CN221232564U - Sorting and handling robot - Google Patents

Abstract

The utility model provides a sorting and carrying robot, which comprises a control module, a vehicle driving system and a pickup system carried by the vehicle driving system; the pick-up system comprises a carrying mechanical arm which is arranged at the front part of the carrying vehicle; a horizontal camera bracket is arranged on the vehicle body above the carrying mechanical arm; a machine vision module is arranged at the position of the camera bracket, which protrudes out; the machine vision module comprises a first OpenArt mini device and a second OpenArt mini device which are sequentially fixed at the camera support; the machine vision module is connected with the control module, and the shooting directions of the machine vision module are all towards the ground in front of the vehicle; when the carrier moves, the control module collects carrier path data through the robot inertial navigation module connected with the control module, and the movement of the carrier is controlled according to the record data of the movement path so that the movement of the carrier is under the track navigation working condition; the utility model can acquire the motion parameters by means of the gyroscope and realize the omnibearing fixed-point movement in the track navigation by using the inertial navigation technology.

Description

Sorting and handling robot

Technical Field

The utility model relates to the technical field of transport vehicles, in particular to a sorting and transporting robot.

Background technique

Most of the intelligent handling robots that are widely used currently need to use a large number of sensors to perceive the environment when working. This solution is complex and expensive.

How to design a lightweight handling robot, reduce the use of sensors, and reduce the robot's dependence on external information and production costs is a research direction.

Summary of the invention

The utility model proposes a sorting and handling robot, which adopts a lightweight vehicle design, can rely on a gyroscope to obtain its own motion parameters and use inertial navigation technology, and relies on recorded data of the moving path to achieve omnidirectional fixed-point movement in trajectory navigation, thereby reducing the use of sensors, and reducing the robot's dependence on external information and production costs.

The utility model adopts the following technical solutions.

A sorting and handling robot, the robot is a small transport vehicle, comprising a control module, a vehicle drive system and a picking system carried by the vehicle drive system; the picking system comprises a transporting mechanical arm arranged at the front of the transport vehicle; a horizontal camera bracket extending to the front of the transport vehicle is arranged on the vehicle body above the transporting mechanical arm; a machine vision module is arranged at the extending portion of the camera bracket; the machine vision module comprises a first OpenArtmini device (9) and a second OpenArtmini device (10) fixed in sequence at the camera bracket; the machine vision module is connected to the control module and the shooting direction of the machine vision module is toward the ground in front of the vehicle;

When the transport vehicle moves, the control module collects the transport vehicle path data through the robot inertial navigation module connected thereto, and controls the movement of the transport vehicle according to the recorded data of the moving path, so that the movement is under the track navigation working condition.

The camera bracket is fixed to the vehicle body bracket; the vehicle body bracket is formed by connecting a plurality of carbon fiber tubes (5) via connecting pieces and supported on a first 3D printed support piece (2) and a second 3D printed support piece (3) at the bottom of the transport vehicle; the connecting piece comprises a three-dimensional tee (6), a planar tee (7), and a planar four-way (8).

The transport vehicle is provided with a storage tank (16) with a five-category structure, and the storage tank is formed by connecting and fixing a plurality of acrylic plates via angle brackets (17).

The handling robot arm is a three-degree-of-freedom robot arm comprising a metal kit, a 3D printed part, a first steering gear (11), a second steering gear (12), and a third steering gear (13); the first steering gear (11), the second steering gear (12), and the third steering gear (13) are arranged in sequence, and the steering gears are connected by the metal kit or the 3D printed part; the length of the handling robot arm and the distance between the steering gears are changed by adjusting the metal kit or the 3D printed part.

The servo is a digital servo, which has a built-in microprocessor for amplifying control signals, correcting control angles and providing stall protection; the end of the transport robot arm comprises a first electromagnet (14) and a second electromagnet (15) for picking up an object to be transported.

The vehicle drive system comprises a Mecanum wheel (1); the Mecanum wheel comprises a hub and a roller, wherein the hub is used as a main frame and the roller is a drum-shaped object mounted on the hub; the hub shaft and the roller shaft are at an angle of 45°.

The robot inertial navigation module includes a gyroscope and an accelerometer; the transport vehicle path data includes the transport vehicle moving distance and yaw angle; the control module controls the omnidirectional fixed-point movement of the transport vehicle according to the transport vehicle path data.

The control module includes a single-chip microcomputer, the main control board of which is an RT1064 core board, the signal interface and the low-current power interface of the main control board are connected using an XH2.54 plug, and the power supply interface and high-power signal interface of the main control board to the servo are connected using an XT30 aviation plug with a large load capacity;

The transport vehicle includes a power module including a battery; the power module uses an LDO with a maximum output current of 1A to supply power to the RT1064 core board separately; the LDO is AMS1117_5V;

The transport vehicle comprises five steering gears, three of which are used to drive the transport mechanical arms, and two of which are used to drive the vehicle drive system;

The power module uses SY8205 to power the five servos of the transporter; the power supply circuit of the servos is separated from the power supply circuit of the RT1064 core board.

The vehicle drive system includes a motor drive board circuit; the motor drive board circuit includes a DRV8701 chip of Texas Instruments used as a drive chip, and the drive chip forms a full-bridge motor drive circuit by driving four MOSFETs at the same time; the MOSFET adopts TPH1R403NLMOS;

An isolation chip is arranged between the single-chip computer interface, the motor drive board and the drive chip; the isolation chip is a 74HC125PWR three-state gate.

The main control board is provided with a matrix button for debugging; the main control board includes a Bluetooth module compatible with the image transmission module and the fly-by-fly wireless serial port module.

The utility model adopts a lightweight vehicle design, can rely on a gyroscope to obtain its own motion parameters and use inertial navigation technology, relying on the recorded data of the moving path to achieve all-round fixed-point movement in trajectory navigation, reducing the use of sensors, and reducing the robot's dependence on external information and production costs.

The utility model can also allow users to obtain their work data through the machine vision module, which is convenient for the identification and handling of small and medium-sized materials in the storage system.

BRIEF DESCRIPTION OF THE DRAWINGS

The utility model is further described in detail below with reference to the accompanying drawings and specific embodiments:

Figure 1 is a schematic diagram of the utility model;

Figure 2 is a schematic diagram of the principle of the present utility model;

Figure 3 is a partial circuit diagram of the motor drive board circuit;

In the figure: 1. Mecanum wheel; 2. First 3D printed support; 3. Second 3D printed support; 4. Display wiring port; 5. Carbon fiber tube; 6. Three-dimensional tee; 7. Plane tee; 8. Plane four-way; 9. First OpenArt mini device; 10. Second OpenArt mini device; 11. First servo; 12. Second servo; 13. Third servo; 14. First electromagnet; 15. Second electromagnet; 16. Storage slot; 17. Angle code; 18. Electromagnetic lock.

Detailed ways

As shown in the figure, a sorting and handling robot, which is a small transport vehicle, includes a control module, a vehicle drive system and a picking system carried by the vehicle drive system; the picking system includes a transporting mechanical arm arranged at the front of the transport vehicle; a horizontal camera bracket extending to the front of the transport vehicle is arranged on the vehicle body above the transporting mechanical arm; a machine vision module is arranged at the protruding part of the camera bracket; the machine vision module includes a first OpenArt mini device 9 and a second OpenArt mini device 10 fixed in sequence at the camera bracket; the machine vision module is connected to the control module and the shooting direction of the machine vision module is toward the ground in front of the vehicle;

When the transport vehicle moves, the control module collects the transport vehicle path data through the robot inertial navigation module connected thereto, and controls the movement of the transport vehicle according to the recorded data of the moving path, so that the movement is under the track navigation working condition.

The camera bracket is fixed to the vehicle body bracket; the vehicle body bracket is formed by connecting multiple carbon fiber tubes 5 through connectors and supported on the first 3D printed support 2 and the second 3D printed support 3 at the bottom of the transport vehicle; the connector includes a three-dimensional tee 6, a plane tee 7, and a plane cross 8.

The transport vehicle is provided with a storage tank 16 with a five-classification structure, and the storage tank is formed by connecting and fixing a plurality of acrylic plates via angle brackets 17 .

The handling robot arm is a three-degree-of-freedom robot arm including a metal kit, a 3D printed part, a first servo 11, a second servo 12, and a third servo 13; the first servo 11, the second servo 12, and the third servo 13 are arranged in sequence, and the servos are connected by a metal kit or a 3D printed part; the length of the handling robot arm and the distance between the servos are changed by adjusting the metal kit or the 3D printed part.

The servo is a digital servo, which has a built-in microprocessor for amplifying control signals, correcting control angles and providing stall protection; the end of the transport robot arm includes a first electromagnet 14 and a second electromagnet 15 for picking up objects to be transported.

The vehicle drive system includes a Mecanum wheel 1; the Mecanum wheel includes a hub and a roller, wherein the hub is used as a main support, and the roller is a drum-shaped object installed on the hub; the hub shaft and the roller shaft are at an angle of 45°.

The robot inertial navigation module includes a gyroscope and an accelerometer; the transport vehicle path data includes the transport vehicle moving distance and yaw angle; the control module controls the omnidirectional fixed-point movement of the transport vehicle according to the transport vehicle path data.

The control module includes a single-chip microcomputer, the main control board of which is an RT1064 core board, the signal interface and the low-current power interface of the main control board are connected using an XH2.54 plug, and the power supply interface and high-power signal interface of the main control board to the servo are connected using an XT30 aviation plug with a large load capacity;

The transport vehicle includes a power module including a battery; the power module uses an LDO with a maximum output current of 1A to supply power to the RT1064 core board separately; the LDO is AMS1117_5V;

The transport vehicle comprises five steering gears, three of which are used to drive the transport mechanical arms, and two of which are used to drive the vehicle drive system;

The power module uses SY8205 to power the five servos of the transporter; the power supply circuit of the servos is separated from the power supply circuit of the RT1064 core board.

The vehicle drive system includes a motor drive board circuit; the motor drive board circuit includes a DRV8701 chip of Texas Instruments used as a drive chip, and the drive chip forms a full-bridge motor drive circuit by driving four MOSFETs at the same time; the MOSFET adopts TPH1R403NLMOS;

An isolation chip is arranged between the single-chip computer interface, the motor drive board and the drive chip; the isolation chip is a 74HC125PWR three-state gate.

The main control board is provided with a matrix button for debugging; the main control board includes a Bluetooth module compatible with the image transmission module and the fly-by-fly wireless serial port module.

In this example, the control module is provided with a display screen connection port 4 for connecting an external display screen during the debugging process;

In this example, an openable compartment panel is provided at the rear side of the storage slot; an electromagnetic lock 18 is provided at the compartment panel.

In this example, the control module collects the path data of the transport vehicle through the robot inertial navigation module connected to it, that is, the path of the transport vehicle from the starting position to the transport position. When the robot runs for the first time, the robot is debugged to drive the initial path and record the path data. No subsequent control is required. The robot control module automatically controls the vehicle drive system according to the moving distance and yaw angle of the transport vehicle in the path data, so that the robot moves back and forth along the preset path, and uses the gyroscope and accelerometer of the robot inertial navigation module to monitor and verify the movement of the robot, so that the robot strictly drives back and forth along the initial path to transport items from the transport position to the starting position, that is, when the robot does not use sensors to detect the external environment, trajectory navigation is performed to make the robot drive normally.

Claims (10)

1. A sorting and transporting robot, characterized in that: the robot is a small transport vehicle, comprising a control module, a vehicle drive system and a picking system carried by the vehicle drive system; the picking system comprises a transport mechanical arm arranged at the front of the transport vehicle; a vehicle body above the transport mechanical arm is provided with a horizontal camera bracket extending to the front of the transport vehicle; a machine vision module is provided at the extending portion of the camera bracket; the machine vision module comprises a first OpenArt mini device (9) and a second OpenArt mini device (10) fixed in sequence at the camera bracket; the machine vision module is connected to the control module and the shooting direction of the machine vision module is toward the ground in front of the vehicle; When the transport vehicle moves, the control module collects the transport vehicle path data through the robot inertial navigation module connected thereto, and controls the movement of the transport vehicle according to the recorded data of the moving path, so that the movement is under the track navigation working condition. 2. The sorting and handling robot according to claim 1 is characterized in that: the camera bracket is fixed to the vehicle body bracket; the vehicle body bracket is formed by connecting a plurality of carbon fiber tubes (5) via connectors and supported on a first 3D printed support member (2) and a second 3D printed support member (3) at the bottom of the transport vehicle; the connector comprises a three-dimensional tee (6), a planar tee (7), and a planar cross-joint (8). 3. The sorting and handling robot according to claim 1 is characterized in that: the handling vehicle is provided with a storage tank (16) with a five-category structure, and the storage tank is formed by connecting and fixing a plurality of acrylic plates via angle brackets (17). 4. The sorting and handling robot according to claim 1 is characterized in that: the handling robot arm is a three-degree-of-freedom robot arm including a metal kit, a 3D printed part, a first steering gear (11), a second steering gear (12), and a third steering gear (13); the first steering gear (11), the second steering gear (12), and the third steering gear (13) are arranged in sequence, and the steering gears are connected by a metal kit or a 3D printed part; the length of the handling robot arm and the distance between the steering gears are changed by adjusting the metal kit or the 3D printed part. 5. The sorting and handling robot according to claim 4 is characterized in that: the servo is a digital servo, which has a built-in microprocessor for amplifying control signals, correcting control angles and providing stall power-off protection; the end of the handling robot arm comprises a first electromagnet (14) and a second electromagnet (15) for picking up the object to be handled. 6. The sorting and handling robot according to claim 1 is characterized in that: the vehicle drive system includes a Mecanum wheel (1); the Mecanum wheel includes a hub and a roller, wherein the hub is used as a main support, and the roller is a drum-shaped object installed on the hub; the hub shaft and the roller shaft form an angle of 45°. 7. The sorting and handling robot according to claim 1 is characterized in that: the robot inertial navigation module includes a gyroscope and an accelerometer; the transport vehicle path data includes the transport vehicle moving distance and yaw angle; the control module controls the omnidirectional fixed-point movement of the transport vehicle according to the transport vehicle path data. 8. The sorting and handling robot according to claim 1 is characterized in that: the control module includes a single-chip microcomputer, the main control board of the single-chip microcomputer is an RT1064 core board, the signal interface and the low-current power interface of the main control board are connected by XH2.54 plugs, and the power supply interface and high-power signal interface of the main control board to the steering gear are connected by XT30 aviation plugs with large load capacity; The transport vehicle includes a power module including a battery; the power module uses an LDO with a maximum output current of 1A to supply power to the RT1064 core board separately; the LDO is AMS1117_5V; The transport vehicle comprises five steering gears, three of which are used to drive the transport mechanical arms, and two of which are used to drive the vehicle drive system; The power module uses SY8205 to power the five servos of the transporter; the power supply circuit of the servos is separated from the power supply circuit of the RT1064 core board. 9. The sorting and handling robot according to claim 8, characterized in that: the vehicle drive system includes a motor drive board circuit; the motor drive board circuit includes a DRV8701 chip of Texas Instruments used as a drive chip, and the drive chip forms a full-bridge motor drive circuit by driving four MOSFETs at the same time; the MOSFET adopts TPH1R403NLMOS; An isolation chip is arranged between the single-chip computer interface, the motor drive board and the drive chip; the isolation chip is a 74HC125PWR three-state gate. 10. The sorting and handling robot according to claim 8 is characterized in that: the main control board is provided with a matrix button for debugging; the main control board includes a Bluetooth module compatible with the image transmission module and the Zhufei wireless serial port module.