CN110497374A - A kind of mobile robot - Google Patents
A kind of mobile robot Download PDFInfo
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- CN110497374A CN110497374A CN201910742526.XA CN201910742526A CN110497374A CN 110497374 A CN110497374 A CN 110497374A CN 201910742526 A CN201910742526 A CN 201910742526A CN 110497374 A CN110497374 A CN 110497374A
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- arm
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- arm component
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
- B25J18/02—Arms extensible
- B25J18/025—Arms extensible telescopic
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses one kind by moving lifting column, and the mobile robot of mechanism type telescopic arm and control system composition can freely walk on the ground, plans transport path according to the initial position of target item and final position.Mobile robot of the present invention is able to achieve the multiposition stacking of target item and carries compared with fixed robot palletizer, and application scenarios are more flexible.The present invention replaces the turntable structure of fixed robot palletizer using the original place rotation of moving lifting column, articulated type swinging arm and rail type mobile arm are replaced using mechanism type telescopic arm, so that complete machine structure is simpler, power-mass ratio is higher, and consumed power of whole machine and the main screw lift of machine substantially reduce.
Description
Technical field
The present invention relates to robotic technology field more particularly to a kind of mobile robots.
Background technique
The progress of modernization science and technology and industrial technology, makes robot show powerful vitality, machine in various industries
The depth of extensive degree and itself technical research that device people applies in society has become to a National Industrial intelligent level
A measurement standard.Robot is the mechanical product organically combined with computer program, provides for modern production higher
Production efficiency, machine has in industry to be quite widely applied, and can greatly save labour, improves working efficiency.
The robot operating position that heavy items (such as 100kg or more) can be carried at present is fixed, and is generally fixed to produce
The assembly carried out by line to object on assembly line or transport operation.It, can not be according to the position pair of cargo in open workplace
Transport path is planned, the loading and unloading of cargo is automatically performed.
Mechanical arm is the component that robot is main, most crucial, currently there are most of robot hand
Arm is joint type, with the movement of the movement driving manipulator arm in joint, to the more demanding of intra articular driving motor, motor function
Rate is big, while also considerably increasing the weight of robot complete machine, causes mobile difficulty.Therefore, prosthetic robot is designed to
The mobile robot of enough flexible motions has very big difficulty.
Summary of the invention
The invention discloses one kind by moving lifting column, the mobile machine of mechanism type telescopic arm and control system composition
People can freely walk on the ground, plan transport path according to the initial position of target item and final position.With it is fixed
Robot palletizer is able to achieve the multiposition stacking of target item compared to mobile robot of the present invention and carries, and application scenarios are more
Flexibly.The present invention replaces the turntable structure of fixed robot palletizer using the original place rotation of moving lifting column, using mechanism type
Telescopic arm replaces articulated type swinging arm and rail type mobile arm, so that complete machine structure is simpler, power quality
Than higher, consumed power of whole machine and the main screw lift of machine are substantially reduced.
The invention is realized by the following technical scheme:
A kind of mobile robot, comprising:
Control system, for receiving information, and according to information and control algolithm control Mobile lifting column and the flexible hand of mechanism type
Arm；
Mobile lifting column realizes mobile and/or zero according to the instruction of control system for the transport path according to target item
Radius rotation, and it is provided with the lifting driving assembly slided up and down for mechanism type telescopic arm；
Mechanism type telescopic arm, one end is fixedly connected with the lifting driving assembly, for complete according to the instruction of control system
At elevating movement；The other end is free end, is moved according to the commanded level of control system, and the mechanism type telescopic arm includes extremely
The arm component of few two rotation connections.
Further, link block is provided between arm component, each arm component includes at least a pair of is parallel to each other
Arm bar, arm bar and link block are rotatablely connected.
Further, arm component includes big arm component, small arm component, and the link block includes shoulder link block, ancon
Link block and wrist link block, one end of big arm component are rotationally connected with shoulder link block, and the other end of big arm component, which rotates, to be connected
It is connected to ancon link block；One end of small arm component is rotationally connected with ancon link block, and the other end of small arm component is rotationally connected with
Wrist link block.
Further, mechanism type telescopic arm further includes flexible driving assembly, the flexible driving
Component is used to make the angle between big arm component and small arm component to increase or reduce, and keeps the progress of mechanism type telescopic arm horizontal
Stretching, extension and retraction movement.
Preferably, stretch driving assembly by drive block, the first drive rod and the second group of drive rods at,
First drive rod, the second drive rod, big arm component, small arm component and drive block constitute one parallel four by rotation connection
Side shape, moving left and right for the drive block are driven between big arm component and small arm component by the first drive rod and the second drive rod
Angle increase or reduce, so that wrist link block be made to move in the horizontal direction.
Preferably, the driving assembly that stretches is drive rod, and one end of the drive rod is rotationally connected with
Small arm component, the other end of drive rod are rotationally connected with shoulder link block.
Preferably, driving assembly is any component in mechanism type telescopic arm, for driving mechanism formula telescopic arm
Remaining component accordingly interlocks.
Further, Mobile lifting column includes column, lifting driving assembly, hoofing part group
Part and chassis；The column is fixedly connected on chassis, and the hoofing part component is fixedly connected under chassis, the row
Walking driving assembly includes at least two driving wheels, and the driving wheel controls speed and the direction of its rotation by control system, real
The original place rotation and movement of existing Mobile lifting column；
The speed that control system controls two driving wheels is identical, and when direction of rotation is identical, robot is moved forward or back；Control system
The speed for controlling two driving wheels is identical, when direction of rotation is opposite, the rotation of robot original place；Control system controls two driving wheels
Speed it is different, when direction is identical, robot turns camberedly.
The lifting driving assembly, one end are slidably connected with column, and the other end is fixedly connected with mechanism type telescopic arm, use
Make elevating movement in vertical direction in lead agency formula telescopic arm.
A kind of working method of mobile robot, which is characterized in that the method application
Mobile robot, including control system, Mobile lifting column, and the mechanism type being connect with the Mobile lifting column
Telescopic arm；
The described method includes:
Control system receives information, and the information includes at least one target item
The routing information of location information and the initial position position to after carrying after start position information and carrying；
Control system control hoofing part component passes through Mobile lifting column where mobile and/or rotation arrival target item
Position；
Control system control lifting driving assembly slides up and down, and reaches the height to match with target item, keeps mechanism type flexible
The vertical direction coordinate of arm is adapted with the vertical direction coordinate of target item；
Control system controls flexible driving assembly, the movement or rotation of the driving assembly that stretches, so that big arm component and small arm component
Between angle increase or reduce drive free end horizontal movement, make the horizontal direction coordinate of the free end of mechanism type telescopic arm
It is adapted with the horizontal direction coordinate of target item, and grabs article；Control system control mechanism formula telescopic arm and mobile liter
Drop column piles up target item to target position.
Further, this method further includes: control system control Mobile lifting column passes through rotation or mobile, by object
Product take the position after carrying to, by the elevating movement of mechanism type telescopic arm by the neat pile of target item；
Moving lifting column rotates in situ according to the instruction of control system, and target item is placed into the Mobile lifting column
For the center of circle, mechanism type telescopic arm is any position of radius.
The beneficial effects of the present invention are:
(1) the hoofing part component of mobile robot of the invention, moving lifting column bottom can realize machine in ground moving
The multiposition of device people works；Hoofing part component can original place rotation, therefore instead of the traffic cycle structure of stationary machine people；
The movement that driving assembly lead agency formula telescopic arm realizes vertical direction is gone up and down, mechanism type telescopic arm is realized in the horizontal direction
Stretching motion；The large-scale working space that can be realized robot is combined above, it can be according to functional requirement or environment etc.
Variation adapts to different task, is flexibly applied to different occasions.
(2) the moving lifting column of mobile robot of the present invention replaces the bottom traffic cycle of stationary machine people, simplifies
Robot architecture significantly reduces main screw lift, and for the main screw lift of common fixed robot generally at 2 tons or more, consumptive material is big,
At high cost, the main screw lift of robot of the present invention is 1 ton or so.
(3) the mechanism type telescopic arm of robot of the present invention is by big arm component, small arm component, flexible driving assembly and Ge Lian
Block composition is connect, for arm component there are two the arm bar being parallel to each other composition, two arm bars and link block rotation connection, composition can
Movable parallelogram, arm component generate stretching motion under the driving of flexible driving assembly.Mechanism arm compares joint
With greater advantage, the number of components and freedom degree of mechanism are variable for formula arm, and there is multi-functional phase change, multiple topology to become
The advantages that change, multiple degrees of freedom variation etc..For jointed arm robot when grabbing weight, the power that each joint needs is very big, driving
The power that the motor of joint motions needs is also very big, and the power of motor summation in whole joints is generally all adopted generally in 20KW or more
It with fixed installation, is powered with power supply line, current battery is difficult to maintain the long time running of high-power robot.Mechanism of the present invention
The power of motor of formula arm, complete machine is 4KW or so, simultaneously because eliminating the traffic cycle of traditional robot, greatly reduces electricity
Machine power can be powered with mobile battery, to realize that mobile robot provides necessary condition.
(4) free end of mobile robot of the invention, mechanism type telescopic arm end can only move in the horizontal direction,
Vertical direction is mobile by moving lifting column lead agency formula telescopic arm, the original place rotation of moving lifting column drive free end around
Z-axis rotation, the above movement realize the movement of robot rectangular co-ordinate, can be realized accurate crawl of the robot to cargo.
Detailed description of the invention
Fig. 1 is the structural block diagram of the mobile robot of an embodiment of the present invention；
Fig. 2 is the structural block diagram of the mobile robot of another embodiment of the present invention；
Fig. 3 is a kind of structural schematic diagram of embodiment of mobile robot of the present invention；
Fig. 4 is a kind of mechanism type telescopic arm structural schematic diagram of mobile robot of the present invention；
Fig. 5 is a kind of structural schematic diagram of mechanism type telescopic arm rounding state of mobile robot Fig. 4 of the present invention；
Fig. 6 is another mechanism type telescopic arm structural schematic diagram of mobile robot of the present invention；
Fig. 7 is a kind of structural schematic diagram of mechanism type telescopic arm rounding state of mobile robot Fig. 6 of the present invention；
Fig. 8 is the flow chart of work methods of mobile robot of the present invention.
In figure,
1. control system, 2. mechanism type telescopic arms, 3. moving lifting columns, 201. flexible driving assemblies, 202. small arm components,
203. big arm components, 204. shoulder link blocks, 205. wrist link blocks, 206. ancon link blocks, 301. columns, 302. liftings are driven
Dynamic component, 303. chassis, 304 hoofing part components.
Specific embodiment
The present invention is described in further detail with reference to the accompanying drawings and examples.Specific embodiment described herein
It is used only for explaining the present invention rather than limiting the invention.In addition, it should also be noted that, for ease of description, in attached drawing
Only the parts related to the present invention are shown rather than entire infrastructure.
Embodiment 1
With reference to Fig. 1, which is the structural block diagram of robot of the present invention, including control system 1, for receiving information, and according to letter
Breath and control algolithm control moving lifting column 3 and mechanism type telescopic arm 2；Moving lifting column 3, according to the transport road of target item
Diameter realizes that mobile and/or no-radius rotates according to the instruction of control system；Mechanism type telescopic arm 2 passes through shoulder link block
204 are slidably connected with moving lifting column 3, the elevating movement of vertical direction are completed according to the instruction of control system, and be in control
Pass through the stretching motion of the flexible carry out horizontal direction of mechanism type arm under the control of system.
Specifically, mechanism type telescopic arm includes big arm component 203, small arm component 202, big arm component 203 and forearm group
Part 202 is rotatablely connected by ancon link block 206, and the other end of big arm component 203 is rotatably connected to shoulder link block 204, small
The other end of arm component is rotatably connected to wrist link block 205.
Further, mechanism type telescopic arm further includes flexible driving assembly 201, stretch driving assembly 201 simultaneously with it is big
Arm component 203 and small arm component 202 are rotatablely connected.Control system 1 instructs based on the received, controls the fortune of flexible driving assembly
Dynamic, so that big arm component 203 and small arm component 202 be made to move in a manner of gearing, mechanism type telescopic arm 2 needs horizontal stretching
When, the movement of flexible driving assembly 201 increases the angle of big arm component 203 and small arm component 202；Mechanism type telescopic arm 2
When needing to shrink, the movement of flexible driving assembly 201 reduces the angle of big arm component 203 and small arm component 202.
Further, big arm component 203 includes two parallel and equal length the first big armed levers and the second largest armed lever, the
One big armed lever, the second largest armed lever, shoulder link block, ancon link block constitute a mobilizable parallelogram, thus flexible
The movement of driving assembly 201 can make big arm component generate translation.Small arm component 202 includes two articles parallel and equal length the
One small armed lever and the second small armed lever, the first small armed lever, the second small armed lever, wrist link block, ancon link block constitute one and can live
Dynamic parallelogram, so that the movement of flexible driving assembly 201 can make small arm component generate translation.
Selectable, with reference to Fig. 2, the driving assembly 201 that stretches is rotatablely connected with small arm component 202, and control system 1 is according to connecing
The instruction of receipts controls the movement of flexible driving assembly 201, small 202 corresponding sports of arm component is driven, to drive big arm component
203 are moved in a manner of gearing.
Selectively, control system 1 instructs based on the received, and any component in control mechanism formula telescopic arm is used for
Remaining component of driving mechanism formula telescopic arm accordingly interlocks.For example the movement of big arm component 203 is controlled, big 203 phase of arm component
It is freely rotatable to shoulder link block 204, so that small arm component 202 and flexible driving assembly 201 be driven to interlock accordingly, makes
Mechanism type telescopic arm stretches forward or past after-contraction.
Selectable, control system controls the movement of small arm component 202, and small arm component 202 is opposite with ancon portion link block
206 are freely rotatable, so that big arm component 203 and flexible driving assembly 201 be driven to interlock accordingly, make mechanism type telescopic arm
Stretching, extension forward or past after-contraction.
Selectable, control system controls the movement of the small arm component 202 of big arm component 203, mechanism type telescopic arm simultaneously
Cancel flexible driving assembly 201, mechanism type telescopic arm can also stretch forward or past after-contraction.
Robot of the invention further includes moving lifting column 3, and moving lifting column 3 includes column 301, lifting driving assembly
302 and chassis 303, chassis 303 is arranged with hoofing part component 304, and hoofing part component 304 includes at least two drivings
Wheel and driving motor, revolving speed and direction of the control system by control driving wheel, realize rotating in place for moving lifting column 3
Or it is mobile.
Specifically, column 301 is fixedly connected on chassis 303, column 301 is moved with hood synchronous；
Lifting 302 one end of driving assembly is slidably connected with column 301, and the other end is fixedly connected with mechanism type telescopic arm 2, is used for
Lead agency formula telescopic arm 2 makees elevating movement in vertical direction.Specifically, the shoulder link block 204 of mechanism type telescopic arm 2
It is fixedly connected with lifting driving assembly 302.
Control system 1 may be mounted in the chassis of moving lifting column or other in mobile robot are any free
The position of chamber.
Embodiment 2
With reference to Fig. 3, which is a kind of structural schematic diagram of embodiment of robot of the present invention,
Robot includes mechanism type telescopic arm 2 and moving lifting column 3, and moving lifting column 3 is connect with mechanism type telescopic arm 2.
Mechanism type telescopic arm 2 includes big arm component 203, small arm component 202, shoulder link block 204, ancon link block 206 and wrist
Link block 205；One end of big arm component 203 is rotationally connected with shoulder link block 204, and the other end of big arm component 203, which rotates, to be connected
It is connected to ancon link block 206；One end of small arm component 202 is rotationally connected with ancon link block 206, small arm component 202 it is another
End is rotationally connected with wrist link block 205.Moving lifting column 3 includes column 301, lifting driving assembly 302 and chassis 303, is stood
Column 301 is fixedly mounted on chassis 303, and lifting driving assembly 302 is slidably mounted in 301 inside of column.Control system peace
Mounted in the inside on chassis 303.In the present embodiment, control system drives the movement of big arm component 203 and small arm component 202, large arm
Component and small arm component are flexible driving assembly simultaneously.
Embodiment 3
It is a kind of structural schematic diagram of mechanism type telescopic arm of robot of the present invention with reference to Fig. 4,
Big arm component 203, shoulder link block 204, ancon link block 206 constitute a parallelogram by rotation connection, put down
Two sides of big arm component 203 can relatively move in row quadrangle；Small arm component 202, ancon link block 206, wrist link block
205 constitute a parallelogram by rotation connection, and two sides of small arm component 202 can relatively move in parallelogram.
Flexible driving assembly 201 is made of the first drive rod 2012 and the second drive rod 2013 and drive block 2011, the first drive rod
2012, the second drive rod 2013, big arm component 203, small arm component 202 and drive block 2011 constitute one by rotation connection and put down
Row quadrangle, the drive block 2011 are slidably connected to shoulder link block, and moving left and right for drive block 2011 drives big arm component
203 and small arm component 202 accordingly be translatable, so that wrist link block be made to move in the horizontal direction.
Fig. 5, the figure are a kind of structural schematic diagram of mechanism type telescopic arm rounding state of the present embodiment, drive block 2011 to
Right sliding drives big arm component 203 and small arm component 202 to correspondingly moving right, big arm component 203 and small arm component 202
Angle is reduced, and mechanism type telescopic arm is rounding state.On the contrary, drive block 2011 slides to the left, big 203 He of arm component is driven
Small arm component 202 is to correspondingly moving left, and the angle of big arm component 203 and small arm component 202 increases, and mechanism type telescopic arm is
Extended state.
Embodiment 4
It is the structural schematic diagram of robot another kind mechanism type telescopic arm of the present invention with reference to Fig. 6,
Big arm component 203, shoulder link block 204, ancon link block 206 constitute a parallelogram by rotation connection, put down
Two sides of big arm component 203 can relatively move in row quadrangle；Small arm component 202, ancon link block 206, wrist link block
205 constitute a parallelogram by rotation connection, and two sides of small arm component 202 can relatively move in parallelogram.
Flexible driving assembly 201 is drive rod, and one end of drive rod is rotationally connected with small arm component, the other end rotation connection of drive rod
In shoulder link block.Drive rod is center of circle rotation with shoulder link block 205, drives small 202 corresponding sports of arm component, to make big
Arm component is moved in a manner of interlocking, the stretching motion of implementation mechanism formula telescopic arm.
With reference to Fig. 7, which is a kind of structural schematic diagram of mechanism type telescopic arm rounding state of the present embodiment, drive rod
201, using shoulder link block as the center of circle, rotate clockwise, and big arm component 203 and small arm component 202 is driven correspondingly to be translatable to the right,
The angle of big arm component 203 and small arm component 202 is reduced, and mechanism type telescopic arm is rounding state.On the contrary, drive rod 201
It using shoulder link block as the center of circle, rotates counterclockwise, drives big arm component 203 and small arm component 202 to be correspondingly translatable to the left, large arm
The angle of component 203 and small arm component 202 increases, and mechanism type telescopic arm is extended state.
Embodiment 5
With reference to Fig. 8, embodiment 5 provides the working method of mobile robot of the present invention, is suitable for warehouse, factory lines, code
First-class different workplace, for the carrying and neat placement to target goods.Mobile robot includes control system, moves
Dynamic lifting column, and be slidably connected mechanism type telescopic arm with the moving lifting column；The cargo method the following steps are included:
S1, control system receive information, the information include the position after the initial position of at least one target item, carrying with
And routing information.
When needing to carry with stacking article, the control system of robot receives and executes article carrying instruction, to complete
It carries and stacking article task, wherein article carrying instruction includes of the mobile route of robot, at least one target item
Beginning position, heap code position of at least one target item etc., at least one target item can belong to same article or not of the same race
The article of class.
S2, control system driving moving lifting column 3 reach target item position by mobile and/or rotation.
The movement of hoofing part component 304 in moving lifting column 3, band mobile robot are moved to target item original position
It is dynamic.As target item initial position is moved further along behind the rear of robot, the first original place rotation 180 degree of hoofing part component 304
Move target item.
S3, control system driving lifting driving assembly 302 slide up and down, so that lead agency formula telescopic arm 2 is vertical
Direction moves up and down, and reaches the height to match with target item, makes the vertical direction coordinate and target of mechanism type telescopic arm
The vertical direction coordinate of article is adapted.
S4, control system control flexible driving assembly, by rotating or move, drive big arm component and small arm component with
The mode of gearing moves, and so that mechanism type telescopic arm is stretched or is bent, the free end horizontal movement of lead agency formula arm makes machine
The horizontal direction coordinate of the free end of structure formula arm is adapted with the horizontal direction coordinate of target item, and grabs article；
S5, control system control moving lifting column and arrive target item pile according to the stowed location of the target item received
Designated place.
The stowed location of target item being moved to by robot, or using moving lifting column as the center of circle,
Mechanism type telescopic arm is any position of radius.
Claims (10)
1. a kind of mobile robot characterized by comprising control system, for receiving information, and according to information and control
Algorithm controls Mobile lifting column and mechanism type telescopic arm；Mobile lifting column, for the transport path according to target item,
It according to the instruction of control system realizes the rotation of mobile and/or no-radius, and is provided with and is slided up and down for mechanism type telescopic arm
Go up and down driving assembly；Mechanism type telescopic arm, one end are fixedly connected with the lifting driving assembly, for according to control system
Instruction complete elevating movement；The other end is free end, is moved according to the commanded level of control system, the mechanism type stretches hand
Arm includes the arm component of at least two rotation connections.
2. mobile robot according to claim 1, which is characterized in that be provided with connection between the arm component
Block, each arm component include at least a pair of arm bar being parallel to each other, and arm bar and link block are rotatablely connected.
3. mobile robot according to claim 2, which is characterized in that the arm component includes big arm component, small
Arm component, the link block include shoulder link block, ancon link block and wrist link block, one end rotation connection of big arm component
In shoulder link block, the other end of big arm component is rotationally connected with ancon link block；One end of small arm component is rotationally connected with elbow
Portion's link block, the other end of small arm component are rotationally connected with wrist link block.
4. mobile robot according to claim 3, which is characterized in that the mechanism type telescopic arm further includes stretching
Driving assembly, the flexible driving assembly is at least rotatablely connected with forearm, for making the folder between big arm component and small arm component
Angle increases or reduces, and mechanism type telescopic arm is made to carry out horizontal stretching and retraction movement.
5. mobile robot according to claim 4, which is characterized in that the flexible driving assembly is by drive block,
One drive rod and the second group of drive rods are at the first drive rod, the second drive rod, big arm component, small arm component and drive block pass through
Rotation connection constitutes a parallelogram, and the drive block is moved left and right through the first drive rod and the drive of the second drive rod
Angle between big arm component and small arm component increases or reduces, so that wrist link block be made to move in the horizontal direction.
6. mobile robot according to claim 4, which is characterized in that the flexible driving assembly is drive rod, institute
The one end for stating drive rod is rotationally connected with small arm component, and the other end of drive rod is rotationally connected with shoulder link block.
7. mobile robot according to claim 4, which is characterized in that the driving component is mechanism type telescopic arm
In any component, remaining component for driving mechanism formula telescopic arm accordingly interlocks.
8. mobile robot according to claim 1, which is characterized in that the Mobile lifting column includes column, rises
Driving assembly, hoofing part component and chassis drop；The column is fixedly connected on chassis, and the hoofing part component is fixed to be connected
It is connected under chassis, the hoofing part component includes at least two driving wheels, and the driving wheel controls its turn by control system
Dynamic speed and direction realizes the original place rotation and movement of Mobile lifting column；The lifting driving assembly, one end and column are sliding
Dynamic connection, the other end are fixedly connected with mechanism type telescopic arm, go up and down for lead agency formula telescopic arm in vertical direction
Movement.
9. a kind of working method of mobile robot, which is characterized in that the mobile robot of the method application, including control
System processed, Mobile lifting column, and the mechanism type telescopic arm being connect with the Mobile lifting column；The described method includes:
Control system receives information, the start position information and the position after carrying that the information includes at least one target item
The routing information of information and the initial position position to after carrying；Control system control hoofing part component makes mobile liter
It drops column and target item position is reached by mobile and/or rotation；Control system control lifting driving assembly slides up and down, and arrives
Vertical direction up to the height to match with target item, the vertical direction coordinate and target item that make mechanism type telescopic arm is sat
Mark is adapted；
Control system controls flexible driving assembly, the movement or rotation of the driving assembly that stretches, so that big arm component and small arm component
Between angle increase or reduce drive free end horizontal movement, make the horizontal direction coordinate of the free end of mechanism type telescopic arm
It is adapted with the horizontal direction coordinate of target item, and grabs article；Control system control mechanism formula telescopic arm and mobile liter
Drop column piles up target item to target position.
10. the working method of mobile robot according to claim 9 a kind of, which is characterized in that this method further include:
Control system controls Mobile lifting column by rotation or movement, takes target item to position after carrying, passes through machine
The elevating movement of structure formula telescopic arm is by the neat pile of target item；Moving lifting column turns in situ according to the instruction of control system
It is dynamic, target item is placed into using the Mobile lifting column as the center of circle, mechanism type telescopic arm is any position of radius.
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| CN201910742526.XA CN110497374B (en) | 2019-08-13 | 2019-08-13 | Mobile robot and working method thereof |
| PCT/CN2020/083476 WO2021027296A1 (en) | 2019-08-13 | 2020-04-07 | Mobile-type robot and working method therefor |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2021027296A1 (en) * | 2019-08-13 | 2021-02-18 | 杭州天铭科技股份有限公司 | Mobile-type robot and working method therefor |
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| CN104923432A (en) * | 2014-03-18 | 2015-09-23 | 江苏长虹智能装备集团有限公司 | Spraying robot driven by multiple paralleled parallelogram links in series-parallel manner |
| CN203804973U (en) * | 2014-05-13 | 2014-09-03 | 东营市鸿达石油设备制造厂 | Manipulator for drilling tools |
| CN204673614U (en) * | 2015-06-09 | 2015-09-30 | 洛阳理工学院 | A kind of palletizing mechanical arm |
| CN106181985A (en) * | 2016-08-21 | 2016-12-07 | 张玉华 | A kind of books pick and place robot |
| CN207344570U (en) * | 2017-09-27 | 2018-05-11 | 山东交通学院 | A kind of Three Degree Of Freedom containing linear actuator, which is inhaled, sweeps robot mechanism |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2021027296A1 (en) * | 2019-08-13 | 2021-02-18 | 杭州天铭科技股份有限公司 | Mobile-type robot and working method therefor |
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