CN107381486A - A kind of liquid material attaching system and its method of work based on indoor navigation - Google Patents
A kind of liquid material attaching system and its method of work based on indoor navigation Download PDFInfo
- Publication number
- CN107381486A CN107381486A CN201710673612.0A CN201710673612A CN107381486A CN 107381486 A CN107381486 A CN 107381486A CN 201710673612 A CN201710673612 A CN 201710673612A CN 107381486 A CN107381486 A CN 107381486A
- Authority
- CN
- China
- Prior art keywords
- sprue
- mechanical arm
- indoor navigation
- control module
- liquid material
- 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.)
- Withdrawn
Links
- 239000011344 liquid material Substances 0.000 title claims abstract description 44
- 238000000034 method Methods 0.000 title claims description 11
- 239000000463 material Substances 0.000 claims abstract description 62
- 238000004140 cleaning Methods 0.000 claims abstract description 32
- 238000003860 storage Methods 0.000 claims abstract description 27
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 14
- 208000015943 Coeliac disease Diseases 0.000 claims description 58
- 239000007788 liquid Substances 0.000 claims description 19
- 230000000007 visual effect Effects 0.000 claims description 11
- 238000003032 molecular docking Methods 0.000 claims description 8
- 239000012530 fluid Substances 0.000 claims description 4
- 238000009434 installation Methods 0.000 claims description 4
- GNFTZDOKVXKIBK-UHFFFAOYSA-N 3-(2-methoxyethoxy)benzohydrazide Chemical compound COCCOC1=CC=CC(C(=O)NN)=C1 GNFTZDOKVXKIBK-UHFFFAOYSA-N 0.000 claims description 3
- YTAHJIFKAKIKAV-XNMGPUDCSA-N [(1R)-3-morpholin-4-yl-1-phenylpropyl] N-[(3S)-2-oxo-5-phenyl-1,3-dihydro-1,4-benzodiazepin-3-yl]carbamate Chemical compound O=C1[C@H](N=C(C2=C(N1)C=CC=C2)C1=CC=CC=C1)NC(O[C@H](CCN1CCOCC1)C1=CC=CC=C1)=O YTAHJIFKAKIKAV-XNMGPUDCSA-N 0.000 claims description 3
- 239000002699 waste material Substances 0.000 claims description 3
- 238000010926 purge Methods 0.000 claims 1
- 238000000926 separation method Methods 0.000 claims 1
- 238000004519 manufacturing process Methods 0.000 abstract description 5
- 238000011084 recovery Methods 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- 238000000465 moulding Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B67—OPENING, CLOSING OR CLEANING BOTTLES, JARS OR SIMILAR CONTAINERS; LIQUID HANDLING
- B67D—DISPENSING, DELIVERING OR TRANSFERRING LIQUIDS, NOT OTHERWISE PROVIDED FOR
- B67D7/00—Apparatus or devices for transferring liquids from bulk storage containers or reservoirs into vehicles or into portable containers, e.g. for retail sale purposes
- B67D7/02—Apparatus or devices for transferring liquids from bulk storage containers or reservoirs into vehicles or into portable containers, e.g. for retail sale purposes for transferring liquids other than fuel or lubricants
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B67—OPENING, CLOSING OR CLEANING BOTTLES, JARS OR SIMILAR CONTAINERS; LIQUID HANDLING
- B67D—DISPENSING, DELIVERING OR TRANSFERRING LIQUIDS, NOT OTHERWISE PROVIDED FOR
- B67D7/00—Apparatus or devices for transferring liquids from bulk storage containers or reservoirs into vehicles or into portable containers, e.g. for retail sale purposes
- B67D7/06—Details or accessories
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B67—OPENING, CLOSING OR CLEANING BOTTLES, JARS OR SIMILAR CONTAINERS; LIQUID HANDLING
- B67D—DISPENSING, DELIVERING OR TRANSFERRING LIQUIDS, NOT OTHERWISE PROVIDED FOR
- B67D2210/00—Indexing scheme relating to aspects and details of apparatus or devices for dispensing beverages on draught or for controlling flow of liquids under gravity from storage containers for dispensing purposes
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Vehicle Cleaning, Maintenance, Repair, Refitting, And Outriggers (AREA)
Abstract
A kind of liquid material attaching system based on indoor navigation, including vehicle body, be arranged on below vehicle body mobile device, be arranged on vehicle body control module, indoor navigation system, one group of storage device, and be arranged on the material injecting device above one group of 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 water pump；Material feeding pipeline one end is connected with the first sprue, the other end is connected with the second sprue；The first steering is provided between first sprue and outer mechanical arm, the second steering and telescopic system are provided between the second sprue and interior mechanical arm；Vehicle body is provided with pipeline cleaning system.Based on indoor navigation function finlling automatically, accurate charging unmanned and intelligent, and that variety classes material can be realized is realized, improves production efficiency.
Description
Technical field
The present invention relates to the technical field of industrial robot, more particularly to a kind of liquid material based on indoor navigation installs additional
System.
Background technology
At present, the utilization of industrial robot in production is more and more extensive, greatly improves production efficiency and machining accuracy.
For above-mentioned robot, miniaturization and lighting are required in structure, though being provided with storage device, storing space is limited, work
When need to feed often.Existing feeding device function is single, external can only be fixed in plant equipment, it is automatic not to be suitable for this
Mounting robot.For the automatic mounting machine device people of constantly conversion station, how to be automated, intelligentized charging, and not
Automatic mounting machine device people's production efficiency is influenceed, is current urgent problem.
The content of the invention
The purpose of invention：The present invention discloses a kind of liquid material attaching 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 pre-feed
At robot, finlling automatically；Unmanned, intelligentized auto feed process is realized, and the accurate of variety classes material can be realized
Charging, improve production efficiency.
Technical scheme：In order to realize the above object the invention discloses a kind of liquid material installation based on indoor navigation
System, including vehicle body, be arranged on below vehicle body mobile device, be arranged on vehicle body control module, indoor navigation system, one
Group storage device, and it is arranged on the material injecting device above one group of storage device；The material injecting device includes material feeding pipeline, set
Outer mechanical arm in body exterior, the first sprue for being arranged on the interior mechanical arm of interior of body, being arranged on outer mechanical arm end,
It is arranged on the second sprue of interior mechanical arm end, and water pump；Described material feeding pipeline one end is connected with the first sprue, is another
End is connected with the second sprue；The first steering, second material feeding are provided between first sprue and outer mechanical arm
The second steering and telescopic system are provided between mouth and interior mechanical arm；The vehicle body is provided with pipeline cleaning system.
Further, a kind of above-mentioned liquid material attaching system based on indoor navigation, the pipeline cleaning system include
Cleaning liquid device and the retracting device being arranged on vehicle body.
Further, above-mentioned a kind of liquid material attaching system based on indoor navigation, first sprue and recovery
Device docks, and second sprue docks with cleaning liquid device.
Further, above-mentioned a kind of liquid material attaching system based on indoor navigation, the outer mechanical arm include and the
First outer mechanical arm of one sprue rotation connection, the second outer mechanical arm with the first outer mechanical arm rotation connection, and rotate
Drive device；The interior mechanical arm turns including mechanical arm in mechanical arm and first in first with the rotation connection of the second sprue
Mechanical arm in the second of dynamic connection, and device of rotation driving.
Further, above-mentioned a kind of liquid material attaching system based on indoor navigation, the material feeding pipeline are flexible soft
Pipe.
Further, above-mentioned a kind of liquid material attaching system based on indoor navigation, the second sprue docking one
Group storage device；First sprue docks with the material storage portions of robot.
Further, a kind of above-mentioned liquid material attaching system based on indoor navigation, first sprue are provided with
Visual response device system, the visual response device system are connected with control module.
Further, the method for work of above-mentioned a kind of liquid material attaching system based on indoor navigation, including following step
Suddenly：a）After receiving the charging signal that robot is sent, the operation of liquid material attaching system；b）Indoor navigation system is run, right
The liquid material attaching system and the robot of pre-feed position respectively；c）Control module control mobile device operation, liquid
State material attaching system is moved at the robot of pre-feed；d）Control module selects then corresponding thing according to different charging signals
Material, and mechanical arm operation in control, until storage device corresponding to the entrance of the second sprue；e）Visual response device system will detect
As a result control module is fed back to, control module controls outer mechanical arm operation, and the material for completing the first sprue and robot stores
The docking in area；f）Mobile device self-locking；g）Water pump operation, fed, the meter of the first sprue is measured, and will knot
Fruit feeds back to control module；After charging reaches designated value, control module control water pump stops；h）Residual material in material feeding pipeline
Flow back into corresponding storage device；i）Mobile device unlocks, and liquid material attaching system separates with robot；j）If next add
The material that material signal is specified is different from the material of previous installation, and control module sends the cleaning that instruction carries out material feeding pipeline； k）Control
Molding root tuber is handled according to the one group of charging signal received in same time phase, arranges charging sequence automatically.
Further, the method for work of above-mentioned a kind of liquid material attaching system based on indoor navigation, in the step j
The cleaning of material feeding pipeline specifically comprises the following steps：Mechanical arm operation, makes the second sprue stretch into cleaning in control module control
Liquid device；Water pump operation, cleaning fluid suction material feeding pipeline is cleaned；Waste liquid after cleaning is discharged into recovery by the first sprue
Device.
Further, the method for work of above-mentioned a kind of liquid material attaching system based on indoor navigation, in the step g
During charging, according to the position of liquid level, control module control telescopic system operation, ensure the second sprue all the time under liquid level.
Above-mentioned technical proposal can be seen that the present invention and have the advantages that：
（1）A kind of liquid material attaching system based on indoor navigation of the present invention, based on indoor navigation function, to itself
And the robot of pre-feed positions respectively, realize and automatically select appropriate path and move to reach at the robot of pre-feed, from
Dynamic filling；Unmanned, intelligentized auto feed process is realized, and the accurate charging of variety classes material can be realized, improves life
Produce efficiency.
（2）Mechanical arm drives the of flexible pipe in a kind of liquid material attaching system based on indoor navigation of the present invention
Two sprues move, and coordinate different storage devices, realize the storage of different type Classification of materials and classification charging, using flexible side
Just.
（3）A kind of liquid material attaching system based on indoor navigation of the present invention, the design of pipeline cleaning system,
Material feeding pipeline is cleaned before different material is transmitted, prevents mixing, polluting between different material.
（4）A kind of liquid material attaching system based on indoor navigation of the present invention, visual response system supplymentary
One sprue realizes automatic butt, suitable for robot on the move, can accurately find docking location.
Brief description of the drawings
Fig. 1 is a kind of structural representation of the liquid material attaching system based on indoor navigation of the present invention；
Fig. 2 is the schematic diagram that a kind of liquid material attaching system based on indoor navigation of the present invention docks with robot；
In figure：1- vehicle bodies, 2- mobile devices, 3- indoor navigation systems, 4- storage devices, 5- material injecting devices, 6- material feeding pipelines, 7-
Outer mechanical arm, the first outer mechanical arms of 71-, the second outer mechanical arms of 72-, mechanical arm in 8-, mechanical arm in 81- first, in 82- second
Mechanical arm, the sprues of 9- first, the sprues of 10- second, 11- water pumps, the steering of 12- first, the steering of 13- second, 14-
Telescopic system, 15- robots, 16- pipeline cleaning systems, 17- cleaning liquid devices, 18- retracting devices, 19- visual response devices system
System, 20- materials storage portions.
Embodiment
Below in conjunction with the accompanying drawings, the specific embodiment of the invention is described in detail.
Embodiment
A kind of liquid material attaching system based on indoor navigation of the present invention, as depicted in figs. 1 and 2, including vehicle body 1,
It is arranged on the mobile device 2 of the lower section of vehicle body 1,3, the one groups of storage devices of control module, indoor navigation system being arranged on vehicle body 1
4, and it is arranged on the material injecting device 5 of one group of top of storage device 4；The material injecting device 5 includes material feeding pipeline 6, is arranged on car
Outer mechanical arm 7 outside body 1, the interior mechanical arm 8 being arranged on inside vehicle body 1, the first sprue for being arranged on the outer end of mechanical arm 7
9th, the second sprue 10 of the interior end of mechanical arm 8, and water pump 11 are arranged on；Described one end of material feeding pipeline 6 and the first sprue 9
Connection, the other end are connected with the second sprue 10；The first steering is provided between first sprue 9 and outer mechanical arm 7
12, the second steering 13 and telescopic system 14 are provided between second sprue 10 and interior mechanical arm 8；On the vehicle body 1
Provided with pipeline cleaning system 16.
Pipeline cleaning system 16 described in the present embodiment includes cleaning liquid device 17 and the retracting device being arranged on vehicle body 1
18。
The first sprue 9 docks with retracting device 18 described in the present embodiment, and second sprue 10 fills with cleaning fluid
Put 17 docking.
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.
Second sprue 10 described in the present embodiment docks one group of storage device 4；First sprue 9 and robot 15
Material storage portions 20 dock.
First sprue 9 described in the present embodiment is provided with visual response device system 19, the visual response device system 19
It is connected with control module.
A kind of method of work of the liquid material attaching system based on indoor navigation, comprises the following steps in the present embodiment：
a）After receiving the charging signal that robot 15 is sent, the operation of liquid material attaching system；
b）Indoor navigation system 3 is run, and the robot 15 of the liquid material attaching system and pre-feed is positioned respectively；
c）Control module control mobile device 2 is run, and liquid material attaching system is moved at the robot 15 of pre-feed；
d）Control module is according to different charging signal choosing then corresponding materials, and mechanical arm 8 is run in control, until the second note
Storage device 4 corresponding to the entrance of material mouth 10；
e）Testing result is fed back to control module by visual response device system 19, and control module controls outer mechanical arm 7 to run, and completes
First sprue 9 docks with the material storage portions 20 of robot 15；
f）The self-locking of mobile device 2；
g）Water pump 11 is run, and is fed, and the meter of the first sprue 9 is measured, and result is fed back into control module；
After charging reaches designated value, control module control water pump 11 stops；
h）Residual material in material feeding pipeline 6 flows back into corresponding storage device 4；
i）Mobile device 2 unlocks, and liquid material attaching system separates with robot 15；
j）If the material that next charging signal is specified is different from the material of previous installation, control module sends instruction and carries out filling tube
The cleaning in road 6；
k）Control module is handled according to the one group of charging signal received in same time phase, automatic to arrange charging suitable
Sequence.
The cleaning of material feeding pipeline 6 specifically comprises the following steps in step j described in the present embodiment：Machine in control module control
Tool arm 8 is run, and the second sprue 10 is stretched into cleaning liquid device 17；Water pump 11 is run, and cleaning fluid is pumped into material feeding pipeline 6 is carried out
Cleaning；Waste liquid after cleaning is discharged into retracting device 18 by the first sprue 9.
When being fed in step g described in the present embodiment, according to the position of liquid level, control module control telescopic system 14 is transported
OK, ensure the second sprue 10 all the time under liquid level.
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 (10)
- A kind of 1. liquid material attaching system based on indoor navigation, it is characterised in that：Including vehicle body（1）, be arranged on vehicle body（1） The mobile device of lower section（2）, be arranged on vehicle body（1）On control module, indoor navigation system（3）, one group of storage device（4）, And it is arranged on one group of storage device（4）The material injecting device of top（5）；The material injecting device（5）Including material feeding pipeline（6）, set Put in vehicle body（1）Outside outer mechanical arm（7）, be arranged on vehicle body（1）Internal interior mechanical arm（8）, be arranged on outer mechanical arm（7） First sprue of end（9）, be arranged on interior mechanical arm（8）Second sprue of end（10）, and water pump（11）；The note Pipe material（6）One end and the first sprue（9）Connection, the other end and the second sprue（10）Connection；First sprue（9） With outer mechanical arm（7）Between be provided with the first steering（12）, second sprue（10）With interior mechanical arm（8）Between be provided with Second steering（13）And telescopic system（14）；The vehicle body（1）It is provided with pipeline cleaning system（16）.
- A kind of 2. liquid material attaching system based on indoor navigation according to claim 1, it is characterised in that：The pipe Road purging system（16）Including being arranged on vehicle body（1）On cleaning liquid device（17）And retracting device（18）.
- A kind of 3. liquid material attaching system based on indoor navigation according to claim 2, it is characterised in that：Described One sprue（9）With retracting device（18）Docking, second sprue（10）With cleaning liquid device（17）Docking.
- A kind of 4. liquid material attaching system based on indoor navigation according to claim 1, it is characterised in that：It is described outer Mechanical arm（7）Including with the first sprue（9）First outer mechanical arm of rotation connection（71）And the first outer mechanical arm（71）Rotate Second outer mechanical arm of connection（72）, and device of rotation driving；The interior mechanical arm（8）Including with the second sprue（10）Turn Mechanical arm in the first of dynamic connection（81）And mechanical arm in first（81）Mechanical arm in the second of rotation connection（82）, Yi Jizhuan Dynamic drive device.
- A kind of 5. liquid material attaching system based on indoor navigation according to claim 1, it is characterised in that：The note Pipe material（6）For flexible hose.
- A kind of 6. liquid material attaching system based on indoor navigation according to claim 1, it is characterised in that：Described Two sprues（10）Dock one group of storage device（4）；First sprue（9）With robot（15）Material storage portions（20） Docking.
- A kind of 7. liquid material attaching system based on indoor navigation according to claim 1, it is characterised in that：Described One sprue（9）It is provided with visual response device system（19）, the visual response device system（19）It is connected with control module.
- A kind of 8. work of liquid material attaching system based on indoor navigation according to claim 1 to 7 any one Method, it is characterised in that：Comprise the following steps：a）Receive robot（15）After the charging signal sent, the operation of liquid material attaching system；b）Indoor navigation system（3）Operation, to the liquid material attaching system and the robot of pre-feed（15）It is fixed respectively Position；c）Control module controls mobile device（2）Operation, liquid material attaching system are moved to the robot of pre-feed（15）Place；d）Control module is according to different charging signal choosing then corresponding materials, and mechanical arm in control（8）Operation, until second Sprue（10）Into corresponding storage device（4）；e）Visual response device system（19）Testing result is fed back into control module, control module controls outer mechanical arm（7）Operation, Complete the first sprue（9）With robot（15）Material storage portions（20）Docking；f）Mobile device（2）Self-locking；g）Water pump（11）Operation, is fed, the first sprue（9）Meter measured, and result is fed back into control Module；After charging reaches designated value, control module control water pump（11）Stop；h）Material feeding pipeline（6）In residual material flow back into corresponding storage device（4）；i）Mobile device（2）Unblock, liquid material attaching system and robot（15）Separation；j）If the material that next charging signal is specified is different from the material of previous installation, control module sends instruction and carries out filling tube Road（6）Cleaning；k）Control module is handled according to the one group of charging signal received in same time phase, automatic to arrange charging suitable Sequence.
- 9. a kind of method of work of liquid material attaching system based on indoor navigation according to claim 8, its feature It is：Material feeding pipeline in the step j（6）Cleaning specifically comprise the following steps：Mechanical arm in control module control（8）Fortune OK, the second sprue is made（10）Stretch into cleaning liquid device（17）；Water pump（11）Operation, cleaning fluid is pumped into material feeding pipeline（6）Enter Row cleaning；Waste liquid after cleaning is by the first sprue（9）It is discharged into retracting device（18）.
- 10. a kind of method of work of liquid material attaching system based on indoor navigation according to claim 8, its feature It is：When being fed in the step g, according to the position of liquid level, control module control telescopic system（14）Operation, ensure the second note Material mouth（10）All the time under liquid level.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710673612.0A CN107381486A (en) | 2017-08-09 | 2017-08-09 | A kind of liquid material attaching system and its method of work based on indoor navigation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710673612.0A CN107381486A (en) | 2017-08-09 | 2017-08-09 | A kind of liquid material attaching system and its method of work based on indoor navigation |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107381486A true CN107381486A (en) | 2017-11-24 |
Family
ID=60355020
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710673612.0A Withdrawn CN107381486A (en) | 2017-08-09 | 2017-08-09 | A kind of liquid material attaching system and its method of work based on indoor navigation |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107381486A (en) |
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| 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 |
| CN106737556A (en) * | 2017-02-10 | 2017-05-31 | 中国东方电气集团有限公司 | A kind of danger solution extraction system based on mobile robot |
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| CN106904442A (en) * | 2017-04-24 | 2017-06-30 | 北京佳百瑞科技有限责任公司 | Fully automatic feeding machine people's system of view-based access control model |
| CN207226996U (en) * | 2017-08-09 | 2018-04-13 | 苏州阿甘机器人有限公司 | A kind of liquid material attaching system based on indoor navigation |
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Application publication date: 20171124 |
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