Abstract
This work reports a master-slave separate parallel intelligent mobile robot for the fully autonomous transportation of pallets in the smart factory logistics. This separate parallel intelligent mobile robot consists of two independent sub robots, one master robot and one slave robot. It is similar to two forks of the forklift, but the slave robot does not have any physical or mechanical connection with the master robot. A compact driving unit was designed and used to ensure access to the narrow free entry under the pallets. It was also possible for the mobile robot to perform a synchronous pallet lifting action. In order to ensure the consistency and synchronization of the motions of the two sub robots, high-gain observer was used to synchronize the moving speed, the lifting speed and the relative position. Compared with the traditional forklift AGV (Automated Guided Vehicle), the mobile robot has the advantages of more compact structure, higher expandability and safety. It can move flexibly and take zero-radius turn. Therefore, the intelligent mobile robot is quite suitable for the standardized logistics factory with small working space.
Highlights
Logistics is an important part of the manufacturing enterprise [1,2], and the pallet is one of the logistics carriers in the factory [3]
In order to solve the problems, this paper mainly introduces a master-slave separate parallel intelligent mobile robot for autonomous pallet transportation in the smart factory logistics
The separate parallel intelligent mobile robot consists of two independent sub robots, which is similar to two forks of the forklift, but these sub robots do not have any physical connection with each other to achieve the pallet transportation
Summary
Logistics is an important part of the manufacturing enterprise [1,2], and the pallet is one of the logistics carriers in the factory [3]. In order to solve the problems, this paper mainly introduces a master-slave separate parallel intelligent mobile robot for autonomous pallet transportation in the smart factory logistics. The separate parallel intelligent mobile robot consists of two independent sub robots, which is similar to two forks of the forklift, but these sub robots do not have any physical connection with each other to achieve the pallet transportation It can move underneath the narrow free entry of the pallet and has a load capacity of up to 1 ton. Compared with the traditional intelligent forklift AGV, it has the advantages of compact structure, small self-weight and large payload, high expandability and safety. It can implement zero-radius turn and requires small channel width.
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