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CN-117775610-B - Mobile robot and multi-machine cooperation type carrying system thereof

CN117775610BCN 117775610 BCN117775610 BCN 117775610BCN-117775610-B

Abstract

The invention discloses a mobile robot and a multi-machine cooperation type carrying system thereof, wherein the mobile robot comprises an objective table, a mobile body, a supporting mechanism, a driving device, universal wheels and a common wheel module, the objective table is connected with the mobile body through the supporting mechanism, the universal wheels and the common wheel module are arranged on two sides of the mobile body, the common wheel module comprises common wheels, connecting pieces and connecting blocks, the connecting blocks are used for connecting the common wheels and the connecting pieces, the connecting pieces are used for connecting the connecting pieces and the mobile body, a fixing device is arranged in the mobile body, the fixing device comprises a rotary base, a first lifting disc, a guide rod and a second lifting disc, the top end of the rotary base is connected with the bottom end of the supporting mechanism, and the first lifting disc is connected with the second lifting disc through the guide rod. The mobile robot provided by the embodiment of the invention has the advantages of completing loading of objects in a labor-saving manner and the like.

Inventors

  • FAN CHANGXIANG
  • Xu sai
  • LU HUAZHONG

Assignees

  • 广东省农业科学院设施农业研究所

Dates

Publication Date
20260512
Application Date
20230116

Claims (8)

  1. 1. The mobile robot is characterized by comprising an objective table, a mobile body, a supporting mechanism, a driving device, universal wheels and a common wheel module, wherein the objective table is connected with the mobile body through the supporting mechanism; The universal wheels and the common wheel modules are arranged on two sides of the movable body, the common wheel modules comprise common wheels, connecting pieces and connecting blocks, the connecting blocks are used for connecting the common wheels and the connecting pieces, and the connecting pieces are used for connecting the connecting blocks and the movable body; The movable body is internally provided with a fixing device, the fixing device comprises a rotary base, a first lifting disc, a guide rod and a second lifting disc, the top end of the rotary base is connected with the bottom end of the supporting mechanism, the first lifting disc is connected with the second lifting disc through the guide rod, and the first lifting disc can lock the rotary base; The driving device comprises a first stepping motor, a second stepping motor, a first screw rod stepping motor, a second screw rod stepping motor and a cylindrical roller, wherein the first stepping motor is arranged at one side, close to the universal wheel, in the moving body, the second stepping motor is arranged on the common wheel module, the first screw rod stepping motor is arranged between the first lifting disc and the second lifting disc, and the second screw rod stepping motor is fixed at the bottom of the moving body and is connected with the common wheel module through the cylindrical roller; when the first screw rod stepping motor operates, the screw rod on the first screw rod stepping motor moves linearly along the vertical direction, and simultaneously pushes the first lifting disc and the second lifting disc.
  2. 2. The mobile robot of claim 1, wherein the support mechanism comprises a universal joint and three tension springs, the universal joint and the three tension springs being connected to the stage and the rotating base in a vertical direction, the three tension springs being uniformly distributed around the universal joint and on an edge portion of the stage.
  3. 3. The mobile robot of claim 1, wherein the guide rods are four and evenly distributed over the edge portions of the first and second lift plates.
  4. 4. The mobile robot of claim 1, wherein when the second screw stepping motor is operated, the screw on the second screw stepping motor moves linearly in a horizontal direction while pushing the cylindrical roller, and the cylindrical roller pushes or tightens the common wheel module.
  5. 5. The mobile robot of claim 1, wherein the mobile body further comprises a first driven wheel and a second driven wheel, the first driven wheel and the second driven wheel being disposed between the common wheel module and the universal wheel and at a bottom end of the mobile body.
  6. 6. The mobile robot of claim 5, wherein the first driven wheel and the second driven wheel are spherical rollers.
  7. 7. The mobile robot of claim 1, wherein the mobile body is provided with Aruco yards and cameras on a side of the mobile body adjacent to the common wheel.
  8. 8. A mobile robot multi-machine collaborative handling system, characterized in that the system comprises three mobile robots, three of which are arranged at the bottom end of the object to be handled, three of which are mobile robots according to any one of claims 1 to 7.

Description

Mobile robot and multi-machine cooperation type carrying system thereof Technical Field The invention relates to the field of robots, in particular to a mobile robot and a multi-machine cooperation type carrying system thereof. Background Mobile robots are widely used in logistics systems, and are usually used for carrying goods in a lifting manner. In the conventional multi-machine cooperative carrying system, when the size of the carried goods is large, compared with the mode that the goods are directly lifted and then put on a robot platform, one more labor-saving mode can be to push the objects to incline from the side, then the mobile robot sequentially enters the parts of the objects leaving the ground until the robot completely enters the bottom of the carried objects to lift the objects, but the conventional mobile robot does not have higher degree of freedom to adapt to the bottom surface of the carried objects, so that the contact between the object table and the bottom surface of the carried objects is unstable, the carried objects are easy to fall off from the object table, and meanwhile, the mobile robot can slip in the process, so that the objects cannot be pushed onto the object table smoothly. In addition, when a plurality of mobile robots cooperatively transport an object to travel, if a convex object appears on a road surface so that one or a plurality of robots are lifted, the robots lose contact with the object, the robots easily deviate from a track after losing contact, the support to the object is lost, and the gravity center of the object is likely to be unstable and drop. Therefore, it is necessary to design a mobile robot and a multi-machine cooperative transportation system thereof that can overcome the above problems in the prior art to some extent. Disclosure of Invention The present invention is directed to a mobile robot and a multi-machine cooperative transportation system thereof, so as to solve at least one of the above-mentioned problems in the prior art. The invention discloses a mobile robot which comprises an objective table, a mobile body, a supporting mechanism, a driving device, universal wheels and a common wheel module, wherein the objective table is connected with the mobile body through the supporting mechanism; The universal wheels and the common wheel modules are arranged on two sides of the movable body, the common wheel modules comprise common wheels, connecting pieces and connecting blocks, the connecting blocks are used for connecting the common wheels and the connecting pieces, and the connecting pieces are used for connecting the connecting blocks and the movable body; the movable body is internally provided with a fixing device, the fixing device comprises a rotating base, a first lifting disc, a guide rod and a second lifting disc, the top end of the rotating base is connected with the bottom end of the supporting mechanism, the first lifting disc is connected with the second lifting disc through the guide rod, and the first lifting disc can lock the rotating base. Further, the supporting mechanism comprises a universal joint and three tension springs, the universal joint and the three tension springs are connected with the objective table and the rotating base along the vertical direction, and the three tension springs are uniformly distributed around the universal joint and on the edge part of the objective table. Further, the guide rods are four and uniformly distributed on the edge parts of the first lifting disk and the second lifting disk. Further, the driving device comprises a first stepping motor, a second stepping motor, a first lead screw stepping motor, a second lead screw stepping motor and a cylindrical roller, wherein the first stepping motor is arranged on one side, close to the universal wheel, of the moving body, the second stepping motor is arranged on the common wheel module, the first lead screw stepping motor is arranged between the first lifting disc and the second lifting disc, and the second lead screw stepping motor is fixed at the bottom of the moving body and connected with the common wheel module through the cylindrical roller. Further, when the first screw rod stepping motor operates, the screw rod on the first screw rod stepping motor moves linearly along the vertical direction, and simultaneously pushes the first lifting disc and the second lifting disc. Further, when the second screw rod stepping motor operates, the screw rod on the second screw rod stepping motor moves linearly along the horizontal direction, and pushes the cylindrical roller at the same time, and the cylindrical roller pushes or tightens the common wheel module. Further, the movable body further comprises a first driven wheel and a second driven wheel, wherein the first driven wheel and the second driven wheel are arranged between the common wheel module and the universal wheel, and are arranged at the bottom end of the movable body. Further, the first