CN108502530A - A kind of conveying robot photoelectricity locator and its localization method - Google Patents
A kind of conveying robot photoelectricity locator and its localization method Download PDFInfo
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- CN108502530A CN108502530A CN201810520411.1A CN201810520411A CN108502530A CN 108502530 A CN108502530 A CN 108502530A CN 201810520411 A CN201810520411 A CN 201810520411A CN 108502530 A CN108502530 A CN 108502530A
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- Prior art keywords
- photoelectricity locator
- photoelectricity
- microprocessor
- locator
- photoelectric
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
Abstract
The invention discloses a kind of conveying robot photoelectricity locators, including conveying robot ontology, fixed seat, shaft, the first pivoted arm, photoelectric position mechanism, the second pivoted arm, driving member and manipulator, the conveying robot ontology includes fixed seat, shaft, the first pivoted arm；First photoelectric sensor and the second photoelectric sensor of the invention are respectively arranged in X-axis and the Y-axis surface of conveying robot, the variation of light source can be measured in real time, and it is transferred to microprocessor after handling the signal measured by signal receiver, again by being delivered to display screen by signal projector after microprocessor progress conversion process, finally passing through control function key by staff carries out relevant operation；Carried out data transmission by radio frequency signal between signal projector and display screen, can either the location information of Quick Acquisition conveying robot can save connection between the two again, transmission information is convenient, and using effect is good.
Description
Technical field
The invention belongs to the photoelectricity field of locating technology of construction mechanical arm, and in particular to a kind of conveying robot is fixed with photoelectricity
Position device and its localization method.
Background technology
Construction mechanical arm is the novel mechanical equipment of Large Underground official website Modern Construction, while improving pipeline construction
Also ensure the quality of pipeline construction, frequency of use is very high, and photoelectricity locator is the important composition of conveying robot operation
Part, although during the function of existing machinery handling hand photoelectricity locator is just increasingly improved, but still have part deficiency to be modified.
Prior art conveying robot photoelectricity locator has the following problems：1, the letter between existing photoelectricity locator
Breath transmission is connected by signal wire mostly, and installation process complexity is cumbersome, causes inconvenient for use；2, inside existing conveying robot
Photoelectricity locator be provided only with one group mostly, single group photoelectricity locator for a long time positions conveying robot, internal place
It is excessive to manage component working strength, is easy to shorten its service life, repair replacement number is frequent, increases the cost of overhaul；3, existing
Conveying robot will produce vibration during carrying, to drive photoelectricity locator to rise and fall, be easy to influence photoelectricity locator
Measurement result, but there is no relevant safeguard procedures with photoelectricity locator for existing conveying robot.
Invention content
To solve the problems mentioned above in the background art.The present invention provides a kind of conveying robot photoelectricity locators
And its localization method, have transmission information is convenient, using effect is good, two groups of photoelectric position mechanisms take turns to operate, damping performance is good,
Feature easy to repair.
Another object of the present invention is to provide a kind of localization method of conveying robot photoelectricity locator
To achieve the above object, the present invention provides the following technical solutions：A kind of conveying robot photoelectricity locator and its positioning
Method, including conveying robot ontology, fixed seat, shaft, the first pivoted arm, photoelectric position mechanism, the second pivoted arm, driving member and machine
Tool hand, the conveying robot ontology include fixed seat, shaft, the first pivoted arm, photoelectric position mechanism, the second pivoted arm, driving member
And manipulator, wherein be provided with the first pivoted arm above the fixed seat, pass through shaft between the fixed seat and the first pivoted arm
Rotation connection, the side of the conveying robot ontology far from fixed seat is provided with photoelectric position mechanism, the photoelectricity localization machine
Side of the structure far from the first pivoted arm is provided with the second pivoted arm, and the side of second pivoted arm far from photoelectric position mechanism is provided with biography
Moving part, side of the driving member far from the second pivoted arm are provided with manipulator；
The quadrangle of the fixed seat is both provided with limit pin hole, and spacer pin is both provided with inside the limit pin hole；
First pivoted arm is provided with display screen against the top, and first pivoted arm is provided with control function key on the lower；
The photoelectric position mechanism includes the first photoelectricity locator and the second photoelectricity locator, wherein the first photoelectricity positioning
The side of device is provided with the second photoelectricity locator, and connection is provided between the first photoelectricity locator and the second photoelectricity locator
Bar, the connecting rod are internally provided with first microprocessor；
The first photoelectricity locator includes the first photoelectricity locator shell and the first photoelectricity locator lid, wherein described the
A side of one photoelectricity locator shell is provided with the first photoelectricity locator lid；
The first photoelectricity locator shell is internally provided with support plate, and the uper side surface of the support plate is provided with photoelectricity positioning dress
It sets, the first photoelectricity locator shell is provided with limiting slot close to a side of the first photoelectricity locator lid, and described first
Photoelectricity locator shell is both provided with the first screw hole close to the quadrangle of limiting slot side；
The first photoelectricity locator lid is provided with limited block, first light close to the side of the first photoelectricity locator shell
Electric locator lid is both provided with the second screw hole, first screw hole and the second screw hole close to the quadrangle of limited block side
Between be fixedly connected by fixed screw；
The photoelectric positioning apparatus includes microprocessor, power module, signal receiver, signal projector and photoelectric sensing group
Part, wherein the microprocessor, power module, signal receiver and signal projector are installed in the first photoelectricity locator
Inside, the photoelectric sensing component are mounted on the outside of the first photoelectricity locator, power supply are provided with below the microprocessor
The lower section side of module, the power module is provided with signal receiver, and the lower section other side of power module is provided with signal
Transmitter；
The photoelectric sensing component includes the first photoelectric sensor and the second photoelectric sensor, wherein first photoelectric sensing
Device is mounted on the middle position of the first photoelectricity locator lid, and second photoelectric sensor is mounted on the surface of fixed seat.
It is further in the present invention, the microprocessor and support plate, power module and support plate, signal receiver and branch
Plate, signal projector and support plate, the first photoelectric sensor and the first photoelectricity locator lid and the second photoelectric sensor with it is solid
It is limited and is connected by limit base ontology between reservation.
It is further in the present invention, the limit base ontology include buffer layer, steel layer, macromolecule vibration-absorbing material layer,
Elastic ring, fixed feet and limit base main body, wherein the interior side of the limit base main body is provided with steel layer, and limit base
The inside other side of main body is provided with macromolecule vibration-absorbing material layer, is provided between the steel layer and macromolecule vibration-absorbing material layer
Buffer layer, the side of the macromolecule vibration-absorbing material layer far from buffer layer are provided with elastic ring, the quadrangle of the limit base main body
It is both provided with fixed feet.
Further in the present invention, the inside of the first microprocessor carries power supply.
It is further in the present invention, it is connected by radio frequency signal between the display screen and signal projector.
It is further in the present invention, the signal receiver inside the first photoelectricity locator and the second photoelectricity locator
Internal signal receiver shares a photoelectric sensing component.
Further in the present invention, a side of the microprocessor is provided with temperature sensor.
A kind of further in the present invention, described conveying robot photoelectricity locator, localization method mainly wrap
Include following steps：
（1）Assemble photoelectric positioning apparatus：Using limit base ontology respectively by microprocessor, power module, signal receiver and
Signal projector is installed on the branch plate surface inside the first photoelectricity locator, then connects the positioning of the first photoelectricity by fixed screw
Device shell and the first photoelectricity locator lid finally utilize limit base ontology by the first photoelectric sensor and the second photoelectric sensor
It is respectively arranged in the middle position of the first photoelectricity locator lid and the surface of fixed seat, is adopted inside the second photoelectricity locator
Take same installation steps；
（2）Conveying robot assembles：After installation is complete, using shaft connection fixing base and the first pivoted arm, then pass through rotation axis
It is separately connected the first pivoted arm and photoelectric position mechanism and photoelectric position mechanism and the second pivoted arm, the is connected finally by driving member
Two pivoted arms and manipulator；
（3）Handling machinery hand starting：Extraneous power supply connection conveying robot and the first photoelectricity locator and the positioning of the second photoelectricity
Power module inside device, conveying robot energized action, the power module inside the first photoelectricity locator obtain electric, are inside it
Microprocessor power supply, the internal electric source module of the second photoelectricity locator obtains electric, is that its internal microprocessor is to be operated；
（4）Photoelectricity locator positions：Microprocessor inside first photoelectricity locator obtain it is electric after, control photoelectric sensing component make
Industry, the first photoelectric sensor and the second photoelectric sensor acquisition+X ,-X ,+Y, four road signals of-Y respectively, and by collected signal
It is transmitted to inside signal receiver, microprocessor is transported to after signal receiver processing, then lead to after being handled by microprocessor
It crosses signal projector to be wirelessly transmitted on display screen, understands its location information in real time for staff, wherein power module passes through
Microprocessor is powered to photoelectric positioning apparatus；
（5）Photoelectricity locator switches：Temperature sensor inside the first photoelectricity locator detects the work temperature of microprocessor
Degree sends coherent signal to first microprocessor, first microprocessor is cut automatically after signal processing higher than after setting value
Power module inside disconnected first photoelectricity locator, the first photoelectricity locator internal electric source module dead electricity, the first photoelectric sensor
It is measured with the of short duration stopping of the second photoelectric sensor, after first microprocessor automatically cuts off the first photoelectricity locator internal electric source module
Coherent signal is sent in the microprocessor inside the second photoelectricity locator, the microprocessor inside the second photoelectricity locator obtains
To signal and after treatment, the power module inside the second photoelectricity locator is sent instructions to, inside the second photoelectricity locator
Power module power to the first photoelectric sensor and the second photoelectric sensor, the first photoelectric sensor and the second photoelectric sensor
Start to measure, and measurement of correlation signal is passed into the signal receiver inside the second photoelectricity locator, subsequent processes are such as
Shown in step, the temperature of micro inside the second photoelectricity locator switches back into the first photoelectricity in the same way when excessively high fixed
Position device positioning.
It is further in the present invention, the microprocessor and support plate, power module and support plate, signal receiver and branch
Plate, signal projector and support plate, the first photoelectric sensor and the first photoelectricity locator lid and the second photoelectric sensor with it is solid
It is limited and is connected by limit base ontology between reservation；The limit base ontology includes buffer layer, steel layer, macromolecule absorbing material
The bed of material, elastic ring, fixed feet and limit base main body, wherein the interior side of the limit base main body is provided with steel layer, and limits
The inside other side of position seat main body is provided with macromolecule vibration-absorbing material layer, is set between the steel layer and macromolecule vibration-absorbing material layer
It is equipped with buffer layer, the side of the macromolecule vibration-absorbing material layer far from buffer layer is provided with elastic ring, the limit base main body
Quadrangle is both provided with fixed feet；The inside of the first microprocessor carries power supply；The display screen and signal projector
Between connected by radio frequency signal；In signal receiver and the second photoelectricity locator inside the first photoelectricity locator
The signal receiver in portion shares a photoelectric sensing component；A side of the microprocessor is provided with temperature sensor.
Compared with prior art, the beneficial effects of the invention are as follows：
1, the first photoelectric sensor and the second photoelectric sensor of the invention are respectively arranged in X-axis and the Y-axis surface of conveying robot,
The variation of light source can be measured in real time, and is transferred to microprocessor after the signal measured is handled by signal receiver, then
By being delivered to display screen by signal projector after microprocessor progress conversion process, control function is finally passed through by staff
Key carries out relevant operation；Carried out data transmission by radio frequency signal between signal projector and display screen, it can either be quick
The location information of acquisition conveying robot can save connection between the two again, and transmission information is convenient, and using effect is good.
2, the present invention is equipped with two groups of photoelectric position mechanisms, and temperature sensor detects microprocessor in the first photoelectricity locator in real time
The temperature of device, the temperature of microprocessor is higher than temperature sensor setting value after working long hours, and temperature sensor believes correlation
First microprocessor number is passed to, it is fixed to the first photoelectricity locator and the second photoelectricity that first microprocessor sends coherent signal respectively
Power module in the device of position, the power module of the first photoelectricity locator stops powering, and the power supply mould in the second photoelectricity locator
Block starts, and the second photoelectricity locator starts operation, carries out conveying robot photoelectricity positioning in turn, is conducive to mitigate single work pressure
Power extends its service life.
3, logical between the first photoelectric sensor of the invention and photoelectricity locator lid and second sensor and fixed seat
It crosses limit base to be fixedly connected, is steel layer on the outside of limit base, enhances the cold-resistant thermal energy power of photoelectric sensor, avoid external environment
Photoelectric sensor is damaged；Buffer layer is used cooperatively with macromolecule vibration-absorbing material layer, when alleviating conveying robot work
Vibration influenced caused by photoelectric sensor, it is ensured that the accurate positioning of photoelectric sensor.
4, detachable by fixed screw between the first photoelectricity locator shell and the first photoelectricity locator lid of the invention
Connection, and is detachably connected by limit base between all parts and support plate, and when failure is easy repair, simple in structure, practical
Property it is strong, have the extensive market competitiveness.
Description of the drawings
Fig. 1 is the structural schematic diagram of integral device of the present invention construction.
Fig. 2 is the structural schematic diagram of photoelectric position mechanism external view of the present invention.
Fig. 3 is the structural schematic diagram of photoelectric position mechanism inside view of the present invention.
Fig. 4 is the structural schematic diagram of limit base ontology of the present invention.
In figure：1, conveying robot ontology；11, fixed seat；110, spacer pin；12, shaft；13, the first pivoted arm；131, it shows
Display screen；132, control function key；14, photoelectric position mechanism；141, the first photoelectricity locator；1411, the first photoelectricity locator shell
Body；14110, support plate；14111, limiting slot；14112, the first screw hole；1412, the first photoelectricity locator lid；14120, it limits
Position block；14121, the second screw hole；1413, photoelectric positioning apparatus；14130, microprocessor；14131, power module；14132、
Signal receiver；14133, signal projector；14134, photoelectric sensing component；14135, the first photoelectric sensor；14136,
Two photoelectric sensors；1414, limit base ontology；14141, buffer layer；14142, steel layer；14143, macromolecule vibration-absorbing material
Layer；14144, elastic ring；14145, fixed feet；14146, limit base main body；1415, temperature sensor；142, the second photoelectricity is fixed
Position device；143, connecting rod；144, first microprocessor；15, the second pivoted arm；16, driving member；17, manipulator.
Specific implementation mode
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation describes, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Embodiment 1
- 4 are please referred to Fig.1, the present invention provides following technical scheme：A kind of conveying robot photoelectricity locator and its positioning side
Method, including conveying robot ontology 1, fixed seat 11, shaft 12, the first pivoted arm 13, photoelectric position mechanism 14, the second pivoted arm 15,
Driving member 16 and manipulator 17, conveying robot ontology 1 include fixed seat 11, shaft 12, the first pivoted arm 13, photoelectric position mechanism
14, the second pivoted arm 15, driving member 16 and manipulator 17, wherein the top of fixed seat 11 is provided with the first pivoted arm 13, fixed seat 11
It is rotatablely connected by shaft 12 between the first pivoted arm 13, side of the conveying robot ontology 1 far from fixed seat 11 is provided with light
Electric detent mechanism 14, side of the photoelectric position mechanism 14 far from the first pivoted arm 13 are provided with the second pivoted arm 15, and the second pivoted arm 15 is remote
Side from photoelectric position mechanism 14 is provided with driving member 16, and side of the driving member 16 far from the second pivoted arm 15 is provided with manipulator
17；
The quadrangle of fixed seat 11 is both provided with limit pin hole, and spacer pin 110 is both provided with inside limit pin hole；
First pivoted arm 13 is provided with display screen 131 against the top, and the first pivoted arm 13 is provided with control function key 132 on the lower；
Photoelectric position mechanism 14 includes the first photoelectricity locator 141 and the second photoelectricity locator 142, wherein the first photoelectricity positions
The side of device 141 is provided with the second photoelectricity locator 142, is set between the first photoelectricity locator 141 and the second photoelectricity locator 142
It is equipped with connecting rod 143, connecting rod 143 is internally provided with first microprocessor 144；
First photoelectricity locator 141 includes the first photoelectricity locator shell 1411 and the first photoelectricity locator lid 1412, wherein
A side of first photoelectricity locator shell 1411 is provided with the first photoelectricity locator lid 1412；
First photoelectricity locator shell 1411 is internally provided with support plate 14110, and the uper side surface of support plate 14110 is provided with photoelectricity
Positioning device 1413, the first photoelectricity locator shell 1411 are limited close to a side setting of the first photoelectricity locator lid 1412
Position slot 14111, the first photoelectricity locator shell 1411 are both provided with the first screw hole close to the quadrangle of 14111 side of limiting slot
14112；
First photoelectricity locator lid 1412 is provided with limited block 14120 close to the side of the first photoelectricity locator shell 1411,
First photoelectricity locator lid 1412 is both provided with the second screw hole 14121, the first spiral shell close to the quadrangle of 14120 side of limited block
It is fixedly connected by fixed screw between wire hole 14112 and the second screw hole 14121；
Photoelectric positioning apparatus 1413 includes microprocessor 14130, power module 14131, signal receiver 14132, signal transmitting
Device 14133 and photoelectric sensing component 14134, wherein microprocessor 14130, power module 14131,14132 and of signal receiver
Signal projector 14133 is installed in the inside of the first photoelectricity locator 141, and photoelectric sensing component 14134 is mounted on the first light
The lower section of the outside of electric locator 141, microprocessor 14130 is provided with power module 14131, the lower section of power module 14131
Side is provided with signal receiver 14132, and the lower section other side of power module 14131 is provided with signal projector 14133；
Photoelectric sensing component 14134 includes the first photoelectric sensor 14135 and the second photoelectric sensor 14136, wherein the first light
Electric transducer 14135 is mounted on the middle position of the first photoelectricity locator lid 1412, the installation of the second photoelectric sensor 14136
On the surface of fixed seat 11.
In the present embodiment, microprocessor 14130 is received with support plate 14110, power module 14131 and support plate 14110, signal
Device 14132 and support plate 14110, signal projector 14133 and support plate 14110, the first photoelectric sensor 14135 and the first photoelectricity are fixed
It is limited and is connected by limit base ontology 1414 between position device lid 1412 and the second photoelectric sensor 14136 and fixed seat 11
It connects.
In the present embodiment, limit base ontology 1414 includes buffer layer 14141, steel layer 14142, macromolecule vibration-absorbing material layer
14143, elastic ring 14144, fixed feet 14145 and limit base main body 14146, wherein the interior side of limit base main body 14146
It is provided with steel layer 14142, and the inside other side of limit base main body 14146 is provided with macromolecule vibration-absorbing material layer 14143, steel
Buffer layer 14141 is provided between preparative layer 14142 and macromolecule vibration-absorbing material layer 14143, macromolecule vibration-absorbing material layer 14143 is remote
Side from buffer layer 14141 is provided with elastic ring 14144, and the quadrangle of limit base main body 14146 is both provided with fixed feet
14145。
In the present embodiment, the inside of first microprocessor 144 carries power supply.
In the present embodiment, connected by radio frequency signal between display screen 131 and signal projector 14133.
In the present embodiment, inside the signal receiver and the second photoelectricity locator 142 inside the first photoelectricity locator 141
Signal receiver shares a photoelectric sensing component 14134.
In the present embodiment, a side of microprocessor 14130 is provided with temperature sensor 1415.
In the present embodiment, a kind of conveying robot photoelectricity locator, localization method includes mainly following step
Suddenly：
（1）Assemble photoelectric positioning apparatus：Using limit base ontology 1414 respectively by microprocessor 14130, power module 14131,
Signal receiver 14132 and signal projector 14133 are installed on 14110 surface of support plate inside the first photoelectricity locator 141,
Then the first photoelectricity locator shell 1411 and the first photoelectricity locator lid 1412 are connected by fixed screw, finally utilizes limit
First photoelectric sensor 14135 and the second photoelectric sensor 14136 are respectively arranged in the positioning of the first photoelectricity by position seat ontology 1414
Same installation is taken inside second photoelectricity locator 142 in the middle position of device lid 1412 and the surface of fixed seat 11
Step；
（2）Conveying robot assembles：After installation is complete, using 12 connection fixing base 11 of shaft and the first pivoted arm 13, then pass through
Rotation axis is separately connected the first pivoted arm 13 and photoelectric position mechanism 14 and photoelectric position mechanism 14 and the second pivoted arm 15, finally leads to
Cross second pivoted arm of the connection of driving member 16 15 and manipulator 17；
（3）Handling machinery hand starting：Extraneous power supply connection manipulator 17 and the first photoelectricity locator 141 and the positioning of the second photoelectricity
Power module inside device 142,17 energized action of manipulator, the power module inside the first photoelectricity locator 141 obtain electric, are it
Internal microprocessor power supply, the internal electric source module of the second photoelectricity locator 142 obtain electric, wait grasping for its internal microprocessor
Make；
（4）Photoelectricity locator positions：Microprocessor inside first photoelectricity locator 141 obtain it is electric after, control photoelectric sensing component
Acquisition+X ,-X ,+Y, four roads-Y are believed respectively for 14134 operations, the first photoelectric sensor 14135 and the second photoelectric sensor 14136
Number, and collected signal is transmitted to inside signal receiver, it is transported to microprocessor after signal receiver processing, then by micro-
Processor is wirelessly transmitted to by signal projector on display screen 131 after being handled, and understands its position in real time for staff
Information, wherein power module are powered by microprocessor to photoelectric positioning apparatus；
（5）Photoelectricity locator switches：Temperature sensor inside the first photoelectricity locator 141 detects the work of microprocessor
After temperature is higher than setting value, coherent signal is sent to first microprocessor 144, first microprocessor 144 passes through signal processing
Automatically cut off the power module inside the first photoelectricity locator 141 afterwards, 141 internal electric source module dead electricity of the first photoelectricity locator,
First photoelectric sensor 14135 and the 14136 of short duration stopping of the second photoelectric sensor measure, and first microprocessor 144 is automatically cut off
The microprocessor being sent to coherent signal after first photoelectricity locator, 141 internal electric source module inside the second photoelectricity locator 142
In device, the microprocessor inside the second photoelectricity locator 142 obtains signal and after treatment, and it is fixed to send instructions to the second photoelectricity
Power module inside the device 142 of position, power module inside the second photoelectricity locator 142 is to 14135 He of the first photoelectric sensor
Second photoelectric sensor 14136 is powered, and the first photoelectric sensor 14135 and the second photoelectric sensor 14136 start to measure, and will
Measurement of correlation signal passes to the signal receiver inside the second photoelectricity locator 142, subsequent processes as shown in step 4,
Temperature of micro inside the second photoelectricity locator 142 switches back into the first photoelectricity locator in the same way when excessively high
141 positioning.
In the present embodiment, microprocessor 14130 is received with support plate 14110, power module 14131 and support plate 14110, signal
Device 14132 and support plate 14110, signal projector 14133 and support plate 14110, the first photoelectric sensor 14135 and the first photoelectricity are fixed
It is limited and is connected by limit base ontology 1414 between position device lid 1412 and the second photoelectric sensor 14136 and fixed seat 11
It connects；Limit base ontology 1414 includes buffer layer 14141, steel layer 14142, macromolecule vibration-absorbing material layer 14143, elastic ring
14144, fixed feet 14145 and limit base main body 14146, wherein the interior side of limit base main body 14146 is provided with steel layer
14142, and the inside other side of limit base main body 14146 is provided with macromolecule vibration-absorbing material layer 14143, steel layer 14142 with
Buffer layer 14141 is provided between macromolecule vibration-absorbing material layer 14143, macromolecule vibration-absorbing material layer 14143 is far from buffer layer
14141 side is provided with elastic ring 14144, and the quadrangle of limit base main body 14146 is both provided with fixed feet 14145；First is micro-
The inside of processor 144 carries power supply；Connected by radio frequency signal between display screen 131 and signal projector 14133
It connects；The signal receiver inside signal receiver and the second photoelectricity locator 142 inside first photoelectricity locator 141 shares one
A photoelectric sensing component 14134；A side of microprocessor 14130 is provided with temperature sensor 1415.
The operation principle of the present embodiment：The present invention is before use, using limit base ontology 1414 respectively by microprocessor
14130, power module 14131, signal receiver 14132 and signal projector 14133 are installed on the first photoelectricity locator 141
Then internal 14110 surface of support plate connects the first photoelectricity locator shell 1411 by fixed screw and the first photoelectricity positions
Device lid 1412 is finally divided the first photoelectric sensor 14135 and the second photoelectric sensor 14136 using limit base ontology 1414
It is not installed on the middle position of the first photoelectricity locator lid 1412 and the surface of fixed seat 11, the second photoelectricity locator
Same installation steps are taken inside 142；Photoelectric positioning apparatus utilizes 12 connection fixing base 11 and first of shaft after installation is complete
Then pivoted arm 13 is separately connected the first pivoted arm 13 and photoelectric position mechanism 14 and photoelectric position mechanism 14 and the by rotation axis
Two pivoted arms 15, finally by second pivoted arm of the connection of driving member 16 15 and manipulator 17；Manipulator 17 is after installation is complete, extraneous power supply
The power module inside manipulator 17 and the first photoelectricity locator 141 and the second photoelectricity locator 142 is connected, manipulator 17 obtains
Electronic work, the power module inside the first photoelectricity locator 141 obtain electric, are its internal microprocessor power supply, the second photoelectricity is fixed
The internal electric source module of position device 142 obtains electric, is that its internal microprocessor is to be operated；It is micro- inside first photoelectricity locator 141
Processor obtain it is electric after, 14134 operation of control photoelectric sensing component, the first photoelectric sensor 14135 and the second photoelectric sensor
14136 acquisition+X ,-X ,+Y, four road signals of-Y respectively, and collected signal is transmitted to inside signal receiver, signal connects
It is transported to microprocessor after receiving device processing, then display screen is wirelessly transmitted to by signal projector after being handled by microprocessor
On 131, its location information is understood in real time for staff, wherein power module is supplied by microprocessor to photoelectric positioning apparatus
Electricity；It, will after temperature sensor inside the first photoelectricity locator 141 detects that the operating temperature of microprocessor is higher than setting value
Coherent signal sends first microprocessor 144 to, and it is fixed that first microprocessor 144 automatically cuts off the first photoelectricity after signal processing
Power module inside the device 141 of position, 141 internal electric source module dead electricity of the first photoelectricity locator, 14135 He of the first photoelectric sensor
Second photoelectric sensor, 14136 of short duration stopping measures, and first microprocessor 144 is automatically cut off inside the first photoelectricity locator 141
Coherent signal is sent in the microprocessor inside the second photoelectricity locator 142 after power module, the second photoelectricity locator 142
Internal microprocessor obtains signal and after treatment, sends instructions to the power module inside the second photoelectricity locator 142,
Power module inside second photoelectricity locator 142 is supplied to the first photoelectric sensor 14135 and the second photoelectric sensor 14136
Electricity, the first photoelectric sensor 14135 and the second photoelectric sensor 14136 start to measure, and measurement of correlation signal is passed to
Signal receiver inside two photoelectricity locators 142, subsequent processes such as above-mentioned steps are identical, when the second photoelectricity locator
The positioning of the first photoelectricity locator 141 is switched back into when temperature of micro inside 142 is excessively high in the same way, it is simple in structure,
Performance is good.
It although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with
Understanding without departing from the principles and spirit of the present invention can carry out these embodiments a variety of variations, modification, replace
And modification, the scope of the present invention is defined by the appended.
Claims (9)
1. a kind of conveying robot photoelectricity locator, including conveying robot ontology（1）, fixed seat（11）, shaft（12）,
One pivoted arm（13）, photoelectric position mechanism（14）, the second pivoted arm（15）, driving member（16）And manipulator（17）, it is characterised in that：Institute
State conveying robot ontology（1）Including fixed seat（11）, shaft（12）, the first pivoted arm（13）, photoelectric position mechanism（14）, second
Pivoted arm（15）, driving member（16）And manipulator（17）, wherein the fixed seat（11）Top be provided with the first pivoted arm（13）,
The fixed seat（11）With the first pivoted arm（13）Between pass through shaft（12）Rotation connection, the conveying robot ontology（1）Far
From fixed seat（11）Side be provided with photoelectric position mechanism（14）, the photoelectric position mechanism（14）Far from the first pivoted arm（13）
Side be provided with the second pivoted arm（15）, second pivoted arm（15）Far from photoelectric position mechanism（14）Side be provided with transmission
Part（16）, the driving member（16）Far from the second pivoted arm（15）Side be provided with manipulator（17）；
The fixed seat（11）Quadrangle be both provided with limit pin hole, be both provided with spacer pin inside the limit pin hole（110）；
First pivoted arm（13）Against the top be provided with display screen（131）, first pivoted arm（13）Be provided on the lower
Control function key（132）；
The photoelectric position mechanism（14）Including the first photoelectricity locator（141）With the second photoelectricity locator（142）, wherein institute
State the first photoelectricity locator（141）Side be provided with the second photoelectricity locator（142）, the first photoelectricity locator（141）
With the second photoelectricity locator（142）Between be provided with connecting rod（143）, the connecting rod（143）To be internally provided with first micro-
Processor（144）；
The first photoelectricity locator（141）Including the first photoelectricity locator shell（1411）With the first photoelectricity locator lid
（1412）, wherein the first photoelectricity locator shell（1411）A side be provided with the first photoelectricity locator lid
（1412）；
The first photoelectricity locator shell（1411）Be internally provided with support plate（14110）, the support plate（14110）Upside
Surface is provided with photoelectric positioning apparatus（1413）, the first photoelectricity locator shell（1411）Close to the first photoelectricity locator lid
Body（1412）A side be provided with limiting slot（14111）, the first photoelectricity locator shell（1411）Close to limiting slot
（14111）The quadrangle of side is both provided with the first screw hole（14112）；
The first photoelectricity locator lid（1412）Close to the first photoelectricity locator shell（1411）Side be provided with limit
Block（14120）, the first photoelectricity locator lid（1412）Close to limited block（14120）The quadrangle of side is both provided with second
Screw hole（14121）, first screw hole（14112）With the second screw hole（14121）Between pass through fixed screw fix connect
It connects；
The photoelectric positioning apparatus（1413）Including microprocessor（14130）, power module（14131）, signal receiver
（14132）, signal projector（14133）With photoelectric sensing component（14134）, wherein the microprocessor（14130）, power supply
Module（14131）, signal receiver（14132）And signal projector（14133）It is installed in the first photoelectricity locator（141）'s
Inside, the photoelectric sensing component（14134）Mounted on the first photoelectricity locator（141）Outside, the microprocessor
（14130）Lower section be provided with power module（14131）, the power module（14131）Lower section side be provided with signal and connect
Receive device（14132）, and power module（14131）The lower section other side be provided with signal projector（14133）；
The photoelectric sensing component（14134）Including the first photoelectric sensor（14135）With the second photoelectric sensor（14136）,
Wherein, first photoelectric sensor（14135）Mounted on the first photoelectricity locator lid（1412）Middle position, it is described
Second photoelectric sensor（14136）Mounted on fixed seat（11）Surface.
2. a kind of conveying robot photoelectricity locator according to claim 1, it is characterised in that：The microprocessor
（14130）With support plate（14110）, power module（14131）With support plate（14110）, signal receiver（14132）With support plate
（14110）, signal projector（14133）With support plate（14110）, the first photoelectric sensor（14135）With the first photoelectricity locator
Lid（1412）And second photoelectric sensor（14136）With fixed seat（11）Between pass through limit base ontology（1414）Limit
Connection.
3. a kind of conveying robot photoelectricity locator according to claim 1 or 2, it is characterised in that：The limit base
Ontology（1414）Including buffer layer（14141）, steel layer（14142）, macromolecule vibration-absorbing material layer（14143）, elastic ring
（14144）, fixed feet（14145）With limit base main body（14146）, wherein the limit base main body（14146）Interior side
It is provided with steel layer（14142）, and limit base main body（14146）The inside other side be provided with macromolecule vibration-absorbing material layer
（14143）, the steel layer（14142）With macromolecule vibration-absorbing material layer（14143）Between be provided with buffer layer（14141）, institute
State macromolecule vibration-absorbing material layer（14143）Far from buffer layer（14141）Side be provided with elastic ring（14144）, the limit
Seat main body（14146）Quadrangle be both provided with fixed feet（14145）.
4. a kind of conveying robot photoelectricity locator according to claim 1, it is characterised in that：First microprocessor
Device（144）Inside carry power supply.
5. a kind of conveying robot photoelectricity locator according to claim 1, it is characterised in that：The display screen
（131）With signal projector（14133）Between connected by radio frequency signal.
6. a kind of conveying robot photoelectricity locator according to claim 1, it is characterised in that：First photoelectricity is fixed
Position device（141）Internal signal receiver and the second photoelectricity locator（142）Internal signal receiver shares a photoelectric transfer
Feel component（14134）.
7. a kind of conveying robot photoelectricity locator according to claim 1, it is characterised in that：The microprocessor
（14130）A side be provided with temperature sensor（1415）.
8. according to a kind of claim 1-7 any one of them conveying robot photoelectricity locator, localization method mainly wraps
Include following steps：
（1）Assemble photoelectric positioning apparatus：Utilize limit base ontology（1414）Respectively by microprocessor（14130）, power module
（14131）, signal receiver（14132）And signal projector（14133）It is installed on the first photoelectricity locator（141）Internal
Support plate（14110）Then surface connects the first photoelectricity locator shell by fixed screw（1411）With the first photoelectricity locator
Lid（1412）, finally utilize limit base ontology（1414）By the first photoelectric sensor（14135）With the second photoelectric sensor
（14136）It is respectively arranged in the first photoelectricity locator lid（1412）Middle position and fixed seat（11）Surface,
Two photoelectricity locators（142）Take same installation steps in inside；
（2）Conveying robot assembles：After installation is complete, shaft is utilized（12）Connection fixing base（11）With the first pivoted arm（13）, so
The first pivoted arm is separately connected by rotation axis afterwards（13）With photoelectric position mechanism（14）And photoelectric position mechanism（14）With second
Pivoted arm（15）, finally by driving member（16）Connect the second pivoted arm（15）With manipulator（17）；
（3）Handling machinery hand starting：Extraneous power supply connects manipulator（17）And the first photoelectricity locator（141）With the second photoelectricity
Locator（142）Internal power module, manipulator（17）Energized action, the first photoelectricity locator（141）Internal power supply mould
Block obtains electric, is its internal microprocessor power supply, the second photoelectricity locator（142）Internal electric source module obtain it is electric, be its inside
Microprocessor it is to be operated；
（4）Photoelectricity locator positions：First photoelectricity locator（141）Internal microprocessor obtain it is electric after, control photoelectric sensing group
Part（14134）Operation, the first photoelectric sensor（14135）With the second photoelectric sensor（14136）Acquisition+X ,-X ,+Y ,-Y respectively
Four road signals, and collected signal is transmitted to inside signal receiver, it is transported to microprocessor after signal receiver processing,
Display screen is wirelessly transmitted to by signal projector after being handled again by microprocessor（131）On, it is real-time for staff
Its location information is solved, wherein power module is powered by microprocessor to photoelectric positioning apparatus；
（5）Photoelectricity locator switches：When the first photoelectricity locator（141）Internal temperature sensor detects the work of microprocessor
Make temperature higher than after setting value, sends coherent signal to first microprocessor（144）, first microprocessor（144）By letter
Number processing after automatically cut off the first photoelectricity locator（141）Internal power module, the first photoelectricity locator（141）Internal electric source
Module dead electricity, the first photoelectric sensor（14135）With the second photoelectric sensor（14136）Of short duration stopping measures, the first microprocessor
Device（144）Automatically cut off the first photoelectricity locator（141）Coherent signal is sent to the positioning of the second photoelectricity after internal electric source module
Device（142）In internal microprocessor, the second photoelectricity locator（142）Internal microprocessor obtains signal and by processing
Afterwards, the second photoelectricity locator is sent instructions to（142）Internal power module, the second photoelectricity locator（142）Internal power supply
Module is to the first photoelectric sensor（14135）With the second photoelectric sensor（14136）Power supply, the first photoelectric sensor（14135）
With the second photoelectric sensor（14136）Start to measure, and measurement of correlation signal is passed into the second photoelectricity locator（142）It is internal
Signal receiver, subsequent processes such as step（4）It is shown, when the second photoelectricity locator（142）Internal microprocessor temperature
The first photoelectricity locator is switched back into when spending high in the same way（141）Positioning.
9. a kind of conveying robot photoelectricity locator and its localization method according to claim 8, it is characterised in that：Institute
State microprocessor（14130）With support plate（14110）, power module（14131）With support plate（14110）, signal receiver（14132）
With support plate（14110）, signal projector（14133）With support plate（14110）, the first photoelectric sensor（14135）With the first photoelectricity
Locator lid（1412）And second photoelectric sensor（14136）With fixed seat（11）Between pass through limit base ontology
（1414）Limit connection；The limit base ontology（1414）Including buffer layer（14141）, steel layer（14142）, macromolecule absorbing
Material layer（14143）, elastic ring（14144）, fixed feet（14145）With limit base main body（14146）, wherein the limit base
Main body（14146）Interior side be provided with steel layer（14142）, and limit base main body（14146）The inside other side setting
There is macromolecule vibration-absorbing material layer（14143）, the steel layer（14142）With macromolecule vibration-absorbing material layer（14143）Between be arranged
There is buffer layer（14141）, the macromolecule vibration-absorbing material layer（14143）Far from buffer layer（14141）Side setting it is flexible
Circle（14144）, the limit base main body（14146）Quadrangle be both provided with fixed feet（14145）；The first microprocessor
（144）Inside carry power supply；The display screen（131）With signal projector（14133）Between believed by less radio-frequency
Number connection；The first photoelectricity locator（141）Internal signal receiver and the second photoelectricity locator（142）Internal signal
Receiver shares a photoelectric sensing component（14134）；The microprocessor（14130）A side be provided with temperature sensor
（1415）.
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Cited By (1)
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| CN114426200A (en) * | 2022-02-24 | 2022-05-03 | 武汉精立电子技术有限公司 | Micro display screen assembly limiting table and grabbing method thereof |
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| CN108502530B (en) | 2019-11-01 |
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