CN110980164B - Universal ball transportation platform and transportation method - Google Patents

Universal ball transportation platform and transportation method Download PDF

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Publication number
CN110980164B
CN110980164B CN201911332513.1A CN201911332513A CN110980164B CN 110980164 B CN110980164 B CN 110980164B CN 201911332513 A CN201911332513 A CN 201911332513A CN 110980164 B CN110980164 B CN 110980164B
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China
Prior art keywords
transportation
universal
universal ball
roller
goods
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CN110980164A (en
Inventor
梁利华
金佳钰
许杨剑
陈俊俊
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Zhejiang University of Technology ZJUT
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Zhejiang University of Technology ZJUT
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G35/00—Mechanical conveyors not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/22—Devices influencing the relative position or the attitude of articles during transit by conveyors
    • B65G47/24—Devices influencing the relative position or the attitude of articles during transit by conveyors orientating the articles
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
    • G05B19/05—Programmable logic controllers, e.g. simulating logic interconnections of signals according to ladder diagrams or function charts
    • G05B19/054—Input/output
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
    • B65G2203/02—Control or detection
    • B65G2203/0266—Control or detection relating to the load carrier(s)
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
    • B65G2203/02—Control or detection
    • B65G2203/0266—Control or detection relating to the load carrier(s)
    • B65G2203/0275—Damage on the load carrier

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Handcart (AREA)

Abstract

The invention discloses a universal ball transportation platform and a transportation method, wherein the universal ball transportation platform comprises a plurality of transportation units which are spliced with each other, the transportation units comprise a box body, the box body is provided with a box cover, a bottom plate and side walls which are annularly distributed between the box cover and the bottom plate, and an avoidance opening is formed in the box cover; the internally mounted of box has the universal ball, and the top of universal ball is dodged mouthful outstanding box, and the inside of box is equipped with four sets of gyro wheel structures, and four sets of gyro wheel structures equipartition are in the week side of universal ball, and two adjacent groups are the action wheel structure in four sets of gyro wheel structures, and two other groups are auxiliary wheel structure. The transportation platform is formed by combining a plurality of independent transportation units, and when one transportation unit is damaged and cannot be replaced in time, the damaged transportation unit can be avoided for planning a transportation path, so that the normal operation of a transportation flow is ensured; and when the damaged transportation unit is replaced, only the corresponding transportation unit is required to be replaced without integral maintenance, so that the maintenance cost is reduced and the maintenance efficiency is improved.

Description

Universal ball transportation platform and transportation method
Technical Field
The application belongs to the technical field of logistics equipment, and particularly relates to a universal ball transportation platform and a universal ball transportation method.
Background
In logistics transportation, more modes of automatic trolley transportation are utilized, but the existing automatic trolley transportation is realized, the trolley is guided to travel along a specified path through an automatic guiding device, and the defects are that one trolley can only transport one piece of goods, the efficiency is low, the occupied area is large, the trolley can only travel along a fixed line, the path is easy to damage, and the operation is stopped once the whole line is damaged.
Therefore, logistics storage gradually develops to a unitized logistics mode, and in the unitized logistics storage and supply chain process, a certain unit appliance is adopted to form a transportation platform to store and normalize cargoes so as to implement logistics operation and promote a logistics process of operation efficiency.
However, most of the existing semi-automatic cargo transportation platforms are in roller type transportation and belt pulley transportation, and the disadvantage is that the existing semi-automatic cargo transportation platforms can only be transported in one direction; and the participation of manpower is needed when current goods transportation platform sorts the goods, has increased cost of labor and letter sorting inefficiency.
Under the promotion of market demands, some combined type transportation platforms are generated, but the combined type transportation platforms have the problems that the transportation direction is easy to change or the transportation is not smooth when the contact area between the combined type transportation platforms and goods is small.
Disclosure of Invention
The application aims to provide a universal ball transporting platform and a transporting method, wherein the transporting platform is formed by combining a plurality of independent transporting units, so that the transporting reliability and the transporting flexibility of the transporting platform are improved.
In order to achieve the above purpose, the technical scheme adopted by the application is as follows:
the universal ball transportation platform comprises a plurality of transportation units which are spliced with one another, wherein each transportation unit comprises a box body, the box body is provided with a box cover, a bottom plate and side walls which are annularly distributed between the box cover and the bottom plate, and an avoidance opening is formed in the box cover;
the inner part of the box body is provided with a universal ball, the top of the universal ball protrudes out of the box body through the avoidance port, four groups of roller structures are arranged in the box body and uniformly distributed on the peripheral side of the universal ball, two adjacent groups of roller structures in the four groups of roller structures are driving wheel structures, and the other two groups of roller structures are auxiliary wheel structures;
each auxiliary wheel structure comprises a guide rail arranged on the bottom plate, a pushing frame is arranged on the guide rail in a matched mode, the pushing frame faces one side of the universal ball and is connected with a universal wheel through a diamond-shaped seat bearing, the rolling surface of the universal wheel abuts against the universal ball, the rolling axis of the universal wheel is horizontal, two outer side faces of the rolling axis of the universal wheel of the auxiliary wheel structure where the pushing frame is located are respectively provided with a linear bearing seat, the linear bearing seat is provided with a linear bearing perpendicular to the rolling axis of the universal wheel of the auxiliary wheel structure where the pushing frame is located, one side, away from the universal ball, of the linear bearing is fixed on the side wall, a spring in a compressed state is sleeved on the linear bearing seat, and two ends of the spring abut against the side wall and the linear bearing seat respectively.
Preferably, the guide rail in the auxiliary wheel structure extends perpendicular to the direction of the universal wheel rolling axis of the auxiliary wheel structure.
Preferably, the driving wheel structure comprises a motor, a motor fixing plate, a coupler, a vertical bearing seat and universal wheels, wherein the motor is connected with the side wall through the motor fixing plate, the universal wheels are fixed with the bottom plate through the vertical bearing seat, the output shaft of the motor drives the universal wheels through the coupler, the rolling surfaces of the universal wheels are propped against the universal balls, and the rolling axes of the universal wheels of the driving wheel structure are parallel to the rolling axes of the universal wheels of the auxiliary wheel structure on the opposite sides.
Preferably, the surface at 1/2 height of the universal ball is abutted against the universal wheel.
Preferably, the universal wheel comprises a first main body and oval small rollers fixed on the first main body, the first main body comprises a middle fixing plate and branch frames arranged on two sides of the middle fixing plate, the oval small rollers are connected to the branch frames, the oval small rollers on two sides of the middle fixing plate are equal in number and are arranged in a staggered mode, and rolling axes of the oval small rollers are perpendicular to rolling axes of the universal wheel.
Preferably, the top of the case cover is provided with a first bull-eye roller, the ball of the first bull-eye roller faces upwards, and the top of the ball of the first bull-eye roller is equal to the top of the universal ball in height.
Preferably, a second bull-eye roller is mounted on the inner surface of the avoidance port, the ball of the second bull-eye roller faces to a universal ball, and the ball of the second bull-eye roller is propped against the universal ball;
the number and positions of the second bullseye rollers correspond to the four-group roller structure.
Preferably, a third bull's eye roller is mounted on the bottom plate, the ball of the third bull's eye roller faces upwards, and the ball of the third bull's eye roller abuts against the universal ball.
The application also provides a transporting method based on the universal ball transporting platform, which is used for transporting the goods on the universal ball transporting platform from the initial position A to the target position B, and comprises the following steps:
step S1, planning a transport path of goods from an initial position A to a target position B, and presetting a rotation angle theta and transport time T of the goods;
Step S2, calculating the linear motion speed v 1 of the goods according to the length S of the transportation path and the transportation time T, and simultaneously calculating the rotation angle omega of the goods according to the rotation angle theta and the transportation time T:
s3, establishing a rectangular coordinate system by taking one transportation unit of the transportation platform as an origin, wherein one of an x axis and a y axis in the rectangular coordinate system is parallel to the universal wheel rolling axis of one group of auxiliary wheel structures, and the other is parallel to the universal wheel rolling axis of the other group of auxiliary wheel structures;
Step S4, calculating the linear velocity v 2 of the universal ball rotation of each transporting unit in contact with the goods on the transporting path at the corresponding moment according to the rotation angle velocity omega:
v2＝ωr
Wherein r is the distance between the center of each transport unit and the center of mass of the cargo;
Step S5, the direction of the linear motion velocity v 1 is the direction of the transportation path of the goods at the corresponding moment, and the direction of the linear velocity v 2 is the perpendicular line of the line connecting the center of the transportation unit and the center of mass of the goods, thus obtaining a vector Sum vectorAnd according to the vectorSum vectorObtaining vectorsInstantaneous speed of movement of a universal ball as each transport unit in contact with the cargo at the corresponding moment
Step S6, according to the instantaneous movement speedObtaining instantaneous movement speedAn included angle alpha with the x-axis, and calculating the instantaneous movement speed according to the included angle alphaComponents in x-axis and y-axis
Step S7, the instantaneous movement speed is calculatedComponents in x-axis and y-axisAnd respectively serving as the speeds of the corresponding driving wheel structures, obtaining the speeds provided by the two driving wheel structures in each transporting unit contacted with the goods along the transporting path, and outputting working instructions to the corresponding transporting units according to the sequence of the two driving wheel structures contacted with the goods to finish the transporting of the goods.
According to the universal ball transportation platform and the transportation method, the transportation platform is formed by combining the plurality of independent transportation units, the plurality of independent transportation units realize transportation and steering of goods, and when one transportation unit is damaged and cannot be replaced in time, the damaged transportation unit can be avoided for planning a transportation path, so that the normal operation of a transportation flow is ensured; and when the damaged transportation unit is replaced, only the corresponding transportation unit is required to be replaced without integral maintenance, so that the maintenance cost is reduced and the maintenance efficiency is improved. Compared with the goods, the power of the transporting unit is only derived from a single universal ball, namely, each transporting unit is accurate in dispatching the goods, the condition that the preset direction is changed when the goods contact part of the power sources due to the fact that the same transporting unit is provided with a plurality of power sources is avoided, and the reliability and the accuracy of transportation are improved.
Drawings
FIG. 1 is a schematic view of a structure of a universal ball transport platform of the present application;
FIG. 2 is a schematic structural view of a transport unit according to the present application;
FIG. 3 is a schematic diagram of a split structure of a transport unit according to the present application;
FIG. 4 is a schematic view of a structure of a ball and four sets of rollers according to the present application;
FIG. 5 is a schematic view of the structure of the universal wheel of the present application;
FIG. 6 is a schematic diagram of a control structure of the universal ball transport platform of the present application;
Fig. 7 is a schematic view showing an embodiment of a transport path and a schematic enlarged view of the speed of one transport unit in the transport method of the present application.
In the drawings: 1. a transport platform; 11. a transport unit; 101. a case; 102. a first bullseye roller; 103. a universal ball; 104. a second bullseye roller; 105. an avoidance port; 106. a case cover; 107. a sidewall; 108. a bottom plate; 109. a third bullseye roller; 110. an auxiliary wheel structure; 1101. a linear bearing seat; 1102. a linear bearing; 1103. a spring; 1104. pushing a frame; 1105. a diamond-shaped seat bearing; 1106. a guide rail; 1107. a universal wheel; 111. a driving wheel structure; 1111. a motor fixing plate; 1112. a motor; 1113. a coupling; 1114. vertical bearing seat; 1115. a universal wheel; 1121. a middle fixing plate; 1122. oval small rollers; 1123. a sub-bracket; 12. a motor controller; 13. a PLC controller; 14. and a PC terminal.
Detailed Description
The following description of the embodiments of the present application will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present application, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
It will be understood that when an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present; when an element is referred to as being "fixed" to another element, it can be directly fixed to the other element or intervening elements may also be present.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein in the description of the application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application.
As shown in fig. 1, in one embodiment, a universal ball transporting platform is provided, wherein the universal ball transporting platform 1 includes a plurality of transporting units 11 spliced with each other. The transportation platform 1 is formed by combining a plurality of independent transportation units 11, the plurality of independent transportation units 11 realize the transportation and the steering of goods, and when one transportation unit 11 is damaged and can not be replaced in time, the damaged transportation unit 11 can be avoided for planning a transportation path, so that the normal operation of a transportation flow is ensured; and when the damaged transportation unit 11 is replaced, only the corresponding transportation unit 11 is required to be replaced without integral maintenance, so that the maintenance cost is reduced and the maintenance efficiency is improved.
As shown in fig. 2 to 3, the transport unit 11 includes a case 101, the case 101 having a case cover 106, a bottom plate 108, and a side wall 107 annularly disposed between the case cover 106 and the bottom plate 108, and the case cover 106 being provided with a relief opening 105.
To facilitate stable splicing between the plurality of transport units 11, the case 101 preferably has a rectangular parallelepiped shape, and may have other three-dimensional structures in which the side walls 107 are flat, such as rectangular prisms.
The universal ball 103 is arranged in the box body 101, and the top of the universal ball 103 protrudes out of the box body 101 through the avoidance port 105. To facilitate path planning, the universal ball 103 is preferably disposed at a central position of the case 101, and the more the universal ball 103 protrudes from the case 101, the more convenient the cargo transfer, but the protruding portion should not exceed half the height of the universal ball 103 to ensure structural stability.
In this embodiment, the universal ball 103 is used to provide power for the cargo, and considering the situation that the universal ball 103 is difficult to drive, in this embodiment, the indirect driving mode of the universal ball 103 is adopted, specifically, four sets of roller structures are arranged in the box 101, the four sets of roller structures are uniformly distributed on the periphery of the universal ball 103, two adjacent sets of roller structures in the four sets of roller structures are the driving wheel structure 111, and the other two sets of roller structures are the auxiliary wheel structure 110.
As shown in fig. 4, four sets of roller structures are uniformly distributed on the peripheral side of the universal ball 103, so as to provide two sets of driving forces perpendicular to each other for the universal ball 103, and realize multidirectional rotation of the universal ball 103 through the two sets of driving forces perpendicular to each other.
In the four-group roller structure, in order to save energy consumption and reduce control difficulty, two groups of roller structures 111 and the other two groups of roller structures 110 are arranged.
Wherein each auxiliary wheel structure 110 includes a rail 1106 mounted to the base plate 108, the rail 1106 having a push frame 1104 mounted thereto in a mating relationship. The push frame 1104 is understood to be a frame-like or internally hollow box structure. The pushing frame 1104 is opened towards one side of the universal ball 103, and a universal wheel 1107 is connected to the opening of the pushing frame 1104 through a diamond-shaped seat bearing 1105, the rolling surface of the universal wheel 1107 is propped against the universal ball 103, and the rolling axis of the universal wheel 1107 is horizontal.
The pushing frame 1104 is provided with linear bearing seats 1101 along two outer side surfaces of the rolling axis of the universal wheel 1107 of the auxiliary wheel structure 110, the linear bearing seats 1101 are provided with linear bearings 1102 perpendicular to the rolling axis of the universal wheel 1107 of the auxiliary wheel structure 110, one side of each linear bearing 1102, far away from the universal ball 103, is fixed on the side wall 107, the linear bearings 1102 are sleeved with springs 1103 in a compressed state, and two ends of each spring 1103 respectively abut against the side wall 107 and the linear bearing seats 1101.
Since the two sets of auxiliary wheel structures 110 are adjacently arranged and the four sets of roller structures are uniformly distributed, it can be known that one set of auxiliary wheel structures 110 is oppositely arranged with one set of driving wheel structures 111, and the other set of auxiliary wheel structures 110 is oppositely arranged with the other set of driving wheel structures 111. The rolling axis of the universal wheels 1107 of one set of auxiliary wheel structures 110 of the two sets of auxiliary wheel structures 110 thus extends in the direction shown in fig. 4a, and the rolling axis of the universal wheels 1107 of one set of auxiliary wheel structures 110 extends in the direction shown in fig. 4B.
And the guide rail 1106 in the auxiliary wheel structure 110 extends perpendicular to the direction of the rolling axis of the universal wheel 1107 of the auxiliary wheel structure 110, so as to adjust the position of the auxiliary wheel structure 110 and always keep the rolling surface of the universal wheel 1107 tangential to the universal ball 103.
The auxiliary wheel structure 110 adopts a flexible fixing mode, namely, the universal wheel 1107 is pressed against the universal ball 103 through the spring 1103, so that the phenomenon that the universal wheel cannot contact the universal ball due to machining errors or installation errors is avoided, and the reliability of the structure is ensured. And the pushing frame 1104 is installed through the guide rail 1106, namely, when the pushing frame 1104 is acted by the force of the spring 1103 and the universal wheels 1107, the position of the pushing frame 1104 can be stably adjusted along the guide rail 1106, so that the phenomenon of moving and blocking of the pushing frame 1104 is avoided, and the normal driving of the universal wheels 1107 to the universal balls 103 is ensured.
The driving wheel structure 111 may adopt a power wheel driving manner commonly used in the prior art, that is, a manner of driving rollers by a motor. In one embodiment, to improve the driving effect of the universal ball 103 and simultaneously improve the consistency and coordination of the four sets of roller structures, the adopted driving wheel structure 111 comprises a motor 1112, a motor fixing plate 1111, a coupler 1113, a vertical bearing block 1114 and universal wheels 1115, wherein the motor 1112 is connected with the side wall 107 through the motor fixing plate 1111, the universal wheels 1115 are fixed with the bottom plate 108 through the vertical bearing block 1114, the output shaft of the motor 1112 drives the universal wheels 1115 through the coupler 1113, the rolling surface of the universal wheels 1115 is propped against the universal ball 103, and the rolling axis of the universal wheels 1115 of each driving wheel structure 111 is parallel to the rolling axis of the universal wheels 1107 of the auxiliary wheel structure 110 on the opposite side.
The driving wheel structure 111 and the auxiliary wheel structure 110 are all universal wheels, so as to ensure that the contact effect with the universal ball 103 is similar as far as possible, and the structures of the universal wheels 1115 and 1107 are the same and the relative relation with the universal ball 103 is the same in the embodiment.
As shown in fig. 5, the structure of the universal wheels 1107 and 1115 includes a first body and elliptical small rollers 1122 fixed on the first body, the first body includes a middle fixing plate 1121 and branch frames 1123 disposed on two sides of the middle fixing plate 1121, the elliptical small rollers 1122 are connected to the branch frames 1123, the number of the elliptical small rollers 1122 on two sides of the middle fixing plate 1121 is equal and are staggered, and the rolling axis of the elliptical small rollers 1122 is perpendicular to the rolling axis of the universal wheels.
The oval small roller 1122 can reduce the transverse friction between the universal ball 103 and the universal wheel, so as to facilitate the multidirectional rolling of the universal ball 103. And in order to enhance the driving effect of the universal wheel, a component such as anti-slip rubber for increasing the friction force between the universal wheel and the universal ball can be added on the first main body.
With the normal use state of the transport unit 11 as a reference, the four sets of roller structures are equivalent to be positioned in the same horizontal plane after being positioned. Although the contact of the universal wheel with the universal ball drives the universal ball to rotate, in order to improve the transmission efficiency and ensure the driving process, in one embodiment, the surface at 1/2 of the height of the universal ball 103 is arranged to abut against the universal wheels 1107 and 1115.
Considering that the arrangement of the universal ball at the center of each transporting unit 11 may not have enough supporting points for goods, the first bullseye roller 102 is mounted on the top of the box cover 106, the balls of the first bullseye roller 102 face upwards, and the top of the balls of the first bullseye roller 102 is equal to the top of the universal ball 103.
The number of the first bullseye rollers 102 is 4 in this embodiment, and the first bullseye rollers are distributed at the end angle position of the box cover 106, so that good cargo supporting and cargo transportation friction reducing effects are achieved.
In another embodiment, a second bullseye roller 104 is mounted on the inner surface of the avoidance port 105, the ball of the second bullseye roller 104 faces the universal ball 103, and the ball of the second bullseye roller 104 abuts against the universal ball 103. The number and positions of the second bullseye rollers 104 correspond to a four-set roller configuration.
The second bullseye roller 104 is in tangential contact with the universal ball 103, so that the position limitation of the universal ball 103 is realized, meanwhile, the friction between the universal ball 103 and the avoiding opening 105 is avoided, and the rotation fluency of the universal ball 103 is greatly improved through the assistance of the second bullseye roller 104.
In another embodiment, the third bull's eye roller 109 is mounted on the bottom plate 108, and the balls of the third bull's eye roller 109 face upwards, and the balls of the third bull's eye roller 109 are propped against the universal ball 103, so as to support the universal ball 103 axially and reduce the rolling friction force of the universal ball.
As shown in fig. 6, in one embodiment, in order to facilitate the control of the operation of the transport platform, two motors of each transport unit 11 are respectively connected to one motor controller 12, the two motor controllers 12 are connected to the same PLC controller 13, and the PLC controllers 13 of all transport units are connected to the same PC terminal 14. The PLC controller 13 calculates the parameters needed by the two motors respectively, and the PC end only needs to send working instructions to each PLC controller, so that the transportation unit 11 can be controlled to work, the control is more convenient, and the operation is faster.
In another embodiment, a transporting method is also provided, which is implemented based on the universal ball transporting platform provided by the application, and is used for transporting the goods on the universal ball transporting platform 1 from the initial position A to the destination position B.
The transportation method comprises the following steps:
step S1, planning a transportation path of goods from an initial position A to a target position B, and presetting a rotation angle alpha and a transportation time T of the goods.
When the path planning is carried out on the cargoes, the complex path of the cargoes can be composed of one section or a plurality of sections of straight paths, namely, when no transporting unit is damaged on a transporting platform and no transporting path of other cargoes is interfered, the transporting path of the cargoes is the shortest line section between an initial position A and a destination position B; when a transport unit is damaged on the transport platform or the transport path of other cargoes is interfered, the transport path is composed of multiple line sections to realize obstacle avoidance, and the planning of the obstacle avoidance path can be seen in patent document 2019100329613, which is not repeated here.
As shown in fig. 7, a line segment AB is a planned transportation path, and a represents a projection range of the cargo on the transportation platform. The rotation angle α of the cargo means that the cargo needs to rotate θ while completing the movement from the initial position a to the destination position B, and the purpose of the cargo rotation is usually to align the head of the cargo with the movement direction.
Step S2, calculating the linear motion speed v 1 of the goods according to the length S of the transportation path and the transportation time T, and simultaneously calculating the rotation angle omega of the goods according to the rotation angle theta and the transportation time T:
In step S3, a rectangular coordinate system is established with one transport unit 11 of the transport platform 1 as an origin, one of the x-axis and the y-axis in the rectangular coordinate system is parallel to the rolling axis of the universal wheel 1107 of one set of auxiliary wheel structures 110, and the other is parallel to the rolling axis of the universal wheel 1107 of the other set of auxiliary wheel structures 110.
In general, the transport plane of the transport platform 1 is a rectangle, that is, the origin of the rectangular coordinate system is one end angle of the rectangle, and the x axis and the y axis are two adjacent sides in the rectangle; if the transport plane of the transport platform is not rectangular, one transport unit 11 is randomly selected as the origin, and the most marginal transport unit 11 is generally selected, and the x-axis and the y-axis are established by the rolling axes of the universal wheels 1107 of the two sets of auxiliary wheel structures 110, so as to facilitate calculation.
Step S4, calculating a linear velocity v 2 of the rotation of the universal ball 103 of each transporting unit 11 in contact with the cargo on the transporting path at the corresponding moment according to the rotation angular velocity ω:
v2＝ωr
Where r is the distance between the center of each transport unit 11 and the center of mass of the cargo, and the obtained linear velocity v 2 is a real-time variable quantity because the distances between the center of each transport unit 11 and the center of mass of the cargo are different at different times. And the contact with the cargo referred to in this embodiment is any position contact, i.e., arithmetic contact, of the cargo with the transport unit 11.
Since the cargo has a certain volume, there is a situation that the cargo is in contact with the same transport unit 11 within a certain period of time, in order to adapt to the change of r and improve the accuracy of cargo transportation, in this embodiment, the linear velocity v 2 is calculated at a certain time interval. For example, if the preset time interval is 30 seconds, and the same transporting unit is in contact with the cargo at the 2 nd to 3 rd minutes of the cargo transportation, the linear velocity v 2 at the 2 nd minute, the linear velocity v 2 at the 2 nd minute and 30 second, and the linear velocity v 2 at the 3 rd minute of the transporting unit should be calculated.
Step S5, the direction of the linear motion velocity v 1 is the direction of the transportation path of the cargo at the corresponding moment, and the direction of the linear velocity v 2 is the perpendicular line of the line connecting the center of the transportation unit 11 and the center of mass of the cargo, thus obtaining a vectorSum vectorAnd according to the vectorSum vectorObtaining vectorsInstantaneous speed of movement of the universal ball 103 as each transport unit 11 in contact with the cargo at the corresponding moment
Step S6, according to the instantaneous movement speedObtaining instantaneous movement speedAn included angle alpha with the x-axis, and calculating the instantaneous movement speed according to the included angle alphaComponents in x-axis and y-axis
Step S7, the instantaneous movement speed is calculatedComponents in x-axis and y-axisThe speeds required by the two driving wheel structures 111 to work in each transporting unit 11 contacted with the goods along the transporting path are obtained as the speeds of the corresponding driving wheel structures 111 respectively, and working instructions are output to the corresponding transporting units 11 according to the sequence of the contact with the goods, so that the transporting of the goods is completed.
In order to save the transportation cost, the embodiment controls the corresponding transportation unit 11 to work according to the contact sequence with the goods, that is, the corresponding transportation unit works only when the goods pass through the corresponding transportation unit, and the transportation unit does not move at other times.
The technical features of the above embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.
The above examples illustrate only a few embodiments of the application, which are described in detail and are not to be construed as limiting the scope of the application. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the application, which are all within the scope of the application. Accordingly, the scope of protection of the present application is to be determined by the appended claims.

Claims (6)

1. The universal ball transporting platform is characterized in that the universal ball transporting platform (1) comprises a plurality of transporting units (11) which are spliced with each other, the transporting units (11) comprise a box body (101), the box body (101) is provided with a box cover (106), a bottom plate (108) and side walls (107) which are annularly distributed between the box cover (106) and the bottom plate (108), and the box cover (106) is provided with an avoidance opening (105);
The novel multifunctional roller comprises a box body (101), wherein a universal ball (103) is arranged in the box body (101), the top of the universal ball (103) protrudes out of the box body (101) through an avoidance opening (105), four groups of roller structures are arranged in the box body (101) and uniformly distributed on the periphery of the universal ball (103), two adjacent groups of roller structures are a driving wheel structure (111), and the other two groups of roller structures are auxiliary wheel structures (110);
each auxiliary wheel structure (110) comprises a guide rail (1106) arranged on the bottom plate (108), a pushing frame (1104) is cooperatively arranged on the guide rail (1106), the pushing frame (1104) is opened towards one side of the universal ball (103), a first universal wheel (1107) is connected to the opening of the pushing frame (1104) through a diamond-shaped seat bearing (1105), the rolling surface of the first universal wheel (1107) is abutted against the universal ball (103), the rolling axis of the first universal wheel (1107) is horizontal, the pushing frame (1104) is respectively provided with a linear bearing seat (1101) along two outer side surfaces of the rolling axis of the first universal wheel (1107) of the auxiliary wheel structure (110), the linear bearing seat (1101) is provided with a linear bearing (1102) perpendicular to the rolling axis of the first universal wheel (1107) of the auxiliary wheel structure (110), one side of the linear bearing (1102) far away from the universal ball (103) is fixed on the side wall (107), the linear bearing (1102) is sleeved with a spring (1103) in a compressed state, and the two ends of the spring (1103) are respectively abutted against the rolling axis of the first universal wheel (1107) of the auxiliary wheel structure (110) in the vertical direction;
The driving wheel structure (111) comprises a motor (1112), a motor fixing plate (1111), a coupler (1113), a vertical bearing seat (1114) and second universal wheels (1115), the motor (1112) is connected with the side wall (107) through the motor fixing plate (1111), the second universal wheels (1115) are fixed with the bottom plate (108) through the vertical bearing seat (1114), an output shaft of the motor (1112) drives the second universal wheels (1115) through the coupler (1113), a rolling surface of the second universal wheels (1115) is abutted against the universal balls (103), and rolling axes of the second universal wheels (1115) of the driving wheel structures (111) are parallel to rolling axes of the first universal wheels (1107) of the auxiliary wheel structures (110) on opposite sides;
the first universal wheel (1107) and the second universal wheel (1115) respectively comprise a first main body and oval small rollers (1122) fixed on the first main body, the first main body comprises a middle fixing plate (1121) and branch frames (1123) arranged on two sides of the middle fixing plate (1121), the oval small rollers (1122) are connected to the branch frames (1123), the oval small rollers (1122) on two sides of the middle fixing plate (1121) are equal in number and are arranged in a staggered mode, and the rolling axes of the oval small rollers (1122) are perpendicular to the rolling axes of the universal wheels.
2. The gimbal transport platform of claim 1, wherein the surface at 1/2 height of the gimbal (103) is in abutment with a first gimbal (1107) and a second gimbal (1115), respectively.
3. The universal ball transport platform of claim 1, wherein a first bullseye roller (102) is mounted on top of the box cover (106), balls of the first bullseye roller (102) face upwards, and the tops of the balls of the first bullseye roller (102) are at the same height as the tops of the universal balls (103).
4. The universal ball transport platform according to claim 1, wherein a second bullseye roller (104) is mounted on the inner surface of the avoidance port (105), balls of the second bullseye roller (104) face the universal ball (103), and balls of the second bullseye roller (104) are abutted against the universal ball (103);
The number and positions of the second bullseye rollers (104) correspond to a four-set roller configuration.
5. The universal ball transport platform according to claim 1, wherein a third bullseye roller (109) is mounted on the bottom plate (108), the balls of the third bullseye roller (109) face upwards, and the balls of the third bullseye roller (109) are abutted against the universal ball (103).
6. A transportation method based on the universal ball transportation platform according to claim 1 for transporting goods on the universal ball transportation platform (1) from an initial position a to a destination position B, characterized in that the transportation method comprises:
Step S1, planning a transportation path of goods from an initial position A to a target position B, and presetting a rotation angle of the goods And the transportation time T;
Step S2, calculating the linear motion speed of the goods according to the length S of the transportation path and the transportation time T At the same time according to the rotation angleCalculating the rotation angular velocity of the goods with the transportation time T：
；
；
S3, establishing a rectangular coordinate system by taking one transport unit (11) of the transport platform (1) as an origin, wherein one of an x axis and a y axis in the rectangular coordinate system is parallel to a rolling axis of a first universal wheel (1107) of one group of auxiliary wheel structures (110), and the other is parallel to a rolling axis of a first universal wheel (1107) of the other group of auxiliary wheel structures (110);
step S4, according to the rotation angular velocity Calculating the linear velocity of the rotation of the universal ball (103) of each transport unit (11) in contact with the goods on the transport path at the corresponding moment：
；
Wherein,Distance between the center of each transport unit (11) and the center of mass of the cargo;
Step S5, linear motion speed The direction of the goods is the direction of the transportation path of the goods at the corresponding moment, and the linear speedIs the perpendicular to the line connecting the centre of the transport unit (11) and the centre of mass of the load, thus obtaining a vectorSum vectorAnd according to vectorsSum vectorObtaining vectorsInstantaneous speed of movement of the universal ball (103) as each transport unit (11) in contact with the cargo at the corresponding moment：
；
Step S6, according to the instantaneous movement speedObtaining instantaneous movement speedIncluded angle with x-axisAnd according to the included angleCalculating instantaneous movement velocityComponents in x-axis and y-axis、：
；
；
Step S7, the instantaneous movement speed is calculatedComponents in x-axis and y-axis、And respectively serving as the speeds of the corresponding driving wheel structures (111), obtaining the speeds provided by the two driving wheel structures (111) in each transporting unit (11) contacted with the goods along the transporting path, and outputting working instructions to the corresponding transporting units (11) according to the contact sequence of the goods so as to finish the transportation of the goods.
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