CN203542594U - Full-automatic carrier based on combination of multiple robots - Google Patents
Full-automatic carrier based on combination of multiple robots Download PDFInfo
- Publication number
- CN203542594U CN203542594U CN201320693565.3U CN201320693565U CN203542594U CN 203542594 U CN203542594 U CN 203542594U CN 201320693565 U CN201320693565 U CN 201320693565U CN 203542594 U CN203542594 U CN 203542594U
- Authority
- CN
- China
- Prior art keywords
- robot
- agv
- industrial bus
- full
- automatic carrier
- Prior art date
- Legal status (The legal status 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 status listed.)
- Expired - Fee Related
Links
Images
Landscapes
- Manipulator (AREA)
Abstract
The utility model relates to a full-automatic carrier based on combination of multiple robots. The full-automatic carrier based on combination of the multiple robots is mainly technically characterized in that the full-automatic carrier comprises the multiple AGV robots, the multiple AGV robots are combined and installed together through industrial buses laid at the bottom of a goods tray or through industrial buses of the AGV robots, and the combined AGV robots include a main robot and a plurality of slave robots and form a combination control circuit. The full-automatic carrier based on combination of the multiple robots is reasonable in design, the main and slave robots are connected together in a hooked mode through the industrial buses to achieve the multiple robot combination carrying function, and thus the multiple AGV robots keep consistent in pace and act synchronously, communication risks are reduced, safety and reliability are improved, and the full-automatic carrier can be widely used for the field of coordinated carrying application of multiple robots of warehouses.
Description
Technical field
The utility model belongs to automated warehousing technical field, especially a kind of full-automatic carrier based on multirobot combination.
Background technology
In storage article transportation, often need the collaborative carrying of multirobot kinds of goods.The difficult point of multi-robot system application is the task cooperation between multirobot, what prior art adopted is a kind of mode based on communication negotiation, multi-robot system applies its tasks carrying process and state role transfer process is: 1, the searcher of task, searches task status in roaming; 2, the executor of task, when being transformed into execution status of task from roaming state immediately after robot discovery task, now robot is if oneself finish the work, needn't communication negotiation, complete independently task; 3, the organizer of task is also after task is found but now can not complete independently task, must carry out task distribution, by the help cooperation of coming of other robot of correspondence entity, executes the task; 4, the teamworker of task, when robot receives after the cooperation request from organizer, submits a tender and select through consultation, and then the organizer of the task of help finishes the work.
The coordination groundwork of above multi-robotic task level is exactly under the mode of communication negotiation, utilizes role transforming mechanism, local task is effectively organized and is carried out, thereby the distribution of effectively carrying out task with cooperate.Its deficiency of technique scheme is: one, other robot comes to help to cooperate and executes the task, because each robot master control is separately independently " brain ", each " brain " commanding the difference in life period always in the action of robot separately, therefore, being difficult to really realize multirobot synchronizes one's steps, seeks unity of action.Its two, the mode that adopts communication to consult, owing to being too dependent on the high-quality of communication, risk is larger, once communication be obstructed, communication blocking-up between each robot, multirobot synchronously can not be realized.
Summary of the invention
The purpose of this utility model is to overcome the deficiencies in the prior art, proposes a kind of full-automatic carrier based on multirobot combination, in order to solve coordination in prior art, controls complexity, safety and the low problem of reliability.
The utility model solves its technical problem and takes following technical scheme to realize:
Advantage of the present utility model and good effect are:
The utility model is reasonable in design, by forming the full-automatic carrier of multirobot in pallet bus mode or robot self industrial bus mode, the motor of each robot is all by main robot control, thereby really realize principal and subordinate robot completing in the process of multi robot carrying task, act in agreement, simultaneous action, has reduced communication risk, improve safety and reliability, can be widely used in warehouse multi-robot coordination carrying application.
Accompanying drawing explanation
Fig. 1 is a kind of structural representation of the present utility model;
Fig. 2 is pallet bus and installation site, the contact schematic diagram under Fig. 1 structure;
Fig. 3 is installation site, the robot contact schematic diagram under Fig. 1 structure;
Fig. 4 is the contact annexation schematic diagram under Fig. 1 structure;
Fig. 5 is another kind of structural representation of the present utility model;
Fig. 6 is installation site, the robot contact schematic diagram under Fig. 5 structure;
Fig. 7 is the contact annexation view under Fig. 5 structure;
Fig. 8 is the control circuit block diagram of AGV robot;
Fig. 9 is combined control circuit block diagram of the present utility model.
The specific embodiment
Below in conjunction with accompanying drawing, the utility model embodiment is further described.
A kind of full-automatic carrier based on multirobot combination, comprise Duo Tai AGV robot, Duo Tai AGV robot is combined and installed together by industrial bus, and the Duo Tai AGV robot being combined and installed together comprises a main robot and some from robot and forms combined control circuit.Duo Tai AGV robot is by the industrial bus following two kinds of modes that are combined and installed together: the industrial bus that a kind of Shi Duotai AGV robot lays by cargo pallet bottom is combined and installed together; Another kind is to be combined and installed together by the industrial bus of AGV robot self, below the full-automatic carrier of two kinds of syndetons is described respectively:
As shown in Figures 1 to 4, the full-automatic carrier of the first based on multirobot combination comprise the cargo pallet lower surface that is laid in industrial bus, be arranged on cargo pallet lower surface and multiple contacts, the Duo Tai AGV robot being connected with this industrial bus and the contact that is arranged on AGV robot upper surface, the contact of AGV robot upper surface is connected with the AGV interface in AGV robot by industrial bus.When AGV robot enters into cargo pallet bottom, the contact of AGV robot upper surface contacts with the contact of cargo pallet lower surface, after the contact of each AGV robot contacts with the contact of cargo pallet bottom, Shi Duotai AGV robot is connected on industrial bus, and the Duo Tai AGV robot being combined and installed together comprises a main robot and some from robot and forms combined control circuit.
As shown in Figures 5 to 7, the full-automatic carrier of the second based on multirobot combination consists of industrial bus mutually multiple AGV robot, the side of each AGV robot car body is provided with contact, this contact is connected with the AGV interface in AGV robot by industrial bus, multiple AGV robot links together by industrial bus, and the AGV robot under the full-automatic carrier of multirobot comprises that a main robot and some are from robot.
As shown in Figure 8, control circuit in Mei Tai AGV robot is duplicate, include host computer, AGV interface, robot motor, host computer is connected with AGV interface, AGV interface is connected with robot motor by industrial bus, in host computer, be provided with WIFI interface, each AGV machine can be realized the communication function with dispatch server per capita, described AGV interface is by FPGA and coupled gyroscope, accelerometer, encoder and industrial bus controller form, this industrial bus controller is connected with industrial bus, this industrial bus is connected with the contact on AGV car body.
As shown in Figure 9, after Duo Tai AGV robot is combined and installed together by industrial bus, Duo Tai AGV robot forms combined control circuit by industrial bus.Main robot and all controlling by main robot internal control circuit from the peripheral equipment control (as motor) of robot, now, this control circuit comprises main robot host computer, main robot AGV interface, main robot motor, each is from robot motor, described main robot host computer is connected with main robot AGV interface, main robot AGV interface by industrial bus and main robot motor with from robot motor, be connected, in described main robot host computer, be provided with the communication function of WIFI Interface realization and dispatch server, main robot motor is all connected to industrial bus and by main robot control from robot motor with each.When adopting pallet bus to be connected, pallet bus is as the extended line of main robot industrial bus, and each AGV robot is articulated on the extended line that is namely articulated to main robot industrial bus in pallet bus; When adopting robot self industrial bus to connect, the industrial bus after each AGV robot interconnects is as the extended line of main robot industrial bus, and each robot is articulated on the extended line that is namely articulated to main robot industrial bus on industrial bus.When full-automatic carrier is during in work in combination, main robot is controlled the motor of each robot on industrial bus, and meanwhile, each abandons the control to oneself motor from robot; When full-automatic carrier task finishes, main robot is abandoned the control from robot, and each recovers the control to oneself motor from robot has notice.
It is emphasized that; embodiment described in the utility model is illustrative; rather than determinate; therefore the utility model is not limited to the embodiment described in the specific embodiment; every other embodiments that drawn according to the technical solution of the utility model by those skilled in the art, belong to the scope that the utility model is protected equally.
Claims (5)
1. the full-automatic carrier based on multirobot combination, it is characterized in that: comprise Duo Tai AGV robot, the industrial bus that Duo Tai AGV robot lays by cargo pallet bottom is combined and installed together or is combined and installed together by the industrial bus of AGV robot self, and the Duo Tai AGV robot being combined and installed together comprises a main robot and some from robot and forms combined control circuit.
2. the full-automatic carrier based on multirobot combination according to claim 1, it is characterized in that: the concrete connected mode that the industrial bus that described Duo Tai AGV robot lays by cargo pallet bottom is combined and installed together is: at cargo pallet lower surface, lay industrial bus and multiple contacts that are connected with this industrial bus are set, in Duo Tai AGV robot, upper surface is provided with the contact being connected with AGV robot control circuit, by the contact of cargo pallet lower surface and the contact of AGV robot upper surface, Duo Tai AGV robot is connected on common industrial bus.
3. the full-automatic carrier based on multirobot combination according to claim 1, it is characterized in that: the concrete connected mode that described Duo Tai AGV robot is combined and installed together by the industrial bus of AGV robot self is: in the side of each AGV robot car body, be provided with the contact being connected with AGV robot control circuit, by the contact in AGV robot, Duo Tai AGV robot be connected on common industrial bus.
4. according to the full-automatic carrier based on multirobot combination described in claim 2 or 3, it is characterized in that: described combined control circuit comprises main robot host computer, main robot AGV interface, main robot motor, each is from robot motor, described main robot host computer is connected with main robot AGV interface, described main robot AGV interface is by FPGA and coupled gyroscope, accelerometer, encoder and industrial bus controller form, this industrial bus controller is connected with industrial bus, this industrial bus and main robot motor with from robot motor, be connected, in main robot host computer, be provided with the WIFI interface with dispatch server communication.
5. according to the full-automatic carrier based on multirobot combination described in claim 2 or 3, it is characterized in that: described AGV robot control circuit comprises host computer, AGV interface and robot motor, host computer is connected with AGV interface, AGV interface is connected with robot motor by industrial bus, in host computer, be provided with the WIFI interface with dispatch server communication, described AGV interface is by FPGA and coupled gyroscope, accelerometer, encoder and industrial bus controller form, this industrial bus controller is connected with industrial bus, this industrial bus is connected with the contact on AGV car body.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320693565.3U CN203542594U (en) | 2013-11-05 | 2013-11-05 | Full-automatic carrier based on combination of multiple robots |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320693565.3U CN203542594U (en) | 2013-11-05 | 2013-11-05 | Full-automatic carrier based on combination of multiple robots |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203542594U true CN203542594U (en) | 2014-04-16 |
Family
ID=50460760
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201320693565.3U Expired - Fee Related CN203542594U (en) | 2013-11-05 | 2013-11-05 | Full-automatic carrier based on combination of multiple robots |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN203542594U (en) |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106041931A (en) * | 2016-06-30 | 2016-10-26 | 广东工业大学 | Collaborative collision-preventing path optimization method for multiple AGV robots in multi-barrier space |
| CN106737696A (en) * | 2017-03-11 | 2017-05-31 | 杭州极木科技有限公司 | Multi-robot cooperative transportation method |
| WO2019000993A1 (en) * | 2017-06-27 | 2019-01-03 | 京东方科技集团股份有限公司 | Robot, combination method thereof, and robot combination system |
| CN109426250A (en) * | 2017-08-25 | 2019-03-05 | 杭州海康机器人技术有限公司 | A kind of control AGV carries out the methods, devices and systems of cargo transfer |
| CN110194216A (en) * | 2019-06-24 | 2019-09-03 | 深圳凌众大通智能科技有限公司 | A kind of adaptive Agricultural Robot chassis of dependent moved entirely based on four-wheel |
| CN110989526A (en) * | 2019-12-10 | 2020-04-10 | 南京航空航天大学 | double-AGV cooperative carrying control system and method |
| CN111766854A (en) * | 2019-03-27 | 2020-10-13 | 杭州海康机器人技术有限公司 | Control system and control method for AGV cooperative handling |
| CN112428249A (en) * | 2020-11-13 | 2021-03-02 | 安徽信息工程学院 | Battlefield omnibearing rescue robot |
| CN115070721A (en) * | 2022-07-21 | 2022-09-20 | 西安交通大学 | Multi-robot flexible connection cooperative transportation system and visual error positioning navigation method thereof |
-
2013
- 2013-11-05 CN CN201320693565.3U patent/CN203542594U/en not_active Expired - Fee Related
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106041931A (en) * | 2016-06-30 | 2016-10-26 | 广东工业大学 | Collaborative collision-preventing path optimization method for multiple AGV robots in multi-barrier space |
| CN106737696A (en) * | 2017-03-11 | 2017-05-31 | 杭州极木科技有限公司 | Multi-robot cooperative transportation method |
| US10947095B2 (en) | 2017-06-27 | 2021-03-16 | Boe Technology Group Co., Ltd. | Robot and splicing method thereof, and robot splicing system |
| WO2019000993A1 (en) * | 2017-06-27 | 2019-01-03 | 京东方科技集团股份有限公司 | Robot, combination method thereof, and robot combination system |
| EP3646993A4 (en) * | 2017-06-27 | 2021-03-31 | BOE Technology Group Co., Ltd. | Robot, combination method thereof, and robot combination system |
| CN109426250A (en) * | 2017-08-25 | 2019-03-05 | 杭州海康机器人技术有限公司 | A kind of control AGV carries out the methods, devices and systems of cargo transfer |
| CN111766854A (en) * | 2019-03-27 | 2020-10-13 | 杭州海康机器人技术有限公司 | Control system and control method for AGV cooperative handling |
| CN110194216A (en) * | 2019-06-24 | 2019-09-03 | 深圳凌众大通智能科技有限公司 | A kind of adaptive Agricultural Robot chassis of dependent moved entirely based on four-wheel |
| CN110989526A (en) * | 2019-12-10 | 2020-04-10 | 南京航空航天大学 | double-AGV cooperative carrying control system and method |
| WO2021114888A1 (en) * | 2019-12-10 | 2021-06-17 | 南京航空航天大学 | Dual-agv collaborative carrying control system and method |
| CN110989526B (en) * | 2019-12-10 | 2022-04-08 | 南京航空航天大学 | double-AGV cooperative carrying control system and method |
| CN112428249A (en) * | 2020-11-13 | 2021-03-02 | 安徽信息工程学院 | Battlefield omnibearing rescue robot |
| CN115070721A (en) * | 2022-07-21 | 2022-09-20 | 西安交通大学 | Multi-robot flexible connection cooperative transportation system and visual error positioning navigation method thereof |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN203542594U (en) | Full-automatic carrier based on combination of multiple robots | |
| CN103587869B (en) | Multi-robot logistics warehousing system based on bus mode and control method thereof | |
| CN203610972U (en) | Automatic machining production line of driven bevel gear | |
| CN110902246A (en) | Virtual stereo storage system and method | |
| CN204280470U (en) | A kind of tiered warehouse facility dispatching system | |
| CN103950673B (en) | A kind of shuttle with turning function | |
| JP6295242B2 (en) | Transport cart, transport cart drive control method, and transport cart drive control program | |
| CN103352713B (en) | A kind of artificial intelligent type hydraulic support electric-hydraulic control | |
| CN104260702A (en) | Intelligent charging control method for charging station | |
| CN105447619A (en) | Crown block collision detection and intelligent collision avoidance method | |
| CN114589423A (en) | Preceding cabin welds dress production line based on three-dimensional storehouse and AGV anchor clamps | |
| CN206425711U (en) | Multi-vehicle-type shares welding and assembling production lines structure | |
| CN111752228A (en) | Control system and control method for AGV cooperative transportation | |
| WO2020103810A1 (en) | Agv base point type communication system and communication method, and computer readable storage medium | |
| CN204475939U (en) | Warehouse style mechanical parking equipment control system | |
| CN110262499A (en) | A kind of two-track mobile robot synchronous control system and method | |
| CN117842607A (en) | Mechanical arm loading transfer trolley and use method thereof | |
| CN107288393A (en) | Remove car system and the general Ban Che robots of full vehicle | |
| CN203187348U (en) | Hydraulic synchronous lifting device | |
| CN109976328A (en) | A kind of composite machine people | |
| CN117687358B (en) | Flexible island chain type production mode control method and system | |
| CN210126579U (en) | Gravity lifting type omnidirectional carrying robot | |
| CN204038893U (en) | A kind of vehicle frame overturning system | |
| CN206562260U (en) | Double car lazy-tongs | |
| CN116354277B (en) | Electrical control system of curve double-drive fork type shuttle |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20140416 Termination date: 20161105 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |