the modular mechanical arm 2; the multi-mode adaptive clamp 5 is detachably fixed to the mechanical arm side plate 42 through the clamp side plate 41; the multi-mode adaptive clamp 5 includes at least two of a pneumatic flexible clamp jaw, an electromagnetic chuck, and a vacuum chuck, which are respectively installed on the corresponding clamp side plate 41 and can be quickly replaced by the clamp quick change mechanism 4 according to the properties of the to-be-transported member.

[0051] The multi-mode adaptive clamp 5 is not a clamp that integrates all functions, but refers to the system having multiple special clamps (such as a pneumatic flexible clamp jaw for grabbing special-shaped parts, an electromagnetic chuck for absorbing steel parts, and a vacuum chuck for absorbing smooth-surfaced plates), which can be quickly and automatically replaced by the clamp quick change mechanism 4, thereby realizing "adaptive" handling of members of different materials and shapes.

[0052] The locking mechanism includes a plurality of positioning holes 43 provided on the abutting surface of the clamp side plate 41, a plurality of positioning columns 44 provided on the abutting surface of the mechanical arm side plate 42 and matched with the positioning holes 43, a plurality of locking screw holes 45 provided on the abutting surface of the clamp side plate 41, and a plurality of locking bolts 46 provided on the abutting surface of the mechanical arm side plate 42 and matched with the locking screw holes 45, the locking bolts 46 being driven to rotate by a driving motor 47 provided on the mechanical arm side plate 42; the central control unit is electrically connected with the driving motor 47 and is configured to: by monitoring the working current of the driving motor 47 in real time, and when the working current reaches or exceeds a preset locking current threshold, determining that the locking is in place and controlling the driving motor 47 to stop.

[0053] Specifically, the central control unit controls the driving motor 47 to rotate forward, and the mechanical arm moves, thereby driving the locking bolt 46 to screw into the locking threaded hole 45. The system monitors the working current of the driving motor 47 in real time. When the bolt does not contact, the current is small; when the bolt starts to screw in, the current rises smoothly; when the bolt is screwed in place and the pulling force reaches the preset value, the motor load is maximum, and the working current will sharply rise to a preset locking current threshold. Once the central control unit detects that the current reaches the threshold, it determines that the locking is completed and immediately stops the motor.

[0054] The quick-change mechanism 4 of the clamp further includes a set of medium communication interfaces, including pneumatic channels, vacuum channels and electrical channels integrated in the mechanical arm side disc 42, and corresponding docking interfaces arranged in the clamp side disc 41 and corresponding to the channels, for supplying compressed air, vacuum negative pressure and power required for the multi-mode adaptive clamp 5 when the clamp side disc 41 is connected with the mechanical arm side disc 42.

[0055] Specifically, each channel and docking interface is connected with a quick connector group located outside the side disc, and medium communication is realized by manually docking the quick connector. When the clamp needs to be installed, first, the clamp side disc 41 is coarsely positioned with the mechanical arm side disc 42 through the positioning hole 43 and the positioning column 44, and then locked by the locking bolt 46. After fixing, the operator manually connects the pneumatic, vacuum and electrical quick connectors on the mechanical arm side disc 42 with the corresponding connectors on the clamp side disc 41 by plugging.

[0056] When the utility model works, the central control unit plans an optimal path based on the fusion data of the navigation perception module 13, and the autonomous mobile chassis 1 moves omnidirectionally through the Mecanum wheel. If a dynamic obstacle (such as a forklift) is encountered on the way, the laser radar and the visual sensor will trigger a real-time obstacle avoidance algorithm, re-plan a local path, replace a matching clamp according to the properties of the conveying component before transportation, the robot drives to the stacking area, accurately positions through the visual sensor recognizing the QR code on the component, and the modular mechanical arm 2 controls the clamp to align the component and grasp; the robot navigates to the installation point, accurately positions to millimeter level through visual guidance, and can be placed.

[0057] The utility model integrates high load, omnidirectional movement, intelligent navigation and quick replacement, effectively solves the flexibility, efficiency and safety problems of heavy components in complex construction site transportation.

[0058] In the description of the utility model, it is understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate the orientation or positional relationship shown in the drawings, which is only for the convenience of describing the utility model and simplifying the description, and does not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the utility model.

[0059] In the utility model, unless otherwise expressly specified and limited, the terms "mounting", "connection", "connection", "fixing" and the like should be understood broadly, for example, can be fixed connection, can also be detachable connection, or be integrated; can be mechanical connection, can also be electrical connection or communication with each other; can be directly connected, can also be indirectly connected through an intermediate medium, can be the communication or interaction relationship of two elements, unless otherwise expressly limited. For ordinary skilled in the art, the specific meaning of the above terms in the utility model can be understood according to the specific circumstances.

[0060] The utility model has been described above in conjunction with the drawings, and obviously, the specific implementation of the utility model is not limited by the above mode, and various improvements using the method concept and technical scheme of the utility model or direct application in other occasions without improvement are all within the protection scope of the utility model.

Claims

1. A robotic system for transporting components of a conveying mechanism, characterized in that, include: The autonomous mobile chassis (1) includes a chassis frame (11), a set of wheels for driving omnidirectional movement (12), and a navigation and sensing module (13) integrated on the chassis frame (11). The modular robotic arm (2) is detachably mounted on the carrier platform of the autonomous mobile chassis (1) via a carrier quick-change interface mechanism (3); The quick-change fixture mechanism (4) includes a fixture side plate (41) and a robotic arm side plate (42) and a locking mechanism for locking the two together. The robotic arm side plate (42) is fixed to the end flange of the modular robotic arm (2). The multi-mode adaptive gripper (5) is detachably fixed to the robotic arm side plate (42) via the gripper side plate (41); The central control unit is located in the autonomous mobile chassis (1) and is electrically connected to the walking wheel group (12), navigation sensing module (13), modular robotic arm (2), load-bearing quick-change interface mechanism (3), clamp quick-change mechanism (4), locking mechanism, and multi-mode adaptive clamp (5) via cables and communication bus.

2. The robot system for transporting components of a conveying mechanism according to claim 1, characterized in that, The modular robotic arm (2) is either a hydraulically driven heavy-duty robotic arm or a servo motor driven light-duty robotic arm. The hydraulically driven heavy-duty robotic arm has a load capacity of 1 to 5 tons and 6 degrees of freedom. The servo motor driven light-duty robotic arm has a load capacity of less than 500 kg and a repeatability of ±0.1 mm.

3. The robot system for transporting components of a conveying mechanism according to claim 1, characterized in that, The carrier quick-switch interface mechanism (3) includes: Base flange (31) fixed on the bearing platform of autonomous mobile chassis (1); The robotic arm mounting flange (32) is fixed to the bottom of the modular robotic arm (2); Multiple hydraulically driven clamping units are arranged around the base flange (31); The hydraulically driven clamping unit includes a hydraulic cylinder (33) embedded in the bearing platform, a clamping block (34) rotatably connected to the piston rod of the hydraulic cylinder (33), and a locking pin (35) fixed to the bottom of the clamping block (34); the robotic arm mounting flange (32) is fixed to the base flange (31) by the insertion of the locking pin (35) and the clamping action of the clamping block (34).

4. A robot system for transporting components according to claim 1, characterized in that, The multi-mode adaptive fixture (5) includes at least two of the following: pneumatic flexible gripper, electromagnetic chuck and vacuum chuck. The pneumatic flexible gripper, electromagnetic chuck and vacuum chuck are respectively mounted on the corresponding fixture side plate (41) and can be quickly changed according to the properties of the component to be transported through the fixture quick change mechanism (4).

5. A robot system for transporting components according to claim 1, characterized in that, The quick-change fixture mechanism (4) also includes a set of media communication interfaces, including pneumatic passages, vacuum passages, and electrical passages integrated inside the robotic arm side plate (42), and a docking interface set inside the fixture side plate (41) and corresponding to the passages, for supplying the multi-mode adaptive fixture (5) with the compressed air, vacuum negative pressure and power required for operation when the fixture side plate (41) is connected to the robotic arm side plate (42).

6. A robot system for transporting components according to claim 5, characterized in that, Locking mechanisms include: A plurality of positioning holes (43) are provided on the mating surface of the clamp side plate (41) and positioning pins (44) are provided on the mating surface of the robotic arm side plate (42) and cooperate with the positioning holes (43). A plurality of locking threaded holes (45) are provided on the mating surface of the clamp side plate (41) and locking bolts (46) are provided on the mating surface of the robotic arm side plate (42) and cooperate with the locking threaded holes (45). The locking bolts (46) are driven to rotate by a drive motor (47) provided on the robotic arm side plate (42). The central control unit is electrically connected to the drive motor (47) and is configured to: monitor the operating current of the drive motor (47) in real time, and when the operating current reaches or exceeds a preset locking current threshold, determine that the locking is in place and control the drive motor (47) to stop.

7. A robot system for transporting components according to claim 1, characterized in that, The navigation perception module (13) includes a lidar, a UWB positioning module and an RGB-D vision sensor. The central control unit is configured to plan the movement path and control dynamic obstacle avoidance in real time based on the fused data of the navigation perception module (13).

8. A robot system for transporting components according to claim 1, characterized in that, The walking wheel set (12) is a Mecanum wheel or an omnidirectional wheel, and is driven by an independent servo motor.

9. A robot system for transporting components according to claim 1, characterized in that, It also includes a remote operation and maintenance terminal, which is wirelessly connected to the central control unit to receive and display the status data and 3D model of the robot system.

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