CN102941568A - Robot with automatic gripping device and automatic gripping method - Google Patents
Robot with automatic gripping device and automatic gripping method Download PDFInfo
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- CN102941568A CN102941568A CN2012103943836A CN201210394383A CN102941568A CN 102941568 A CN102941568 A CN 102941568A CN 2012103943836 A CN2012103943836 A CN 2012103943836A CN 201210394383 A CN201210394383 A CN 201210394383A CN 102941568 A CN102941568 A CN 102941568A
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Abstract
The invention discloses a robot with an automatic gripping device and an automatic gripping method. The automatic gripping device comprises a peripheral frame, a traveling mechanism, a lock operating mechanism, a base plate and a control unit. The traveling mechanism and the lock operating mechanism are respectively mounted on the base plate to be controlled by the control unit and used for conveying a gripped object. The automatic gripping method of the robot comprises the following steps: detecting and adjusting the angle and distance between the automatic gripping device and the gripped object; detecting and adjusting the fitness between a positioning boss and the gripped object; and pulling the gripped object to the automatic gripping device and conveying the gripped object to the designated location. The robot with the automatic gripping device and the automatic gripping method reduce the labor intensity, improve the production efficiency and enhances the degree of automation.
Description
Technical field
The present invention relates to a kind of robot, relate in particular to a kind of grabbing device and automatic capturing method of robot.
Background technology
In the prior art, robot has been widely used in namely having improved operating efficiency in the production, processing of every profession and trade, has saved again simultaneously cost of labor.
Battery is the most one of the technology of core of electric vehicle, yet existing electric motor car all faces the problem of battery flying power deficiency, operating range after the charging is within the 300km, be difficult to satisfy consumer's requirement, after only having again charging or changing battery, electric vehicle could continue to be travelled.Therefore, battery changes electric mode and will directly affect the convenience that electric vehicle uses.
Usually adopt manual type to carry out battery altering in the prior art, although the flexibility that artificial participation has strengthened battery altering has increased human cost, reduced the efficient of battery altering, can not satisfy the demand of the battery replacing vehicle for electric that day by day increases.
Summary of the invention
The deficiency that exists in order to solve prior art the object of the present invention is to provide a kind ofly, has the automatic capturing of realizing battery of electric vehicle, improves robot and the automatic capturing method of automatic grabbing device of the replacing efficient of battery.
In order to finish above-mentioned purpose, a kind of robot with automatic grabbing device of the present invention, described automatic grabbing device comprises, peripheral frame, walking mechanism, latching operation mechanism, substrate, and control module, wherein,
Described walking mechanism and described latching operation mechanism are installed in respectively on the described substrate, accept the control of described control module, carry crawled thing.
Wherein, described walking mechanism further comprises, servomotor, reductor, walking basal seat, roll shaft, rollers, transmission mechanism, and walking slide rail;
Described servomotor is fixed on the walking basal seat by described reductor;
Described roll shaft is installed in parallel on the described substrate by described rollers and described walking slide rail;
Adopt between described transmission mechanism and the reductor and be flexibly connected.
Wherein, described transmission mechanism adopts gear, rack-driving mode or gear, the gear shaft kind of drive.
Wherein, described latching operation mechanism further comprises, rotary cylinder, positioning boss, Bidirectional clamping cylinder and folder refer to, wherein,
Described Bidirectional clamping cylinder is installed on the walking basal seat; Described rotary cylinder is installed on the walking basal seat by the rotary cylinder support; Described positioning boss is connected with described rotary cylinder; Described folder refers to be connected with described Bidirectional clamping cylinder;
Described positioning boss adopts magnechuck or vacuum cup.
Wherein, described automatic grabbing device further comprises, is used for obtaining described device and is grabbed angle between the object and the positioning unit of distance, and described positioning unit is fixedly mounted on the top of peripheral frame.
Wherein, described positioning unit comprises, locating support, camera, camera light source, and apart from detecting sensor, described camera, camera light source, and place on the described locating support apart from detecting sensor, described locating support is installed in the top of peripheral frame.
In order to finish above-mentioned purpose, the automatic capturing method of a kind of robot of the present invention said method comprising the steps of: 1) detect and adjust the angle and distance between automatic grabbing device and the crawled thing; 2) applying between detection and adjustment positioning boss and the crawled thing; 3) crawled thing is drawn in grabbing device and is transported to assigned address.
Wherein, described step 1) is further comprising the steps:
Detect angle and the distance of automatic grabbing device end face and object end face apart from detecting sensor, and will detect transfer of data to the control module of robot;
Robot adjusts the position of automatic grabbing device, guarantees that the automatic grabbing device end face is parallel with crawled thing end face.
Wherein, described step 2) further comprising the steps:
Robot by positioning unit the camera light source and the crawled thing of camera collection near the end face of automatic grabbing device, adjust positioning boss, make the applying of positioning boss and crawled thing solution lock collar;
Judge whether described positioning boss and described crawled thing solution lock collar fit and put in place;
Rotary cylinder control positioning boss is rotated release, and Bidirectional clamping cylinder control folder refers to clamp crawled thing.
A kind of robot and automatic capturing method with automatic grabbing device of the present invention reduced labour intensity, improved production efficiency, strengthened automaticity, realize the automatic capturing of battery of electric vehicle, improved the replacing efficient of battery, saved labour's cost.
Other features and advantages of the present invention will be set forth in the following description, and, partly from specification, become apparent, perhaps understand by implementing the present invention.
Description of drawings
Accompanying drawing is used to provide a further understanding of the present invention, and consists of the part of specification, and and embodiments of the invention, one is used from explanation the present invention, is not construed as limiting the invention.In the accompanying drawings:
Fig. 1 is the automatic grabbing device perspective view according to robot of the present invention;
Fig. 2 is the automatic grabbing device top view according to robot of the present invention;
Fig. 3 is the automatic grabbing device front view according to robot of the present invention;
Fig. 4 is the automatic grabbing device rearview according to robot of the present invention;
Fig. 5 is the automatic grabbing device left view according to robot of the present invention;
Fig. 6 is the automatic grabbing device right view according to robot of the present invention;
Fig. 7 is the automatic capturing method flow diagram according to robot of the present invention.
The specific embodiment
Below in conjunction with accompanying drawing the preferred embodiments of the present invention are described, should be appreciated that preferred embodiment described herein only is used for description and interpretation the present invention, is not intended to limit the present invention.
Fig. 1 is according to robot of the present invention automatic grabbing device perspective view; Fig. 2 is the automatic grabbing device top view according to robot of the present invention, as illustrated in fig. 1 and 2, the automatic grabbing device of robot of the present invention, comprise peripheral frame 101, substrate 110, servomotor 102, reductor 103, Bidirectional clamping cylinder 104, rotary cylinder 105, positioning boss 106, folder refers to 107, rotary cylinder support 108, rollers 111, roll shaft 112, tooth bar 113, walking slide rail 114, locating support 120, camera 121, camera light source 122, and apart from detecting sensor 123, wherein
Peripheral frame 101 is installed on the arm (not shown) of robot, and substrate 110 is fixedly mounted on the bottom of framework 101; On substrate 110, the two row's roll shafts 112 that vertically have been arranged in parallel, each row's roller bearing is fixed on the substrate 110 by rollers 111; On the substrate 110 between two row's roll shafts 112, two parallel walking slide rails 114 are installed, walking slide rail 114 is parallel with respect to each row's roll shaft 112; Tooth bar 113 is between roll shaft 112 and walking slide rail 114;
Positioning boss 106 is installed on the rotary cylinder 105, drives positioning boss 106 rotations by rotary cylinder 105, and crawled thing is fixed; Among the present invention, adopt the mode of magnechuck or vacuum cup, can reach the purpose that crawled thing is fixed equally.
Two folders refer to that 107 place respectively the both sides of rotary cylinder 105, and are fixedly connected on the Bidirectional clamping cylinder 104, are used for clamping crawled thing;
Locating support 120, be fixedly mounted on the peripheral frame 101, preferably, locating support 120 is installed on the peripheral frame 101 anterior horizontal girds 201, camera 121, camera light source 122, and be installed in respectively on the locating support 120 apart from detecting sensor 123, locating support 120, camera 121, camera light source 122, and consisted of the positioning unit that is used for positioning grabbing device apart from detecting sensor 123.
Fig. 3 is the automatic grabbing device front view according to robot of the present invention; Fig. 4 is the automatic grabbing device rearview according to robot of the present invention; Fig. 5 is the automatic grabbing device left view according to robot of the present invention; Fig. 6 is the automatic grabbing device right view according to robot of the present invention, and shown in Fig. 3-6, the automatic grabbing device of robot of the present invention also comprises gear 115, and walking basal seat 109, wherein,
Positioning unit comprises that 1 camera 121,2 are positioned near the camera light sources 122 the camera, and 3 apart from detecting sensor 123.
Walking basal seat 109 is positioned on two parallel walking slide rails 114, its top is separately installed with reductor 103, Bidirectional clamping cylinder 104, and rotary cylinder 105, wherein, reductor 103 is fixedly mounted on the rear portion of walking basal seat 109, Bidirectional clamping cylinder 104 is fixedly mounted on the middle part of walking basal seat 109, and rotary cylinder 105 is fixedly mounted on the front portion of walking basal seat 109 by rotary cylinder support 108;
Gear 115 is installed on the reductor 103, and meshes with tooth bar 113.
Among the present invention, walking basal seat 109, servomotor 102, reductor 103, gear 115, tooth bar 113, walking slide rail 114, roll shaft 112 and rollers 111 have consisted of the walking mechanism of the automatic grabbing device of robot, drive Bidirectional clamping cylinder 104, folder refers to 107, rotary cylinder 105 and positioning boss 106 seesaw, wherein, be not limited to adopt gear 115, tooth bar 13 is connected with reductor as transmission mechanism, can also adopt gear, the form of gear shaft is connected with reductor, walking basal seat 109 is moved at walking slide rail 114, can reach equally the purpose of carrying crawled thing.
The automatic grabbing device of robot of the present invention also comprises installment state monitoring indicating member, and the control module (not shown) of control latching operation mechanism and walking mechanism work.The robot automatic grabbing device is electrically connected with above-mentioned control module by the condition monitoring indicating member, and in the process of whole operation, the condition monitoring indicating member is used for the duty of monitoring the present invention's battery crawl, carries out simultaneously real-time crawl monitoring.
Fig. 7 is the automatic capturing method workflow diagram according to robot of the present invention, below with reference to Fig. 7, the automatic capturing method of robot of the present invention is described in detail:
In the present embodiment, for the ease of understanding, the below will describe with the workflow of changing battery of electric vehicle.
At first, in step 701, detect the angle and distance between grabbing device and the crawled thing.
After electric motor car is in place, robot drives grabbing device near crawled thing (battery of electric vehicle), at this moment, three groups of grabbing device points that detect respectively place separately apart from detecting sensor, and will detect transfer of data and arrive control module near the angle and distance of the end face of grabbing device (namely grabbing device near the end face of crawled thing and crawled thing near the angle between the end face of grabbing device and distance) to crawled thing.
In step 702, robot adjusts the position of grabbing device.
The control module of grabbing device, arrive crawled thing near the angle and distance of the end face of grabbing device according to every group of point apart from the detecting sensor place, utilize the principle of 3 one sides to calculate the adjustment amount of three distances, and above-mentioned adjustment amount is transferred to robot control system, robot adjusts grabbing device near the end face of crawled thing (battery) and angle and the distance between the close end face of grabbing device of crawled thing (battery) according to above-mentioned adjustment amount.
In step 703, judge whether grabbing device is parallel with the crawl thing.
The control module of grabbing device, arrive crawled thing near the angle and distance of the end face of grabbing device according to every group of point apart from the detecting sensor place, judge whether grabbing device is parallel with the end face of the close grabbing device of crawled thing (battery) near the end face of crawled thing (battery), if parallel then carry out next step; If not parallel then return step 702.
In step 704, robot drives grabbing device and advances, and adjusts the position of positioning boss.
Grabbing device is by camera light source and the camera of positioning unit, gather crawled thing near circular release card and the lower surface figure of the end face of grabbing device, robot adjusts positioning boss 106 according to above-mentioned figure, and positioning boss 106 and crawled thing solution lock collar are fitted.
In step 705, judge whether positioning boss and crawled thing solution lock collar fit to put in place.
Whether condition monitoring indicating member detection and location boss and crawled thing solution lock collar are fitted and are put in place, if applying puts in place then carries out next step; If applying does not put in place then returns step 704.
In step 706, the rotation release is also firmly grasped crawled thing.
In this step, the rotary cylinder 105 control positioning boss 106 of latching operation mechanism carry out 180 ° of rotation releases, and Bidirectional clamping cylinder 105 control folders refer to that 107 clamp crawled thing.
In step 707, the servomotor 102 of walking mechanism starts, and crawled thing is pulled in the grabbing device.
In step 708, robot moves to assigned address with grabbing device, and servomotor 102 startings of walking mechanism are released crawled thing from grabbing device.
As above, repeat from 701 to 708 step, can transmit crawled thing.
In battery is changed in electric motor car, adopts robot and the automatic capturing method with automatic grabbing device of the present invention, have stable high, safe, convenient operation and be convenient to the characteristics such as maintenance.
One of ordinary skill in the art will appreciate that: the above only is the preferred embodiments of the present invention, be not limited to the present invention, although with reference to previous embodiment the present invention is had been described in detail, for a person skilled in the art, it still can be made amendment to the technical scheme of aforementioned each embodiment record, perhaps part technical characterictic wherein is equal to replacement.Within the spirit and principles in the present invention all, any modification of doing, be equal to replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (10)
1. robot with automatic grabbing device, described automatic grabbing device comprises, peripheral frame, walking mechanism, latching operation mechanism, substrate, and control module is characterized in that,
Described walking mechanism and described latching operation mechanism are installed in respectively on the described substrate, accept the control of described control module, carry crawled thing.
2. the robot with automatic grabbing device according to claim 1 is characterized in that, described walking mechanism further comprises, servomotor, reductor, walking basal seat, roll shaft, rollers, transmission mechanism, and walking slide rail;
Described servomotor is fixed on the walking basal seat by described reductor;
Described roll shaft is installed in parallel on the described substrate by described rollers and described walking slide rail;
Adopt between described transmission mechanism and the reductor and be flexibly connected.
3. the robot with automatic grabbing device according to claim 2 is characterized in that, described transmission mechanism adopts gear, rack-driving mode or gear, the gear shaft kind of drive.
4. the robot with automatic grabbing device according to claim 1 is characterized in that, described latching operation mechanism further comprises, rotary cylinder, positioning boss, Bidirectional clamping cylinder and folder refer to, wherein,
Described Bidirectional clamping cylinder is installed on the walking basal seat; Described rotary cylinder is installed on the walking basal seat by the rotary cylinder support; Described positioning boss is connected with described rotary cylinder; Described folder refers to be connected with described Bidirectional clamping cylinder;
Described positioning boss adopts magnechuck or vacuum cup.
5. the robot with automatic grabbing device according to claim 1, it is characterized in that, described automatic grabbing device further comprises, be used for obtaining described device and grabbed angle between the object and the positioning unit of distance, described positioning unit is fixedly mounted on the top of peripheral frame.
6. the robot with automatic grabbing device according to claim 5, it is characterized in that, described positioning unit comprises, locating support, camera, camera light source, and apart from detecting sensor, described camera, camera light source, and place on the described locating support apart from detecting sensor, described locating support is installed in the top of peripheral frame.
7. the robot with automatic grabbing device according to claim 6 is characterized in that, described apart from detecting sensor be three apart from detecting sensor.
8. the automatic capturing method of a robot is characterized in that, said method comprising the steps of: 1) detect and adjust the angle and distance between automatic grabbing device and the crawled thing; 2) applying between detection and adjustment positioning boss and the crawled thing; 3) crawled thing is drawn in grabbing device and is transported to assigned address.
9. the automatic capturing method of robot according to claim 8 is characterized in that, described step 1) is further comprising the steps:
Detect angle and the distance of automatic grabbing device end face and object end face apart from detecting sensor, and will detect transfer of data to the control module of robot;
Robot adjusts the position of automatic grabbing device, guarantees that the automatic grabbing device end face is parallel with crawled thing end face.
10. the automatic capturing method of robot according to claim 8 is characterized in that, described step 2) further comprising the steps:
Robot by positioning unit the camera light source and the crawled thing of camera collection near the end face of automatic grabbing device, adjust positioning boss, make the applying of positioning boss and crawled thing solution lock collar;
Judge whether described positioning boss and described crawled thing solution lock collar fit and put in place;
Rotary cylinder control positioning boss is rotated release, and Bidirectional clamping cylinder control folder refers to clamp crawled thing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012103943836A CN102941568A (en) | 2012-10-17 | 2012-10-17 | Robot with automatic gripping device and automatic gripping method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012103943836A CN102941568A (en) | 2012-10-17 | 2012-10-17 | Robot with automatic gripping device and automatic gripping method |
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| Publication Number | Publication Date |
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| CN102941568A true CN102941568A (en) | 2013-02-27 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN2012103943836A Pending CN102941568A (en) | 2012-10-17 | 2012-10-17 | Robot with automatic gripping device and automatic gripping method |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117825280A (en) * | 2024-03-05 | 2024-04-05 | 宁德时代新能源科技股份有限公司 | Appearance detection system and battery production line |
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| DE10250140A1 (en) * | 2002-10-28 | 2004-05-06 | Still Gmbh | Battery replacement system for an industrial truck |
| FR2858799B1 (en) * | 2003-08-14 | 2006-11-17 | Peugeot Citroen Automobiles Sa | METHOD FOR MOUNTING A BATTERY AND ASSOCIATED MANIPULATOR ROBOT |
| CN201529991U (en) * | 2009-09-15 | 2010-07-21 | 万向集团公司 | Robot battery hand grip |
| CN202169933U (en) * | 2011-07-22 | 2012-03-21 | 沈阳友联电子装备有限公司 | manipulator for replacing vehicle-mounted cells |
| CN102556009A (en) * | 2012-01-05 | 2012-07-11 | 中国电力科学研究院 | Replacing device for battery boxes of electric vehicle |
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2012
- 2012-10-17 CN CN2012103943836A patent/CN102941568A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE10250140A1 (en) * | 2002-10-28 | 2004-05-06 | Still Gmbh | Battery replacement system for an industrial truck |
| FR2858799B1 (en) * | 2003-08-14 | 2006-11-17 | Peugeot Citroen Automobiles Sa | METHOD FOR MOUNTING A BATTERY AND ASSOCIATED MANIPULATOR ROBOT |
| CN201529991U (en) * | 2009-09-15 | 2010-07-21 | 万向集团公司 | Robot battery hand grip |
| CN202169933U (en) * | 2011-07-22 | 2012-03-21 | 沈阳友联电子装备有限公司 | manipulator for replacing vehicle-mounted cells |
| CN102556009A (en) * | 2012-01-05 | 2012-07-11 | 中国电力科学研究院 | Replacing device for battery boxes of electric vehicle |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN117825280A (en) * | 2024-03-05 | 2024-04-05 | 宁德时代新能源科技股份有限公司 | Appearance detection system and battery production line |
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Application publication date: 20130227 |