CN107344285A - A kind of automatic feeding system based on indoor navigation - Google Patents
A kind of automatic feeding system based on indoor navigation Download PDFInfo
- Publication number
- CN107344285A CN107344285A CN201710673553.7A CN201710673553A CN107344285A CN 107344285 A CN107344285 A CN 107344285A CN 201710673553 A CN201710673553 A CN 201710673553A CN 107344285 A CN107344285 A CN 107344285A
- Authority
- CN
- China
- Prior art keywords
- mechanical arm
- indoor navigation
- sprue
- system based
- automatic feeding
- 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.)
- Granted
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/001—Article feeders for assembling machines
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/001—Article feeders for assembling machines
- B23P19/004—Feeding the articles from hoppers to machines or dispensers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Power-Operated Mechanisms For Wings (AREA)
Abstract
The invention discloses a kind of automatic feeding system based on indoor navigation, including vehicle body, be arranged on below vehicle body roller, be arranged on vehicle body control module, indoor navigation system, one group of storage device, and be arranged on the material injecting device above storage device；Material injecting device includes material feeding pipeline, the interior mechanical arm for being arranged on the outer mechanical arm of body exterior, being arranged on interior of body, the second sprue for being arranged on the first sprue of outer mechanical arm end, being arranged on interior mechanical arm end, and blower fan apparatus；Material feeding pipeline one end is connected with the first sprue, the other end is connected with the second sprue；One group of storage device is respectively equipped with charge door；One group is provided with jacking system and steering between storage device and vehicle body.Based on indoor navigation function finlling automatically；Unmanned, intelligentized auto feed process is realized, and the accurate charging of variety classes material or spare and accessory parts can be realized, improves production efficiency.
Description
Technical field
The present invention relates to the technical field of industrial robot, more particularly to a kind of auto feed system based on indoor navigation
System.
Background technology
At present, the utilization of industrial robot in production is more and more extensive, greatly improves production efficiency and machining accuracy.
In addition, in the assembling process of big machinery, not easily shifted, the assembling for its part of overall machinery, can by it is minimizing,
Movable machine people completes., can be by the screw of different size such as screw automatic mounting machine device people moves between each station
Setting position is attached to, completes a set of assembling procedure.
For above-mentioned robot, miniaturization and lighting are required in structure, though being provided with storage device, storing space has
Limit, need to feed often during work.Existing feeding device function is single, external can only be fixed in plant equipment, does not apply to
In automatic mounting machine device people.For constantly conversion station automatic mounting machine device people, how to be automated, it is intelligentized plus
Material, and automatic mounting machine device people's production efficiency is not influenceed, it is current urgent problem.
The content of the invention
The purpose of invention：The present invention discloses a kind of automatic feeding system based on indoor navigation, based on indoor navigation function,
The robot of itself and pre-feed is positioned respectively, realization automatically selects appropriate path and moves to reach the robot of pre-feed
Place, finlling automatically；Unmanned, intelligentized auto feed process is realized, and the standard of variety classes material or spare and accessory parts can be realized
Really charging, improve production efficiency.
Technical scheme：In order to realize the above object the invention discloses a kind of automatic feeding system based on indoor navigation,
Including vehicle body, the roller being arranged on below vehicle body, the control module being arranged on vehicle body, indoor navigation system, one group of storing dress
Put, and be arranged on the material injecting device above storage device；The material injecting device includes material feeding pipeline, is arranged on body exterior
Outer mechanical arm, the interior mechanical arm for being arranged on interior of body, the first sprue for being arranged on outer mechanical arm end, it is arranged on interior machinery
Second sprue of arm end, and blower fan apparatus；Described material feeding pipeline one end is connected with the first sprue, the other end and second
Sprue connects；One group of storage device is respectively equipped with charge door；Described one group is provided with lifting between storage device and vehicle body
System and steering.
Further, above-mentioned a kind of automatic feeding system based on indoor navigation, the outer mechanical arm include and the first note
First outer mechanical arm of material mouth rotation connection, the second outer mechanical arm with the first outer mechanical arm rotation connection, and rotate driving
Device；The interior mechanical arm rotates including mechanical arm in mechanical arm and first in first with the rotation connection of the second sprue to be connected
Mechanical arm in second connect, and device of rotation driving.
Further, above-mentioned a kind of automatic feeding system based on indoor navigation, the material feeding pipeline are flexible hose.
Further, above-mentioned a kind of automatic feeding system based on indoor navigation, first sprue and feeding storehouse
Discharging device docks；Second sprue docks one group of storage device；The material storage portions pair of the charge door and robot
Connect.
Further, above-mentioned a kind of automatic feeding system based on indoor navigation, the material feeding pipeline is interior to be provided with sensing dress
Put, the induction installation is connected with control module.
Further, above-mentioned a kind of automatic feeding system based on indoor navigation, the roller fill provided with self-actuating brake
Put, the dead-man's device is connected with control module.
Further, above-mentioned a kind of automatic feeding system based on indoor navigation, on second sprue, charge door all
Provided with visual response device system, the visual response device system is connected with control module.
Further, a kind of above-mentioned automatic feeding system based on indoor navigation, the charge door are provided with meter.
Above-mentioned technical proposal can be seen that the present invention and have the advantages that：
（1）A kind of automatic feeding system based on indoor navigation of the present invention, based on indoor navigation function, to itself and
The robot of pre-feed positions respectively, realizes and automatically selects appropriate path and move to reach at the robot of pre-feed, adds automatically
Material；Unmanned, intelligentized auto feed process is realized, and the accurate charging of variety classes material or spare and accessory parts can be realized, is carried
High efficiency.
（2）A kind of automatic feeding system based on indoor navigation of the present invention, interior mechanical arm drive the second of flexible pipe
Sprue moves, and coordinates different storage devices, realizes the classified storage of different type material or part, and classification charging, makes
With flexible.
（3）A kind of automatic feeding system based on indoor navigation of the present invention, material feeding pipeline is interior to set induction installation,
Whether sensing has material residual, prevents loading in mixture for material.
（4）A kind of automatic feeding system based on indoor navigation of the present invention, jacking system make going out for storage device
Material mouth is preferably docked with robot；Visual response system supplymentary sprue realizes automatic butt, suitable for machine on the move
People, it can accurately find docking location.
Brief description of the drawings
Fig. 1 is a kind of structural representation of the automatic feeding system based on indoor navigation of the present invention；
Fig. 2 is a kind of schematic diagram docked based on the automatic feeding system of indoor navigation with feeding storehouse of the present invention；
Fig. 3 is a kind of schematic diagram docked based on the automatic feeding system of indoor navigation with robot of the present invention；
In figure：1- vehicle bodies, 2- rollers, 3- indoor navigation systems, 4- storage devices, 5- material injecting devices, 6- material feeding pipelines, the outer machines of 7-
Tool arm, the first outer mechanical arms of 71-, the second outer mechanical arms of 72-, mechanical arm in 8-, mechanical arm in 81- first, machinery in 82- second
Arm, the sprues of 9- first, the sprues of 10- second, 11- blower fan apparatus, 12- charge doors, 13- jacking systems, 14- steering,
15- feedings storehouse, 16- discharging devices, 17- materials storage portions, 18- induction installations, 19- dead-man's devices, 20- visual response devices
System, 21- meters.
Embodiment
Below in conjunction with the accompanying drawings, the specific embodiment of the invention is described in detail.
Embodiment
A kind of automatic feeding system based on indoor navigation of the present invention, as shown in Figure 1 to Figure 3, including vehicle body 1, setting
Roller 2 below vehicle body 1,3, the one groups of storage devices 4, Yi Jishe of control module, indoor navigation system being arranged on vehicle body 1
Put the material injecting device 5 above storage device 4；The material injecting device 5 includes material feeding pipeline 6, the outer machine being arranged on outside vehicle body 1
Tool arm 7, the interior mechanical arm 8 being arranged on inside vehicle body 1, the first sprue 9 for being arranged on the outer end of mechanical arm 7, it is arranged on interior machine
Second sprue 10 of the end of tool arm 8, and blower fan apparatus 11；Described one end of material feeding pipeline 6 is connected, separately with the first sprue 9
One end is connected with the second sprue 10；One group of storage device 4 is respectively equipped with charge door 12；One group of storage device 4 with
Jacking system 13 and steering 14 are provided between vehicle body 1.
Outer mechanical arm 7 described in the present embodiment includes the first outer mechanical arm 71 and the with the rotation connection of the first sprue 9
The second outer mechanical arm 72 that one outer mechanical arm 71 is rotatablely connected, and device of rotation driving；The interior mechanical arm 8 includes and second
Mechanical arm 82 in mechanical arm 81 is rotatablely connected in mechanical arm 81 and first in the first of the rotation connection of sprue 10 second, with
And device of rotation driving.
Material feeding pipeline described in the present embodiment 6 is flexible hose.
The first sprue 9 docks with the discharging device 16 in feeding storehouse 15 described in the present embodiment；Second sprue 10
Dock one group of storage device 4；The charge door 12 docks with the material storage portions 17 of robot.
Induction installation 18 is provided with material feeding pipeline described in the present embodiment 6, the induction installation 18 is connected with control module.
Roller 2 described in the present embodiment is provided with dead-man's device 19, the dead-man's device 19 and control module
Connection.
Second sprue 10 described in the present embodiment, it is designed with visual response device system 20, the vision on charge door 12
Inductor system 20 is connected with control module.
Charge door 12 described in the present embodiment is provided with meter 21.
Described above is only the preferred embodiment of the present invention, it should be noted that for those skilled in the art
For, under the premise without departing from the principles of the invention, some improvement can also be made, these improvement also should be regarded as the guarantor of the present invention
Protect scope.
Claims (8)
- A kind of 1. automatic feeding system based on indoor navigation, it is characterised in that：Including vehicle body（1）, be arranged on vehicle body（1）Lower section Roller（2）, be arranged on vehicle body（1）On control module, indoor navigation system（3）, one group of storage device（4）, and set In storage device（4）The material injecting device of top（5）；The material injecting device（5）Including material feeding pipeline（6）, be arranged on vehicle body（1）Outside The outer mechanical arm in portion（7）, be arranged on vehicle body（1）Internal interior mechanical arm（8）, be arranged on outer mechanical arm（7）First note of end Material mouth（9）, be arranged on interior mechanical arm（8）Second sprue of end（10）, and blower fan apparatus（11）；The material feeding pipeline （6）One end and the first sprue（9）Connection, the other end and the second sprue（10）Connection；One group of storage device（4）Respectively Provided with charge door（12）；One group of storage device（4）With vehicle body（1）Between be provided with jacking system（13）And steering （14）.
- A kind of 2. automatic feeding system based on indoor navigation according to claim 1, it is characterised in that：The outer machinery Arm（7）Including with the first sprue（9）First outer mechanical arm of rotation connection（71）And the first outer mechanical arm（71）Rotation connection The second outer mechanical arm（72）, and device of rotation driving；The interior mechanical arm（8）Including with the second sprue（10）The company of rotation Mechanical arm in first connect（81）And mechanical arm in first（81）Mechanical arm in the second of rotation connection（82）, and rotate and drive Dynamic device.
- A kind of 3. automatic feeding system based on indoor navigation according to claim 1, it is characterised in that：The filling tube Road（6）For flexible hose.
- A kind of 4. automatic feeding system based on indoor navigation according to claim 1, it is characterised in that：First note Material mouth（9）With feeding storehouse（15）Discharging device（16）Docking；Second sprue（10）Dock one group of storage device（4）； The charge door（12）With the material storage portions of robot（17）Docking.
- A kind of 5. automatic feeding system based on indoor navigation according to claim 1, it is characterised in that：The filling tube Road（6）It is interior to be provided with induction installation（18）, the induction installation（18）It is connected with control module.
- A kind of 6. automatic feeding system based on indoor navigation according to claim 1, it is characterised in that：The roller （2）It is provided with dead-man's device（19）, the dead-man's device（19）It is connected with control module.
- A kind of 7. automatic feeding system based on indoor navigation according to claim 1, it is characterised in that：Second note Material mouth（10）, charge door（12）On be designed with visual response device system（20）, the visual response device system（20）With controlling mould Block connects.
- A kind of 8. automatic feeding system based on indoor navigation according to claim 1, it is characterised in that：The charge door （12）Provided with meter（21）.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710673553.7A CN107344285B (en) | 2017-08-09 | 2017-08-09 | A kind of automatic feeding system based on indoor navigation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710673553.7A CN107344285B (en) | 2017-08-09 | 2017-08-09 | A kind of automatic feeding system based on indoor navigation |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107344285A true CN107344285A (en) | 2017-11-14 |
| CN107344285B CN107344285B (en) | 2019-04-26 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710673553.7A Active CN107344285B (en) | 2017-08-09 | 2017-08-09 | A kind of automatic feeding system based on indoor navigation |
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| Country | Link |
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| CN (1) | CN107344285B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113275850A (en) * | 2021-04-22 | 2021-08-20 | 广汽菲亚特克莱斯勒汽车有限公司 | Feeding device of production line body strides |
| US12011792B2 (en) * | 2022-02-07 | 2024-06-18 | Tyco Electronics (Shanghai) Co., Ltd. | Loading workstation |
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| WO2016099335A1 (en) * | 2014-12-15 | 2016-06-23 | Акционерное общество "Квантум Системс" | Robotic device for shaping greenery, and shaping method |
| CN205442048U (en) * | 2015-12-29 | 2016-08-10 | 上海顶煦化学品有限公司 | Skip is thrown to movable type |
| CN205472569U (en) * | 2016-03-15 | 2016-08-17 | 贵州普洛迈德生物工程有限公司 | Split charging system |
| CN106272415A (en) * | 2016-08-30 | 2017-01-04 | 上海大学 | Omni-mobile transport robot |
| CN205872237U (en) * | 2016-06-22 | 2017-01-11 | 江阴市雷奥机器人技术有限公司 | Robot device that possesses location navigation feature |
| CN206185855U (en) * | 2016-11-16 | 2017-05-24 | 福州大学至诚学院 | Carrying robot |
-
2017
- 2017-08-09 CN CN201710673553.7A patent/CN107344285B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2016099335A1 (en) * | 2014-12-15 | 2016-06-23 | Акционерное общество "Квантум Системс" | Robotic device for shaping greenery, and shaping method |
| CN205442048U (en) * | 2015-12-29 | 2016-08-10 | 上海顶煦化学品有限公司 | Skip is thrown to movable type |
| CN205472569U (en) * | 2016-03-15 | 2016-08-17 | 贵州普洛迈德生物工程有限公司 | Split charging system |
| CN205872237U (en) * | 2016-06-22 | 2017-01-11 | 江阴市雷奥机器人技术有限公司 | Robot device that possesses location navigation feature |
| CN106272415A (en) * | 2016-08-30 | 2017-01-04 | 上海大学 | Omni-mobile transport robot |
| CN206185855U (en) * | 2016-11-16 | 2017-05-24 | 福州大学至诚学院 | Carrying robot |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113275850A (en) * | 2021-04-22 | 2021-08-20 | 广汽菲亚特克莱斯勒汽车有限公司 | Feeding device of production line body strides |
| US12011792B2 (en) * | 2022-02-07 | 2024-06-18 | Tyco Electronics (Shanghai) Co., Ltd. | Loading workstation |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107344285B (en) | 2019-04-26 |
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| TR01 | Transfer of patent right |
Effective date of registration: 20190926 Address after: Taicang City, Suzhou City, Jiangsu Province, and 215400 Metro Jianxiong Road No. 20 Patentee after: (Suzhou) Co., Ltd. Haoke robot Address before: Taicang City, Suzhou City, Jiangsu Province, and 215400 Metro Jianxiong Road No. 20 Patentee before: Suzhou Agam robot Co., Ltd. |
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| TR01 | Transfer of patent right |