CN106378794A - Robot movement uninterrupted power supply device - Google Patents
Robot movement uninterrupted power supply device Download PDFInfo
- Publication number
- CN106378794A CN106378794A CN201610907595.8A CN201610907595A CN106378794A CN 106378794 A CN106378794 A CN 106378794A CN 201610907595 A CN201610907595 A CN 201610907595A CN 106378794 A CN106378794 A CN 106378794A
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- CN
- China
- Prior art keywords
- robot
- uninterrupted power
- power supply
- supply device
- power source
- 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.)
- Pending
Links
- 210000000707 wrist Anatomy 0.000 claims abstract description 9
- 230000005611 electricity Effects 0.000 claims description 3
- 238000004519 manufacturing process Methods 0.000 claims description 3
- 230000000007 visual effect Effects 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 6
- 230000001681 protective effect Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 239000000853 adhesive Substances 0.000 description 1
- 230000001070 adhesive effect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000003032 molecular docking Methods 0.000 description 1
- 230000009131 signaling function Effects 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0025—Means for supplying energy to the end effector
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/023—Optical sensing devices including video camera means
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Multimedia (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a robot movement uninterrupted power supply device which comprises a robot and a robot control cabinet; the robot is provided with a transverse manipulator; a wrist flange is arranged on the lower side of the end of the transverse manipulator; a gripper tool is connected with the wrist flange and is composed of a transverse bracket; a 2D visual camera is fixed on the transverse bracket; the robot control cabinet, an uninterrupted power supply and an air compressor are arranged in a robot workbench; the uninterrupted power supply is electrically connected with the robot control cabinet and the air compressor; a power cord part of an external power plug is electrically connected with the uninterrupted power supply; and a plug part of the external power plug is arranged at the outer part of the robot workbench. According to the robot movement uninterrupted power supply device, part equipment forms a whole unit in a workbench form; and the robot workbench normally runs at full speed by being connected with the external power cord, the uninterrupted power supply supplies power under the condition of cutting off the external power supply, and the robot stops moving and keeps a standby state.
Description
Technical field
The present invention relates to the technical field of robot, more particularly, to a kind of robot moves uninterrupted power supply device.
Background technology
Robot is fixedly placed in a station or the effective range area of one section of guide rail and is operated under normal conditions,
Move to other regions and be accomplished by first power-off, go up electricity debugging after dropping place again again and run.Existing frequently-used this machine
The mode of device people's power-off displacement, it is desirable to have a lot of dismountings, installation, the work of wiring, causes to waste on a lot of times.
Content of the invention
For the problem of above-mentioned generation, it is an object of the invention to provide a kind of robot moves uninterrupted power supply device.
To achieve these goals, the technical scheme that the present invention takes is：
A kind of robot moves uninterrupted power supply device, wherein, including：One robot, described robot has a horizontal machinery
Arm, the downside of the end of described horizontal mechanical arm is provided with a wrist flange；One paw instrument, described paw instrument and described hand
Wrist flange passes through a hand-off disk and connects, and described paw instrument includes a horizontal support and a rectangle support, described horizontal support
The upper surface of one end is fixedly connected with the lower surface of described hand-off disk, and the lower surface of same one end of described horizontal support is fixing
State rectangle support；One 2D vision camera, described horizontal support is fixed with described 2D with respect to the other end of described horizontal mechanical arm
Vision camera, carries out correcting compensation by described 2D vision camera；One robotic workstation, described robot and described robot
Workbench is fixedly connected；One robot control cabinet, described robot control cabinet is arranged on the inside of described robotic workstation, institute
State robot control cabinet and control described robot；One uninterrupted power source, described uninterrupted power source is arranged on the work of described robot
The inside of platform, described uninterrupted power source is electrically connected with described robot control cabinet；One air compressor machine, described air compressor machine is arranged on described
The inside of robotic workstation, described uninterrupted power source and described pneumatics mechatronics；One external power source plug, described external electrical
The power line part of source plug is electrically connected with described uninterrupted power source, and the plug portion of described external power source plug is arranged on described
The outside of robotic workstation.
Above-mentioned robot moves uninterrupted power supply device, and wherein, described external power source plug is magnetic plug.
Above-mentioned robot moves uninterrupted power supply device, and wherein, the lower surface of described magnetic plug is male conical.
Above-mentioned robot moves uninterrupted power supply device, and wherein, described robot also includes a base, and one is longitudinally mechanical
Arm, the lower end of described longitudinal mechanical arm and described base are rotatably connected, the upper end of described longitudinal mechanical arm and described horizontal machine
Tool arm is rotatably connected, and described base is fixedly connected with described robotic workstation.
Above-mentioned robot moves uninterrupted power supply device, and wherein, the lower surface of described robotic console is provided with four
Leg.
Above-mentioned robot moves uninterrupted power supply device, and wherein, the lower end of leg described in four is separately installed with a pulley.
Above-mentioned robot moves uninterrupted power supply device, wherein, described robot in the case of outside dump,
Described uninterrupted power source can be passed through standby 4 hours.
Above-mentioned robot moves uninterrupted power supply device, and wherein, described robot control cabinet is in described uninterrupted power source
Undertension when automatic alarm.
Above-mentioned robot moves uninterrupted power supply device, wherein, described robot control cabinet and other units of periphery or
Production line is communicated by wireless signal.
Due to employing above-mentioned technology, the good effect being allowed to compared with prior art have is the present invention：
（1）The present invention is in the form of workbench by robot, robot control cabinet, uninterrupted power source, air compressor machine and robot
The equipment such as paw instrument form a whole unit.
（2）The robotic workstation of the present invention normal full speed running in the case of connecting external power cord, in external electrical
Powered by uninterrupted power source in the case of the cut-out of source, robot stop motion keeps holding state.
Brief description
Fig. 1 is the schematic diagram of the mobile uninterrupted power supply device of robot of the present invention.
Fig. 2 is the operating diagram of the mobile uninterrupted power supply device of robot of the present invention.
Fig. 3 is the workbench schematic diagram of the mobile uninterrupted power supply device of robot of the present invention.
In accompanying drawing：1st, robot；11st, horizontal mechanical arm；111st, wrist flange；112nd, hand-off disk；12nd, longitudinal mechanical arm；
13rd, base；2nd, paw instrument；21st, horizontal support；22nd, rectangle support；3rd, 2D vision camera；4th, external power source plug；5th, insert
Holder structure；51st, socket support；52nd, magnetic socket；53rd, contactor；54th, protective cover；6th, robotic workstation；61st, leg；7、
Robot control cabinet；8th, uninterrupted power source；9th, air compressor machine.
Specific embodiment
The invention will be further described with specific embodiment below in conjunction with the accompanying drawings, but not as limiting to the invention.
Fig. 1 is the schematic diagram of the mobile uninterrupted power supply device of robot of the present invention, and Fig. 2 is that the robot of the present invention moves
The operating diagram of uninterrupted power supply device, refers to shown in Fig. 1, Fig. 2, shows that a kind of robot of preferred embodiment moves
Uninterrupted power supply device, includes：Robot 1 and paw instrument 2, robot 1 has horizontal mechanical arm 11, horizontal mechanical arm 11
The downside of end be provided with wrist flange 111, paw instrument 2 is connected by hand-off disk 112 with wrist flange 111, paw work
Tool 2 includes horizontal support 21 and rectangle support 22, and the lower surface of the upper surface of one end of horizontal support 21 and hand-off disk 112 is fixed
Connect, the lower surface of same one end of horizontal support 21 is fixed with rectangle support 22.
Additionally, as in preferred embodiment, the mobile uninterrupted power supply device of robot also includes：2D vision camera 3 He
External power source plug 4, horizontal support 21 is fixed with 2D vision camera 3 with respect to the other end of horizontal mechanical arm 11, is regarded by 2D
Feel that camera 3 carries out correcting to compensate, the downside of rectangle support 22 is fixed with external power source plug 4, is regarded by 2D vision camera 3
Feel that positioning instead of and positioned by guide finger in the past, be not only easy to plug, improve service life, and reduce design with
Installation accuracy requires.The appearance and size of external power source plug 4 and the error installed can be corrected compensating with 2D vision, depending on
Feel positioning precision up to ± 0.2mm.In receptacle periphery other mechanical guide need not be installed, maximum collision free and dry
Relate to.
In addition, as in preferred embodiment, the mobile uninterrupted power supply device of robot also includes：Robotic workstation 6
With robot control cabinet 7, robot 1 is fixedly connected with robotic workstation 6, and robot control cabinet 7 is arranged on robot work
The inside of platform 6, robot control cabinet 7 controls robot 1.
Further, as in preferred embodiment, the mobile uninterrupted power supply device of robot also includes：Uninterrupted power source 8 He
Air compressor machine 9, uninterrupted power source 8 is arranged on the inside of robotic workstation 6, and uninterrupted power source 8 is electrically connected with robot control cabinet 7
Connect, the power line part of external power source plug 4 is electrically connected with uninterrupted power source 8, and the plug portion of external power source plug 4 is arranged on
The outside of robotic workstation 6, air compressor machine 9 is arranged on the inside of robotic workstation 6, and uninterrupted power source 8 is electrically connected with air compressor machine 9
Connect.
In addition, as in preferred embodiment, continuing with shown in Figure 2, the mobile uninterrupted power supply device of robot with
A kind of socket 5 uses cooperatively, and wherein, socket 5 includes：Socket support 51, contactor 53 and protective cover 54, socket props up
The upper surface of frame 51 is provided with a magnetic socket 52, and magnetic socket 52 is matched with external power source plug 4, contactor 53 and magnetic
Socket 52 connects, and protective cover 54 is arranged on the upside of the side of socket support 51.
Further, as in preferred embodiment, external power source plug 4 is male conical, and magnetic socket 52 is concave cone face, outward
The concave cone face of the male conical of portion's attaching plug 4 and magnetic socket 52 matches, the shape of external power source plug 4 and magnetic socket 52
There is the function of auxiliary positioning.
Further, as in preferred embodiment, external power source plug 4 is contact magnetic plug.
Further, as in preferred embodiment, robot 1 also includes base 13, longitudinal mechanical arm 12, longitudinal mechanical arm 12
Lower end be rotatably connected with base 13, the upper end of longitudinal mechanical arm 12 is rotatably connected with horizontal mechanical arm 11, base 13 with
Robotic workstation 6 is fixedly connected.The foregoing is only preferred embodiments of the present invention, not thereby limit the enforcement of the present invention
Mode and protection domain.
The present invention also has the mode of being implemented as follows on the basis of the above：
In further embodiment of the present invention, continuing with referring to shown in Fig. 1, Fig. 2, by 2D vision camera 3 to magnetic socket 52
Carry out positioning of taking pictures, and 2D vision camera 3 guided robot 1 carries out the docking of external power source plug 4 and magnetic socket 52.
In further embodiment of the present invention, by low voltage pulse signal, the circuit of magnetic socket 52 detects that external power source is inserted
4 and magnetic socket 52 whether dock and complete.
In further embodiment of the present invention, the circuit of magnetic socket 52 has plug and puts in place detection signal function, magnetic
When the circuit of socket 52 is not detected by low voltage pulse signal, contactor 53 disconnects；The electric circuit inspection of magnetic socket 52 is to low-tension pulse
When rushing signal, contactor 53 adhesive.Both played the function of reducing the starting the arc, also ensure that the safety in the case of no plug was protected
Shield.
In further embodiment of the present invention, stress is not substantially had in plug using external power source plug 4, so in machine
Requirement by force intensity can be reduced on the design of the selection of device people 1 and paw instrument 2.
Fig. 3 is the workbench schematic diagram of the mobile uninterrupted power supply device of robot of the present invention, refers to Fig. 1, Fig. 2, Fig. 3
Shown.
In further embodiment of the present invention, the lower surface of robotic console 6 is provided with four legs 61.
In further embodiment of the present invention, the lower end of four legs 61 is separately installed with a pulley（In figure is not shown）.
In further embodiment of the present invention, robot 1, can be by uninterruptedly electricity in the case of outside dump
Standby 4 hours of source 8.
In further embodiment of the present invention, robot control cabinet 7 automatic alarm in uninterrupted power source 8 undertension.
In further embodiment of the present invention, robot control cabinet 7 passes through wireless communication with other units of periphery or production line
Number communicated.
The foregoing is only preferred embodiments of the present invention, not thereby limit embodiments of the present invention and protection model
Enclose, to those skilled in the art it should can appreciate that done by all utilization description of the invention and diagramatic content
Scheme obtained by equivalent and obvious change, all should be included in protection scope of the present invention.
Claims (9)
1. a kind of mobile uninterrupted power supply device of robot is it is characterised in that include：
One robot, described robot has a horizontal mechanical arm, and the downside of the end of described horizontal mechanical arm is provided with the other hand
Wrist flange；
One paw instrument, described paw instrument is connected by a hand-off disk with described wrist flange, and described paw instrument includes one
Horizontal support and a rectangle support, the upper surface of one end of described horizontal support is fixedly connected with the lower surface of described hand-off disk,
The lower surface of same one end of described horizontal support is fixed with described rectangle support；
One 2D vision camera, described horizontal support is fixed with described 2D vision phase with respect to the other end of described horizontal mechanical arm
Machine, carries out correcting compensation by described 2D vision camera；
One robotic workstation, described robot is fixedly connected with described robotic workstation；
One robot control cabinet, described robot control cabinet is arranged on the inside of described robotic workstation, the control of described robot
Cabinet processed controls described robot；
One uninterrupted power source, described uninterrupted power source is arranged on the inside of described robotic workstation, described uninterrupted power source with
Described robot control cabinet electrical connection；
One air compressor machine, described air compressor machine is arranged on the inside of described robotic workstation, described uninterrupted power source and described pneumatics
Mechatronics；
One external power source plug, the power line part of described external power source plug is electrically connected with described uninterrupted power source, described outer
The plug portion of portion's attaching plug is arranged on the outside of described robotic workstation.
2. the mobile uninterrupted power supply device of robot according to claim 1 is it is characterised in that described external power source plug
For magnetic plug.
3. the mobile uninterrupted power supply device of robot according to claim 2 is it is characterised in that under described magnetic plug
End face is male conical.
4. vision positioning magnetic plug electricity getting device according to claim 1 is it is characterised in that described robot also includes
One base, a longitudinal mechanical arm, the lower end of described longitudinal mechanical arm and described base are rotatably connected, described longitudinal mechanical arm
Upper end is rotatably connected with described horizontal mechanical arm, and described base is fixedly connected with described robotic workstation.
5. the mobile uninterrupted power supply device of robot according to claim 1 is it is characterised in that described robotic console
Lower surface four legs are installed.
6. the mobile uninterrupted power supply device of robot according to claim 2 is it is characterised in that the lower end of leg described in four
It is separately installed with a pulley.
7. the mobile uninterrupted power supply device of robot according to claim 1 is it is characterised in that described robot is in outside
In the case of dump, described uninterrupted power source can be passed through standby 4 hours.
8. the mobile uninterrupted power supply device of robot according to claim 1 is it is characterised in that described robot control cabinet
The automatic alarm in the undertension of described uninterrupted power source.
9. the mobile uninterrupted power supply device of robot according to claim 1 is it is characterised in that described robot control cabinet
Communicated by wireless signal with other units of periphery or production line.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610907595.8A CN106378794A (en) | 2016-10-19 | 2016-10-19 | Robot movement uninterrupted power supply device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610907595.8A CN106378794A (en) | 2016-10-19 | 2016-10-19 | Robot movement uninterrupted power supply device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106378794A true CN106378794A (en) | 2017-02-08 |
Family
ID=57958740
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610907595.8A Pending CN106378794A (en) | 2016-10-19 | 2016-10-19 | Robot movement uninterrupted power supply device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106378794A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107139185A (en) * | 2017-06-19 | 2017-09-08 | 上海发那科机器人有限公司 | A kind of robot glass painting system |
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| CN105835029A (en) * | 2016-05-30 | 2016-08-10 | 上海发那科机器人有限公司 | Collaborative robot with area moving capacity and working method of collaborative robot |
| CN206170133U (en) * | 2016-10-19 | 2017-05-17 | 上海发那科机器人有限公司 | Robot removes incessant power supply unit |
-
2016
- 2016-10-19 CN CN201610907595.8A patent/CN106378794A/en active Pending
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6374155B1 (en) * | 1999-11-24 | 2002-04-16 | Personal Robotics, Inc. | Autonomous multi-platform robot system |
| CN101856556A (en) * | 2010-04-24 | 2010-10-13 | 饶建明 | Rearview head hoop |
| CN102613735A (en) * | 2012-04-14 | 2012-08-01 | 李良杰 | Electric heating leg guard and electric heating glove for motorcycles and electric vehicles |
| CN102983460A (en) * | 2012-09-29 | 2013-03-20 | 顾晓烨 | Intelligent plug device of artificial intelligence charging system |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107139185A (en) * | 2017-06-19 | 2017-09-08 | 上海发那科机器人有限公司 | A kind of robot glass painting system |
| CN107139185B (en) * | 2017-06-19 | 2023-05-26 | 上海发那科机器人有限公司 | Robot glass painting system |
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