Autonomous mobile robot designed for heavy-load assembly in confined space

Abstract

Disclosed is an autonomous mobile robot designed for heavy-load assembly in a confined space, comprising a carrying vehicle body traveling along with a mobile trolley. A planar adjustment module is mounted on the carrying vehicle body, and an intermediate connecting plate for planar position adjustment output is mounted on the top of the planar adjustment module. A spatial adjustment module is mounted on the intermediate connecting plate, and a moving platform for spatial position adjustment output is mounted on the top of the spatial adjustment module. In the disclosed autonomous mobile robot designed for heavy-load assembly in a confined space, the planar adjustment module has three degrees of freedom in total, that is: X-direction translation, Y-direction translation, and rotation around the Z-axis, and the spatial adjustment module has three degrees of freedom in total, that is: Z-direction translation, rotation around the X, and rotation around the Y-axis. The two modules jointly constitute six-degree-of-freedom spatial movement. The present invention has advantages of overall large rigidity, good flexibility, large working space, and low center of gravity, and is applicable to heavy-load assembly in a confined space.

Description

An autonomous mobile robot designed for assembling heavy loads in confined spaces Technical Field

[0001] This invention belongs to the field of robotics technology, specifically relating to an autonomous mobile robot for assembling large loads in confined spaces. Background Technology

[0002] Currently, with the development of major national projects in the aerospace field, large-scale equipment such as aircraft and rockets have been fully developed, and the level of research and development of large-scale equipment reflects a country's comprehensive strength. Among these, the assembly of large components is a crucial link in the development of large-scale equipment. Most Chinese enterprises mainly use hand-cranked brackets for the assembly of large components, resulting in poor spatial orientation adjustment capabilities, a high reliance on experience in the assembly process, and weak compatibility with multiple products. Large components are bulky and heavy; the mobile robot itself occupies a certain amount of space; and the overall center of gravity is too high, which is detrimental to mobile assembly and makes it difficult to apply in confined spaces. To meet the needs of efficient, rapid, and flexible assembly of large components, designing an autonomous mobile robot designed for assembly in confined spaces and with heavy loads is an effective solution.

[0003] Currently, some mobile robots can only complete movement tasks and cannot meet assembly requirements. For example, the AGV equipment in Chinese patent CN108609539B only has lifting and turning functions and cannot complete assembly tasks. In addition, some mobile assembly robots have poor rigidity. For example, the AMR equipment in Chinese patents CN217776987U and CN113858178A, although having a large end-effector range of motion, has poor rigidity in its serial structure, making it difficult to meet the needs of assembling large components. Furthermore, some six-degree-of-freedom mobile assembly robots have an excessively high center of gravity during assembly. For example, the mobile assembly robot in Chinese patent CN104802151A, due to the large size and weight of large components, and the space occupied by the mobile platform and parallel robot in series, results in an excessively high center of gravity for the entire machine, which is detrimental to mobile assembly and difficult to apply in confined spaces.

[0004] The purpose of this invention is to overcome the shortcomings of the prior art and provide an autonomous mobile robot with a large adjustment range, high load-bearing capacity, and low center of gravity, designed for assembly in confined spaces and with heavy loads. Summary of the Invention

[0005] This invention is proposed to solve the problems existing in the prior art, and its purpose is to provide an autonomous mobile robot for assembling large loads in confined spaces.

[0006] The technical solution of the present invention is: an autonomous mobile robot for assembling large loads in confined spaces, comprising a carrier body that moves with a mobile trolley, a plane adjustment module installed on the carrier body, an intermediate connecting plate with plane position adjustment output installed on the top of the plane adjustment module, a space adjustment module installed on the intermediate connecting plate, and a moving platform with space position adjustment output installed on the top of the space adjustment module.

[0007] Furthermore, the planar adjustment module includes a planar support assembly connected between the carrier body and the intermediate connecting plate for planar position adjustment. The planar support assembly is installed in the narrow longitudinal space between the intermediate connecting plate and the carrier body.

[0008] Furthermore, the planar branch group consists of three branches: a first branch, a second branch, and a third branch, and the first branch, the second branch, and the third branch have the same structure from the fixed side to the output side.

[0009] Furthermore, a first sliding joint is installed in the carrier body, a second rotating joint is installed on the linear output part of the first sliding joint, a first connecting rod is installed on the side wall of the rotating output part of the second rotating joint, and a first rotating joint is installed at the other end of the first connecting rod. The top of the first rotating joint is connected and fixed to the intermediate connecting plate.

[0010] Furthermore, the space adjustment module includes a space branch group connected between the intermediate connecting plate and the moving platform for spatial position adjustment, and the space branch group is suitable for installation in narrow spaces.

[0011] Furthermore, the spatial branch group consists of three branches: the fourth branch, the fifth branch, and the sixth branch, and the fourth branch, the fifth branch, and the sixth branch have the same installation structure from the intermediate connecting plate toward the moving platform.

[0012] Furthermore, a fourth rotary joint is installed on the upper end of the intermediate connecting plate, the third link serves as the rotation output of the fourth rotary joint, the output end of the third link is equipped with a third rotary joint, the second link serves as the rotation output of the third rotary joint, the output end of the second link is equipped with a ball joint, and a moving platform is installed on the ball joint of each branch.

[0013] Furthermore, a fifth rotary joint is installed on the driving side of the third link, and the output end of the fifth rotary joint is connected to the linear moving end of the second sliding joint.

[0014] Furthermore, wheels are installed on both sides of the carrying body of the mobile trolley.

[0015] The beneficial effects of this invention are as follows:

[0016] This invention discloses an autonomous mobile robot designed for assembly in confined spaces and with heavy loads. Its planar adjustment module has three degrees of freedom: X-axis translation, Y-axis translation, and Z-axis rotation. Its spatial adjustment module has three degrees of freedom: Z-axis translation, X-axis rotation, and Y-axis rotation. Together, they constitute a six-degree-of-freedom spatial motion.

[0017] This invention combines the advantages of high overall rigidity, good flexibility, large working space, and low center of gravity, enabling large-load assembly applications in confined spaces. Attached Figure Description

[0018] Figure 1 is a schematic diagram of the overall structure of the present invention;

[0019] Figure 2 is a schematic diagram of the structure of the present invention without a casing;

[0020] Figure 3 is a schematic diagram of the mobile vehicle of the present invention;

[0021] Figure 4 is a schematic diagram of the plane adjustment module of the present invention;

[0022] Figure 5 is a schematic diagram of the branch of the planar adjustment module of the present invention;

[0023] Figure 6 is a schematic diagram of the space adjustment module of the present invention;

[0024] Figure 7 is a schematic diagram of the branch of the space adjustment module of the present invention;

[0025] in:

[0026] 1. Moving platform 2. Mobile cart

[0027] 3. Outer shell 4. Plane adjustment module

[0028] 5. Space adjustment module; 6. Control system

[0029] 7 First branch 8 Second branch

[0030] 9 Third branch 10 First rotating joint

[0031] 11 First connecting rod 12 Second revolute joint

[0032] 13 First moving pair 14 First servo motor

[0033] 15 Fourth branch 16 Fifth branch

[0034] 17 Sixth branch 18 Ball attachment

[0035] 19 Third revolute joint 20 Second connecting rod

[0036] 21 Fourth revolute joint 22 Third link

[0037] 24 Fifth revolute joint 25 Second prismatic joint

[0038] 26 Sixth rotary joint 27 Second servo motor

[0039] 34 Wheels 35 Carrier body

[0040] 36 Battery 37 Guiding System

[0041] 38 Intermediate connecting plate 39 Bullseye bearing. Detailed Implementation

[0042] The present invention will now be described in detail with reference to the accompanying drawings and embodiments:

[0043] As shown in Figures 1 to 7, an autonomous mobile robot for assembling large loads in confined spaces includes a carrier body 35 that moves with a mobile trolley 2, a plane adjustment module 4 installed on the carrier body 35, an intermediate connecting plate 38 for plane position adjustment output installed on top of the plane adjustment module 4, a space adjustment module 5 installed on the intermediate connecting plate 38, and a moving platform 1 for space position adjustment output installed on top of the space adjustment module 5.

[0044] The planar adjustment module 4 includes a planar support chain assembly connected between the carrier body 35 and the intermediate connecting plate 38 for planar position adjustment. The planar support chain assembly is installed in the narrow longitudinal space between the intermediate connecting plate 38 and the carrier body 35.

[0045] The planar branch group consists of three branches: the first branch 7, the second branch 8, and the third branch 9. The first branch 7, the second branch 8, and the third branch 9 have the same structure from the fixed side to the output side.

[0046] A first sliding joint 13 is installed in the carrier body 35. A second rotating joint 12 is installed on the linear output part of the first sliding joint 13. A first connecting rod 11 is installed on the side wall of the rotating output part of the second rotating joint 12. A first rotating joint 10 is installed at the other end of the first connecting rod 11. The top of the first rotating joint 10 is connected and fixed to the intermediate connecting plate 38.

[0047] The space adjustment module 5 includes a space branch group connected between the intermediate connecting plate 38 and the moving platform 1 for spatial position adjustment, and the space branch group is suitable for installation in narrow spaces.

[0048] The spatial branch group consists of three branches: the fourth branch 15, the fifth branch 16, and the sixth branch 17. The fourth branch 15, the fifth branch 16, and the sixth branch 17 have the same installation structure from the intermediate connecting plate 38 toward the moving platform 1.

[0049] A fourth rotary joint 21 is installed on the upper end of the intermediate connecting plate 38. The third link 22 serves as the rotation output of the fourth rotary joint 21. The output end of the third link 22 is equipped with a third rotary joint 19. The second link 20 serves as the rotation output of the third rotary joint 19. The output end of the second link 20 is equipped with a ball joint 18. A moving platform 1 is installed on the ball joint 18 of each branch.

[0050] A fifth rotary joint 25 is installed on the driving side of the third link 22, and the output end of the fifth rotary joint 25 is connected to the linear moving end of the second sliding joint 25.

[0051] The mobile trolley 2 has wheels installed on both sides of its carrier body 35.

[0052] As shown in Figure 1, which is a schematic diagram of the overall structure of the present invention, the overall structure includes a shell 3 that covers the mobile trolley 2 and a moving platform 1 that can cover the upper part of the shell 3. The plane adjustment module 4 and the space adjustment module 5, as mentioned above, need to be installed in a narrow space and have the requirements of high load.

[0053] As shown in Figure 2, which is a structural schematic diagram of the whole machine without the outer shell of the present invention, based on Figure 1, the mobile trolley 2 includes a carrier body 35 for large-stroke movement and a traveling wheel for large-stroke movement without the outer shell, and the mobile trolley 2 provides an installation base.

[0054] Specifically, the planar adjustment module 4 is installed on the mobile trolley 2 in the longitudinal direction, using the mobile trolley 2 as the base. After the mobile trolley 2 has made a large stroke position adjustment, the planar adjustment module 4 makes a small range of planar position adjustments.

[0055] Specifically, the space adjustment module 5 is installed on the plane adjustment module 4 as the basis for installation. The space adjustment module 5 is installed on the plane position adjustment output end of the plane adjustment module 4. After the plane adjustment module 4 performs plane position adjustment, the space adjustment module 5 performs space position adjustment based on the plane position adjustment.

[0056] Specifically, the flat structure of the planar adjustment module 4 and the space adjustment module 5, and their connection, meet the requirements for installation in confined spaces.

[0057] As shown in Figure 3, which is a schematic diagram of the mobile trolley of the present invention, the mobile trolley 2 includes a supporting body 35, the frame structure of the supporting body 35 provides an installation base, and wheels 34 are installed on both sides of the supporting body 35.

[0058] In one embodiment, the carrier body 35 is an electric vehicle, and a battery 36 located at the bottom of the carrier body 35 is installed in the carrier body 35. The battery 36 provides the power basis for the long-stroke movement of the carrier body 35.

[0059] In one embodiment, the carrier body 35 is provided with a guidance system 37, which provides navigation and positioning information for the carrier body 35.

[0060] As shown in Figure 4, Figure 4 is a schematic diagram of the plane adjustment module of the present invention. The plane adjustment module 4 includes a bearing functional component, namely an intermediate connecting plate 38. The lower end of the intermediate connecting plate 38 is connected to the output end of the plane branch group, and the plane branch group adjusts the plane position of the intermediate connecting plate 38.

[0061] A rotating pair support is provided on the upper end of the intermediate connecting plate 38, with two support seats provided for each of the fourth branch 15, the fifth branch 16, and the sixth branch 17.

[0062] The planar branch group includes a first branch 7, a second branch 8, and a third branch 9. The first branch 7, the second branch 8, and the third branch 9 have identical structures, differing only in their placement. Specifically, the direction of the bottom sliding joints in the second branch 8 and the third branch 9 is perpendicular to the direction of the bottom sliding joint in the first branch 7, and the directions of the bottom sliding joints in the second branch 8 and the third branch 9 are parallel. The first branch 7, the second branch 8, and the third branch 9 have three degrees of freedom: translation in the X direction, translation in the Y direction, and rotation about the Z direction.

[0063] As shown in Figure 5, which is a schematic diagram of the planar adjustment module branches of the present invention, each of the first branch 7, the second branch 8, and the third branch 9 includes a first sliding joint 13. The fixing and guiding parts of the first sliding joint 13 are fixed to the carrier body 35. The first sliding joint 13 includes a planar sliding part capable of planar movement, and the planar sliding part has a flat upper end. A second rotating joint 12 is installed at the upper end of the planar sliding part. The axis of the second rotating joint 12 is perpendicular to the movement direction of the first sliding joint 13. The first connecting rod 11 is the rotational follower of the second rotating joint 12. At the same time, a first rotating joint 10 is installed at the far end of the first connecting rod 11 to realize the rotational connection between the intermediate connecting plate 38 and the first connecting rod 11.

[0064] In one implementation, the first movable pair 13 is driven by the first servo motor 14. The first servo motor 14 may include, but is not limited to, being connected to the movable pair via a transmission belt, or it may be directly driven or connected using a coupling.

[0065] As shown in Figure 6, which is a schematic diagram of the space adjustment module of the present invention, the intermediate connecting plate 38 is omitted in this figure. The space branch group in the space adjustment module adjusts the position of the moving platform 1. The space branch group includes a fourth branch 15, a fifth branch 16, and a sixth branch 17. The fourth branch 15, the fifth branch 16, and the sixth branch 17 have the same structure in the installation direction from the intermediate connecting plate 38 to the moving platform 1. The fourth branch 15, the fifth branch 16, and the sixth branch 17 are arranged in a way that the drive is located in the middle and the adjustment is located on the outside.

[0066] In one implementation, the output parts of the fourth branch 15, the fifth branch 16, and the sixth branch 17, namely the ball joint 18, are triangular in shape and connected to the bottom of the moving platform 1.

[0067] As shown in Figure 7, which is a schematic diagram of the branch of the spatial adjustment module of the present invention, taking one of the fourth branch 15, the fifth branch 16, and the sixth branch 17 as an example, the fourth rotating joint 21 is installed in the support seat of the intermediate connecting plate 38. The third connecting rod 22 serves as the rotation output of the fourth rotating joint 21, and the third connecting rod 22 is an L-shaped connecting rod with a thickened structure at its inflection point, as shown in Figure 7. The third rotating joint 19 is installed at the end of the long arm side of the third connecting rod 22. A second connecting rod 20 is installed on the third rotating joint 19 and rotates around it. The second connecting rod 20 has a triangular structure, and the end of the second connecting rod 20 is movably connected to the moving platform 1 through the ball joint 18.

[0068] A fifth rotary joint 24 is provided on the short arm side of the third link 22. A second sliding joint 25 is mounted on the fifth rotary joint 24 and rotates around it. A sixth rotary joint 26 is provided on the other side of the second sliding joint 25. The sixth rotary joint 26 is installed in the support seat of the intermediate connecting plate 38. The second sliding joint 25 is electrically driven by the second servo motor 27. The entire branch is driven by the shape of the second sliding joint 25, which is rotatably connected at both ends, and the third link 22.

[0069] The fourth branch 15, the fifth branch 16, and the sixth branch 17 are driven by the second moving pair 25, and the second servo motor 27 is connected to the second moving pair 25 by a belt.

[0070] As one implementation method, wheel 34 can be, but is not limited to, Mecanum wheels, steering wheels, casters, and differential wheels. When wheel 34 is a Mecanum wheel, it is driven by a direct-drive motor.

[0071] As one implementation method, the guidance system 37 may use, but is not limited to, lidar, magnetic strips, vision, QR codes, etc.

[0072] In one implementation, the second sliding joints 25 of the fourth branch 15, the fifth branch 16, and the sixth branch 17 in the spatial branch group are in the extended state in the initial state. At this time, the height of the moving platform 1 is the lowest, the same as that of the outer shell, as shown in Figure 1. In the working state, the moving platform 1 achieves positional adjustment relative to the intermediate connecting plate 38 through the extension and retraction of the second sliding joint 25.

[0073] This invention discloses an autonomous mobile robot designed for assembly in confined spaces and with heavy loads. Its planar adjustment module has three degrees of freedom: X-axis translation, Y-axis translation, and Z-axis rotation. Its spatial adjustment module has three degrees of freedom: Z-axis translation, X-axis rotation, and Y-axis rotation. Together, they constitute a six-degree-of-freedom spatial motion.

[0074] This invention combines the advantages of high overall rigidity, good flexibility, large working space, and low center of gravity, enabling large-load assembly applications in confined spaces.

Claims

1. An autonomous mobile robot for assembly in a small space with a large load, characterized by: The system includes a carrier body (35) that moves with the mobile trolley (2), a plane adjustment module (4) is installed on the carrier body (35), and an intermediate connecting plate (38) with plane position adjustment output is installed on the top of the plane adjustment module (4). A space adjustment module (5) is installed on the intermediate connecting plate (38), and a moving platform (1) with space position adjustment output is installed on the top of the space adjustment module (5).

2. The autonomous mobile robot for assembly in a small space with a large load of claim 1, wherein: The planar adjustment module (4) includes a planar support chain assembly connected between the carrier body (35) and the intermediate connecting plate (38) for planar position adjustment. The planar support chain assembly is installed in the narrow longitudinal space between the intermediate connecting plate (38) and the carrier body (35).

3. The autonomous mobile robot for assembly in a small space with a large load of claim 2, wherein: The planar branch group consists of three branches: the first branch (7), the second branch (8), and the third branch (9), and the first branch (7), the second branch (8), and the third branch (9) have the same structure from the fixed side to the output side.

4. The autonomous mobile robot for assembly in a small space with a large load of claim 3, wherein: A first sliding joint (13) is installed in the carrier body (35), a second rotating joint (12) is installed on the linear output part of the first sliding joint (13), a first connecting rod (11) is installed on the side wall of the rotating output part of the second rotating joint (12), and a first rotating joint (10) is installed at the other end of the first connecting rod (11). The top of the first rotating joint (10) is connected and fixed to the intermediate connecting plate (38).

5. The autonomous mobile robot for assembly in a small space with a large load of claim 1, wherein: The space adjustment module (5) includes a space branch group connected between the intermediate connecting plate (38) and the moving platform (1) for spatial position adjustment, and the space branch group is suitable for installation in narrow spaces.

6. The autonomous mobile robot for assembly in a small space with a large load of claim 5, wherein: The spatial branch group consists of three branches: the fourth branch (15), the fifth branch (16), and the sixth branch (17). The fourth branch (15), the fifth branch (16), and the sixth branch (17) have the same installation structure from the intermediate connecting plate (38) toward the moving platform (1).

7. The autonomous mobile robot for assembly of large loads in small spaces according to claim 6, characterized in that: A fourth rotary joint (21) is installed on the upper end of the intermediate connecting plate (38). The third link (22) serves as the rotation output of the fourth rotary joint (21). The output end of the third link (22) is equipped with a third rotary joint (19). The second link (20) serves as the rotation output of the third rotary joint (19). The output end of the second link (20) is equipped with a ball joint (18). A moving platform (1) is installed on the ball joint (18) of each branch.

8. The autonomous mobile robot for assembly of large loads in small spaces according to claim 7, characterized in that: A fifth rotary joint (25) is installed on the driving side of the third link (22), and the output end of the fifth rotary joint (25) is connected to the linear moving end of the second sliding joint (25).

9. The autonomous mobile robot for assembly in a small space with a large load of claim 1, wherein: The mobile trolley (2) has wheels installed on both sides of the carrier body (35).

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