CN-116395382-B - Collaborative mobile transportation method and system based on multiple robots

Abstract

The embodiment of the invention discloses a collaborative mobile transportation method and a collaborative mobile transportation system based on multiple robots, which relate to the technical field of intelligent manufacturing and can realize automatic transportation and loading and unloading of molds with different grabbing and transportation requirements and different sizes through the collaborative working relation of the multiple robots. The system of the invention consists of a group of robots of identical or similar structure, the robot handling mechanism comprising a lifting mechanism S1 and a rotating platform S2. The automatic carrying and loading and unloading of the molds with different grabbing and transporting requirements and different sizes and models are realized through the cooperative working relation of the robots. The invention is suitable for automatic carrying and loading and unloading of moulds with different grabbing and transporting requirements and different sizes.

Inventors

• CHEN KAI
• HUANG YUJIE
• ZHAO XIAODONG
• TANG DUNBING
• ZHU HAIHUA

Assignees

• 南京航空航天大学

Dates

Publication Date

20260505

Application Date

20230330

Claims (4)

1. 1. A multi-robot based collaborative mobile transport method for a multi-robot collaborative mobile transport system, the system including at least 2 robots, the method comprising: s101, acquiring the mass of a mold to be transported, and determining the maximum total lifting force required by lifting the mold to be transported; S102, determining the number of robots required for lifting the mold to be transported according to the total lifting force required for lifting the mold to be transported; S103, controlling the determined number of robots to approach the mold to be transported until the contact surface of the actuator (7) of each robot contacts the mold to be transported, and then controlling the lifting mechanism S1 of each robot to synchronously operate and lift the mold to be transported, wherein the lifting height exceeds the height of the rotating table (2) of the robot; S104, each robot continues to move towards the mold to be transported until a part of the rotary table (2) of each robot enters the projection of the mold to be transported on the ground, and then the lifting mechanism S1 of each robot is controlled to synchronously operate and descend the mold to be transported until the mold to be transported is contacted with the rotary table (2) of each robot; s105, rotating the angles of the robots until the motion instantaneous centers of all the robots are consistent; in S101, determining a total lifting force required to lift the mold to be transported, including: Determining the maximum lifting force provided by each robot in the process of lifting the mould to be transported: f m,p,t ＝μ p f m,p,n ＝μ p f m,p,t ＝μ p (μ g f m,g,n )＝μ p (μ g Mg), Wherein f m,p,n represents the pressure applied by the robot with mass M to the mold to be transported at the contact point C m,p , μp represents the friction coefficient of the contact surface of the actuator (7) of the robot, and μg represents the friction coefficient of the wheel of the robot and the ground at the contact point C m,g ; calculating the total lifting force required for lifting the mould to be transported according to the maximum lifting force provided by each robot in the process of lifting the mould to be transported: m max denotes the number of robots required to lift the mold to be transported.
2. 2. The method according to claim 1, characterized in that in S103, after the contact surface of the actuator (7) of the robot is in contact with the mold to be transported, the lifting mechanism S1 is operated synchronously, and in the process of lifting up the mold to be transported, the lifting mechanism S1 is operated synchronously, which comprises the elongation of the lifting mechanism S1 of each robot; for each robot, in the process of extending the lifting mechanism S1, updating and determining the position relation of two endpoints of a long rod of the parallelogram mechanism in real time; The length of the long rod in the parallelogram mechanism is equal to the track radius r of the parallelogram mechanism, and is expressed as: Wherein, the calculation mode of r is as follows: r 2 ＝(h+rsinα 0 ) 2 +(a+b) 2 (2) Wherein h represents the vertical distance from the robot platform to the ground, alpha 0 represents the included angle between the long side of the parallelogram mechanism, namely the AB side, and the horizontal line in the initial state of the robot, a and b respectively represent two constants which can be determined by utilizing the geometric relationship of triangles, A, B, C, D respectively represent four corners of the parallelogram, and l AB 、l CD 、l AD and l BC respectively represent the lengths of the AB side, the CD side, the AD side and the BC side of the parallelogram mechanism.
3. 3. The method as recited in claim 2, further comprising: the constants a and b are determined by the geometric relationship of right triangles, where: wherein P 1 and P 2 represent two end points of a long rod of the parallelogram mechanism, l represents the horizontal distance from the point P 2 to the outer side of the robot moving platform, delta 1 、δ 2 represents the horizontal and vertical distances from the point P 3 to the outer side of the robot moving platform, delta 1 >0,δ 2 ＞0;P 3 is a point on a movable track of the parallelogram mechanism taking r as a radius, after a constant a and a constant b are determined, the calculation mode of r is updated, and the calculation mode can be expressed as a new second order expression of r: m ' r 2 +n ' r+p ' =0 (5), yielding: Wherein m ', n ', and p ' represent quadratic terms, primary term coefficients, and constant terms, respectively.
4. 4. The method as recited in claim 1, further comprising: calculating the singular position of the parallelogram mechanism in real time for each robot in the process of extending the lifting mechanism S1, and keeping the parallelogram mechanism to avoid the singular position; in the singular position, the normal vector is represented by gamma The included angle between the horizontal direction and the gamma is kept within the range of: Wherein, alpha 0 and alpha 1 respectively represent the angles of the connecting rod AB at two extreme positions.

Description

Collaborative mobile transportation method and system based on multiple robots Technical Field The invention relates to the technical field of intelligent manufacturing, in particular to a collaborative mobile transportation method and system based on multiple robots. Background In recent years, the logistics industry in China rapidly develops, the logistics robot industry benefiting from artificial intelligence technology and robot technology also rapidly rises, and the country continuously goes out of a plurality of policies to support the development of the robot industry. With the rapid development of the logistics market, the logistics robot industry obtains an unattainable development opportunity, and the application of the logistics robot is also rapidly popularized, so that the logistics robot is an important factor for leading the development trend of the modern logistics industry. Different robots are arranged at different posts of logistics operation, for example, mobile robot technology plays an irreplaceable role in loading, unloading and transporting. Handling is one of the most basic functional elements in a logistics system, and is used for cargo transportation, storage, packaging, circulation processing, distribution and the like, and penetrates through the beginning and the end of logistics operation. The application of the mobile robot in the loading, unloading and carrying operation of logistics directly improves the efficiency and benefit of a logistics system. Different handling environments and transport objects have different requirements for mobile robots, even some logistical transport solutions require additional heavy infrastructure such as ground landmarks, guide rails for Automatic Guided Vehicles (AGVs) or specific stacked storage shelves. Some solutions may require manual assistance, such as when the scissor lift transports objects, where the objects are manually placed on a transport platform, and when the forklift transports the objects, the objects are manually stored in advance on a pallet. The manipulator grabbing system limits the shape and the size of the lifted object, and different robots are needed for loading, unloading and transporting different objects. In the manufacturing process of an aircraft, a plurality of parts are cast by using a mold, and the parts with different specifications are manufactured by using the molds with different specifications, and when the molds with different specifications are transported, different transportation machines are needed, such as the molds with small specifications are transported by using an automatic guiding vehicle, and the large-sized molds are transported by using a forklift. This results in a large number of types and sizes of transportation means and a high management pressure. If the signals of the transporting robot are reduced, some large moulds are difficult to transport effectively. Therefore, how to cooperatively transport large-sized parts by using the same type of transport robot becomes a problem to be studied. Disclosure of Invention The embodiment of the invention provides a coordinated movement transportation method and a coordinated movement transportation system based on multiple robots, which can realize automatic carrying and loading and unloading of molds with different grabbing and transportation requirements and different sizes through the coordinated working relation of the multiple robots. In order to achieve the above purpose, the embodiment of the present invention adopts the following technical scheme: In a first aspect, the multi-robot-based collaborative mobile transport system of the present invention is comprised of at least 2 robots, each robot having mounted thereon a lifting mechanism S1 and a rotating platform S2, the lifting mechanism S1 being mounted on the rotating platform S2 of each robot; The rotating platform S2 comprises a moving platform (1) and a rotating platform (2), wherein the moving platform (1) is fixed on the upper surface of the robot, and the rotating platform (2) is connected with the moving platform (1) through a first rotating shaft; The lifting mechanism S1 comprises two parallelogram mechanisms, a first end effector bracket (5), a second end effector bracket (6) and an effector (7); Wherein each parallelogram mechanism comprises two connecting rods (4) which are parallel to each other and a base (3), wherein the bottom ends of the two connecting rods (4) which are parallel to each other are connected with the base (3) through a second rotating shaft so as to form a bottom end rotating joint, and the top ends of the two connecting rods (4) which are parallel to each other are connected with a first end effector bracket (5) through a third rotating shaft so as to form a top end rotating joint; the first end effector bracket (5) adopts a beam structure vertical to the two parallelogram mechanisms; One end of the second end effector support (6) is fixed on the firs