WO2019015526A1 - 自驱动机器人 - Google Patents

自驱动机器人 Download PDF

Info

Publication number
WO2019015526A1
WO2019015526A1 PCT/CN2018/095445 CN2018095445W WO2019015526A1 WO 2019015526 A1 WO2019015526 A1 WO 2019015526A1 CN 2018095445 W CN2018095445 W CN 2018095445W WO 2019015526 A1 WO2019015526 A1 WO 2019015526A1
Authority
WO
WIPO (PCT)
Prior art keywords
vehicle body
drive
self
driven robot
wheel
Prior art date
Application number
PCT/CN2018/095445
Other languages
English (en)
French (fr)
Inventor
安斌
孙浪浪
Original Assignee
北京极智嘉科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 北京极智嘉科技有限公司 filed Critical 北京极智嘉科技有限公司
Priority to US16/472,844 priority Critical patent/US10858187B1/en
Priority to JP2019535801A priority patent/JP6664034B2/ja
Publication of WO2019015526A1 publication Critical patent/WO2019015526A1/zh

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K7/00—Disposition of motor in, or adjacent to, traction wheel
    • B60K7/0007—Disposition of motor in, or adjacent to, traction wheel the motor being electric
    • 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
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/0492—Storage devices mechanical with cars adapted to travel in storage aisles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K17/00—Arrangement or mounting of transmissions in vehicles
    • B60K17/04—Arrangement or mounting of transmissions in vehicles characterised by arrangement, location, or kind of gearing
    • B60K17/043—Transmission unit disposed in on near the vehicle wheel, or between the differential gear unit and the wheel
    • 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
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/063—Automatically guided
    • 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
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
    • G06K7/00—Methods or arrangements for sensing record carriers, e.g. for reading patterns
    • G06K7/10—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation
    • G06K7/14—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation using light without selection of wavelength, e.g. sensing reflected white light
    • G06K7/1404—Methods for optical code recognition
    • G06K7/1408—Methods for optical code recognition the method being specifically adapted for the type of code
    • G06K7/1413—1D bar codes
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
    • G06K7/00—Methods or arrangements for sensing record carriers, e.g. for reading patterns
    • G06K7/10—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation
    • G06K7/14—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation using light without selection of wavelength, e.g. sensing reflected white light
    • G06K7/1404—Methods for optical code recognition
    • G06K7/1408—Methods for optical code recognition the method being specifically adapted for the type of code
    • G06K7/1417—2D bar codes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K17/00—Arrangement or mounting of transmissions in vehicles
    • B60K17/04—Arrangement or mounting of transmissions in vehicles characterised by arrangement, location, or kind of gearing
    • B60K17/14—Arrangement or mounting of transmissions in vehicles characterised by arrangement, location, or kind of gearing the motor of fluid or electric gearing being disposed in or adjacent to traction wheel
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K7/00—Disposition of motor in, or adjacent to, traction wheel
    • B60K2007/0038—Disposition of motor in, or adjacent to, traction wheel the motor moving together with the wheel axle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K7/00—Disposition of motor in, or adjacent to, traction wheel
    • B60K2007/0061—Disposition of motor in, or adjacent to, traction wheel the motor axle being parallel to the wheel axle
    • 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)
    • B65G2203/0283—Position of the load carrier
    • 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
    • B65G2203/04—Detection means
    • B65G2203/042—Sensors
    • 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
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40233—Portable robot

Definitions

  • the present disclosure relates to the field of article handling technology, for example, to a self-driven robot.
  • the present disclosure provides a self-driven robot that can be used to sort goods.
  • a self-driven robot for sorting goods including a vehicle body, a driving mechanism, a control mechanism, and a turning mechanism; wherein the driving mechanism and the turning mechanism are disposed on the vehicle body; the driving mechanism is configured to be driven Vehicle body motion; the control mechanism is configured to control the turning mechanism to flip when the vehicle body moves to a designated position.
  • control mechanism is further configured to receive an initial drive signal and, upon receiving the initial drive signal, control the drive mechanism to drive the vehicle body to move to a designated position.
  • the self-driven robot further includes a detecting mechanism configured to detect a position of the vehicle body and transmit the detected position information to the control mechanism, the control mechanism further configured to The drive mechanism is controlled to stop driving the vehicle body upon receiving the information that the vehicle body reaches the designated position.
  • the detection mechanism includes at least one of an infrared sensor, an ultrasonic sensor, and a camera.
  • the detecting mechanism includes a camera, the camera is configured to capture an image and transmit the captured image information to the control mechanism, and the control mechanism is further configured to receive the received image information and the target image. Comparing the information, controlling the driving mechanism to stop driving the vehicle body when the image information matches the target image information, and controlling the turning mechanism to reverse.
  • the camera is disposed on a central axis of the vehicle body along a direction of travel of the vehicle body.
  • the detection mechanism includes a camera, the camera including at least one of a two-dimensional code scanning module and a barcode scanning module.
  • the drive mechanism includes at least a drive wheel and a drive motor coupled to the drive wheel, the drive motor being configured to drive the drive wheel to rotate to cause movement of the vehicle body.
  • the drive mechanism further includes a speed reducer through which the drive motor is coupled.
  • the drive mechanism includes a first drive wheel, a second drive wheel, a first reducer, a second reducer, a first drive motor, and a second drive motor, and the first drive motor passes the A first speed reducer is coupled to the first drive wheel, and the second drive motor is coupled to the second drive wheel by the second speed reducer.
  • the first drive wheel and the second drive wheel are disposed in a middle portion of both sides of the vehicle body in a traveling direction of the vehicle body.
  • the first drive wheel and the second drive wheel are disposed on both sides of a central axis of the vehicle body along a direction of travel of the vehicle body.
  • the robot further includes a follower mechanism including a first universal wheel, the first universal wheel and the first drive wheel and the second drive wheel are disposed along The vehicle body travels in the same direction as the vehicle body in the vertical direction.
  • the follower mechanism further includes a second universal wheel, the second universal wheel and the first universal wheel are disposed on the vehicle in a direction perpendicular to a traveling direction of the vehicle body On the same side of the body, the first universal wheel and the second universal wheel are pivotally disposed on both sides of the vehicle body along the traveling direction of the vehicle body.
  • a first distance between a portion of the first universal wheel that is farthest from the vehicle body and the vehicle body is not equal to a distance from the second universal wheel to the vehicle body. a second distance between the far portion and the vehicle body.
  • the first distance is smaller than the second distance, and a portion of the second universal wheel that is farthest from the vehicle body is respectively farthest from the vehicle body in the first driving wheel.
  • the portion and the portion of the second drive wheel that is furthest from the vehicle body are in the same plane.
  • the reducer includes a timing belt or chain.
  • one side of the vehicle body is provided with a first mounting seat and a second mounting seat;
  • the turning mechanism includes a turning motor fixed to the second mounting seat, and a first one of the turning motor a first crank connected to the output shaft, a first link connecting the first crank through a pin, a rocker rotatably coupled to the first mount, and a drive shaft fixedly coupled to the rocker;
  • the first link is fixedly coupled to the drive shaft such that the first crank rotates when the turning motor rotates, and drives the first link to move, and the first link drives the drive shaft The rocker swings.
  • the turning mechanism further includes a second crank coupled to the second output shaft of the inverting motor, and a second link connecting the second crank; wherein the second link is The drive shaft is fixedly connected.
  • the first output shaft and the second output shaft are located on opposite sides of the inverting motor.
  • an end of the first link remote from the first crank includes a first shaft hole
  • an end of the second link remote from the second crank includes a second shaft hole
  • a drive shaft is fixedly coupled to the first link and the second link by passing through the first shaft hole and the second shaft hole.
  • the self-driven robot further includes a tray coupled to the turnover mechanism.
  • the self-driving robot further includes an auxiliary mechanism, wherein the auxiliary mechanism and the turning mechanism are disposed on the same side of the vehicle body, and the same side is in a direction perpendicular to a traveling direction of the vehicle body.
  • the auxiliary mechanism includes a support rod that assists in supporting the tray and a sensor fixed to the support rod, the sensor being configured to detect the horizontal state of the tray
  • the self-driving robot further includes an obstacle avoiding mechanism disposed on the vehicle body, the obstacle avoiding mechanism being configured to send a signal to the control mechanism when an obstacle is detected in the traveling direction of the vehicle body
  • the control mechanism is further configured to control the drive mechanism to stop driving the vehicle body.
  • the obstacle avoidance mechanism includes at least one of an infrared sensor and an ultrasonic sensor.
  • the obstacle avoiding mechanism is disposed at least at a front end of the traveling direction of the vehicle body.
  • the sorting efficiency of the goods can be improved, and the labor cost can be reduced.
  • 1-2 is a front view of a robot provided by an embodiment
  • 3a is a front view of a robot provided by an embodiment
  • FIG. 3b is a schematic top view of a robot according to an embodiment
  • 4a is a front view of a robot including a steering mechanism provided by an embodiment
  • 4b is a schematic top view of a robot provided by an embodiment
  • 5a and 5b are top plan views of a robot with a turning mechanism according to an embodiment
  • FIG. 6a is a front view of a robot with an auxiliary mechanism according to an embodiment
  • FIG. 6b is a schematic top view of a robot with an auxiliary mechanism according to an embodiment.
  • This embodiment provides a robot, for example, a robot that can be used to carry goods, a handling robot, or a self-driving robot.
  • 1-2 is a front view of the robot provided by the embodiment.
  • the robot includes a vehicle body 1, a driving mechanism 2, a control mechanism, and a turning mechanism 3.
  • the driving mechanism 2 and the turning mechanism 3 are disposed on the vehicle body 1.
  • the control mechanism may be disposed on the vehicle body or disposed on other structures provided on the vehicle body (not shown).
  • the control mechanism can also be provided on the turning mechanism 3 or the drive mechanism 2.
  • the drive mechanism 2 is configured to drive the movement of the vehicle body 1, and the control mechanism is arranged to control the inversion mechanism 3 to reverse when the vehicle body moves to a designated position.
  • control mechanism is configured to receive the initial drive signal and, upon receiving the initial drive signal, control the drive mechanism to drive the vehicle body 1 to move to the designated position.
  • the initial drive signal can be sent manually, for example, the operator sends the initial drive signal to the control mechanism via the remote controller.
  • the control mechanism includes, for example, a receiving unit for receiving an initial drive signal.
  • the initial drive signal can be sent to the receiving unit of the control mechanism by wire or wirelessly.
  • the control mechanism controls the drive mechanism 2 to start operation upon receiving the initial drive signal.
  • a possible implementation manner is that a solenoid valve can be disposed at the switch connecting the driving mechanism 2 to the power source, and the driving mechanism 2 energizes the solenoid valve when receiving the electrical signal of the control mechanism, and adsorbs the switch to the closed position, thereby driving the mechanism 2 is connected to the power source to drive the body 1 to move.
  • the robot provided in this embodiment can internally set a battery and use the battery as a power source or an external power source.
  • the power source is used to supply power to the control mechanism, the drive mechanism 2, and the turnover mechanism 3.
  • the robot further includes a detection mechanism 4.
  • the detecting mechanism 4 is arranged to detect the position of the vehicle body 1 and transmit the detected position information to the control mechanism, and the control mechanism is further arranged to control the driving mechanism 2 to stop driving the vehicle body when receiving the information that the vehicle body 1 reaches the designated position. 1.
  • the detecting mechanism 4 may be disposed at the front end of the traveling direction of the vehicle body 1, for example, the detecting mechanism 4 is disposed on the central axis of the traveling direction of the vehicle body 1.
  • the detecting mechanism 4 may include at least one of an infrared sensor, an ultrasonic sensor, and a camera.
  • the position detecting process may be performed as follows: the camera captures an image of the front lower side of the vehicle body 1 and transmits the captured image information to a control mechanism, and the control mechanism receives the received image information and the target. In comparison with the position image information, the control mechanism controls the drive mechanism 2 to stop driving the vehicle body 1 when the image information coincides with the target position image information, and controls the turnover mechanism to reverse 3.
  • the control mechanism can include an update module that continually updates the stored target location image based on the most recent image captured by the camera to ensure accurate detection of the target location by the detection mechanism 4. For example, when the robot first places the goods at the target position, the camera can transmit the image of the goods stored for the first time to the control mechanism, and the control mechanism updates the original stored image, that is, the target location where the goods are stored is updated. For the new target location.
  • an image processor may be disposed in the control mechanism, and the image processor may compare the target position image received later with the pre-stored image, and automatically exclude the newly added goods in the image of the detection target position, thereby ensuring accurate positioning.
  • the camera is disposed on the central axis of the traveling direction of the vehicle body 1.
  • the camera can be placed at a distance of 0.5-1 meter from the ground.
  • the angle between the camera and the direction of gravity may be in the range of 30-60° and the imaging portion of the camera faces the front ground of the camera, so that the camera can form a sector scan area in front of the vehicle body 1.
  • the camera may include at least one of a two-dimensional code scanning module and a barcode scanning module.
  • the construction personnel can paste the QR code or barcode in advance at the target position of the goods to be stored, and the camera can scan the ground at any time, so that when the camera scans the two-dimensional code or barcode, the position information is parsed and the position information is fed back to the control mechanism. So that the control mechanism activates the turning mechanism 3 to perform unloading.
  • the control mechanism first controls the movement of the vehicle body toward the target position, that is, the vehicle body travels in a direction substantially coincident with the target direction.
  • the camera can continuously scan the storage position of the goods in front of it, and when scanning and parsing, for example, the two-dimensional code information, the signal is transmitted to the control mechanism, so that the control mechanism can stop the movement of the vehicle body and activate the turning mechanism 3.
  • the QR code and barcode can be pasted near the center of the target location so that the target location can store more goods and prevent misplacement of the goods.
  • the two-dimensional code or barcode information may include a number representing a storage location, such as a storage area No. 1, a storage area No. 2, and the control mechanism may be combined with a preset after the camera transmits the scanned information to the control mechanism.
  • the position information drives the car body to move to the corresponding storage area, so that the robot can clearly distinguish the target storage location and realize the storage of the goods in different categories.
  • the driving mechanism 2 includes at least a driving wheel 20 and The drive motor 21 connected to the drive wheel 20 is provided to drive the drive wheel 20 to rotate to drive the vehicle body 1 to move.
  • the drive wheel 20 is disposed on the side closer to the ground when the vehicle body 1 is normally traveling.
  • the drive motor 21 may be disposed on the side of the vehicle body 1 that is normally driven away from the ground.
  • the outer casing of the driving motor 21 can be fixed to the vehicle body 1 by bolts.
  • the rotating portion of the driving motor 21 can be connected to the driving wheel 20 through a rotating shaft, for example, so that when the driving motor 21 is powered on and the rotating portion is rotated, the driving wheel 20 can be driven to rotate. In order to drive the body 1 to move. Further, the drive motor 21 can also be connected to the drive wheel 20 through the speed reducer 23 to better drive the vehicle body 1.
  • the composition and arrangement of the drive wheels 20 can be adjusted.
  • the drive mechanism 2 may include a first drive wheel, a second drive wheel, a speed reducer 23, and two drive motors connected to the first drive wheel and the second drive wheel by the speed reducer 23, respectively.
  • the two drive wheels can make the movement of the car body 1 more flexible and stable.
  • the driving mechanism 2 includes two driving wheels disposed on the left and right sides of the vehicle body 1 in the width direction, and the two driving wheels are pivotally disposed in the middle of the traveling direction of the vehicle body 1 (the traveling direction refers to the vehicle body)
  • the direction in which the vehicle is normally traveling forward is distributed on both sides in the width direction of the vehicle body 1.
  • the drive mechanism 2 further includes two drive motors that are respectively coupled to the two drive wheels via the speed reducer 23 to control the steering and rotational speed of the corresponding drive wheels.
  • changing the steering and rotating speed of the driving wheel can change the moving direction and speed of the vehicle body 1.
  • the vehicle body 1 can be rotated along the central axis X to realize the commutation of the vehicle body 1.
  • the vehicle body can be flexibly and stably converted to the moving direction and the moving speed can be adjusted, so that the vehicle body 1 can be quickly moved to the target position.
  • the position of the two driving wheels can make the vehicle body rotate in the opposite direction when the two driving wheels are reversed and the rotating speed is the same, thereby improving the steering speed of the vehicle body and improving the cargo handling efficiency.
  • the robot further includes a follower mechanism 5.
  • the driven mechanism 5 includes a universal wheel 51 provided on the same side of the vehicle body 1 as the drive wheel 20.
  • the universal wheel 51 may be two, and the two universal wheels may be pivotally disposed at the front and rear ends of the vehicle body in the traveling direction.
  • two universal wheels 51 may be respectively disposed in front of and behind the driving wheels (assuming that the front end of the vehicle body in the forward direction is forward), that is, one universal wheel 51 is close to the front end of the vehicle, and the other universal wheel is close to the vehicle. tail.
  • the distance between the two universal wheels 51 may be slightly larger than the distance between the two drive wheels, thereby making the turning of the vehicle body 1 more stable and preventing the vehicle body 1 from falling to one side.
  • the distance between the two universal wheels 51 is 1.2 to 1.5 times the distance between the two drive wheels to improve the turning effect of the vehicle body 1.
  • one of the two universal wheels 51 one side of the universal wheel 51 away from the vehicle body 1 (ie, the portion having the largest distance from the vehicle body 1) to the body 1
  • a distance d1 is not equal to the second distance d2 of the other universal wheel 51 away from the side of the vehicle body 1 (i.e., the portion having the largest distance from the vehicle body 1) to the vehicle body 1. That is, when the vehicle body is placed on the ground, at least one of the universal wheels 51 is not on the plane formed by the other universal wheels 51 and the driving wheels, and the universal wheel which is d1 from the vehicle body 1 is shown in FIG. 4a. 51 is not in the above plane.
  • the at least one universal wheel 51 is farthest from the vehicle body 1
  • the portion is between the side of the vehicle body close to the ground (when the vehicle is normally placed on the ground) and the plane of the other universal wheel 51 and the drive wheel described above.
  • a plurality of universal wheels 51 may be disposed on the same side of the vehicle body on which the drive wheels are disposed.
  • the plurality of universal wheels 51 may include a universal wheel 51 that is respectively disposed at the front end and the rear end of the vehicle body 1.
  • the vehicle body 1 may further include a retracting device coupled to the universal wheel 51, which may be used to retract or position the universal wheel 51. Further, when the universal wheel 51 is disengaged, the universal wheel 51 can be stowed toward the vehicle body 1 so as not to participate in the steering of the vehicle body 1. When the universal wheel 51 is in position, it can be opened away from the side of the vehicle body 1 to participate in the steering of the vehicle body 1.
  • the retraction device can be, for example, a pin or hydraulic rod structure.
  • the retracting device is a pin structure
  • the housing of the universal wheel 51 can be coupled to the vehicle body through the pin and the outer sleeve.
  • the pin may include a locating hole along its length, the bushing including two openings for mating with the locating hole along its length.
  • the positioning hole of the pin shaft matches one of the opening holes of the sleeve, and the universal wheel 51 is in the working position; meanwhile, when the pin shaft When the positioning hole is engaged with the other opening of the sleeve, the universal wheel is in the retracted state.
  • the number of universal wheels in the working state can be adjusted accordingly, so that the number of universal wheels is adapted to the ground conditions. And while ensuring stable steering, improve the running speed of the car body.
  • the reducer may be a worm, a planetary reducer, a helical tooth, or a self-made mechanical device with a deceleration function, such as a timing belt or a chain.
  • the above drive motor can be directly connected to a right angle reducer. By setting the reducer, it is possible to increase the output torque while reducing the speed and reduce the inertia of the load, thereby improving the working performance of the drive mechanism.
  • the turning mechanism 3 includes an inverting motor 31 fixed to the second mount 33, a first crank 30 connected to the first output shaft of the inverting motor 31, and a first link 36 connecting the first crank 30 through the pin, and rotatingly A rocker 35 connected to the first mount 40 and a drive shaft 39 fixedly coupled to the rocker 35.
  • the first link 36 is fixedly coupled to the drive shaft 39 such that the first crank 30 rotates when the flip motor 31 rotates to drive the first link 36 to move, and the first link 36 drives the rocker 35 through the drive shaft 39. swing.
  • the inverting motor 31 transmits the rotational motion to the rocker 35 through the first crank 30, the pin shaft and the first link 36, so that the rocker 35 can be rotated in the same direction as the inverting motor 31, thereby achieving safe unloading.
  • the rotation direction of the rocker 35 is the same as the rotation direction of the first link 36.
  • the first mount 40 includes two fixing pieces in substantially the same direction as the first output rotating shaft of the reversing motor 31, the two fixing pieces respectively including openings, and the center lines of the two openings The direction coincides with the direction of the first output shaft of the flip motor 31.
  • the pin passes through the two openings, and the end of the rocker 35 is sleeved outside the pin, and the rocker 35 is rotatable relative to the pin. That is, this configuration can make the rotation direction of the rocker 35 coincide with the rotation direction of the first output shaft of the inverting motor.
  • the first output shaft direction of the inverting motor 31 may substantially coincide with the traveling direction of the vehicle body, but those skilled in the art will appreciate that the direction of the first output shaft of the inverting motor 31 may be other directions.
  • the flip mechanism can also be a two-bar linkage.
  • the second mount 33 is fixed to the vehicle body 1, for example, can be screwed to one side of the vehicle body.
  • the inverting motor 31 is fixed to the second mount 33 and the two output shafts are coupled to the two cranks, and the two cranks are respectively coupled to the corresponding first link 36 and second link 38 via the pin.
  • the output shaft of the inverting motor 31 projects from both ends thereof and is substantially parallel to the traveling direction of the vehicle body 1, and the first link 36 and the second link 38 pass through the pin shafts on both sides of the inverting motor 31, respectively.
  • the crank is coupled to the output shafts on both sides of the inverting motor 31 to constitute a double link structure.
  • the first mount 40 and the second mount 33 are fixed to the same side of the vehicle body 1.
  • the rocker 35 is fixed to the first mount 40 and rotatable about the central axis of the first mount 40.
  • the rocker 35 is fixedly coupled to the transmission shaft 39, and the transmission shaft 39 projects toward the link side, and the ends of the first link 36 and the second link 38 are fixedly coupled to the drive shaft 39, respectively.
  • the inverting motor 31 when the inverting motor 31 is in operation, the first link 36, the second link 38 and the inverting motor 31 rotate together, thereby driving the drive shaft 39 to rotate, so that the drive shaft 39 drives the rocker 35 to rotate, thereby realizing the dumping function of the cargo.
  • the stability of the turning can be improved, the mechanical performance of the turning mechanism can be improved, and the precision of the turning action can be improved.
  • a connection of the double link to the drive shaft may also be provided.
  • the two links are a first link 36 and a second link 38, respectively.
  • one end of the first link 36 away from the first crank 30 includes a first shaft hole
  • the second link 38 is away from the second crank.
  • One end includes a second shaft hole.
  • the drive shaft 39 is fixedly coupled to the first link 36 and the second link 38 by passing through the first shaft hole and the second shaft hole.
  • the shaft bore may have an interference fit with the drive shaft 39, i.e., the size of the shaft bore is slightly smaller than the size of the drive shaft 39 to securely couple the link to the drive shaft to ensure that the drive shaft 39 rotates with the link.
  • a threaded hole may be formed at a position where the transmission shaft 39 and the connecting rod are matched, so that after the transmission shaft 39 passes through the shaft hole, the transmission shaft 39 and the connecting rod are fixed by bolts. connection.
  • the end of the rocker 35 can be provided with the tray 7.
  • the tray 7 can be used to load goods.
  • the tray 7 is substantially in a horizontal state.
  • the reversing motor 31 rotates, so that the rocker 35 rotates together with the reversing motor 31 through the above mechanism, causing the tray 7 to be at an angle with the ground so that the goods can be slid off from the tray 7 for the purpose of unloading.
  • the robot provided in this embodiment may include the tray 7 or not.
  • the end of the rocker 35 may include a structure that facilitates placement of a loading device such as a tray, for example, the structure may be a support frame structure or a circular accommodation structure or the like.
  • the rocker 35 may include a reset mechanism.
  • the reset mechanism can be a spring or a torsion spring.
  • the rocker 35 can be placed in a position to restore and maintain the tray 7 in a horizontal state.
  • the rocker 35 can be tilted against the restoring force of the reset mechanism, and inclined toward one side (for example, the front of the vehicle body traveling direction), thereby causing the tray 7 connected to the rocker 35. Tilt to achieve unloading.
  • the rocker 35 can be returned to its original position by the action of its reset mechanism, and the tray can be maintained in a substantially horizontal state.
  • the reset mechanism in the case where the reset mechanism is a spring, the reset mechanism can be configured as follows. One end of the spring is fixed to the first mount 40, the other end pulls the rocker 35, and the spring is, for example, in a stretched state. When the rocker 35 is at the extreme position (even if the tray 7 is in the horizontal position), the rocker 35 cannot be rotated in a direction opposite to the direction in which the tilting motor rotates, for example, a limit can be set at the limit of the movement of the rocker 35 in the opposite direction.
  • the limiting member can be fixedly connected to the first mounting seat 40 or fixed to the vehicle body 1.
  • the rocker 35 is in close contact with the limiting member with a certain force under the double action of the spring stretching force and the limiting member, and applies a certain force to the limiting member in a direction opposite to the rotating direction of the turning motor 31. .
  • the tray 7 can be placed substantially horizontal to facilitate placement and handling of the cargo. That is, the rocker 35 is maintained in a substantially horizontal state when no external force is applied.
  • the turning motor 31 rotates, the torsional force can be transmitted to the rocker 35 through the link and the rotating shaft 39, so that the rocking lever 35 is rotated in the same direction as the inverting motor 31 against the tensile force of the spring.
  • the rocker 35 returns to its motion limit position in the opposite direction under the action of the spring pulling force, even if the tray 7 is in a substantially horizontal position.
  • the turnover mechanism can also include a sensing jaw coupled to the control structure.
  • the in-position signal can be sent to the control mechanism, and after receiving the in-position signal, the control mechanism sends a working signal to the detecting claw, and the detecting claw can be converted from the folded state to the open state according to the received working signal.
  • the control mechanism sends a working signal to the detecting claw, and the detecting claw can be converted from the folded state to the open state according to the received working signal.
  • touch the front end of the claw touch the tray on which the goods are loaded. If a foreign object other than the tray is touched, it is judged that the cargo is not completely removed, and the foreign matter is caught by the front finger to be released from the tray, and the finger is released, so that the cargo falls into the unloading area. If the foreign matter other than the tray is not touched, it is judged that the goods have been completely removed, thereby opening the folding structure to reset the detecting claws.
  • the robot further includes an auxiliary mechanism 8 disposed on the same side of the vehicle body as the turning mechanism.
  • the auxiliary mechanism 8 includes a support rod 81 fixed to the vehicle body 1 and a sensor 82 fixed to the support rod 81.
  • the support rod 81 is provided to assist the turning mechanism 6 to support the tray 7 when the robot transports the cargo, so that the tray 7 is more stable when the vehicle body 1 is moved.
  • the sensor 82 is arranged to detect whether the tray 7 is in a horizontal state. By providing support rods and sensors, the cargo can be transported more smoothly and the cargo is generally level.
  • the robot further includes an obstacle avoidance mechanism disposed in the vehicle body.
  • the obstacle avoidance mechanism is on both sides of the traveling direction of the vehicle body 1.
  • the obstacle avoidance mechanism is disposed at the front end or the rear end of the vehicle body in the traveling direction.
  • the obstacle avoidance mechanism can be an infrared camera and/or an ultrasonic detector.
  • the obstacle avoidance mechanism can send a signal to the control mechanism that controls the drive mechanism to stop driving the vehicle body and/or to stop the flipping action of the turnover mechanism.
  • the obstacle avoidance mechanism may further include an alarm, and the alarm may alarm when an obstacle is detected.
  • the robot provided in this embodiment can be used to assist in carrying goods, improve cargo handling efficiency, and reduce labor costs.

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Remote Sensing (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Automation & Control Theory (AREA)
  • Mechanical Engineering (AREA)
  • Electromagnetism (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Transportation (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Theoretical Computer Science (AREA)
  • Toxicology (AREA)
  • Artificial Intelligence (AREA)
  • Health & Medical Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Acoustics & Sound (AREA)
  • Combustion & Propulsion (AREA)
  • Chemical & Material Sciences (AREA)
  • Structural Engineering (AREA)
  • Multimedia (AREA)
  • Geology (AREA)
  • Civil Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Manipulator (AREA)
  • Warehouses Or Storage Devices (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

一种自驱动机器人，包括车体、驱动机构、控制机构和翻转机构；其中所述驱动机构和所述翻转机构设置于所述车体上；所述驱动机构配置为驱动车体运动；所述控制机构设置为在所述车体运动到指定位置时控制所述翻转机构翻转。

Description

自驱动机器人
本公开要求申请日为2017年7月18日、申请号为201710587598.2、名称为“搬运机器人”的中国专利申请的优先权，该申请的全部内容通过引用结合在本公开中。
技术领域
本公开涉及物品搬运技术领域，例如涉及一种自驱动机器人。
背景技术
物流行业的快速增长导致许多物流公司的仓储分拣工作量大幅增加。目前，很多仓库的自动化程度较低，还需要大量人员手工完成货物的挑选以及运送，不仅效率低，而且还会导致物流成本高。
发明内容
本公开提供了一种自驱动机器人，可以用于分拣货物。
一种自驱动机器人，用于分拣货物，包括车体、驱动机构、控制机构和翻转机构；其中所述驱动机构和所述翻转机构设置于所述车体上；所述驱动机构配置为驱动车体运动；所述控制机构设置为在所述车体运动到指定位置时控制所述翻转机构翻转。
在一个实施例中，所述控制机构还设置为接收初始驱动信号，并且在接收到所述初始驱动信号时，控制所述驱动机构驱动所述车体向指定位置运动。
在一个实施例中，自驱动机器人还包括探测机构，所述探测机构设置为检测所述车体所处位置，并将检测到的位置信息发送给所述控制机构，所述控制 机构还设置为在接收到所述车体到达指定位置的信息时控制所述驱动机构停止驱动所述车体。
在一个实施例中，所述探测机构包括红外传感器、超声波传感器和摄像头中的至少之一。
在一个实施例中，所述探测机构包括摄像头，所述摄像头设置为拍摄图像并将拍摄到的图像信息发送给所述控制机构，所述控制机构还设置为将接收到的图像信息与目标图像信息相比较，在所述图像信息与所述目标图像信息相符合时控制所述驱动机构停止驱动所述车体，并控制所述翻转机构翻转。
在一个实施例中，所述摄像头设置于沿所述车体行进方向的所述车体的中轴线上。
在一个实施例中，所述探测机构包括摄像头，所述摄像头包括二维码扫描模块和条形码扫描模块中的至少之一。
在一个实施例中，所述驱动机构至少包括驱动轮和与该驱动轮连接的驱动电机，所述驱动电机设置为驱动所述驱动轮转动，以带动所述车体运动。
在一个实施例中，所述驱动机构还包括减速器，所述驱动电机通过所述减速器连接所述驱动轮。
在一个实施例中，所述驱动机构包括第一驱动轮、第二驱动轮、第一减速器、第二减速器、第一驱动电机以及第二驱动电机，所述第一驱动电机通过所述第一减速器与所述第一驱动轮连接，所述第二驱动电机通过所述第二减速器与所述第二驱动轮连接。
在一个实施例中，所述第一驱动轮和所述第二驱动轮设置于沿所述车体的行进方向的所述车体两侧的中部。
在一个实施例中，所述第一驱动轮和所述第二驱动轮设置于沿所述车体行进方向的所述车体中轴线的两侧。
在一个实施例中，机器人还包括从动机构，所述从动机构包括第一万向轮，所述第一万向轮与所述第一驱动轮和所述第二驱动轮设于沿与所述车体行进方 向垂直方向的所述车体的同一侧。
在一个实施例中，所述从动机构还包括第二万向轮，所述第二万向轮与所述第一万向轮设置于沿与所述车体行进方向垂直方向的所述车体同侧，所述第一万向轮和所述第二万向轮枢转地设置于沿所述车体行进方向的所述车体两侧。
在一个实施例中，所述第一万向轮中距离所述车体最远的部分与所述车体之间的第一距离不等于所述第二万向轮中距离所述车体最远的部分与所述车体之间的第二距离。
在一个实施例中，所述第一距离小于所述第二距离，所述第二万向轮中距离所述车体最远的部分分别与第一驱动轮中距离所述车体最远的部分以及第二驱动轮中距离所述车体最远的部分在同一平面。
在一个实施例中，所述减速机包括同步带或链条。
在一个实施例中，所述车体的一侧设置有第一安装座和第二安装座；所述翻转机构包括固定于所述第二安装座的翻转电机、与所述翻转电机的第一输出转轴连接的第一曲柄、以及通过销轴连接所述第一曲柄的第一连杆、旋转地连接于第一安装座的摇杆以及与所述摇杆固定连接的传动轴；其中所述第一连杆与所述传动轴固定连接，使得所述第一曲柄在所述翻转电机转动时转动，并带动所述第一连杆运动，所述第一连杆通过所述传动轴带动所述摇杆摆动。
在一个实施例中，所述翻转机构还包括与所述翻转电机的第二输出转轴连接的第二曲柄、以及连接所述第二曲柄的第二连杆；其中所述第二连杆与所述传动轴固定连接。
在一个实施例中，所述第一输出转轴和所述第二输出转轴位于所述翻转电机的两侧。
在一个实施例中，所述第一连杆的远离所述第一曲柄的一端包括第一轴孔，所述第二连杆的远离所述第二曲柄的一端包括第二轴孔，所述传动轴通过穿过所述第一轴孔和所述第二轴孔与所述第一连杆和所述第二连杆固定连接。
在一个实施例中，自驱动机器人还包括与所述翻转机构连接的托盘。
在一个实施例中，自驱动机器人还包括辅助机构，所述辅助机构与所述翻转机构均设置于所述车体同一侧，所述同一侧为沿与所述车体行进方向相垂直的方向，所述辅助机构包括辅助支撑所述托盘的支撑杆和固定于所述支撑杆的传感器，所述传感器设置为检测所述托盘水平状态
在一个实施例中，自驱动机器人还包括设置于所述车体上的避障机构，所述避障机构设置为在所述车体行进方向检测到障碍物时，向所述控制机构发送信号，所述控制机构还设置为控制所述驱动机构停止驱动所述车体。
在一个实施例中，所述避障机构包括红外传感器和超声波传感器中的至少之一。
在一个实施例中，所述避障机构至少设置在所述车体的行进方向的前端。
采用本公开提供的自驱动机器人，可以提高货物分拣效率，降低人力成本。
附图说明
图1-2为一实施例提供的机器人的前视示意图；
图3a为一实施例提供的机器人的前视示意图；
图3b为一实施例提供的机器人的俯视示意图；
图4a为一实施例提供的包括转向机构的机器人的前视示意图；
图4b为一实施例提供的机器人的俯视示意图；
图5a和图5b为一实施例提供的具有翻转机构的机器人的俯视示意图；
图6a为一实施例提供的具有辅助机构的机器人的前视示意图；
图6b为一实施例提供的具有辅助机构的机器人的俯视示意图。
具体实施方式
下面结合附图和具体实施方式对本公开进行描述。
本实施例提供了一种机器人，例如，机器人可以用于搬运货物，可以为搬运机器人，或者自驱动机器人。图1-2为本实施例提供的机器人的前视示意图，参见图1，机器人包括车体1、驱动机构2、控制机构和翻转机构3。其中驱动机构2和翻转机构3设置于车体1，控制机构可以设置于车体上或设置于车体上所设置的其它结构上(图中未示意)。例如，控制机构也可以设置在翻转机构3或驱动机构2上。驱动机构2配置为驱动车体1运动，控制机构设置为在车体运动到指定位置时控制翻转机构3翻转。采用本实施例提供的机器人，可以改善货物搬运效率，降低人力成本。
在一个实施例中，控制机构设置为接收初始驱动信号，并且在接收到初始驱动信号时，控制驱动机构驱动车体1向指定位置运动。在实际使用中，初始驱动信号可以由人工发送，例如操作人员通过远程控制器将初始驱动信号发送给控制机构。在此情况下，控制机构例如包括用于接收初始驱动信号的接收单元。初始驱动信号可以通过有线或无线的方式发送给控制机构的接收单元。控制机构在接收到初始驱动信号时，控制驱动机构2启动工作。一个可能的实现方式是，驱动机构2与电源连接的开关处可以设置电磁阀，驱动机构2在接收到控制机构的电信号时，使电磁阀通电，并将开关吸附到闭合位置，从而驱动机构2与电源连通，以驱动车体1运动。
本实施例提供的机器人可以在内部设置蓄电池，并将蓄电池作为电源，也可以外接电源。电源用于为控制机构、驱动机构2、翻转机构3的工作提供电力。
参见图2，在一个实施例中，机器人还包括探测机构4。探测机构4设置为检测车体1所处位置，并将检测到的位置信息发送给控制机构，控制机构还设置为在接收到车体1到达指定位置的信息时控制驱动机构2停止驱动车体1。为了使探测结构4更准确检测到指定位置，可以将探测机构4设置于车体1行进方向的前端，例如，探测机构4设置于车体1行进方向的中轴线上。
例如，探测机构4可以包括红外传感器、超声波传感器和摄像头中的至少之一。
在探测机构4包括摄像头的情况下，位置检测过程可以按如下步骤进行：摄像头拍摄车体1前下方的图像并将拍摄到的图像信息发送给控制机构，控制机构将接收到的图像信息与目标位置图像信息相比较，控制机构在图像信息与目标位置图像信息相符合时控制所述驱动机构2停止驱动车体1，并控制翻转机构翻转3。
需要指出的是，如果货物的目标位置面积较大，随着货物量的增加，原有目标位置图像将不断发生变化。在一些实施例中，控制机构可以包括更新模块，该更新模块根据摄像头拍摄的最新图像不断更新存储的目标位置图像，从而确保探测机构4对目标位置的准确探测。例如，在机器人第一次将货物放置在目标位置时，摄像头可以将存放有第一次搬运的货物的图像传输给控制机构，控制机构将原存储图像更新，即将该存放有货物的目标位置更新为新的目标位置。另外，控制机构内也可以设置图像处理器，该图像处理器可以将之后收到的目标位置图像与预存的图像进行比较，并自动排除检测目标位置图像中新增的货物，从而确保定位准确。
如上所述，在该实施例中，摄像头设置于车体1行进方向的中轴线上。为了确保检测范围及检测精度，例如，摄像头可以设置在距地面的距离在0.5-1米的范围内。另外，摄像头与重力方向的夹角可以在30-60°的范围内且摄像头的摄像部分朝向摄像头的前方地面，从而使摄像头可以在车体1前方形成扇形扫描区。
在该实施例中，摄像头可以包括二维码扫描模块和条形码扫描模块中的至少之一。施工人员可以事先在待存储货物的目标位置粘贴二维码或条形码，摄像头可以随时扫描地面，从而在摄像头扫描到这些二维码或条形码时，解析出位置信息，并将位置信息反馈给控制机构，从而使控制机构启动翻转机构3进行卸货。一种可能情况是，控制机构首先控制车体朝向目标位置方向运动，即车体按与目标方向大致一致的方向行驶。在此过程中，摄像头可以不断扫描其前方货物存储位置，并在扫描并解析出例如二维码信息时，将信号传输给控制 机构，从而使控制机构可以停止车体运动及启动翻转机构3。
例如，二维码和条形码可以粘贴在目标位置的中心附近，以便使目标位置可以更多的存储货物，防止货物错放。此外，二维码或条形码信息可以包括代表存储位置的数字，例如1号存储区、2号存储区...，当摄像头将扫描到的信息发送给控制机构之后，控制机构可以结合预先设置的位置信息，驱动车体运动到相应存储区，从而使机器人可以更清晰的辨别目标存储位置，实现货物分门别类的存储。
图3a为一实施例提供的机器人的前视示意图，图3b为一实施例提供的机器人的俯视示意图，参见图3a和图3b，在一个实施例中，驱动机构2至少包括驱动轮20和与该驱动轮20连接的驱动电机21，驱动电机21设置为驱动上述驱动轮20转动，以带动车体1运动。例如，驱动轮20设置于车体1正常行驶时靠近地面的一侧。例如，驱动电机21可以设置于车体1正常行驶的远离地面一侧。驱动电机21的外壳可以通过螺栓固定于车体1，驱动电机21的转动部分例如可以通过转轴连接驱动轮20，从而在驱动电机21接通电源且旋转部分转动时，可以带动驱动轮20转动，以便带动车体1运动。另外，驱动电机21也可以通过减速器23连接到驱动轮20，以便更好的驱动车体1。
在该实施例中，为了使车体行驶更加平稳，可以调整驱动轮20的组成和设置方式。例如，驱动机构2可以包括第一驱动轮、第二驱动轮、减速器23、以及通过减速器23分别与第一驱动轮和第二驱动轮连接的两个驱动电机。两个驱动轮可以使车体1运动更加灵活、平稳。继续参见图3a，驱动机构2包括设置于车体1沿宽度方向的左右两侧的两个驱动轮，这两个驱动轮枢转设置于车体1的行进方向的中部(行进方向指车体正常向前行驶时的方向)且分布在车体1的宽度方向的两侧。驱动机构2还包括两个驱动电机，通过减速器23分别与两个驱动轮连接，以控制对应驱动轮的转向和转速。其中，改变驱动轮的转向和转速，可以变换车体1的移动方向和速度。例如，当车体左右两个驱动轮的转向相反且转速相同时，车体1可以沿中轴线X转动，实现车体1的换向。通过 这种设置方式，可以实现车体灵活、稳定地转换移动方向及调整运动速度，可以使车体1快速的移动到目标位置。本实施例提供的机器人，由于两个驱动轮的设置位置，可以使车体在两个驱动轮转向相反且转速相同时原位转动，因此提高了车体的转向速度，提高了货物搬运效率。
参见图4a和4b，在一个实施例中，机器人还包括从动机构5。从动机构5包括与驱动轮20设于车体1同一侧的万向轮51。例如，万向轮51可以为两个，两个万向轮可以枢转地设置于车体沿行进方向的前后端。例如，两个万向轮51可以分别设置于驱动轮的前方和后方(假定车体在其前进的方向的前端为前)，即一个万向轮51靠近车前端，另一个万向轮靠近车尾。在一实施例中，两个万向轮51之间的距离可以略大于两个驱动轮之间的距离，从而使车体1的转弯更加稳定，防止车体1向一侧倾倒。例如，两个万向轮51之间的距离是两个驱动轮之间的距离的1.2到1.5倍，以改善车体1的转弯效果。
参见图4a，在该实施例中，例如，两个万向轮51中，其中一个万向轮51的远离车体1一侧(即与车体1距离最大的部分)到车体1的第一距离d1不等于另一个万向轮51的远离车体1一侧(即与车体1距离最大的部分)到该车体1的第二距离d2。即，将车体倒放在地面时，其至少有一个万向轮51不在其它万向轮51和驱动轮所组成的平面上，图4a中所示为距离车体1为d1的万向轮51不在上述平面。例如，在其它万向轮51距离车体1最远的部分和驱动轮20距离所述车体1最大的部分在同一个平面的情况下，该至少一个万向轮51距离最远车体1的部分在车体靠近地面的一侧(当车正常放置在地面上时)与上述其它万向轮51与驱动轮组成的平面之间。例如，第一距离d1与第二距离d2满足d1＝(90％-98％)×d2。通过使至少一个万向轮51与其它万向轮51和驱动轮不在同一个平面，以及进一步调整不同万向轮51距离车体的距离关系，可以改善车体的转弯效果，防止车体在转弯时发生侧翻。
在一些实施例中，例如，在设置驱动轮的车体的同侧可以设置多个万向轮51。例如，多个万向轮51中可以包括分别设置在车体1前端和后端的万向轮51。 通过设置多个万向轮51，以及优化万向轮51的位置及万向轮51与驱动轮的关系，可以改善车体的转弯效果。
在上述实施例中，车体1还可以包括与万向轮51相连接的收缩装置，该收缩装置可以用于将万向轮51退位或就位。并且在万向轮51退位时，万向轮51可以向车体1方向收起，从而不参与车体1的转向。在万向轮51就位时，其可以向远离车体1一侧张开，以便参与车体1转向。在一实施例中，收缩装置例如可以为销轴或液压杆结构。当收缩装置为销轴结构时，万向轮51的壳体可以通过销轴和外轴套连接至车体。例如，销轴沿其长度方向可以包括定位孔，轴套包括沿其长度方向用于与定位孔配合的两个开孔。当销轴与轴套充分配合时(即销轴进入轴套最多的情况下)，销轴的定位孔与轴套的其中一个开孔匹配，万向轮51处于工作位；同时，当销轴的定位孔和轴套的另一个开孔配合时，万向轮处于收回状态。在一些应用场景下，例如地面存在障碍物，或者车体在斜面上或者地面凹凸不平时，可以相应地调整处于工作状态的万向轮数量，以便使万向轮的数量与地面状况相适应，并在保证稳定转向的同时，提高车体的运行速度。
在一些实施例中，减速机可以是涡轮蜗杆、行星减速机、螺旋散齿，也可以自制的具有减速功能的机械装置，如同步带、链条。上述驱动电机可以直接连接直角减速机。通过设置减速机，可以在降速的同时，提高输出扭矩，并降低负载的惯量，从而改善驱动机构的工作性能。
参见图5a和图5b，在一个实施例中，车体1的一侧固定第一安装座40和第二安装座33。翻转机构3包括固定于第二安装座33的翻转电机31、与翻转电机31的第一输出转轴连接的第一曲柄30、以及通过销轴连接第一曲柄30的第一连杆36、旋转地连接于第一安装座40的摇杆35以及与摇杆35固定连接的传动轴39。其中第一连杆36与传动轴39固定连接，以使第一曲柄30在翻转电机31转动时转动，带动第一连杆36运动，第一连杆36通过所述传动轴39带动摇杆35摆动。翻转电机31通过第一曲柄30、销轴和第一连杆36将旋转运动 传递给摇杆35，从而能够实现摇杆35与翻转电机31同方向转动，实现安全卸货。
在上述实施例中，例如，摇杆35的旋转方向与第一连杆36的旋转方向相同。参见图5a，例如，第一安装座40沿与翻转电机31的第一输出转轴大致相同的方向包括两个固定片，这两个固定片分别包括开孔，且两个开孔的中心连线方向与翻转电机31的第一输出转轴方向一致。销轴穿过两个开孔，并且摇杆35的端部套结在销轴外，摇杆35可以相对于销轴旋转。也就是说，这种结构可以使摇杆35的旋转方向与翻转电机的第一输出转轴的转动方向一致。此外，如图5a所示，翻转电机31的第一输出转轴方向可以大致与车体行进方向一致，但本领域技术人员应了解，翻转电机31的第一输出转轴方向也可以是其它方向。
参见图5a，翻转机构还可以为双连杆机构。在一实施例中，第二安装座33固定在车体1上，例如可以螺纹连接于车体一侧。翻转电机31固定在第二安装座33上且两个输出转轴与两个曲柄相连接，两个曲柄分别通过销轴与对应的第一连杆36和第二连杆38相连接。具体地，翻转电机31的输出转轴从其两端伸出，且与车体1的行进方向大致平行，第一连杆36和第二连杆38分别在翻转电机31的两侧通过销轴和曲柄与翻转电机31的两侧的输出转轴连接，从而构成双连杆结构。第一安装座40与上述第二安装座33固定在车体1的同侧，摇杆35固定在第一安装座40上并可以绕着第一安装座40的中轴线转动。摇杆35固定连接传动轴39，且传动轴39向连杆侧伸出，第一连杆36和第二连杆38的端部分别与传动轴39固定连接。这样，在翻转电机31工作时，第一连杆36、第二连杆38和翻转电机31一同转动，从而带动传动轴39转动，以便使传动轴39带动摇杆35转动，实现货物的倾倒功能。此外，通过在翻转电机两侧均设置与传动轴连接的连杆，可以提高翻转的稳定性，改善翻转机构的力学性能，提高翻转动作的精度。
在一实施例中，例如，还可以设置双连杆与传动轴的连接方式。例如两个连杆分别为第一连杆36和第二连杆38。可选地，在翻转电机31通过双连杆与 传动轴39连接的情况下，例如，第一连杆36远离第一曲柄30的一端包括第一轴孔，第二连杆38远离第二曲柄的一端包括第二轴孔。传动轴39通过穿过第一轴孔和第二轴孔与第一连杆36和第二连杆38固定连接。例如，轴孔可以与传动轴39采用过盈配合，即轴孔的尺寸略小于传动轴39的尺寸，以便使连杆与传动轴固定连接，从而确保传动轴39随连杆转动。此外，为了改善传动效果，提高传动结构的稳定性，可以在传动轴39和连杆匹配的位置开设螺纹孔，从而在传动轴39穿过轴孔后，通过螺栓将传动轴39和连杆固定连接。
如图5b所示，在上述实施例中，例如，摇杆35的端部可以设置托盘7。托盘7可以用于装载货物。例如，车体1正常放置于地面时，且在翻转电机31没有工作的情况下，托盘7基本处于水平状态。当车体1到达指定卸货位置，翻转电机31转动，从而通过上述机构使摇杆35随翻转电机31一同转动，导致托盘7与地面成一定角度，以便货物从托盘7滑下，实现卸货的目的。本实施例提供的机器人既可以包括托盘7，也可以不设置托盘。在机器人不包括托盘的情况下，摇杆35的端部可以包括便于放置托盘等装载装置的结构，例如该结构可以为支撑架结构或圆形容置结构等。
在一实施例中，为了确保摇杆35在运货状态下，托盘7处于水平的位置，摇杆35可以包括复位机构。复位机构可以是弹簧或扭簧。通过复位机构，可以使摇杆35处于使托盘7恢复并保持在水平状态的位置。在此情况下，在翻转电机31工作时，可以使摇杆35克服复位机构的回复力，而向一侧(例如，车体行进方向的前方)倾斜，从而使与摇杆35连接的托盘7倾斜，以实现卸货。在翻转电机31关机时，摇杆35通过其复位机构的作用可以使其回复原位，可以使托盘保持在大致水平状态。
在一实施例中，在复位机构为弹簧的情况下，可以按如下方式配置复位机构。弹簧的一端固定在第一安装座40上，另一端拉住摇杆35，且弹簧例如处于拉伸状态。当摇杆35在极限位置(即使托盘7处于水平状态的位置)时，摇杆35无法向与翻转电机转动方向相反的方向旋转，例如，可以在摇杆35向相反方 向运动极限处设置限位件，该限位件可以固定连接于第一安装座40或固定于车体1上。摇杆35在弹簧拉伸力以及限位件的双重作用下，以一定的作用力与限位件紧密接触，且在与翻转电机31转动方向相反的方向上向限位件施加一定的作用力。摇杆35处于该位置时，可以使托盘7大致处于水平状态，以方便放置及搬运货物。也即，摇杆35在没有受到外力时，保持在大致水平的状态。在翻转电机31转动时，可以通过连杆和转轴39将扭转力传递给摇杆35，以使摇杆35克服弹簧的拉伸力，而向与翻转电机31的同方向转动。在翻转电机31停止工作时，摇杆35在弹簧拉力的作用下，回复到其反方向的运动极限位置，也即使托盘7处于大致水平的位置。
在该实施例中，为了确保货物完全卸下，翻转机构还可以包括与控制结构连接的检测爪。翻转机构在翻转到位后，可以向控制机构发送到位信号，控制机构在接收到该到位信号后，向检测爪发送工作信号，该检测爪根据接收到的工作信号，可以从折叠状态转换为打开状态，并通过检测爪前端轻触装载货物的托盘。如果触碰到托盘以外的异物，则判断货物并未完全卸下，并通过其前端指状部件夹住该异物，使其脱离托盘后松开指状部件，从而货物落到卸货区域。如果未触碰到托盘以外的异物，则判断货物已经完全卸下，从而开启折叠结构，以使检测爪复位。
参见图6a和图6b，在一个实施例中，机器人还包括与所述翻转机构设置于所述车体同一侧的辅助机构8。辅助机构8包括固定车体1上的支撑杆81以及固定在该支撑杆81上的传感器82。支撑杆81设置为在机器人运送货物时辅助翻转机构6支撑托盘7，以使托盘7在车体1运动时更加稳定。传感器82设置为检测托盘7是否处于水平状态。通过设置支撑杆和传感器，可以使货物的运输更加平稳，并确保货物大致处于水平状态。
在一个实施例中，机器人还包括设置在车体的避障机构。例如，该避障机构在车体1行进方向的两侧。例如，避障机构设置在车体的沿行进方向的前端或后端。例如，避障机构可以为红外摄像头和/或超声波检测器。在检测到障碍 物时，避障机构可以向控制机构发送信号，控制机构控制驱动机构停止驱动车体和/或停止翻转机构的翻转动作。该避障机构还可以包括报警器，在检测到障碍物时，报警器可以报警。
本实施例提供的机器人，可以用于辅助搬运货物，提高货物搬运效率，降低人力成本。
以上实施例可以彼此组合，并具有更好的效果。
以上已经描述了本公开的多个实施例，上述说明是示例性的，并非穷尽性的，并且也不限于所披露的多个实施例。在不偏离所说明的多个实施例的范围和精神的情况下，对于本技术领域的普通技术人员来说许多修改和变更都是显而易见的。因此，本公开的保护范围应该以权利要求的保护范围为准。

Claims (26)

  1. 一种自驱动机器人，包括车体、驱动机构、控制机构和翻转机构；
    其中所述驱动机构和所述翻转机构设置于所述车体上；
    所述驱动机构配置为驱动车体运动；
    所述控制机构设置为在所述车体运动到指定位置时控制所述翻转机构翻转。
  2. 根据权利要求1所述的自驱动机器人，其中，所述控制机构还设置为接收初始驱动信号，并且在接收到所述初始驱动信号时，控制所述驱动机构驱动所述车体向指定位置运动。
  3. 根据权利要求1所述的自驱动机器人，还包括探测机构，所述探测机构设置为检测所述车体所处位置，并将检测到的位置信息发送给所述控制机构，所述控制机构还设置为在接收到所述车体到达指定位置的信息时控制所述驱动机构停止驱动所述车体。
  4. 根据权利要求3所述的自驱动机器人，其中，所述探测机构包括红外传感器、超声波传感器和摄像头中的至少之一。
  5. 根据权利要求4所述的自驱动机器人，其中，所述探测机构包括摄像头，所述摄像头设置为拍摄图像并将拍摄到的图像信息发送给所述控制机构，所述控制机构还设置为将接收到的图像信息与目标图像信息相比较，在所述图像信息与所述目标图像信息相符合时控制所述驱动机构停止驱动所述车体，并控制所述翻转机构翻转。
  6. 根据权利要求5所述的自驱动机器人，其中，所述摄像头设置于沿所述车体行进方向的所述车体的中轴线上。
  7. 根据权利要求4所述的自驱动机器人，其中，所述探测机构包括摄像头，所述摄像头包括二维码扫描模块和条形码扫描模块中的至少之一。
  8. 根据权利要求1所述的自驱动机器人，其中，所述驱动机构至少包括驱动轮和与该驱动轮连接的驱动电机，所述驱动电机设置为驱动所述驱动轮转动，以带动所述车体运动。
  9. 根据权利要求8所述的自驱动机器人，其中，所述驱动机构还包括减速器，所述驱动电机通过所述减速器连接所述驱动轮。
  10. 根据权利要求1所述的自驱动机器人，其中，所述驱动机构包括第一驱动轮、第二驱动轮、第一减速器、第二减速器、第一驱动电机以及第二驱动电机，所述第一驱动电机通过所述第一减速器与所述第一驱动轮连接，所述第二驱动电机通过所述第二减速器与所述第二驱动轮连接。
  11. 根据权利要求10所述的自驱动机器人，其中，所述第一驱动轮和所述第二驱动轮设置于沿所述车体的行进方向的所述车体两侧的中部。
  12. 根据权利要求11所述的自驱动机器人，其中，所述第一驱动轮和所述第二驱动轮设置于沿所述车体行进方向的所述车体中轴线的两侧。
  13. 根据权利要求12所述的自驱动机器人，还包括从动机构，所述从动机构包括第一万向轮，所述第一万向轮与所述第一驱动轮和所述第二驱动轮设于沿与所述车体行进方向垂直方向的所述车体的同一侧。
  14. 根据权利要求13所述的自驱动机器人，其中，所述从动机构还包括第二万向轮，所述第二万向轮与所述第一万向轮设置于沿与所述车体行进方向垂直方向的所述车体同侧，所述第一万向轮和所述第二万向轮枢转地设置于沿所述车体行进方向的所述车体两侧。
  15. 根据权利要求14所述的自驱动机器人，其中，所述第一万向轮中距离所述车体最远的部分与所述车体之间的第一距离不等于所述第二万向轮中距离所述车体最远的部分与所述车体之间的第二距离。
  16. 根据权利要求15所述的自驱动机器人，其中，所述第一距离小于所述第二距离，所述第二万向轮中距离所述车体最远的部分分别与第一驱动轮中距离所述车体最远的部分以及第二驱动轮中距离所述车体最远的部分在同一平面。
  17. 根据权利要求10所述的自驱动机器人，其中，所述减速机包括同步带或链条。
  18. 根据权利要求1所述的自驱动机器人，其中，所述车体的一侧设置有第一安装座和第二安装座；所述翻转机构包括固定于所述第二安装座的翻转电机、与所述翻转电机的第一输出转轴连接的第一曲柄、以及通过销轴连接所述第一曲柄的第一连杆、旋转地连接于第一安装座的摇杆以及与所述摇杆固定连接的传动轴；
    其中所述第一连杆与所述传动轴固定连接，使得所述第一曲柄在所述翻转电机转动时转动，并带动所述第一连杆运动，所述第一连杆通过所述传动轴带动所述摇杆摆动。
  19. 根据权利要求18所述的自驱动机器人，其中，所述翻转机构还包括与所述翻转电机的第二输出转轴连接的第二曲柄、以及连接所述第二曲柄的第二连杆；其中所述第二连杆与所述传动轴固定连接。
  20. 根据权利要求19所述的自驱动机器人，其中，所述第一输出转轴和所述第二输出转轴位于所述翻转电机的两侧。
  21. 根据权利要求20所述的自驱动机器人，其中，所述第一连杆的远离所述第一曲柄的一端包括第一轴孔，所述第二连杆的远离所述第二曲柄的一端包括第二轴孔，所述传动轴通过穿过所述第一轴孔和所述第二轴孔与所述第一连杆和所述第二连杆固定连接。
  22. 根据权利要求1-21任一项所述的自驱动机器人，还包括与所述翻转机构连接的托盘。
  23. 根据权利要求22所述的自驱动机器人，还包括辅助机构，所述辅助机构与所述翻转机构均设置于所述车体同一侧，所述同一侧为沿与所述车体行进方向相垂直的方向，所述辅助机构包括辅助支撑所述托盘的支撑杆和固定于所述支撑杆的传感器，所述传感器设置为检测所述托盘水平状态。
  24. 根据权利要求1所述的自驱动机器人，还包括设置于所述车体上的避障机构，所述避障机构设置为在所述车体行进方向检测到障碍物时，向所述控制机构发送信号，所述控制机构还设置为控制所述驱动机构停止驱动所述车体。
  25. 根据权利要求24所述的自驱动机器人，其中，所述避障机构包括红外传感器和超声波传感器中的至少之一。
  26. 根据权利要求25所述的自驱动机器人，其中，所述避障机构至少设置在所述车体的行进方向的前端。
PCT/CN2018/095445 2017-07-18 2018-07-12 自驱动机器人 WO2019015526A1 (zh)

Priority Applications (2)

Application Number Priority Date Filing Date Title
US16/472,844 US10858187B1 (en) 2017-07-18 2018-07-12 Self-driven robot
JP2019535801A JP6664034B2 (ja) 2017-07-18 2018-07-12 自己駆動ロボット

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201710587598.2A CN107352205B (zh) 2017-07-18 2017-07-18 搬运机器人
CN201710587598.2 2017-07-18

Publications (1)

Publication Number Publication Date
WO2019015526A1 true WO2019015526A1 (zh) 2019-01-24

Family

ID=60286426

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2018/095445 WO2019015526A1 (zh) 2017-07-18 2018-07-12 自驱动机器人

Country Status (4)

Country Link
US (1) US10858187B1 (zh)
JP (1) JP6664034B2 (zh)
CN (1) CN107352205B (zh)
WO (1) WO2019015526A1 (zh)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109808962A (zh) * 2019-01-25 2019-05-28 浙江理工大学 一种包装袋分页、喷码、检测及剔除流水线及其使用方法
CN110588823A (zh) * 2019-10-08 2019-12-20 广东省智能制造研究所 一种爬壁机器人
CN113382203A (zh) * 2021-05-20 2021-09-10 河南农道智能科技有限公司 基于人工智能的agv货物掉落检测方法与***
CN117408276A (zh) * 2023-12-11 2024-01-16 《中国医药科学》杂志社有限公司 一种书刊出版信息采集装置

Families Citing this family (15)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107117087A (zh) * 2017-05-23 2017-09-01 北京京东尚科信息技术有限公司 分拣型自动导引运输车
CN107352205B (zh) 2017-07-18 2023-09-08 北京极智嘉科技股份有限公司 搬运机器人
CN107855284B (zh) 2017-12-06 2024-06-18 北京极智嘉科技股份有限公司 带有安检功能的物品分拣***及方法
CN109968362A (zh) * 2017-12-28 2019-07-05 沈阳新松机器人自动化股份有限公司 一种移动平台示教***
CN109560767B (zh) * 2018-05-28 2024-01-23 苏州瑞得恩光能科技有限公司 一种接驳机器人及清洁***
CN108500949A (zh) * 2018-06-06 2018-09-07 北京极智嘉科技有限公司 具有多个承接装置的移动机器人
CN109591875A (zh) * 2018-12-03 2019-04-09 南京理工大学张家港工程院有限公司 一种用于智能制造流水线的工程车
CN110091303B (zh) * 2019-05-10 2020-03-06 长春市大众物流装配有限责任公司 一种智能仓库搬运机器人
US11554915B2 (en) * 2020-03-02 2023-01-17 Goodrich Corporation Cargo aisle drive system
CN111674800B (zh) * 2020-06-03 2021-07-09 灵动科技（北京）有限公司 用于自动驾驶***的智能仓储技术
CN113848254B (zh) * 2021-09-23 2024-01-23 湖南汽车工程职业学院 大型曲面自适应超声相控阵扫查装置
CN113955419A (zh) * 2021-11-09 2022-01-21 中国兵器装备集团自动化研究所有限公司 一种适用于危险环境的有轨穿梭小车
CN114834908B (zh) * 2022-04-07 2024-04-16 绍兴古越龙山智能装备有限公司 自动装卸***及自动装卸方法
EP4317049A1 (en) * 2022-08-01 2024-02-07 TOYOTA MATERIAL HANDLING MANUFACTURING ITALY S.p.A Industrial truck autonomous or assisted driving using marker detection
KR102671519B1 (ko) * 2023-10-04 2024-05-31 박재호 가구용 이동장치

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN1796058A (zh) * 2004-12-28 2006-07-05 大连理工大学 一种双摆杆移动小车
KR20130000243A (ko) * 2011-06-22 2013-01-02 최인환 버켓타입 관로 준설로봇
CN103482317A (zh) * 2013-09-09 2014-01-01 无锡虹业自动化工程有限公司 Agv自行走卸料运输车
CN203753960U (zh) * 2014-03-25 2014-08-06 儒拉玛特自动化技术(苏州)有限公司 一种顶升翻转卸料机构
CN106514670A (zh) * 2016-12-27 2017-03-22 杭州瓦瑞科技有限公司 分拣机器人
CN107352205A (zh) * 2017-07-18 2017-11-17 北京极智嘉科技有限公司 搬运机器人

Family Cites Families (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
IT1188080B (it) * 1985-12-18 1987-12-30 Sasib Spa Dispositivo invertitore di pacchetti in particolare di pacchetti di sigarette o simili
US6662889B2 (en) * 2000-04-04 2003-12-16 Irobot Corporation Wheeled platforms
CN103930308B (zh) 2011-11-15 2016-05-04 日立建机株式会社 搬运车辆
JP5983088B2 (ja) 2012-06-27 2016-08-31 村田機械株式会社 自律移動装置、及び、自律移動方法
US9102055B1 (en) * 2013-03-15 2015-08-11 Industrial Perception, Inc. Detection and reconstruction of an environment to facilitate robotic interaction with the environment
CN103412593B (zh) * 2013-08-16 2016-04-20 成都四威高科技产业园有限公司 潜伏式agv移动搬运机器人
JP6243687B2 (ja) 2013-09-30 2017-12-06 株式会社小松製作所 運搬機械
JP6621129B2 (ja) * 2014-08-28 2019-12-18 東芝ライフスタイル株式会社 電気掃除機
EP3302894B1 (de) * 2015-06-05 2023-04-26 Thomas Buck Robotergestütztes transportieren eines verfahrbaren gegenstands
US10059004B2 (en) * 2015-06-22 2018-08-28 Ricoh Company, Ltd. Robot, information processing system, and storage medium
CN105217285B (zh) * 2015-10-20 2017-06-23 四川长虹电器股份有限公司 用于实现平板电视机移载翻转斜靠的设备
CN205397170U (zh) * 2016-02-02 2016-07-27 吕涛 仓储智能搬运机器人及搬运***
CN207293218U (zh) * 2017-07-18 2018-05-01 北京极智嘉科技有限公司 搬运机器人
CN107243622B (zh) * 2017-08-10 2018-06-19 安徽理工大学 混联式可移动重载铸造机器人

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN1796058A (zh) * 2004-12-28 2006-07-05 大连理工大学 一种双摆杆移动小车
KR20130000243A (ko) * 2011-06-22 2013-01-02 최인환 버켓타입 관로 준설로봇
CN103482317A (zh) * 2013-09-09 2014-01-01 无锡虹业自动化工程有限公司 Agv自行走卸料运输车
CN203753960U (zh) * 2014-03-25 2014-08-06 儒拉玛特自动化技术(苏州)有限公司 一种顶升翻转卸料机构
CN106514670A (zh) * 2016-12-27 2017-03-22 杭州瓦瑞科技有限公司 分拣机器人
CN107352205A (zh) * 2017-07-18 2017-11-17 北京极智嘉科技有限公司 搬运机器人

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109808962A (zh) * 2019-01-25 2019-05-28 浙江理工大学 一种包装袋分页、喷码、检测及剔除流水线及其使用方法
CN109808962B (zh) * 2019-01-25 2023-12-26 浙江理工大学 一种包装袋分页、喷码、检测及剔除流水线及其使用方法
CN110588823A (zh) * 2019-10-08 2019-12-20 广东省智能制造研究所 一种爬壁机器人
CN113382203A (zh) * 2021-05-20 2021-09-10 河南农道智能科技有限公司 基于人工智能的agv货物掉落检测方法与***
CN117408276A (zh) * 2023-12-11 2024-01-16 《中国医药科学》杂志社有限公司 一种书刊出版信息采集装置
CN117408276B (zh) * 2023-12-11 2024-03-19 《中国医药科学》杂志社有限公司 一种书刊出版信息采集装置

Also Published As

Publication number Publication date
US10858187B1 (en) 2020-12-08
JP6664034B2 (ja) 2020-03-13
CN107352205A (zh) 2017-11-17
CN107352205B (zh) 2023-09-08
JP2020504679A (ja) 2020-02-13
US20200377298A1 (en) 2020-12-03

Similar Documents

Publication Publication Date Title
WO2019015526A1 (zh) 自驱动机器人
EP4169858A1 (en) Loading and unloading equipment, and loading and unloading system
CN103568017B (zh) 使用了辊装置的取出机器人***
JP4994774B2 (ja) ベルトコンベヤ蛇行修正装置
EP2155443A2 (fr) Robot a chassis roulant pour l'assistance d'une personne a domicile
US20210114429A1 (en) A self leveling autonomous guided vehicle
CN207293218U (zh) 搬运机器人
KR20210044845A (ko) 로봇 핸드, 로봇 및 로봇 시스템
WO2020022479A1 (ja) 搬送ロボット、搬送システム、及び搬送方法
WO2023029643A1 (zh) 手指结构、搬运装置和搬运机器人
WO2010058498A1 (ja) 自律移動装置
CN110606347A (zh) 传输机及运货小车
CN214494802U (zh) 一种组合配套传输装置
KR102490492B1 (ko) 자동 화물 운반장치
CN210635333U (zh) 一种货物翻转机构
CN113751348A (zh) 一种用于物流分拣的摆臂装置
CN210418158U (zh) 一种基于移动机器人的多功能输送机
CN205970668U (zh) 一种可旋转挂接料车的牵引连接机构
CN219839150U (zh) 推箱组件及具有其的输送线
KR102561743B1 (ko) 물품이 자동으로 배출 가능한 무인 이송 로봇
US20240253916A1 (en) Article loading and unloading equipment and article loading and unloading system
CN220548291U (zh) 一种搬运机器人
CN215755136U (zh) 一种智能工厂用六自由度物料搬运***
KR102449394B1 (ko) 다중 목적지로의 배송이 가능한 무인 이송 로봇
WO2024009342A1 (ja) 搬送装置およびその制御方法

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 18835194

Country of ref document: EP

Kind code of ref document: A1

ENP Entry into the national phase

Ref document number: 2019535801

Country of ref document: JP

Kind code of ref document: A

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 18835194

Country of ref document: EP

Kind code of ref document: A1