CN106976499A - A kind of intelligent carrier applied to Automatic Production System - Google Patents

Abstract

The invention discloses an intelligent transport vehicle used in an automatic production system. The main body of the frame includes a bottom frame and a frame shield. The rear wheel drives the hub, and each rear wheel drive hub is equipped with a hub-driven brushless motor controlled by a brushless motor controller; a six-axis robot is installed at the front end of the bottom frame, and an electric gripper is installed at the driving end of the six-axis robot , CCD industrial camera; at least two sorting storage boxes are installed at the rear end of the bottom frame, and each sorting storage box is driven by an electric telescopic rod to realize dumping of materials; the frame is installed in the chamber for embedded handling A controller, a lithium battery, and a grayscale sensor and an ultrasonic distance sensor are installed at the front end of the bottom frame. The invention can automatically and intelligently realize the functions of material sorting and transportation, has novel design, high degree of automation, high degree of intelligence and can effectively save labor costs.

Description

An intelligent transport vehicle applied to automatic production system

technical field

The invention relates to the technical field of automatic production systems, in particular to an intelligent transport vehicle applied to automatic production systems.

Background technique

With the continuous development and progress of science and technology, and with the continuous increase of labor costs, the application of automation technology has become an inevitable choice for more and more enterprises.

However, at present, many small and medium-sized enterprises still rely on manual handling for the loading and handling of workpieces and goods in the workshop, which requires a lot of time, material and labor costs, and reduces the production efficiency of the enterprise. A certain amount of trouble.

Contents of the invention

The object of the present invention is to provide an intelligent transport vehicle applied to the automatic production system in view of the deficiencies in the prior art. Effectively save labor costs.

In order to achieve the above object, the present invention is achieved through the following technical solutions.

An intelligent transport vehicle applied to an automatic production system, including a frame body, the frame body includes a bottom frame, and a frame guard installed on the upper end side of the bottom frame, and the frame body is connected between the bottom frame and the frame guard There is a frame installation chamber formed between them, the front end of the bottom frame is equipped with two movable front wheels that are facing and spaced, and the rear end of the bottom frame is equipped with two rear wheel drive Hubs, each rear wheel drive hub is equipped with a hub drive brushless motor, and each hub drive brushless motor is respectively connected to the rear wheel drive hub on the corresponding side, and the bottom frame is respectively equipped with a brushless motor for each hub drive brushless motor. Motor controllers, each brushless motor controller is electrically connected to the corresponding hub drive brushless motor;

The front end of the bottom frame is equipped with a six-axis robot. The upper end of the six-axis robot passes through the frame shield and extends to the upper end side of the frame shield. CCD industrial camera next to the gripper;

The rear end of the bottom frame is equipped with at least two sorting storage boxes on the rear end side of the six-axis robot. The inside of each sorting storage box is respectively formed with a sorting storage chamber that opens upward. The bottom of the sorting storage box is respectively equipped with a first hinged seat and a second hinged seat located at the rear end side of the first hinged seat. The second hinged seat of each sorting storage box is respectively hinged with the bottom frame through a pivot, and the bottom The frame is respectively equipped with an electric telescopic rod on the lower end side of each sorting storage box. The first hinge seat is hinged;

The transport controller fixed on the bottom frame and the lithium battery located next to the transport controller are embedded in the frame installation chamber. The front end of the bottom frame is equipped with a gray scale sensor and an ultrasonic distance Sensors, six-axis robots, electric grippers, CCD industrial cameras, lithium batteries, grayscale sensors, ultrasonic distance sensors, brushless motor controllers, and electric telescopic rods are electrically connected to the handling controller.

Wherein, the transportation controller is equipped with a bluetooth module, and the bluetooth module is electrically connected with the transportation controller.

Wherein, the transportation controller is equipped with an infrared receiver, and the infrared receiver is electrically connected with the transportation controller. Cooperate.

Wherein, the bottom frame is an aluminum profile frame.

The beneficial effects of the present invention are: the intelligent transport vehicle applied to the automatic production system according to the present invention includes a frame main body, the frame main body includes a bottom frame, and a frame guard installed on the upper end side of the bottom frame. Cover, the main body of the frame is formed with a frame installation chamber between the bottom frame and the frame guard, the front end of the bottom frame is equipped with two movable front wheels that are arranged opposite to each other on the left and right, and the rear end of the bottom frame is installed There are two rear wheel drive hubs arranged at intervals on the left and right. Each rear wheel drive hub is equipped with a hub drive brushless motor. Each hub drive brushless motor is connected to the rear wheel drive hub on the corresponding side. The bottom frame A brushless motor controller is installed corresponding to each hub-driven brushless motor, and each brushless motor controller is electrically connected to the corresponding hub-driven brushless motor; a six-axis robot is installed on the front end of the bottom frame, and the six-axis The upper end of the robot passes through the frame shield and extends to the upper end side of the frame shield. The driving end of the six-axis robot is equipped with electric grippers and a CCD industrial camera located next to the electric grippers; the rear end of the bottom frame At least two sorting storage boxes are installed on the rear end side of the six-axis robot, and the inside of each sorting storage box is respectively formed with a sorting storage chamber that opens upward. The bottom is respectively equipped with a first hinged seat and a second hinged seat located at the rear end of the first hinged seat. The second hinged seat of each sorting storage box is respectively hinged with the bottom frame through a pivot. The lower end of the storage box is respectively equipped with an electric telescopic rod, the front end of each electric telescopic rod is respectively hinged with the bottom frame, and the front end of each electric telescopic rod is respectively connected to the first hinged seat of the corresponding sorting storage box through the pivot shaft. Hinged; the frame mounting chamber is embedded with a handling controller fixed on the bottom frame, a lithium battery located next to the handling controller, and the front end of the bottom frame is equipped with a grayscale sensor located outside the frame mounting chamber, Ultrasonic distance sensors, six-axis robots, electric grippers, CCD industrial cameras, lithium batteries, grayscale sensors, ultrasonic distance sensors, brushless motor controllers and electric telescopic rods are electrically connected to the handling controller. Through the above structural design, the present invention can automatically and intelligently realize the functions of material sorting and handling, that is, the present invention has the advantages of novel structural design, high degree of automation, high degree of intelligence, and effective labor cost savings.

Description of drawings

The present invention will be further described below using the accompanying drawings, but the embodiments in the accompanying drawings do not constitute any limitation to the present invention.

Fig. 1 is a structural schematic diagram of the present invention.

Fig. 2 is a structural schematic diagram of another perspective of the present invention.

FIG. 3 is an exploded schematic diagram of FIG. 2 .

Fig. 4 is a schematic diagram of a partial structure of the present invention.

Fig. 5 is a schematic structural view of the sorting storage box of the present invention.

In Figures 1 to 5 include:

1——Frame body 11——Bottom frame

12——Frame guard 21——Active front wheel

221——Rear wheel drive hub 222——Brushless motor controller

3——Six-axis robot 4——Electric gripper

5——CCD industrial camera 61——Sorting storage box

611——Sorting storage chamber 621——The first hinged seat

622——The second hinged seat 63——Electric telescopic rod

7—Lithium battery 8—Grey scale sensor.

detailed description

The present invention will be described below in conjunction with specific embodiments.

As shown in Figures 1 to 5, an intelligent transport vehicle applied to an automatic production system includes a frame body 1, the frame body 1 includes a bottom frame 11, and a frame guard installed on the upper end side of the bottom frame 11. Cover 12, the frame body 1 is formed with a frame installation chamber between the bottom frame 11 and the frame shield 12, and the front end of the bottom frame 11 is equipped with two movable front wheels 21 that are facing and spaced from each other. The rear end of the frame 11 is equipped with two rear wheel drive hubs 221 facing to each other at intervals. Each rear wheel drive hub 221 is equipped with a hub drive brushless motor respectively. The rear wheel drive hub 221 is driven and connected, and the bottom frame 11 is respectively equipped with a brushless motor controller 222 corresponding to each hub drive brushless motor, and each brushless motor controller 222 is electrically connected to the corresponding wheel hub drive brushless motor.

Further, the front end of the bottom frame 11 is equipped with a six-axis robot 3, the upper end of the six-axis robot 3 passes through the frame shield 12 and extends to the upper end side of the frame shield 12, the driving end of the six-axis robot 3 An electric gripper 4 and a CCD industrial camera 5 positioned beside the electric gripper 4 are installed.

Furthermore, the rear end of the bottom frame 11 is provided with at least two sorting storage boxes 61 on the rear end side of the six-axis robot 3, and the inside of each sorting storage box 61 is respectively formed with an upwardly opening branch. Sorting material storage chamber 611, the bottom of each sorting material storage box 61 is equipped with first hinged seat 621, the second hinged seat 622 that is positioned at the rear end side of first hinged seat 621 respectively, each sorting material storage box 61 The second articulated seat 622 is respectively hinged with the bottom frame 11 through the pivot shaft, and the bottom frame 11 is equipped with an electric telescopic rod 63 respectively at the lower end side of each sorting material storage box 61, and the front end of each electric telescopic rod 63 is connected with the bottom frame respectively. 11 is hinged, and the front end of each electric telescopic rod 63 is respectively hinged with the first hinge seat 621 of the corresponding sorting storage box 61 through a pivot.

Wherein, the transport controller fixed on the bottom frame 11 and the lithium battery 7 positioned at the side of the transport controller are embedded in the vehicle frame installation chamber. Degree sensor 8, ultrasonic distance sensor, six-axis robot 3, electric gripper 4, CCD industrial camera 5, lithium battery 7, grayscale sensor 8, ultrasonic distance sensor, each brushless motor controller 222 and each electric telescopic rod 63 respectively Electrically connected with the transport controller.

It needs to be further explained that the bottom frame 11 of the present invention can be made of aluminum profiles, that is, the bottom frame 11 of the present invention is an aluminum profile frame; for the aluminum profile frame, it has the advantages of light weight and high strength, and it can ensure the frame In the case of the strength of the main body 1, the overall weight can be effectively reduced, thereby reducing the load and saving energy consumption. Of course, the above materials do not constitute a limitation to the present invention, that is, the bottom frame 11 of the present invention can also be made of other materials.

In addition, the transportation controller of the present invention can be a single-chip controller or a PLC controller; in the working process of the present invention, the transportation controller controls each brushless motor controller 222, and each brushless motor controller 222 controls the corresponding wheel hub drive The brush motor starts, and each wheel hub drives the brushless motor to drive the corresponding rear wheel drive hub 221 to rotate. The two rear wheel drive hubs 221 of the present invention are drive wheel structures, and the rear wheel drive hub 221 driven by the corresponding hub drive brushless motor Turn and make the frame body 1 run straight or turn, wherein the steering action can be realized by controlling the rotational speed difference of the two rear wheel drive hubs 221 .

In the working process of the present invention, when material sorting is required, the handling controller first controls the action of the six-axis robot 3, and the driving end of the six-axis robot 3 moves the electric gripper 4 and the CCD industrial camera 5 to the material position. The camera 5 first takes pictures of the materials to be sorted, and the image data acquired by the CCD industrial camera 5 is sent to the handling controller. The handling controller processes and analyzes the received image data and judges the type of the material according to the material shape image, and then carries the The controller controls the action of the electric gripper 4 and grabs the material through the electric gripper 4. According to the type of material learned by the handling controller, the six-axis robot 3 will transfer the gripped material to the corresponding sorting storage box 61 , and the electric gripper 4 releases the material and puts the clamped material into the sorting storage chamber 611 of the sorting storage box 61; the present invention realizes orderly sorting of various materials according to the above-mentioned action mode .

Among them, for the grayscale sensor 8 of the present invention, it is used to sense the planned line on the ground. In the process of realizing the movement in the present invention, the grayscale sensor 8 senses the position of the line and makes the whole truck move along the planned line. . After the material sorting is completed, the present invention moves to the material storage position along the corresponding planning line, and then the electric telescopic rod 63 starts and lifts the front end of the sorting storage box 61 upwards, and the lifted sorting storage box 61 The material box 61 dumps the material sorted in the corresponding sorting storage chamber 611 into the corresponding storage device.

It should be further pointed out that during the process of moving in the present invention, the ultrasonic distance sensor detects the distance from the vehicle frame main body 1 to obstacles in real time, thereby realizing the function of moving and avoiding obstacles.

Based on the above situation, it can be seen that through the above structural design, the present invention can automatically and intelligently realize the functions of material sorting and handling, that is, the present invention has the advantages of novel structural design, high degree of automation, high degree of intelligence, and can effectively save labor costs .

As a preferred embodiment, the handling controller is equipped with a Bluetooth module, and the Bluetooth module is electrically connected to the handling controller; or, the handling controller is equipped with an infrared receiver, and the infrared receiver is electrically connected to the handling controller. The intelligent pallet truck used in the automatic production system is equipped with an infrared remote control, and the infrared remote control is matched with the infrared receiver. Wherein, in the working process of the present invention, in addition to realizing automatic movement through the cooperation of the grayscale sensor 8 and the corresponding planned route, the present invention can also realize manual control, which can include Bluetooth wireless manual control or infrared wireless manual control. For Bluetooth wireless manual control, the Bluetooth module of the handling controller is matched and docked with the smart phone, that is, the staff can control the movement of the truck through the smart phone; The receiver sends a moving command, and the transport controller controls the two rear wheel drive hubs 221 to act according to the control command.

The above content is only a preferred embodiment of the present invention. For those of ordinary skill in the art, according to the idea of the present invention, there will be changes in the specific implementation and application scope. limits.

Claims (4)

1. An intelligent transport vehicle applied to an automatic production system, characterized in that: it includes a frame body (1), and the frame body (1) includes a bottom frame (11), which is installed on the upper end of the bottom frame (11) The side frame guard (12), the frame body (1) is formed with a frame installation chamber between the bottom frame (11) and the frame guard (12), and the front end of the bottom frame (11) is installed There are two movable front wheels (21) that are facing and arranged at intervals. 221) are respectively equipped with hub-driven brushless motors, and each hub-driven brushless motor is drivingly connected to the rear wheel-driven hub (221) on the corresponding side, and the bottom frame (11) is respectively equipped with a brushless motor corresponding to each hub-driven brushless motor. A brush motor controller (222), and each brushless motor controller (222) is electrically connected to the corresponding hub-driven brushless motor; The front end of the bottom frame (11) is equipped with a six-axis robot (3), and the upper end of the six-axis robot (3) passes through the frame shield (12) and extends to the upper end side of the frame shield (12), The driving end of the six-axis robot (3) is equipped with an electric gripper (4) and a CCD industrial camera (5) located next to the electric gripper (4); The rear end of the bottom frame (11) is equipped with at least two sorting storage boxes (61) on the rear end side of the six-axis robot (3), and the inside of each sorting storage box (61) is respectively formed with a The sorting storage chamber (611) with an upper opening, the bottom of each sorting storage box (61) is respectively equipped with a first hinged seat (621), a second hinged seat (621) at the rear end side The hinged seat (622), the second hinged seat (622) of each sorting storage box (61) is respectively hinged with the bottom frame (11) through a pivot, and the bottom frame (11) is connected to each sorting storage box (61) An electric telescopic rod (63) is respectively installed on the lower end side of each electric telescopic rod (63), and the front end of each electric telescopic rod (63) is respectively hinged with the bottom frame (11). The first hinge seat (621) of the storage box (61) is hinged; The transport controller fixed on the bottom frame (11) and the lithium battery (7) located beside the transport controller are embedded in the frame installation chamber, and the front end of the bottom frame (11) is equipped with a Grayscale sensor (8) on the outdoor side, ultrasonic distance sensor, six-axis robot (3), electric gripper (4), CCD industrial camera (5), lithium battery (7), grayscale sensor (8), ultrasonic distance The sensors, the brushless motor controllers (222) and the electric telescopic rods (63) are respectively electrically connected to the transport controller. 2. An intelligent transport vehicle applied to an automatic production system according to claim 1, wherein the transport controller is equipped with a bluetooth module, and the bluetooth module is electrically connected to the transport controller. 3. An intelligent transport vehicle applied to an automatic production system according to claim 1, wherein the transport controller is equipped with an infrared receiver, and the infrared receiver is electrically connected to the transport controller. The intelligent pallet truck used in the automatic production system is equipped with an infrared remote control, and the infrared remote control is matched with the infrared receiver. 4. An intelligent transport vehicle applied to an automatic production system according to claim 1, characterized in that: the bottom frame (11) is an aluminum profile frame.